WO2023038040A1 - Automatic travel control system and farmland work vehicle - Google Patents

Automatic travel control system and farmland work vehicle Download PDF

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Publication number
WO2023038040A1
WO2023038040A1 PCT/JP2022/033493 JP2022033493W WO2023038040A1 WO 2023038040 A1 WO2023038040 A1 WO 2023038040A1 JP 2022033493 W JP2022033493 W JP 2022033493W WO 2023038040 A1 WO2023038040 A1 WO 2023038040A1
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WO
WIPO (PCT)
Prior art keywords
replenishment
travel
unit
automatic
seedlings
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PCT/JP2022/033493
Other languages
French (fr)
Japanese (ja)
Inventor
鈴川めぐみ
國安恒寿
吉水健悟
大久保樹
宇谷直晃
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN202280059444.5A priority Critical patent/CN117897045A/en
Priority to KR1020247007614A priority patent/KR20240056505A/en
Publication of WO2023038040A1 publication Critical patent/WO2023038040A1/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track

Definitions

  • the present invention relates to a field work vehicle that supplies agricultural materials to a field or discharges harvested crops while automatically traveling, and an automatic travel control system that controls the automatic work travel of the field work vehicle.
  • the field work vehicle which performs automatic work driving to supply agricultural materials to the field, replenishes agricultural materials or discharges the harvested crops during automatic work driving.
  • the field work vehicle (rice transplanter) disclosed in Patent Document 1 stops the machine every time it reciprocates in the field, and if it is necessary to replenish agricultural materials (seedlings), it replenishes agricultural materials. If there is no need for replenishment, work travel is continued.
  • the purpose of the present invention is to efficiently supply agricultural materials or discharge harvested crops.
  • an automatic travel control system supplies agricultural materials to a field by repeating automatic reciprocating travel that travels along a travel route consisting of an internal route and a turning route.
  • An automatic travel control system for a field work vehicle that performs work, wherein the field work vehicle stops running every time it travels a predetermined number of times on the internal route in order to replenish materials at a predetermined replenishment side.
  • a field work vehicle performs field work to supply agricultural materials to a field by repeating automatic reciprocating travel that travels on a travel route consisting of an internal route and a turning route, and supplies agricultural materials to a field.
  • a farm work vehicle that performs a replenishment preparation process for replenishing materials by stopping traveling on the internal route each time it travels a predetermined number of times, the work device performing the field work, and the replenishment preparation process.
  • a travel control unit that controls automatic travel
  • a work control unit controls the field work
  • a travel number operation unit that receives selection of the number of travels, and the number of travels according to an input to the number of travels operation unit and a material replenishment setting unit that sets the
  • An automatic travel control system automatically travels a field work vehicle that performs field work to harvest crops from a field by repeating automatic reciprocating travel that travels along a travel route consisting of an internal route and a turning route.
  • the field work vehicle performs a discharge preparation process for stopping the traveling every time the internal route is traveled a predetermined number of times in order to discharge the crop harvested at a predetermined discharge side.
  • a travel control unit that controls automatic travel including the discharge preparation process, a work control unit that controls the farm work, a number of travels operation unit that receives selection of the number of travels, and an input to the number of travels operation unit and a material discharge setting unit for setting the number of times of travel accordingly.
  • the number of times of travel may be the number of times of reciprocating travel in which two internal routes are traveled with the turning route interposed therebetween.
  • the replenishment preparation process is performed at the terminal end of the internal route that travels toward the replenishment side. Therefore, by setting the number of times of traveling by the number of times of reciprocating traveling, it is possible to easily and efficiently set the replenishment preparation process.
  • a number change operation section for accepting a change instruction for the number of times of travel is further provided, and when the change instruction is received during the automatic reciprocating travel, the material replenishment setting section responds to the change instruction to perform the immediately preceding replenishment preparation process. It is also possible to change the number of times of travel from the time the vehicle travels to the time when the next replenishment preparation process is performed.
  • the position where the replenishment preparation process is performed can be changed as needed, so that the replenishment of agricultural materials can be performed at an appropriate timing, and the replenishment of agricultural materials can be performed more efficiently.
  • the material replenishment setting unit may return the subsequent number of runs to the number of runs selected by the number of runs operation unit after performing the replenishment preparation process with the changed number of runs.
  • the work situation may temporarily change depending on the situation in some fields, and there may be shortages or surpluses of agricultural materials at the position where replenishment preparation processing is performed. In such a case, it is appropriate to correct the timing of replenishment preparation processing in some fields.
  • agricultural materials can be replenished at the appropriate timing, and agricultural materials can be replenished more efficiently.
  • the material replenishment setting unit may change the number of times of subsequent travels to the number of times of travels corresponding to the change instruction when the change instruction is received.
  • the number of trips is determined by predicting the consumption of agricultural materials per unit distance traveled. If the prediction of the amount of consumption is not accurate, the timing of replenishment preparation processing will not be appropriately set for the entire field.
  • agricultural materials can be replenished at the appropriate timing, and agricultural materials can be replenished more efficiently.
  • the number-of-times changing operation unit may be provided on the body of the field work vehicle.
  • an information terminal detachable from the field work vehicle is further provided, the number of times change operation unit is provided in the information terminal, and the change instruction is determined according to the number of times the number of times change operation unit is operated.
  • an information terminal detachable from the field work vehicle is further provided, the number of times change operation section is provided in the information terminal, and the change instruction changes while the number of times change operation section is operated. It may be determined by selecting the number of runs.
  • a remote controller capable of remotely controlling the field work vehicle may be further provided, and the number-of-times changing operation unit may be provided in the remote controller.
  • Automatic work travel may be performed without a worker on board the aircraft.
  • the operator carries a remote controller for operating the machine.
  • the operator can change the timing of replenishing agricultural materials without boarding the aircraft, and can easily change the timing of replenishing agricultural materials.
  • the material replenishment setting unit has a voice recognition unit that reacts to the predetermined voice, and the voice recognition unit recognizes the voice input to the microphone.
  • the material replenishment setting unit may change the number of runs according to the voice recognized by the voice recognition unit.
  • the worker can change the timing of replenishing agricultural materials simply by uttering a voice without performing any special operation, and can easily change the timing of replenishing agricultural materials.
  • a remote controller capable of remotely controlling the field work vehicle may be further provided, and the microphone may be provided in the remote controller.
  • Automatic work travel may be performed without a worker on board the aircraft.
  • the operator carries a remote controller for operating the machine.
  • the worker can change the timing of replenishing agricultural materials simply by speaking while not on board the aircraft, and can easily change the timing of replenishing agricultural materials.
  • the number-of-travels operation section can select a non-replenishment preparation mode in which the replenishment preparation process is not executed.
  • the travel control unit may execute the replenishment preparation process when the vehicle next approaches the replenishment side.
  • the replenishment preparation process can be performed at the operator's discretion, further suppressing unnecessary stoppages and more efficiently replenishing agricultural materials. This enables efficient work travel.
  • the field working vehicle is a seedling transplanting vehicle for planting seedlings as the agricultural material in the field, and has a seedling platform and a planting mechanism.
  • the mat-like seedlings are continuously sent to the planting mechanism with a vertical feeding amount of , and the planting mechanism takes out a predetermined seedling amount of the seedlings from the mat-like seedlings and removes the seedlings at a predetermined interval.
  • the seedling placement table has a sensor for detecting the mat remaining amount of the mat-like seedlings planted in the field
  • the automatic travel control system further includes a notification unit that performs a predetermined notification, and the material supply setting unit , based on the information on the remaining amount of the mat detected by the sensor, the information on the amount of seedlings taken, the information on the amount of vertical feeding, the information on the length of the mat-like seedlings, and the information on the spacing between plants, the replenishment preparation process is performed next.
  • a remaining amount determination unit that determines whether or not the remaining amount of the seedlings is insufficient in the field work until the The notification unit may be caused to notify that the remaining amount of seedlings is insufficient.
  • FIG. 1 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 1;
  • FIG. FIG. 10 is a diagram illustrating a setting screen for a replenishment side and a replenishment interval according to the first embodiment;
  • FIG. 5 is a diagram illustrating steps for setting replenishment and changing the implementation interval according to the first embodiment;
  • FIG. 7 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 2;
  • FIG. 11 is a diagram illustrating a setting screen for a replenishment side and a supply interval according to the second embodiment;
  • FIG. 10 is a diagram illustrating a process of setting replenishment and changing a replenishment preparation position according to the second embodiment;
  • FIG. 11 is a diagram for explaining a replenishment preparation position in Embodiment 2;
  • FIG. 11 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 3;
  • FIG. 11 is a diagram illustrating a screen for setting a replenishment side according to the third embodiment;
  • FIG. 11 is a diagram illustrating a process of making replenishment settings in Embodiment 3;
  • front means forward in the longitudinal direction of the aircraft (running direction).
  • rear means the rear in the longitudinal direction (running direction) of the aircraft.
  • left-right direction or the lateral direction means the transverse direction of the fuselage (body width direction) perpendicular to the longitudinal direction of the fuselage. shall mean the direction of orientation.
  • the rice transplanter includes a ride-on, four-wheel-drive body 1 .
  • the body 1 includes a parallel quadruple link type link mechanism 13 connected to the rear part of the body 1 so as to be able to swing up and down, a hydraulic lifting link 13a that drives the link mechanism 13 to swing, and a rear end region of the link mechanism 13.
  • a seedling planting device 3 that is rollably connected to the machine body 1;
  • the machine body 1 has wheels 12, an engine 2, and a hydraulic continuously variable transmission 9 as a mechanism for traveling.
  • the continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission).
  • the wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. Power output from the engine 2 is transmitted to a continuously variable transmission 9 via a traveling transmission mechanism, and from the continuously variable transmission 9, front wheels 12A, rear wheels 12B, working devices (seedling planting device 3, fertilizing device 4). etc.).
  • the engine 2 and the continuously variable transmission 9 are mounted on the front portion of the airframe 1 .
  • the seedling planting device 3 is configured in an eight-row planting format, for example.
  • the seedling planting device 3 includes a seedling platform 21, a planting mechanism 22 for eight rows, and the like. This seedling planting device 3 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).
  • the seedling placement table 21 is a pedestal on which 8 rows of mat-like seedlings are placed.
  • the seedling mounting table 21 is continuously reciprocated (horizontally fed) in the left-right direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the seedling mounting table 21 is moved to the left and right stroke ends by the lateral feeding of a predetermined number of times.
  • Each mat-like seedling on the seedling mounting table 21 is longitudinally fed toward the lower end of the seedling mounting table 21 at a predetermined pitch (longitudinal feeding amount).
  • the eight planting mechanisms 22 are of a rotary type and are arranged in the left-right direction at regular intervals corresponding to the intervals between the planting rows.
  • Each planting mechanism 22 receives power from the engine 2 when a planting clutch (not shown) shifts to a transmission state, and the lower end of each mat-like seedling placed on the seedling placement table 21 A seedling (planting seedling) for one strain is cut and planted in a muddy area after leveling with a predetermined interval between strains.
  • the seedling planting device 3 when the seedling planting device 3 is in operation, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placement table 21 and planted (supplied) in the mud part of the paddy field.
  • the seedling placement table 21 may be provided with a sensor 23 that detects the remaining amount of mat-like seedlings.
  • the sensor 23 is an optical sensor, and is provided on the surface (mounting surface) of the seedling placement table 21. By blocking the light from entering the sensor 23, the mat-like seedling is placed on the seedling placement table. It may be configured to detect whether or not the mat-like seedlings are present at the arrangement position of the sensor 23, and to detect whether or not there are a predetermined amount or more of mat-like seedlings.
  • Information such as the number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, the amount of seedlings taken from one plant, and the dimensions (length and width) of mat-like seedlings can be obtained from any device that can be communicated with the information terminal 5 or the like. (storage unit 35, storage unit 42, etc. described later with reference to FIG. 3, etc.).
  • the number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, and the amount of seedlings taken may be fixed, but the configuration may be such that the settings can be arbitrarily changed.
  • the storage unit stores the set information.
  • the fertilizing device 4 (supplying device) includes a hopper 25 (storage unit) that stores granular or powdery fertilizer (medicine and other agricultural materials), a delivery mechanism 26 that delivers the fertilizer from the hopper 25, and delivery mechanism 26. and a fertilizing hose 28 for conveying the applied fertilizer and discharging the fertilizer to the field. Fertilizer stored in the hopper 25 is delivered by a delivery mechanism 26 by a predetermined amount and sent to the fertilizing hose 28, conveyed through the fertilizing hose 28 by the carrying wind of the blower 27, and discharged from the ditching device 29 to the field. be. Thus, the fertilizing device 4 supplies fertilizer to the field.
  • a hopper 25 storage unit
  • a delivery mechanism 26 that delivers the fertilizer from the hopper 25, and delivery mechanism 26.
  • a fertilizing hose 28 for conveying the applied fertilizer and discharging the fertilizer to the field.
  • Fertilizer stored in the hopper 25 is delivered by a delivery mechanism 26 by a predetermined amount and sent to the fertilizing
  • the airframe 1 has an operating section 14 in the rear area.
  • the driving unit 14 includes a steering wheel 10 for steering the front wheels, a main gear shift lever 7A that adjusts the vehicle speed by performing a gear shift operation of the continuously variable transmission 9, an auxiliary gear shift lever 7B that enables gear shift operation of the sub transmission, and a seedling.
  • a work operation lever 11 that enables the planting device 3 to be moved up and down, and a touch panel 50 that displays (notifies) various types of information and notifies (outputs) the operator, and receives input of various types of information. (See FIG. 3, etc.
  • the sub-transmission lever 7B is used to switch the traveling vehicle speed between a work speed during work and a movement speed during movement. For example, movement between fields is performed at the movement speed, and planting work and the like are performed at the work speed.
  • a preliminary seedling storage device 17A for storing preliminary seedlings is supported by a preliminary seedling support frame 17 in front of the operating section 14. As shown in FIG.
  • the aircraft 1 is equipped with a positioning unit 8.
  • the positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 .
  • the positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 .
  • the positioning unit 8 is supported on top of the preliminary seedling support frame 17 . Note that the calculated position information and azimuth information are stored in the storage unit described above.
  • a remote controller 6 capable of remotely controlling the information terminal 5 and the body 1 may be further provided.
  • the rice transplanter in this embodiment can selectively perform manual traveling and automatic traveling.
  • Manual travel manual work travel
  • automatic travel automatic work travel
  • Manual travel manual work travel
  • automatic travel automatic work travel
  • the driver When the rice transplanter carries out the seedling planting work, the driver first runs the rice transplanter manually along the outer periphery (outer edge) of the field. At this time, the vehicle may travel while performing the work, or may travel while not working.
  • the outer circumference traveling the outer circumference shape (field map) of the farm field is generated, and the farm field is divided into the outer circumference area OA and the inner area IA (map creation processing).
  • one side or a plurality of specified sides of the outer perimeter of the field is set as a replenishment side SL for replenishing agricultural materials such as mat-like seedlings, fertilizers, chemicals, and fuel to the rice transplanter.
  • the target travel route for the rice transplanter to travel for work is set (route creation processing).
  • an internal round-trip route IPL (corresponding to an "internal route") and a turning route are generated as a target travel route (corresponding to a "travel route").
  • the internal round-trip routes IPL are a plurality of routes substantially parallel to one side of the field, and the turning route is a route connecting the two internal round-trip routes IPL.
  • the internal round-trip route IPL is a travel route for work travel throughout the entire internal area IA. Automatic work travel is performed along the inner round trip path IPL.
  • the turning travel of the turning route connecting the inner round-trip routes IPL is automatically performed by a predetermined method.
  • a round planting run is performed along the outer periphery (outer edge) of the field, making one or more laps in the outer peripheral area OA.
  • two travel routes an inner loop route IRL and an outer loop route ORL, are generated as routes for round-tripping.
  • the inner circuit route IRL is traveled by unmanned automatic work travel or manned automatic work travel (automatic work travel with a person on board), and the outer circuit route ORL is traveled by manual work travel.
  • the inner loop route IRL may be manually traveled for work, and the outer loop route ORL may be automatically traveled for work.
  • the rice transplanter replenishes seedlings when seedlings run out.
  • the machine body 1 At the time of seedling supply, the machine body 1 is brought to the ridge of the supply side SL by traveling forward. When the seedling replenishment ends, the machine body 1 moves backward and returns to the traveling route.
  • the aircraft 1 temporarily stops at the replenishment preparation position SPP when transitioning from the internal reciprocating route IPL to the turning route (seedling replenishment side automatic stop / replenishment preparation processing)
  • the machine body 1 advances at a predetermined speed to the supply point (corresponding to the "material supply point") SP on the supply side SL.
  • Airframe 1 is sent to .
  • the replenishment preparation position SPP for performing the replenishment preparation process is set in the terminal region of the internal round-trip route IPL or the region near the boundary between the internal round-trip route IPL and the turning route.
  • replenishment preparation processing is not limited to replenishment of seedlings, and may be performed when various agricultural materials such as fertilizers, chemicals, and fuels are replenished.
  • the replenishment position for replenishing seedlings is not limited to the replenishment point SP, which is a position straight from the internal round-trip route IPL to the replenishment side SL, but may be any replenishment point SA provided along the replenishment side SL.
  • the machine body 1 is moved from the supply preparation position SPP to the supply point SA.
  • the rice transplanter performs the map creation process and route creation process described above in order to run automatically.
  • the setting of the replenishment side the setting related to the replenishment preparation process (replenishment setting), and the like are also performed.
  • the various processing and settings can be performed in the machine body 1, they may be performed using the information terminal 5.
  • the automatic cruise control system includes a control unit 30 provided on the body 1 , a positioning unit 8 provided on the body 1 and an information terminal 5 .
  • the information terminal 5 is connected to the rice transplanter in a communicable state.
  • the information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1.
  • the control unit 30 controls the automatic work travel of the rice transplanter according to the conditions set by the information terminal 5 or the like.
  • the control unit 30 includes a travel control unit 32 that controls travel, a work control unit 33 that controls work, a communication unit 34 that communicates with the information terminal 5 and the like, and a storage unit 35 .
  • the information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a storage unit 42.
  • the information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.
  • the control unit 38 controls the operation of each functional block of the information terminal 5.
  • a communication unit 39 communicates with the body 1 and the like.
  • the touch panel 50 displays various information and various software switches.
  • the seedling replenishment setting unit 41 sets the replenishment side SL, the replenishment preparation position SPP, and the like based on the operation of the operation tool, the software switch, and the like while referring to the information displayed on the touch panel 50 .
  • the storage unit 42 stores various information.
  • FIG. The replenishment setting in the first embodiment will be described below with reference to FIGS. 2 to 5.
  • FIG. The replenishment setting is performed after the map creation process is performed and the target travel route is set in the route creation process.
  • a setting screen as shown in FIG. 4 is displayed on the touch panel 50 (step #1 in FIG. 5).
  • a replenishment side setting operation section 52 is displayed as a software switch on the setting screen.
  • the replenishment side SL is selectively set by the replenishment side setting operation section 52 .
  • the setting screen displays the outer shape of the field and a pattern such as an arrow corresponding to the internal round-trip route IPL, and the sides corresponding to the start and end of the internal round-trip route IPL are displayed as candidates for the replenishment side SL. .
  • the replenishment side setting operation unit 52 can select any of the candidate sides, all the candidate sides, or not to perform replenishment preparation processing (no side selected).
  • the side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in FIG. 5).
  • a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and a temporary stop for replenishment is not performed.
  • the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment. Note that the movement to the replenishment position may be performed automatically.
  • the non-replenishment preparation mode is not limited to the case where "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, and may be set by a separately provided operation tool (not shown). In this case, after the supply side SL is set by the supply side setting operation unit 52, the no-supply preparation mode can be set.
  • an automatic stop interval is set for each round trip of the internal round-trip route IPL to perform the replenishment preparation process.
  • the round trip of the internal round trip route IPL starts from the end of the internal round trip route IPL on the replenishment side, travels on the internal round trip route IPL with a turning run in between, travels on the next internal round trip route IPL, and then travels on the internal round trip route IPL on the replenishment side. It is traveling up to the end of the round-trip route IPL.
  • the number-of-runs operation unit 53 is displayed as a software switch on the setting screen. The number-of-travels operation unit 53 can select the number of round trips.
  • the seedling replenishment setting unit 41 sets the number of times selected by the running number operation unit 53 as the reciprocating number (implementation interval) of the replenishment preparation process, stores it in the storage unit 42 , and transmits the information to the running control unit 32 .
  • the traveling control unit 32 stores the set number of round trips in the storage unit 35, and temporarily stops the machine body 1 in order to perform the replenishment preparation process each time the set number of round trips is performed (step in FIG. 5). #3).
  • seedling supply preparation processing is performed at the position SP1 next to the supply preparation position SPP in FIG. 2, and when two round trips are set as the number of round trips, the supply preparation position SPP Next, seedling replenishment preparation processing is performed at position SP2, and when 3 reciprocations are set as the number of reciprocations, seedling replenishment preparation processing is performed at position SP3 next to replenishment preparation position SPP. Then, when all necessary settings are made, automatic work traveling is started by accepting a predetermined operation (step #4 in FIG. 5).
  • the travel distance until replenishment is required (the interval between replenishment preparation processing ) can be predicted.
  • the number-of-travels operation unit 53 may be configured to select not only the number of round trips but also the number of round trips of the internal round-trip route IPL as the execution interval of the replenishment preparation process.
  • the seedling supply preparation process is performed at the position SP4 after the supply preparation position SPP in FIG.
  • replenishment preparation processing By performing replenishment preparation processing every time the internal round-trip route IPL is traveled for the set number of times, replenishment preparation processing can be performed more accurately according to the need for replenishment, further improving work efficiency.
  • next replenishment preparation position SPP (interval of replenishment preparation processing) can be changed during automatic work travel. As a result, work traveling can be performed more efficiently.
  • the number of times change operation unit 54 may be provided to enable the change of the implementation interval during automatic work travel.
  • the number change operation unit 54 is a software switch displayed on the touch panel 50 during work travel.
  • the number-of-times change operation unit 54 may be configured to select the implementation interval similarly to the number-of-runs operation unit 53, or may be configured to increase or decrease the implementation interval.
  • the number-of-times change operation unit 54 may be configured to determine the implementation interval according to the number of times it is operated.
  • the number of times change operation unit 54 changes the implementation interval displayed on the touch panel 50 while the number of times change operation unit 54 is being operated (such as a long press), and changes the implementation interval displayed when the operation is stopped.
  • the configuration may be changed to Further, the frequency change operation unit 54 may be configured to perform an operation to speed up the implementation interval by one round trip (one running count) and an operation to extend it (increase or decrease the implementation interval) instead of directly inputting the implementation interval. .
  • the number of times The change operation unit 54 is operated (step #5 in FIG. 5) to change the next replenishment preparation position SPP. In other words, it is possible to perform replenishment earlier than the preset implementation interval, or to skip the replenishment preparation position SPP.
  • the user performs an operation to change the number of reciprocations to three with the number of reciprocations operation section 54 .
  • the frequency change operation unit 54 transmits a change instruction to the seedling replenishment setting unit 41 based on this operation.
  • the seedling replenishment setting unit 41 transmits this information to the running control unit 32, and the running control unit 32 carries out replenishment preparation processing based on this information.
  • the replenishment preparation process subsequent to the replenishment preparation position SPP is not performed at the position SP2, but is performed at the position SP3.
  • Step #6-1 in FIG. 5 it is also possible to change the implementation interval from the next time onward (Step #6-2 in FIG. 5). That is, the set implementation interval itself may be changed.
  • the seedling supply setting unit 41 changes the implementation interval stored in the storage unit 42 to the implementation interval according to the operation of the number change operation unit 54, and transmits the implementation interval after the change to the travel control unit 32. do. Then, the travel control unit 32 changes the implementation interval stored in the storage unit 35 to the changed implementation interval, and performs subsequent seedling supply preparation processing at the changed implementation interval.
  • one round trip (one number of runs) is reduced in the case of the operation to advance the set implementation interval, and one round trip (number of runs) in the case of the operation to extend it.
  • change the set implementation interval in the case of a configuration in which an operation to advance or extend the implementation interval.
  • the implementation interval may not be appropriate for the entire work run. Therefore, by adopting a configuration in which the change period of the implementation interval can be selected from only the next time or from the next time onward, the implementation interval can be appropriately changed according to the situation at that time.
  • the replenishment side setting operation unit 52 selects "do not perform replenishment preparation processing" to set the non-replenishment preparation mode
  • the number of times change operation unit 54 is changed. May be used.
  • the travel control unit 32 receives information that the number of times change operation unit 54 has been operated, and replenishes the seedlings. to run toward the outer perimeter of the field (replenishment side SL).
  • the travel control unit 32 controls the machine body 1 to stop without transitioning to turning travel after travel on the internal round-trip route IPL during travel. After that, the machine body 1 is moved forward as it is, and when it reaches the outer periphery of the field (replenishment side SL), the machine body 1 is stopped.
  • the seedling replenishment setting unit 41 determines the implementation interval based on the number of round trips (number of runs) in which replenishment is performed by operating the number change operation unit 54 from the start of work travel, and performs replenishment preparation processing. May be set.
  • a configuration may be adopted in which the implementation interval is changed based on the voice of the operator (worker). For example, when the operator utters “change number of times” and then utters "three times”, the implementation interval may be changed to three times. Further, after saying "change the number of times", by saying “increase” or “decrease”, the execution interval may be increased or decreased by one time. Further, these speech recognition technologies may be configured to recognize speech based on deep learning by artificial intelligence.
  • the information terminal 5 includes a microphone 44 and a voice recognition unit 45 that reacts to a predetermined voice and recognizes the voice.
  • the microphone 44 transfers the voice data to the voice recognition section 45, and the voice recognition section 45 recognizes the voice data as the specific contents of the instruction.
  • the voice recognition unit 45 transmits the content of the instruction to the travel control unit 32, and the travel control unit 32 instructs the vehicle to travel toward the outer periphery (replenishment side SL) of the field in order to replenish the seedlings according to the content of the instruction. to control the airframe 1.
  • the information terminal 5 includes a notification unit 47 that performs predetermined notification and a remaining amount determination unit 48, and when it is predicted that the remaining amount of seedlings will be insufficient when the replenishment preparation process is performed at the set implementation interval. It is also possible to have a configuration in which the fact is notified to the user.
  • the remaining amount determination unit 48 determines the number of seedlings per unit traveling distance from the stored seedling amount information, vertical feeding amount information, mat-like seedling length information, and distance information. In addition to calculating the amount of consumption, the remaining amount of seedlings is calculated from information on the remaining amount of the mat. Then, based on the calculated consumption amount and remaining amount, the remaining amount determination unit 48 determines whether or not the remaining amount of seedlings is insufficient during the work traveling until the next replenishment preparation process is performed. When determining that the remaining amount of seedlings is insufficient, the remaining amount determination unit 48 causes the notification unit 47 to issue a warning that the remaining amount of seedlings is insufficient.
  • the operator can replenish the seedlings before the replenishment preparation process, and during the automatic work traveling, when the remaining amount of seedlings is insufficient. It is possible to suppress the occurrence of cut seedlings and efficiently perform work traveling.
  • FIG. 2 differs from the replenishment setting of the first embodiment in that the interval is set not by the number of reciprocations (number of runs) but by the working distance.
  • the description of the same configuration as that of the first embodiment is omitted.
  • the automatic cruise control system includes a control unit 30 provided on the body 1, a positioning unit 8 provided on the body 1, and an information terminal 5. Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.
  • the information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a storage unit 42.
  • the information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.
  • a setting screen as shown in FIG. 7 is displayed on the touch panel 50 (step #1 in FIG. 8).
  • a replenishment side setting operation section 52 is displayed as a software switch on the setting screen.
  • the replenishment side SL is selectively set by the replenishment side setting operation section 52 .
  • the setting screen displays the outer shape of the field and a pattern such as an arrow corresponding to the internal round-trip route IPL, and the sides corresponding to the start and end of the internal round-trip route IPL are displayed as candidates for the replenishment side SL. .
  • the replenishment side setting operation unit 52 can select any of the candidate sides, all the candidate sides, or not to perform replenishment preparation processing (no side selected).
  • the side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in FIG. 8).
  • the replenishment side SL step #2 in FIG. 8
  • replenishment preparation processing when “do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and a temporary stop for replenishment is not performed.
  • the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment.
  • the non-replenishment preparation mode is not limited to the case where "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, and may be set by a separately provided operation tool (not shown). In this case, after the supply side SL is set by the supply side setting operation unit 52, the no-supply preparation mode can be set.
  • the working distance input section 56 is displayed as a software switch on the setting screen (step #3 in FIG. 8).
  • a working distance input unit 56 is used to input a working distance that allows the seedlings to be replenished to work.
  • the working distance input unit 56 may be configured to directly input a number corresponding to the working distance, or may be configured to increase or decrease the number as shown in FIG.
  • the working distance can be predicted in advance from information such as the amount of mat-like seedlings mounted on the seedling mounting table 21, the number of times of horizontal feeding, the amount of vertical feeding, and the distance between plants, and is empirically determined taking into consideration the conditions of the field. Also good.
  • the seedling supply setting unit 41 sets the supply preparation position SPP based on the working distance and the supply side SL input by the working distance input unit 56, stores it in the storage unit 42, and transmits the information to the traveling control unit 32. do.
  • the traveling control unit 32 stores the set replenishment preparation position SPP in the storage unit 35, and temporarily stops the machine body 1 in order to perform replenishment preparation processing at the set replenishment preparation position SPP.
  • the internal round-trip route IPL1, the internal round-trip route IPL2, and the internal round-trip route IPL3 are traveled, and the distance traveled to the position PA on the internal round-trip route IPL4 is the set working distance.
  • the end region of the internal reciprocating path IPL closest to the replenishment side SL to the position PA is set to the replenishment preparation position SPP.
  • the position PB is set to the supply preparation position SPP.
  • the travel distance from the planting start position S to the replenishment preparation position SPP is longer than the set working distance.
  • the distance between plants is lengthened or the amount of seedlings taken is reduced so that the planter can travel from the planting start position S to the replenishment preparation position SPP (position PB).
  • the adjustment between plants is carried out in the central part of the field.
  • the spacing between plants is adjusted only in a region that is at least a predetermined distance away from the outer edge of the field.
  • the end region of the internal round-trip route IPL toward the replenishment side SL next to the planting start position S side of the internal round-trip route IPL including the position PA is set to the replenishment preparation position SPP.
  • the position PC is set to the supply preparation position SPP.
  • the position PD is set to the supply preparation position SPP. Then, when all necessary settings are made, automatic work travel is started by accepting a predetermined operation (step #4 in FIG. 8).
  • the replenishment preparation position SPP By setting the replenishment preparation position SPP based on the working distance in this way, the replenishment preparation position SPP can be set more accurately according to the amount of replenished seedlings. As a result, it is possible to suppress unnecessary operations for stopping the traveling for work and for restarting the traveling for work, and it is possible to further improve the working efficiency.
  • the theoretical seedling consumption which is considered when determining the work distance, is compared with the actual consumption obtained as a result of the work during automatic work driving, and there is a difference between the two. may be done if there is Further, a wheel rotation speed sensor is provided, and the slip ratio in the field is measured by comparing the travel distance calculated from the wheel rotation speed sensor and the travel distance calculated based on the positioning data output from the positioning unit 8. , An appropriate spacing between plants is calculated based on the slip ratio, and the spacing between plants is adjusted by a stepless transmission mechanism such as a stepless hydrostatic mechanism (HST) provided in the drive system of the work device, resulting in highly accurate seedling consumption. It is possible to calculate the amount.
  • HST stepless hydrostatic mechanism
  • the information terminal 5 further includes a position calculation unit 57 , a consumption prediction unit 58 , and a consumption calculation unit 59 .
  • the position calculation unit 57 calculates the position of the aircraft 1 on the target travel route by any method. For example, the position calculator 57 continuously acquires the positioning data output by the positioning unit 8 and continuously calculates the position of the machine body 1 in the field. Information on the calculated position of the aircraft 1 is stored in at least one of the storage unit 42 and the storage unit 35 .
  • the positions of the machine body 1 to be stored may be at least the positions of the start and end parts of each internal round-trip route IPL. or all of them.
  • the consumption amount prediction unit 58 predicts the theoretical seedling consumption amount consumed when traveling the working distance from the vertical feeding amount and the number of horizontal feeding times of the seedling planting device 3 and the length and width of the mat-like seedling. It is transmitted to the control unit 30 (step #5-1 in FIG. 8).
  • the consumption calculation unit 59 calculates: The amount of seedlings consumed per unit distance is calculated, and the actual seedling consumption amount that would be consumed if the working distance is traveled with the current settings is calculated and transmitted to the control unit 30 (step #6-1 in FIG. 8). .
  • the work control unit 33 receives the theoretical seedling consumption amount and the actual seedling consumption amount, compares them, and adjusts at least one of the spacing between plants and the amount of seedlings taken according to the comparison result (step #7 in FIG. 8). -1).
  • the replenishment preparation position SPP may be changed according to the distance that can actually be traveled for work with the amount of seedlings to be loaded.
  • the information terminal 5 may include a position calculation section 57, a distance comparison section 61, a position change operation section 62, and a notification section 47.
  • the distance comparison unit 61 determines, based on the amount of seedlings consumed per unit distance calculated by the consumption amount calculation unit 59 and the amount of seedlings to be loaded, that seedlings need to be replenished next from the immediately preceding replenishment preparation position SPP. Then, the travelable distance is calculated (step #5-2 in FIG. 8). Next, the distance comparison unit 61 compares the calculated possible travel distance with the working distance used for setting (step #6-2 in FIG. 8). Then, if there is a difference equal to or greater than a predetermined threshold value between the possible travel distance and the working distance, the distance comparison section 61 causes the notification section 47 to notify that fact (step #7-2 in FIG. 8). . At this time, it is preferable to notify both of which distance is longer.
  • the position change operation unit 62 accepts an operation for changing the replenishment preparation position SPP.
  • the operator receives notification from the notification unit 47 and determines that the replenishment preparation position SPP needs to be changed, the operator operates the position change operation unit 62 (step #8-2 in FIG. 8).
  • the seedling replenishment setting unit 41 sets the replenishment preparation position SPP to a position adjacent to the replenishment side SL in the end region of the internal reciprocating path IPL in the forward or rearward direction in the traveling direction in accordance with the operation of the position change operation unit 62. change (step #9-2 in FIG. 8).
  • the replenishment preparation position SPP can be changed to the working distance according to the actual consumption of seedlings, and the replenishment of seedlings can be performed more efficiently.
  • the replenishment preparation position SPP is not limited to being changed by the operator operating the position change operation section 62 , but the replenishment preparation position SPP is automatically changed according to the comparison result of the distance comparison section 61 . It may be a configuration.
  • the seedling supply setting unit 41 changes the supply preparation position SPP according to the amount of change. may be changed (step #6-3 in FIG. 8).
  • FIG. 3 Another embodiment of replenishment setting will be described as Embodiment 3 with reference to FIGS. 10 to 12.
  • FIG. The replenishment setting of the third embodiment sets the seedling replenishment side in a configuration different from the configuration described above in the first or second embodiment.
  • the description of the configuration similar to that of the first embodiment or the second embodiment will be omitted.
  • the automatic cruise control system includes a control unit 30 provided on the body 1, a positioning unit 8 provided on the body 1, and an information terminal 5. Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.
  • the information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a storage unit 42.
  • the information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.
  • a setting screen as shown in FIG. 11 is displayed on the touch panel 50 (step #1 in FIG. 12).
  • a supply side setting operation section 52 and a route selection operation section 64 are displayed as software switches.
  • the replenishment side setting operation section 52 receives a selection operation as to whether or not to perform replenishment preparation processing (step #2 in FIG. 12).
  • the replenishment side SL is not set.
  • the setting screen displays the outer peripheral shape of the field and a pattern such as an arrow corresponding to the internal reciprocating route IPL.
  • Candidates for the replenishment side SL are sides corresponding to the start and end of the internal round-trip route IPL in the outer perimeter of the field.
  • the operator When the replenishment preparation process is selected (step #2 Yes in FIG. 12), the operator operates the route selection operation unit 64 to select the internal round-trip route IPL (step #3 in FIG. 12).
  • the operator grasps the traveling direction from the arrows or the like displayed on the internal round-trip route IPL, and selects the supply side SL by selecting the internal round-trip route IPL so that the outer periphery on the traveling direction side becomes the supply side SL. do.
  • the route selection operation unit 64 is an operation tool that can select one of the displayed internal round-trip routes IPL. , it may be an operating tool that sequentially feeds the selected internal round-trip route IPL to the left and right.
  • the internal round-trip route IPL may be selected by directly touching a pattern corresponding to the internal round-trip route IPL on the touch panel 50 without providing the route selection operation unit 64 .
  • the selected internal round-trip route IPL changes so that the selected internal round-trip route IPL can be identified by emitting light or coloring.
  • the seedling replenishment setting unit 41 sets the outer perimeter LA of the field on the traveling direction side of the internal round-trip route IPL selected by the route selection operation unit 64 as the replenishment side SL (step #4 in FIG. 12).
  • the seedling replenishment setting unit 41 sets the replenishment side SL not only to the outer periphery LA but also to the outer periphery LB of the field opposite to the traveling direction of the internal reciprocating path IPL. can be
  • the supply side SL can be set by a simple method of selecting the internal round-trip route IPL displayed on the setting screen. It can be performed.
  • a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and temporary stop for replenishment is not performed.
  • the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment.
  • a seedling replenishment operation unit 65 (equivalent to a "material replenishment operation unit") may be provided so that the operator can arbitrarily replenish seedlings.
  • the seedling supply operation unit 65 can be a software switch displayed on the touch panel 50 of the information terminal 5 .
  • the travel control unit 32 receives information that the seedling replenishment operation unit 65 has been operated and replenishes the seedlings. control so as to run toward the outer periphery of the field (replenishment side SL) immediately (step #6 in FIG. 12).
  • the traveling control unit 32 does not shift to turning traveling after traveling on the internal reciprocating route IPL during traveling, but continues to move forward, and the outer periphery of the field ( Control is performed so that the machine body 1 is stopped when it reaches the replenishment side SL).
  • the seedling replenishment setting unit 41 transmits information to the travel control unit 32 so that the machine body 1 travels toward the outer periphery of the field in order to replenish the seedlings after traveling on the selected internal round-trip route IPL.
  • the seedling replenishment setting unit 41 sets the outer perimeter on the traveling direction side of the internal round-trip route IPL that was running immediately before the replenishment of seedlings. That is, the outer perimeter where seedlings have been replenished may be set as the replenishment side SL (step #7 in FIG. 12).
  • replenishment amount of seedlings required for replenishment may be notified.
  • This replenishment amount is the amount of seedlings necessary for carrying out work travel to the next replenishment preparation position SPP after the replenishment of seedlings.
  • the necessary replenishment amount can be calculated from the work travel distance between the replenishment preparation positions SPP, the amount of vertical feeding, the number of times of horizontal feeding, the amount of seedlings taken, the size of mat-like seedlings, and the like.
  • the information terminal 5 may further include a notification unit 47 and a notification control unit 66.
  • the notification control unit 66 causes the notification unit 47 to notify the calculated replenishment amount.
  • the seedling supply setting unit 41 may correct at least one of the supply side SL and the supply preparation position SPP according to the calculated supply amount. For example, when the calculated replenishment amount is significantly smaller than the amount of mat-like seedlings that can be mounted on the seedling placement table 21, the replenishment preparation position SPP may be set at a farther position. In some cases, the replenishment side SL can be set at another outer perimeter of the field. In such a case, the seedling supply setting unit 41 may correct the supply side SL.
  • it may be configured such that the operation of the seedling replenishment operation unit 65 is accepted for the first time when the seedling shortage is detected during the automatic work travel when the no-replenishment preparation mode is set.
  • the notification control unit 66 causes the notification unit 47 to notify that fact. After such notification, at least one of the replenishment preparation position SPP and the replenishment side SL may be set.
  • the sensor 23 may be configured to directly detect runout of seedlings, or may be configured to detect the remaining amount of seedlings (mat-like seedlings) as described above.
  • the notification control unit 66 determines that the seedlings are out of stock and notifies the notification unit 47 when the remaining amount of seedlings is equal to or less than a predetermined amount. to do
  • the detection of running out of seedlings is not limited to the sensor 23, and may be performed using the remaining amount estimation unit 68.
  • the remaining capacity estimation unit 68 can be provided in the information terminal 5 .
  • the remaining amount estimating unit 68 calculates the expected consumption using information on the amount of vertical feeding, information on the number of times of horizontal feeding, information on the amount of seedlings collected, information on the interval between plants, information on the travel distance, etc. in work traveling after replenishment. Then, the remaining amount estimating unit 68 is installed at the time of replenishment of seedlings, and subtracts the calculated expected consumption amount from the amount of mat-shaped seedlings stored in the storage unit 42 of the information terminal 5 to calculate the remaining amount of real seedlings. presume.
  • the sensor 23 may detect the remaining amount of seedlings, and the remaining amount estimating section 68 may estimate the remaining amount of actual seedlings.
  • the notification control unit 66 may control the notification using either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of actual seedlings selected by the operator.
  • a remaining amount selection operation section 69 may be provided.
  • the remaining amount selection operation unit 69 is provided as a software switch or the like displayed on the touch panel 50 of the information terminal 5 .
  • the operator operates the remaining amount selection operation unit 69 to select either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of seedlings.
  • the notification control unit 66 determines that seedlings are out of stock when the remaining amount of selected seedlings or the remaining amount of real seedlings is equal to or less than a predetermined amount, and causes the notification unit 47 to notify that fact.
  • control unit 30 and the information terminal 5 are not limited to those configured from the above functional blocks, and may be configured from arbitrary functional blocks.
  • each functional block of the control unit 30 and the information terminal 5 may be further subdivided, or conversely, a part or all of each functional block may be grouped together.
  • the functions of the control unit 30 and the information terminal 5 may be realized by a method executed by arbitrary functional blocks, not limited to the above functional blocks.
  • part or all of the functions of the control unit 30 and the information terminal 5 may be configured by software.
  • a program related to software is stored in an arbitrary storage device such as the storage unit 35 and the storage unit 42, and is executed by a processor such as a CPU provided in the control unit 30 or the information terminal 5, or a processor provided separately.
  • the amount calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 are not limited to the configuration provided in the information terminal 5, and at least one of them may be provided in the control unit 30. It may be provided in an external management computer or the like that can communicate with the unit or body 1 .
  • the microphone 44 and the notification unit 47 are provided in the operation unit 14, the seedling supply setting unit 41, the voice recognition unit 45, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption At least one of the amount calculation unit 59 , the notification control unit 66 , and the remaining amount estimation unit 68 may be provided in the control unit 30 or the like provided in the body 1 .
  • at least one of the number-of-travels operation unit 53, the number-of-times change operation unit 54, the working distance input unit 56, the position change operation unit 62, the route selection operation unit 64, and the seedling supply operation unit 65 is attached to the machine body 1 such as the operation unit 14. may be provided.
  • Seedling supply setting unit 41, microphone 44, voice recognition unit 45, notification unit 47, remaining amount determination unit 48, position calculation unit 57, distance comparison unit 61, consumption prediction unit 58, consumption calculation unit 59, notification control unit 66 , remaining amount estimation unit 68, number of times of running operation unit 53, number of times change operation unit 54, working distance input unit 56, position change operation unit 62, route selection operation unit 64, seedling supply operation unit 65 may be provided in
  • the configuration may be such that the imaging device 19 for photographing the periphery of the body 1 and the seedling replenishment point detection unit 20 are provided on the body 1 .
  • the seedling replenishment point detection unit 20 identifies the replenishment point SA by image analysis from the image captured by the imaging device 19, and the travel control unit 32 identifies the replenishment point SA. It may be configured to automatically move to the replenishment point SA.
  • the automatic travel control system or the field work vehicle may be configured to be able to cooperate with a combine harvester. Further, the information of the supply side SL set when the rice transplanter performs the seedling planting work is transmitted to the combine harvester, and the discharge position of the grain during the harvesting work by the combine is determined based on the information of the supply side SL. Also good.
  • the automatic travel control system or the field work vehicle can collect the 3D data of the field when setting the replenishment side SL. You can consider it.
  • the outer perimeter of the field may not be suitable as the replenishment side SL due to the height of the ridge and the undulation of the ridge (perimeter of the field).
  • the replenishment side SL is prevented from being set at an inappropriate position, and the replenishment side SL is appropriately set. .
  • the senor 23 may be configured to detect how many mat-like seedlings remain by arranging a plurality of such sensors 23 side by side in the longitudinal feeding direction. Furthermore, the sensor 23 may be a camera for photographing the mat-like seedlings on the seedling placement table 21, and may be configured to detect the remaining amount of mat-like seedlings by analyzing the photographed image. Moreover, the sensor 23 is a weight sensor, and may be configured to measure the remaining amount of seedlings from the change in the weight of the mat-like seedlings mounted on the seedling mounting table 21 .
  • a configuration in which a drone is mounted instead of the sensor 23 may be used.
  • the seedling platform 21 is photographed by a drone, and the photographed image is image-analyzed to detect the remaining amount of seedlings on the seedling platform 21 .
  • a configuration may be adopted in which the lack of seedlings or the like is recognized by the voice uttered by the operator.
  • the information terminal 5, the machine body 1, or the remote control 6 is provided with a voice recognition system, and the voice recognition system analyzes the voice uttered by the operator and recognizes whether the seedling is cut or the like.
  • the voice recognition system recognizes the worker's voice saying “seedling cut” and detects that the seedling is cut. In addition, the voice recognition system recognizes the worker's voice saying "there are many seedlings” and detects that the work can travel longer than planned.
  • the seedling replenishment setting unit 41 changes the timing of replenishment preparation processing according to these detection details.
  • the farm work vehicle is not limited to a rice transplanter, and may be a seeding machine that supplies agricultural cooperative materials to a field, a chemical sprayer, a fertilizer applicator, or other work vehicle. It may be a harvester such as a combine that discharges harvested crops.
  • a discharge side along the discharge position for discharging the harvested crops is set from the outer periphery of the field, and discharge preparation processing is performed at the discharge preparation position of the internal reciprocating route IPL set by the material discharge setting unit.
  • the “replenishment side” in the automatic travel control system of the rice transplanter corresponds to the “discharge side” in the automatic travel control system of the harvester
  • the “agricultural material” corresponds to the “harvested crops”
  • the “material replenishment setting "Part” corresponds to "Material discharge setting part”
  • "Replenishment preparation position” corresponds to "Discharge preparation position”
  • “Replenishment preparation process” corresponds to "Discharge preparation process”.
  • the present invention can be applied not only to seedling transplant vehicles such as rice transplanters, but also to various field work vehicles such as combine harvesters and tractors.

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Abstract

The present invention is an automatic travel control system for a farmland work vehicle that performs farmland work to supply agricultural materials to farmland by repeatedly carrying out automatic reciprocating travel, which entails traveling along a travel route comprising an inner route and a circling route. In order to resupply materials in a prescribed resupply area, the farmland work vehicle performs a resupply preparation process to stop traveling whenever the inner route has been traveled a prescribed number of times. The farmland work vehicle comprises: a travel control unit 32 that controls automatic travel including the resupply preparation process; a work control unit 33 that controls the farmland work; a travel frequency operation unit 53 that receives a selection of a travel frequency; and a material resupply setting unit 41 that sets the travel frequency in accordance with an input to the travel frequency operation unit 53.

Description

自動走行制御システムおよび圃場作業車Automatic driving control system and field work vehicle
　本発明は、自動走行しながら農業資材を圃場に供給し、または、収穫した農作物を排出する圃場作業車および圃場作業車の自動作業走行を制御する自動走行制御システムに関する。 The present invention relates to a field work vehicle that supplies agricultural materials to a field or discharges harvested crops while automatically traveling, and an automatic travel control system that controls the automatic work travel of the field work vehicle.
　圃場に農業資材を供給する自動作業走行を行う圃場作業車は、自動作業走行中に、農業資材の補給、または収穫した農作物の排出を行う。 The field work vehicle, which performs automatic work driving to supply agricultural materials to the field, replenishes agricultural materials or discharges the harvested crops during automatic work driving.
　特許文献１に開示された圃場作業車（田植機）は、圃場を往復する毎に機体を停止させ、農業資材（苗）を補給する必要がある場合は農業資材の補給を行い、農業資材を補給する必要がない場合は作業走行を継続している。 The field work vehicle (rice transplanter) disclosed in Patent Document 1 stops the machine every time it reciprocates in the field, and if it is necessary to replenish agricultural materials (seedlings), it replenishes agricultural materials. If there is no need for replenishment, work travel is continued.
特開２０２１－１０６６１３号公報JP 2021-106613 A
　しかしながら、自動作業走行において、さらに効率的に農業資材の補給を行ことが求められている。 However, there is a demand for more efficient replenishment of agricultural materials in automated work driving.
　本発明は、効率的に農業資材の補給、または収穫した農作物の排出を行うことを目的とする。 The purpose of the present invention is to efficiently supply agricultural materials or discharge harvested crops.
　上記目的を達成するために、本発明の一実施形態に係る自動走行制御システムは、内部経路と旋回経路とからなる走行経路を走行する自動往復走行を繰り返すことにより圃場に農業資材を供給する圃場作業を行う圃場作業車の自動走行制御システムであって、前記圃場作業車は、所定の補給辺で資材補給を行うために、前記内部経路の走行を所定の走行回数だけ行う度に走行を停止する補給準備処理を行い、前記補給準備処理を含む自動走行を制御する走行制御部と、前記圃場作業を制御する作業制御部と、前記走行回数の選択を受け付ける走行回数操作部と、前記走行回数操作部への入力に応じて前記走行回数を設定する資材補給設定部とを備える。 In order to achieve the above object, an automatic travel control system according to an embodiment of the present invention supplies agricultural materials to a field by repeating automatic reciprocating travel that travels along a travel route consisting of an internal route and a turning route. An automatic travel control system for a field work vehicle that performs work, wherein the field work vehicle stops running every time it travels a predetermined number of times on the internal route in order to replenish materials at a predetermined replenishment side. a travel control unit for controlling automatic travel including the replenishment preparation processing; a work control unit for controlling the field work; a travel count operation unit for receiving selection of the travel count; and a material replenishment setting unit for setting the number of times of travel according to an input to the operation unit.
　本発明の一実施形態に係る圃場作業車は、内部経路と旋回経路とからなる走行経路を走行する自動往復走行を繰り返すことにより圃場に農業資材を供給する圃場作業を行い、所定の補給辺で資材補給を行うために、前記内部経路の走行を所定の走行回数だけ行う度に走行を停止する補給準備処理を行う圃場作業車であって、前記圃場作業を行う作業装置と、前記補給準備処理を含む自動走行を制御する走行制御部と、前記圃場作業を制御する作業制御部と、前記走行回数の選択を受け付ける走行回数操作部と、前記走行回数操作部への入力に応じて前記走行回数を設定する資材補給設定部とを備える。 A field work vehicle according to an embodiment of the present invention performs field work to supply agricultural materials to a field by repeating automatic reciprocating travel that travels on a travel route consisting of an internal route and a turning route, and supplies agricultural materials to a field. A farm work vehicle that performs a replenishment preparation process for replenishing materials by stopping traveling on the internal route each time it travels a predetermined number of times, the work device performing the field work, and the replenishment preparation process. a travel control unit that controls automatic travel, a work control unit that controls the field work, a travel number operation unit that receives selection of the number of travels, and the number of travels according to an input to the number of travels operation unit and a material replenishment setting unit that sets the
　以上のような構成により、搭載される農業資材で作業走行を行うことができる走行距離に応じた走行回数毎に補給準備処理を行うことができるため、不要な補給準備処理による停止と走行再開操作を抑制し、効率的に農業資材の補給を行い、効率的な作業走行を行うことができる。 With the configuration as described above, since it is possible to perform replenishment preparation processing for each number of travels corresponding to the travel distance that can be traveled for work with the mounted agricultural materials, stop and travel restart operations due to unnecessary replenishment preparation processing are performed. can be suppressed, agricultural materials can be efficiently replenished, and efficient work traveling can be performed.
　本発明の一実施形態に係る自動走行制御システムは、内部経路と旋回経路とからなる走行経路を走行する自動往復走行を繰り返すことにより圃場から農作物を収穫する圃場作業を行う圃場作業車の自動走行制御システムであって、前記圃場作業車は、所定の排出辺で収穫した前記農作物を排出するために、前記内部経路の走行を所定の走行回数だけ行う度に走行を停止する排出準備処理を行い、前記排出準備処理を含む自動走行を制御する走行制御部と、前記圃場作業を制御する作業制御部と、前記走行回数の選択を受け付ける走行回数操作部と、前記走行回数操作部への入力に応じて前記走行回数を設定する資材排出設定部とを備える。 An automatic travel control system according to an embodiment of the present invention automatically travels a field work vehicle that performs field work to harvest crops from a field by repeating automatic reciprocating travel that travels along a travel route consisting of an internal route and a turning route. In the control system, the field work vehicle performs a discharge preparation process for stopping the traveling every time the internal route is traveled a predetermined number of times in order to discharge the crop harvested at a predetermined discharge side. , a travel control unit that controls automatic travel including the discharge preparation process, a work control unit that controls the farm work, a number of travels operation unit that receives selection of the number of travels, and an input to the number of travels operation unit and a material discharge setting unit for setting the number of times of travel accordingly.
　以上のような構成により、機体に貯留可能な量だけ収穫された農作物が貯留されるまでの作業走行距離に応じた走行回数毎に排出準備処理を行うことができるため、不要な排出準備処理による停止と走行再開操作を抑制し、効率的に農作物の排出を行い、効率的な作業走行を行うことができる。 With the above configuration, it is possible to perform discharge preparation processing for each number of trips corresponding to the working distance until the amount of harvested crops that can be stored in the aircraft is stored. It is possible to suppress stop and travel restart operations, efficiently discharge crops, and perform efficient work travel.
　また、前記走行回数は、前記旋回経路を挟んだ２つの前記内部経路を走行する往復走行の回数であっても良い。 Further, the number of times of travel may be the number of times of reciprocating travel in which two internal routes are traveled with the turning route interposed therebetween.
　補給辺が圃場の外周辺のうちの１つの外周辺に設定される場合、内部経路のうち、補給辺に向けて走行する内部経路の終端部で補給準備処理が行われる。そのため、往復走行の回数で走行回数を設定することにより、容易かつ無駄なく補給準備処理の設定を行うことができる。 When the replenishment side is set to one of the outer perimeters of the field, the replenishment preparation process is performed at the terminal end of the internal route that travels toward the replenishment side. Therefore, by setting the number of times of traveling by the number of times of reciprocating traveling, it is possible to easily and efficiently set the replenishment preparation process.
　また、前記走行回数の変更指示を受け付ける回数変更操作部をさらに備え、前記自動往復走行中に前記変更指示を受け付けると、前記資材補給設定部は前記変更指示に応じて、直前の前記補給準備処理から次の前記補給準備処理を行うまでの前記走行回数を変更しても良い。 Further, a number change operation section for accepting a change instruction for the number of times of travel is further provided, and when the change instruction is received during the automatic reciprocating travel, the material replenishment setting section responds to the change instruction to perform the immediately preceding replenishment preparation process. It is also possible to change the number of times of travel from the time the vehicle travels to the time when the next replenishment preparation process is performed.
　補給準備処理を行う位置までに農業資材が不足することや、補給準備処理を行う位置まで作業走行を行っても十分な農業資材が残る（余る）ことが、自動作業走行中に予測できる場合がある。 There are cases where it can be predicted during automatic work travel that there will be a shortage of agricultural materials up to the position for replenishment preparation processing, or that sufficient agricultural materials will remain (surplus) even if work travels to the position where replenishment preparation processing is performed. be.
　上記の構成により、補給準備処理を行う位置を必要に応じて変更することができるため、適切なタイミングで農業資材の補給を行うことができ、より効率的に農業資材の補給を行うことができる。 With the above configuration, the position where the replenishment preparation process is performed can be changed as needed, so that the replenishment of agricultural materials can be performed at an appropriate timing, and the replenishment of agricultural materials can be performed more efficiently. .
　また、前記資材補給設定部は、変更された前記走行回数で前記補給準備処理を行った後、以降の前記走行回数を前記走行回数操作部にて選択された前記走行回数に戻しても良い。 Further, the material replenishment setting unit may return the subsequent number of runs to the number of runs selected by the number of runs operation unit after performing the replenishment preparation process with the changed number of runs.
　圃場の一部の状況により作業状況が一時的に変化し、補給準備処理を行う位置における農業資材の不足や余りが生じる場合がある。このような場合、一部の圃場での補給準備処理のタイミングを修正することが適切である。 　The work situation may temporarily change depending on the situation in some fields, and there may be shortages or surpluses of agricultural materials at the position where replenishment preparation processing is performed. In such a case, it is appropriate to correct the timing of replenishment preparation processing in some fields.
　上記構成により、適切なタイミングで農業資材の補給を行うことができ、より効率的に農業資材の補給を行うことができる。 With the above configuration, agricultural materials can be replenished at the appropriate timing, and agricultural materials can be replenished more efficiently.
　また、前記資材補給設定部は、前記変更指示を受け付けると、以降の前記走行回数を前記変更指示に対応する前記走行回数に変更しても良い。 Further, the material replenishment setting unit may change the number of times of subsequent travels to the number of times of travels corresponding to the change instruction when the change instruction is received.
　走行回数は単位走行距離当たりの農業資材の消費量を予測して決定される。消費量の予測が正確でない場合、圃場全体において補給準備処理のタイミングが適切に設定されないことになる。 　The number of trips is determined by predicting the consumption of agricultural materials per unit distance traveled. If the prediction of the amount of consumption is not accurate, the timing of replenishment preparation processing will not be appropriately set for the entire field.
　このような場合、上記構成により、適切なタイミングで農業資材の補給を行うことができ、より効率的に農業資材の補給を行うことができる。 In such a case, with the above configuration, agricultural materials can be replenished at the appropriate timing, and agricultural materials can be replenished more efficiently.
　また、前記回数変更操作部は、前記圃場作業車の機体に設けられても良い。 Further, the number-of-times changing operation unit may be provided on the body of the field work vehicle.
　このような構成により、機体に搭乗している作業者により、容易に農業資材を補給するタイミングを変更することができる。 With such a configuration, the timing of replenishing agricultural materials can be easily changed by the worker on board the aircraft.
　また、前記圃場作業車に着脱可能な情報端末をさらに備え、前記回数変更操作部は、前記情報端末に設けられ、前記変更指示は、前記回数変更操作部が操作された回数に応じて決定されても良い。 Further, an information terminal detachable from the field work vehicle is further provided, the number of times change operation unit is provided in the information terminal, and the change instruction is determined according to the number of times the number of times change operation unit is operated. can be
　このような構成により、情報端末の表示内容を確認しながら農業資材を補給するタイミングを変更することができ、容易に農業資材を補給するタイミングを変更することができる。 With such a configuration, it is possible to change the timing of replenishing agricultural materials while checking the display contents of the information terminal, and easily change the timing of replenishing agricultural materials.
　また、前記圃場作業車に着脱可能な情報端末をさらに備え、前記回数変更操作部は、前記情報端末に設けられ、前記変更指示は、前記回数変更操作部を操作されている間に変化する前記走行回数を選択することにより決定されても良い。 Further, an information terminal detachable from the field work vehicle is further provided, the number of times change operation section is provided in the information terminal, and the change instruction changes while the number of times change operation section is operated. It may be determined by selecting the number of runs.
　このような構成により、情報端末の表示内容を確認しながら農業資材を補給するタイミングを変更することができ、容易に農業資材を補給するタイミングを変更することができる。 With such a configuration, it is possible to change the timing of replenishing agricultural materials while checking the display contents of the information terminal, and easily change the timing of replenishing agricultural materials.
　また、前記圃場作業車に対する遠隔操作が可能なリモコンをさらに備え、前記回数変更操作部は、前記リモコンに設けられても良い。 Further, a remote controller capable of remotely controlling the field work vehicle may be further provided, and the number-of-times changing operation unit may be provided in the remote controller.
　自動作業走行は、作業者が機体に搭乗していない状態で行われる場合がある。この際、作業者は機体を操作するリモコンを携帯する。 Automatic work travel may be performed without a worker on board the aircraft. At this time, the operator carries a remote controller for operating the machine.
　上記構成により、作業者は機体に搭乗していない状態で農業資材を補給するタイミングを変更することができ、容易に農業資材を補給するタイミングを変更することができる。 With the above configuration, the operator can change the timing of replenishing agricultural materials without boarding the aircraft, and can easily change the timing of replenishing agricultural materials.
　また、音声を入力するマイクをさらに備え、前記資材補給設定部は、予め決められた前記音声に反応する音声認識部を有し、前記音声認識部は前記マイクに入力される前記音声を認識し、前記資材補給設定部は、前記音声認識部で認識された前記音声に応じて前記走行回数を変更しても良い。 Further, a microphone for inputting voice is further provided, the material replenishment setting unit has a voice recognition unit that reacts to the predetermined voice, and the voice recognition unit recognizes the voice input to the microphone. The material replenishment setting unit may change the number of runs according to the voice recognized by the voice recognition unit.
　このような構成により、作業者は特段の操作を行わず、声を発するだけで農業資材を補給するタイミングを変更することができ、容易に農業資材を補給するタイミングを変更することができる。 With such a configuration, the worker can change the timing of replenishing agricultural materials simply by uttering a voice without performing any special operation, and can easily change the timing of replenishing agricultural materials.
　また、前記圃場作業車に対する遠隔操作が可能なリモコンをさらに備え、前記マイクは、前記リモコンに設けられても良い。 Further, a remote controller capable of remotely controlling the field work vehicle may be further provided, and the microphone may be provided in the remote controller.
　自動作業走行は、作業者が機体に搭乗していない状態で行われる場合がある。この際、作業者は機体を操作するリモコンを携帯する。 Automatic work travel may be performed without a worker on board the aircraft. At this time, the operator carries a remote controller for operating the machine.
　上記構成により、作業者は機体に搭乗していない状態で、声を発するだけで農業資材を補給するタイミングを変更することができ、容易に農業資材を補給するタイミングを変更することができる。 With the above configuration, the worker can change the timing of replenishing agricultural materials simply by speaking while not on board the aircraft, and can easily change the timing of replenishing agricultural materials.
　また、前記走行回数操作部は、前記補給準備処理を実行しない無補給準備モードを選択でき、前記無補給準備モードを選択した前記自動往復走行中に、前記回数変更操作部が操作されると、前記走行制御部は、次に前記補給辺に近づいた際に前記補給準備処理を実行しても良い。 Further, the number-of-travels operation section can select a non-replenishment preparation mode in which the replenishment preparation process is not executed. The travel control unit may execute the replenishment preparation process when the vehicle next approaches the replenishment side.
　このような構成により、定期的に補給準備処理を行わない場合にも、作業者の判断で補給準備処理を行うことができ、不要な停止をさらに抑制し、より効率的に農業資材の補給を行い、効率的な作業走行を行うことができる。 With such a configuration, even when the replenishment preparation process is not performed regularly, the replenishment preparation process can be performed at the operator's discretion, further suppressing unnecessary stoppages and more efficiently replenishing agricultural materials. This enables efficient work travel.
　また、前記圃場作業車は前記農業資材として苗を前記圃場に植え付ける苗移植車であり、苗載せ台と植付機構とを有し、前記苗載せ台は、マット状苗を載置し、所定の縦送り量で継続的に前記植付機構に前記マット状苗を送り出し、前記植付機構は、前記マット状苗から所定の苗取り量の前記苗を取り出して、所定の株間で前記苗を前記圃場に植え付け、前記苗載せ台は前記マット状苗のマット残量を検出するセンサを有し、前記自動走行制御システムは、所定の報知を行う報知部をさらに備え、前記資材補給設定部は、前記センサが検出する前記マット残量の情報、前記苗取り量の情報、前記縦送り量の情報、前記マット状苗の長さの情報、および前記株間の情報から、次に前記補給準備処理を行うまでの前記圃場作業において、前記苗の残量が不足するか否かを判定する残量判定部とを有し、前記残量判定部は、前記苗の残量が不足する場合は、前記報知部に前記苗の残量が不足する旨の報知を行わせても良い。 In addition, the field working vehicle is a seedling transplanting vehicle for planting seedlings as the agricultural material in the field, and has a seedling platform and a planting mechanism. The mat-like seedlings are continuously sent to the planting mechanism with a vertical feeding amount of , and the planting mechanism takes out a predetermined seedling amount of the seedlings from the mat-like seedlings and removes the seedlings at a predetermined interval. The seedling placement table has a sensor for detecting the mat remaining amount of the mat-like seedlings planted in the field, the automatic travel control system further includes a notification unit that performs a predetermined notification, and the material supply setting unit , based on the information on the remaining amount of the mat detected by the sensor, the information on the amount of seedlings taken, the information on the amount of vertical feeding, the information on the length of the mat-like seedlings, and the information on the spacing between plants, the replenishment preparation process is performed next. and a remaining amount determination unit that determines whether or not the remaining amount of the seedlings is insufficient in the field work until the The notification unit may be caused to notify that the remaining amount of seedlings is insufficient.
　このような構成により、補給準備処理を行う位置までに必要な苗の残量が不足することが報知されるため、作業者は空植えを抑制するために、株間や苗取り量を調整したり、早期に苗の補給を行ったりして、適切な対応を行うことができる。そのため、適切かつ効率的に作業走行を行うことができる。 With such a configuration, it is notified that the remaining number of seedlings necessary for the position for replenishment preparation processing is insufficient. It is possible to take appropriate measures such as early supply of seedlings. Therefore, work traveling can be performed appropriately and efficiently.
自動走行可能な田植機の左側面図である。It is a left view of the rice transplanter which can run automatically. 田植機の作業走行を説明する概略図である。It is a schematic diagram explaining work traveling of a rice transplanter. 実施形態１における自動走行制御システムの機能構成を例示するブロック図である。1 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 1; FIG. 実施形態１における補給辺および実施間隔の設定画面を例示する図である。FIG. 10 is a diagram illustrating a setting screen for a replenishment side and a replenishment interval according to the first embodiment; 実施形態１における補給設定と実施間隔の変更とを行う工程を例示する図である。FIG. 5 is a diagram illustrating steps for setting replenishment and changing the implementation interval according to the first embodiment; 実施形態２における自動走行制御システムの機能構成を例示するブロック図である。FIG. 7 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 2; 実施形態２における補給辺および実施間隔の設定画面を例示する図である。FIG. 11 is a diagram illustrating a setting screen for a replenishment side and a supply interval according to the second embodiment; 実施形態２における補給設定と補給準備位置の変更とを行う工程を例示する図である。FIG. 10 is a diagram illustrating a process of setting replenishment and changing a replenishment preparation position according to the second embodiment; 実施形態２における補給準備位置を説明する図である。FIG. 11 is a diagram for explaining a replenishment preparation position in Embodiment 2; 実施形態３における自動走行制御システムの機能構成を例示するブロック図である。FIG. 11 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 3; 実施形態３における補給辺の設定画面を例示する図である。FIG. 11 is a diagram illustrating a screen for setting a replenishment side according to the third embodiment; 実施形態３における補給設定を行う工程を例示する図である。FIG. 11 is a diagram illustrating a process of making replenishment settings in Embodiment 3;
〔実施形態１〕
　以下、本発明の圃場作業車として、圃場に苗（農業資材）を植え付ける（圃場作業）田植機を例に説明する。 [Embodiment 1]
Hereinafter, a rice transplanter for planting seedlings (agricultural material) in a field (field work) will be described as an example of the field working vehicle of the present invention.
　ここで、理解を容易にするために、本実施形態では、特に断りがない限り、「前」（図１に示す矢印Ｆの方向）は機体前後方向（走行方向）における前方を意味し、「後」（図１に示す矢印Ｂの方向）は機体前後方向（走行方向）における後方を意味するものとする。また、左右方向または横方向は、機体前後方向に直交する機体横断方向（機体幅方向）を意味し、「左」は図１における紙面の手前の方向、「右」は図１における紙面の奥向きの方向を意味するものとする。 Here, for ease of understanding, in the present embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means forward in the longitudinal direction of the aircraft (running direction). "Rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (running direction) of the aircraft. In addition, the left-right direction or the lateral direction means the transverse direction of the fuselage (body width direction) perpendicular to the longitudinal direction of the fuselage. shall mean the direction of orientation.
〔全体構造〕
　図１に示すように、田植機は、乗用型で四輪駆動形式の機体１を備える。機体１は、機体１の後部に昇降揺動可能に連結された平行四連リンク形式のリンク機構１３、リンク機構１３を揺動駆動する油圧式の昇降リンク１３ａ、リンク機構１３の後端部領域にローリング可能に連結される苗植付装置３、および、機体１の後端部領域から苗植付装置３にわたって架設されている施肥装置４等を備える。 [Overall structure]
As shown in FIG. 1, the rice transplanter includes a ride-on, four-wheel-drive body 1 . The body 1 includes a parallel quadruple link type link mechanism 13 connected to the rear part of the body 1 so as to be able to swing up and down, a hydraulic lifting link 13a that drives the link mechanism 13 to swing, and a rear end region of the link mechanism 13. a seedling planting device 3 that is rollably connected to the machine body 1;
　機体１は、走行のための機構として車輪１２、エンジン２、および主変速装置である油圧式の無段変速装置９を備える。無段変速装置９は、例えばＨＳＴ（Ｈｙｄｒｏ－Ｓｔａｔｉｃ　Ｔｒａｎｓｍｉｓｓｉｏｎ：静油圧式無段変速装置）である。車輪１２は、操舵可能な左右の前輪１２Ａと、操舵不能な左右の後輪１２Ｂとを有する。エンジン２から出力される動力は、走行用伝達機構を介して無段変速装置９に伝えられ、無段変速装置９から前輪１２Ａ、後輪１２Ｂ、作業装置（苗植付装置３、施肥装置４等）等にも伝達される。エンジン２および無段変速装置９は、機体１の前部に搭載される。 The machine body 1 has wheels 12, an engine 2, and a hydraulic continuously variable transmission 9 as a mechanism for traveling. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. Power output from the engine 2 is transmitted to a continuously variable transmission 9 via a traveling transmission mechanism, and from the continuously variable transmission 9, front wheels 12A, rear wheels 12B, working devices (seedling planting device 3, fertilizing device 4). etc.). The engine 2 and the continuously variable transmission 9 are mounted on the front portion of the airframe 1 .
　苗植付装置３は、一例として８条植え形式に構成される。苗植付装置３は、苗載せ台２１、８条分の植付機構２２等を備える。なお、この苗植付装置３は、図示されていない各条クラッチの制御により、２条植え、４条植え、６条植え等の形式に変更可能である。 The seedling planting device 3 is configured in an eight-row planting format, for example. The seedling planting device 3 includes a seedling platform 21, a planting mechanism 22 for eight rows, and the like. This seedling planting device 3 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).
　苗載せ台２１は、８条分のマット状苗を載置する台座である。苗載せ台２１は、マット状苗の左右幅に対応する一定ストロークで継続的に左右方向に往復移動（横送り）し、所定の横送り回数の横送りにより苗載せ台２１が左右のストローク端に達するごとに、苗載せ台２１上の各マット状苗を苗載せ台２１の下端に向けて所定のピッチ（縦送り量）で縦送りする。８個の植付機構２２は、ロータリ式で、植え付け条間に対応する一定間隔で左右方向に配置される。そして、各植付機構２２は、植付クラッチ（図示せず）が伝動状態に移行されることによりエンジン２から動力が伝達され、苗載せ台２１に載置された各マット状苗の下端から一株分の苗（植付苗）を切り取って、整地後の泥土部に所定の株間で植え付ける。これにより、苗植付装置３の作動状態では、苗載せ台２１に載置されたマット状苗から苗を取り出して水田の泥土部に植え付ける（供給する）ことができる。 The seedling placement table 21 is a pedestal on which 8 rows of mat-like seedlings are placed. The seedling mounting table 21 is continuously reciprocated (horizontally fed) in the left-right direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the seedling mounting table 21 is moved to the left and right stroke ends by the lateral feeding of a predetermined number of times. Each mat-like seedling on the seedling mounting table 21 is longitudinally fed toward the lower end of the seedling mounting table 21 at a predetermined pitch (longitudinal feeding amount). The eight planting mechanisms 22 are of a rotary type and are arranged in the left-right direction at regular intervals corresponding to the intervals between the planting rows. Each planting mechanism 22 receives power from the engine 2 when a planting clutch (not shown) shifts to a transmission state, and the lower end of each mat-like seedling placed on the seedling placement table 21 A seedling (planting seedling) for one strain is cut and planted in a muddy area after leveling with a predetermined interval between strains. As a result, when the seedling planting device 3 is in operation, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placement table 21 and planted (supplied) in the mud part of the paddy field.
　また、苗載せ台２１は、マット状苗の残量を検出するセンサ２３を備えても良い。例えば、センサ２３は光センサであり、苗載せ台２１の表面（載置面）に設けられ、載置されたマット状苗がセンサ２３に光が入射することを遮ることにより、マット状苗がセンサ２３の配置位置において存在するか否かを検出し、マット状苗が所定量以上存在するか否かを検出する構成であっても良い。 Also, the seedling placement table 21 may be provided with a sensor 23 that detects the remaining amount of mat-like seedlings. For example, the sensor 23 is an optical sensor, and is provided on the surface (mounting surface) of the seedling placement table 21. By blocking the light from entering the sensor 23, the mat-like seedling is placed on the seedling placement table. It may be configured to detect whether or not the mat-like seedlings are present at the arrangement position of the sensor 23, and to detect whether or not there are a predetermined amount or more of mat-like seedlings.
　なお、横送り回数、縦送り量、株間、一株分の苗の量である苗取り量、およびマット状苗の寸法（長さや幅）等の情報は、情報端末５等と通信可能な任意の記憶部（後に図３等で説明される記憶部３５や記憶部４２等）に記憶される。なお、横送り回数、縦送り量、株間、苗取り量は固定であっても良いが、任意に設定変更可能な構成であっても良い。この場合、記憶部は設定されている情報を記憶する。 Information such as the number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, the amount of seedlings taken from one plant, and the dimensions (length and width) of mat-like seedlings can be obtained from any device that can be communicated with the information terminal 5 or the like. (storage unit 35, storage unit 42, etc. described later with reference to FIG. 3, etc.). The number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, and the amount of seedlings taken may be fixed, but the configuration may be such that the settings can be arbitrarily changed. In this case, the storage unit stores the set information.
　施肥装置４（供給装置）は、粒状または粉状の肥料（薬剤やその他の農業資材）を貯留するホッパ２５（貯留部）と、ホッパ２５から肥料を繰り出す繰出機構２６と、繰出機構２６によって繰出された肥料を搬送すると共に肥料を圃場に排出する施肥ホース２８とを有する。ホッパ２５に貯留された肥料が、繰出機構２６によって所定量ずつ繰り出されて施肥ホース２８へ送られて、ブロワ２７の搬送風によって施肥ホース２８内を搬送され、作溝器２９から圃場へ排出される。このように、施肥装置４は圃場に肥料を供給する。 The fertilizing device 4 (supplying device) includes a hopper 25 (storage unit) that stores granular or powdery fertilizer (medicine and other agricultural materials), a delivery mechanism 26 that delivers the fertilizer from the hopper 25, and delivery mechanism 26. and a fertilizing hose 28 for conveying the applied fertilizer and discharging the fertilizer to the field. Fertilizer stored in the hopper 25 is delivered by a delivery mechanism 26 by a predetermined amount and sent to the fertilizing hose 28, conveyed through the fertilizing hose 28 by the carrying wind of the blower 27, and discharged from the ditching device 29 to the field. be. Thus, the fertilizing device 4 supplies fertilizer to the field.
　図１に示すように、機体１は、その後部側領域に運転部１４を備える。運転部１４は、前輪操舵用のステアリングホイール１０、無段変速装置９の変速操作を行うことで車速を調節する主変速レバー７Ａ、副変速装置の変速操作を可能にする副変速レバー７Ｂ、苗植付装置３の昇降操作と作動状態の切り換え等を可能にする作業操作レバー１１、各種の情報を表示（報知）してオペレータに報知（出力）すると共に、各種の情報の入力を受け付けるタッチパネル５０（図３等参照　「表示部」に相当）を有し、着脱可能な情報端末５、および、オペレータ（運転者・作業者）用の運転座席１６等を備える。副変速レバー７Ｂは、走行車速を、作業中の作業速と移動中の移動速とに切り替える操作に用いられる。例えば、圃場間の移動は移動速で行われ、植付作業等は作業速で行われる。さらに、運転部１４の前方に、予備苗を収容する予備苗収納装置１７Ａが予備苗支持フレーム１７に支持される。 As shown in FIG. 1, the airframe 1 has an operating section 14 in the rear area. The driving unit 14 includes a steering wheel 10 for steering the front wheels, a main gear shift lever 7A that adjusts the vehicle speed by performing a gear shift operation of the continuously variable transmission 9, an auxiliary gear shift lever 7B that enables gear shift operation of the sub transmission, and a seedling. A work operation lever 11 that enables the planting device 3 to be moved up and down, and a touch panel 50 that displays (notifies) various types of information and notifies (outputs) the operator, and receives input of various types of information. (See FIG. 3, etc. Corresponding to the "display unit"), and is equipped with a detachable information terminal 5 and a driver's seat 16 for the operator (driver/worker). The sub-transmission lever 7B is used to switch the traveling vehicle speed between a work speed during work and a movement speed during movement. For example, movement between fields is performed at the movement speed, and planting work and the like are performed at the work speed. Further, a preliminary seedling storage device 17A for storing preliminary seedlings is supported by a preliminary seedling support frame 17 in front of the operating section 14. As shown in FIG.
　さらに、機体１は測位ユニット８を備える。測位ユニット８は、機体１の位置および方位を算出するための測位データを出力する。測位ユニット８には、全地球航法衛星システム（ＧＮＳＳ）の衛星からの電波を受信する衛星測位モジュール８Ａと、機体１の三軸の傾きや加速度を検出する慣性計測モジュール８Ｂが含まれている。測位ユニット８は、予備苗支持フレーム１７の上部に支持される。なお、算出された位置情報や方位情報は、上述の記憶部に記憶される。 Furthermore, the aircraft 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 . The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 . The positioning unit 8 is supported on top of the preliminary seedling support frame 17 . Note that the calculated position information and azimuth information are stored in the storage unit described above.
　また、情報端末５や機体１を遠隔操作可能なリモコン６（図３等参照）がさらに設けられても良い。 Further, a remote controller 6 (see FIG. 3, etc.) capable of remotely controlling the information terminal 5 and the body 1 may be further provided.
〔自動走行〕
　自動走行により、田植機が圃場に苗植付作業を行う自動作業走行について図１、図２を用いて説明する。 [Automatic driving]
Automatic work traveling in which a rice transplanter performs seedling planting work in a field by automatic traveling will be described with reference to FIGS. 1 and 2. FIG.
　本実施形態における田植機は、手動走行および自動走行を選択的に行うことができる。
手動走行（手動作業走行）と自動走行（自動作業走行）とは、運転部１４に配置される自動・手動切替スイッチ（図示せず）を切り替えることにより選択される。 The rice transplanter in this embodiment can selectively perform manual traveling and automatic traveling.
Manual travel (manual work travel) and automatic travel (automatic work travel) are selected by switching an automatic/manual selector switch (not shown) arranged in the operation unit 14 .
　田植機が苗植付作業を行う際には、まず、圃場の外周（外縁）に沿って、運転者が手動操作で、田植機を走行させる。この際に、作業を行いながら走行されても良いし、非作業走行で走行されても良い。この外周走行によって、圃場の外周形状（圃場マップ）が生成され、圃場が外周領域ＯＡと内部領域ＩＡに区分けされる（マップ作成処理）。また、この際、圃場の外周辺のうちの一辺または指定された複数辺が、田植機にマット状苗や肥料、薬剤、燃料等の農業資材を補給するための補給辺ＳＬとして設定される。 When the rice transplanter carries out the seedling planting work, the driver first runs the rice transplanter manually along the outer periphery (outer edge) of the field. At this time, the vehicle may travel while performing the work, or may travel while not working. By this outer circumference traveling, the outer circumference shape (field map) of the farm field is generated, and the farm field is divided into the outer circumference area OA and the inner area IA (map creation processing). At this time, one side or a plurality of specified sides of the outer perimeter of the field is set as a replenishment side SL for replenishing agricultural materials such as mat-like seedlings, fertilizers, chemicals, and fuel to the rice transplanter.
　圃場マップが生成されると、田植機が作業走行を行う目標走行経路が設定される（ルート作成処理）。内部領域ＩＡでは、目標走行経路（「走行経路」に相当）として、内部往復経路ＩＰＬ（「内部経路」に相当）と旋回経路とが生成される。内部往復経路ＩＰＬは、圃場の一つの辺に略平行な複数の経路であり、旋回経路は２つの内部往復経路ＩＰＬを繋ぐ経路である。内部往復経路ＩＰＬは、内部領域ＩＡの全体をくまなく作業走行する走行経路である。自動作業走行は内部往復経路ＩＰＬに沿って行われる。内部往復経路ＩＰＬを繋ぐ旋回経路の旋回走行は、あらかじめ定められた手法により自動走行で行われる。 When the field map is generated, the target travel route for the rice transplanter to travel for work is set (route creation processing). In the internal area IA, an internal round-trip route IPL (corresponding to an "internal route") and a turning route are generated as a target travel route (corresponding to a "travel route"). The internal round-trip routes IPL are a plurality of routes substantially parallel to one side of the field, and the turning route is a route connecting the two internal round-trip routes IPL. The internal round-trip route IPL is a travel route for work travel throughout the entire internal area IA. Automatic work travel is performed along the inner round trip path IPL. The turning travel of the turning route connecting the inner round-trip routes IPL is automatically performed by a predetermined method.
　外周領域ＯＡでは、圃場の外周（外縁）に沿って外周領域ＯＡ内を１または複数回周回する周り植え走行が行われる。例えば、周り植え走行を行う経路として、内側周回経路ＩＲＬと外側周回経路ＯＲＬの２つの走行経路が生成される。内側周回経路ＩＲＬと外側周回経路ＯＲＬとを作業走行することにより、外周領域ＯＡの全体の作業走行が行われる。内側周回経路ＩＲＬは無人自動作業走行または有人自動作業走行（人が搭乗した状態での自動作業走行）で作業走行が行われ、外側周回経路ＯＲＬは手動作業走行で作業走行が行われる。また、モード選択によって、内側周回経路ＩＲＬは手動作業走行で作業走行が行われ、外側周回経路ＯＲＬは自動走行で作業走行が行われても良い。 In the outer peripheral area OA, a round planting run is performed along the outer periphery (outer edge) of the field, making one or more laps in the outer peripheral area OA. For example, two travel routes, an inner loop route IRL and an outer loop route ORL, are generated as routes for round-tripping. By traveling for work on the inner loop route IRL and the outer loop route ORL, the entire outer peripheral area OA is traveled for work. The inner circuit route IRL is traveled by unmanned automatic work travel or manned automatic work travel (automatic work travel with a person on board), and the outer circuit route ORL is traveled by manual work travel. In addition, depending on the mode selection, the inner loop route IRL may be manually traveled for work, and the outer loop route ORL may be automatically traveled for work.
　田植機は、苗切れが生じると苗補給を行う。苗補給時には、前進走行で、補給辺ＳＬの畦際に機体１が寄せられる。苗補給が終了すると、機体１は後進し、走行経路に復帰する。 The rice transplanter replenishes seedlings when seedlings run out. At the time of seedling supply, the machine body 1 is brought to the ridge of the supply side SL by traveling forward. When the seedling replenishment ends, the machine body 1 moves backward and returns to the traveling route.
　具体的には、自動走行（自動往復走行）中において、内部往復経路ＩＰＬから旋回経路に移行する際に機体１が補給準備位置ＳＰＰで一時的に停止（苗補給辺自動停止／補給準備処理）され、その間に人為的な操作を行うことにより、機体１が所定の速度で補給辺ＳＬの補給点（「資材補給点」に相当）ＳＰまで前進し（チョイ寄せ）、補給辺ＳＬの畦際に機体１が寄せられる。補給準備処理を行う補給準備位置ＳＰＰは、内部往復経路ＩＰＬの終端領域や、内部往復経路ＩＰＬと旋回経路との境界の近傍の領域に設定される。なお、このような補給準備処理は、苗補給に限らず、肥料、薬剤、燃料等の種々の農業資材を補給する際に行われても良い。 Specifically, during automatic travel (automatic reciprocating travel), the aircraft 1 temporarily stops at the replenishment preparation position SPP when transitioning from the internal reciprocating route IPL to the turning route (seedling replenishment side automatic stop / replenishment preparation processing) In the meantime, by performing an artificial operation, the machine body 1 advances at a predetermined speed to the supply point (corresponding to the "material supply point") SP on the supply side SL. Airframe 1 is sent to . The replenishment preparation position SPP for performing the replenishment preparation process is set in the terminal region of the internal round-trip route IPL or the region near the boundary between the internal round-trip route IPL and the turning route. Note that such replenishment preparation processing is not limited to replenishment of seedlings, and may be performed when various agricultural materials such as fertilizers, chemicals, and fuels are replenished.
　なお、苗を補給する補給位置は、内部往復経路ＩＰＬから補給辺ＳＬまで直進した位置である補給点ＳＰに限らず、補給辺ＳＬに沿って任意に設けられる補給ポイントＳＡであっても良い。補給ポイントＳＡで苗の補給を行う際は、補給準備位置ＳＰＰから補給ポイントＳＡまで、機体１が移動される。 The replenishment position for replenishing seedlings is not limited to the replenishment point SP, which is a position straight from the internal round-trip route IPL to the replenishment side SL, but may be any replenishment point SA provided along the replenishment side SL. When supplying seedlings at the supply point SA, the machine body 1 is moved from the supply preparation position SPP to the supply point SA.
　田植機は、自動走行を行うために、上記のようなマップ作成処理や、ルート作成処理が行わる。ルート作成処理において、補給辺の設定や補給準備処理に係る設定（補給設定）等が合わせて行われる。このような各種の処理・設定は、機体１において行うこともできるが、情報端末５を用いて行われても良い。 The rice transplanter performs the map creation process and route creation process described above in order to run automatically. In the route creation process, the setting of the replenishment side, the setting related to the replenishment preparation process (replenishment setting), and the like are also performed. Although such various processing and settings can be performed in the machine body 1, they may be performed using the information terminal 5. FIG.
〔補給設定〕
　図３に示すように、自動走行制御システムは、機体１に設けられる制御ユニット３０と、機体１に設けられる測位ユニット８と、情報端末５とを備える。また、情報端末５は、田植機に通信可能な状態で接続される。情報端末５は、運転部１４に装着されても良いが、機体１から離れた作業者が操作可能な状態で保持しても良い。 [Supply settings]
As shown in FIG. 3 , the automatic cruise control system includes a control unit 30 provided on the body 1 , a positioning unit 8 provided on the body 1 and an information terminal 5 . Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.
　制御ユニット３０は、情報端末５等により設定された条件に応じて、田植機の自動作業走行を制御する。制御ユニット３０は、走行を制御する走行制御部３２と、作業を制御する作業制御部３３と、情報端末５等と通信を行う通信部３４と、記憶部３５とを備える。 The control unit 30 controls the automatic work travel of the rice transplanter according to the conditions set by the information terminal 5 or the like. The control unit 30 includes a travel control unit 32 that controls travel, a work control unit 33 that controls work, a communication unit 34 that communicates with the information terminal 5 and the like, and a storage unit 35 .
　情報端末５は、制御部３８と、通信部３９と、タッチパネル５０と、苗補給設定部４１（「資材補給設定部」に相当）と、記憶部４２とを備える。また、情報端末５は、タッチパネル５０に表示される情報を変更したり、各種設定を行ったりするためのスイッチやボタン等の操作部を備える。 The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a storage unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.
　制御部３８は情報端末５の各機能ブロックの動作を制御する。通信部３９は機体１等と通信を行う。タッチパネル５０は、各種情報が表示され、各種のソフトウェアスイッチが表示される。苗補給設定部４１は、タッチパネル５０に表示される情報を参照しながら、操作具やソフトウェアスイッチ等の操作に基づいて、補給辺ＳＬや補給準備位置ＳＰＰ等の設定を行う。記憶部４２は各種の情報を記憶する。 The control unit 38 controls the operation of each functional block of the information terminal 5. A communication unit 39 communicates with the body 1 and the like. The touch panel 50 displays various information and various software switches. The seedling replenishment setting unit 41 sets the replenishment side SL, the replenishment preparation position SPP, and the like based on the operation of the operation tool, the software switch, and the like while referring to the information displayed on the touch panel 50 . The storage unit 42 stores various information.
　以下、図２～図５を用いて、実施形態１における補給設定について説明する。補給設定は、マップ作成処理を行い、ルート作成処理において目標走行経路が設定された後に行われる。 The replenishment setting in the first embodiment will be described below with reference to FIGS. 2 to 5. FIG. The replenishment setting is performed after the map creation process is performed and the target travel route is set in the route creation process.
　補給設定において、図４に示されるような設定画面が、タッチパネル５０に表示される（図５のステップ＃１）。設定画面にはソフトウェアスイッチとして補給辺設定操作部５２が表示される。補給辺ＳＬは補給辺設定操作部５２により選択的に設定される。設定画面には、圃場の外周形状と、内部往復経路ＩＰＬに対応する矢印等の図柄とが表示され、内部往復経路ＩＰＬの始端および終端に相当する辺が、補給辺ＳＬの候補として表示される。 In the replenishment setting, a setting screen as shown in FIG. 4 is displayed on the touch panel 50 (step #1 in FIG. 5). A replenishment side setting operation section 52 is displayed as a software switch on the setting screen. The replenishment side SL is selectively set by the replenishment side setting operation section 52 . The setting screen displays the outer shape of the field and a pattern such as an arrow corresponding to the internal round-trip route IPL, and the sides corresponding to the start and end of the internal round-trip route IPL are displayed as candidates for the replenishment side SL. .
　補給辺設定操作部５２は候補となる辺のいずれか、候補となる全ての辺、または補給準備処理を行わない（辺を選ばない）のうちのいずれかを選択することができる。補給辺設定操作部５２で選択された辺が補給辺ＳＬとして設定される（図５のステップ＃２）。なお、図４の例では、候補となる辺がＡ辺とＢ辺の２つであるが、１または３以上の辺が候補とされても良く、候補となる辺が複数ある場合は、そのうちの複数の辺が選択されても良い。 The replenishment side setting operation unit 52 can select any of the candidate sides, all the candidate sides, or not to perform replenishment preparation processing (no side selected). The side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in FIG. 5). In the example of FIG. 4, there are two candidate sides, side A and side B, but one or three or more sides may be candidates. may be selected.
　また、補給辺設定操作部５２にて「補給準備処理を行わない」を選択した場合、補給準備処理を行わない無補給準備モードに設定され、補給のための一時停止が行われない。この場合、作業者が補給の必要性を判断して任意の位置で作業を中断し、機体１を補給位置に移動させて補給を行う。なお、この補給位置への移動は自動で行われても良い。 Also, when "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and a temporary stop for replenishment is not performed. In this case, the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment. Note that the movement to the replenishment position may be performed automatically.
　また、無補給準備モードは、補給辺設定操作部５２で「補給準備処理を行わない」を選択した場合に限らず、別途設けられた操作具（図示せず）により設定されても良い。この場合、補給辺設定操作部５２で補給辺ＳＬが設定されたうえで、無補給準備モードに設定することができる。 In addition, the non-replenishment preparation mode is not limited to the case where "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, and may be set by a separately provided operation tool (not shown). In this case, after the supply side SL is set by the supply side setting operation unit 52, the no-supply preparation mode can be set.
　次に、補給準備処理を、内部往復経路ＩＰＬを何往復する毎に行うかの自動停止間隔が設定される。内部往復経路ＩＰＬの往復は、補給辺側の内部往復経路ＩＰＬの端部から内部往復経路ＩＰＬの走行を行い、旋回走行を挟んで、次の内部往復経路ＩＰＬを走行し、補給辺側の内部往復経路ＩＰＬの端部に至るまでの走行である。具体的には、設定画面にはソフトウェアスイッチとして走行回数操作部５３が表示される。走行回数操作部５３は往復回数を選択できる。苗補給設定部４１は、走行回数操作部５３で選択された回数を補給準備処理の往復回数（実施間隔）として設定して記憶部４２に記憶し、走行制御部３２にその情報を送信する。走行制御部３２は、設定された往復回数を記憶部３５に記憶し、設定された回数の往復走行を行う毎に補給準備処理を実施するために、機体１を一時停止させる（図５のステップ＃３）。 Next, an automatic stop interval is set for each round trip of the internal round-trip route IPL to perform the replenishment preparation process. The round trip of the internal round trip route IPL starts from the end of the internal round trip route IPL on the replenishment side, travels on the internal round trip route IPL with a turning run in between, travels on the next internal round trip route IPL, and then travels on the internal round trip route IPL on the replenishment side. It is traveling up to the end of the round-trip route IPL. Specifically, the number-of-runs operation unit 53 is displayed as a software switch on the setting screen. The number-of-travels operation unit 53 can select the number of round trips. The seedling replenishment setting unit 41 sets the number of times selected by the running number operation unit 53 as the reciprocating number (implementation interval) of the replenishment preparation process, stores it in the storage unit 42 , and transmits the information to the running control unit 32 . The traveling control unit 32 stores the set number of round trips in the storage unit 35, and temporarily stops the machine body 1 in order to perform the replenishment preparation process each time the set number of round trips is performed (step in FIG. 5). #3).
　例えば、往復回数として１往復が設定されると、図２の補給準備位置ＳＰＰの次に、位置ＳＰ１で苗補給準備処理が実施され、往復回数として２往復が設定されると、補給準備位置ＳＰＰの次に、位置ＳＰ２で苗補給準備処理が実施され、往復回数として３往復が設定されると、補給準備位置ＳＰＰの次に、位置ＳＰ３で苗補給準備処理が実施される。そして、必要な設定の全てが行われると、所定の操作を受け付けることにより自動作業走行が開始される（図５のステップ＃４）。 For example, when one round trip is set as the number of round trips, seedling supply preparation processing is performed at the position SP1 next to the supply preparation position SPP in FIG. 2, and when two round trips are set as the number of round trips, the supply preparation position SPP Next, seedling replenishment preparation processing is performed at position SP2, and when 3 reciprocations are set as the number of reciprocations, seedling replenishment preparation processing is performed at position SP3 next to replenishment preparation position SPP. Then, when all necessary settings are made, automatic work traveling is started by accepting a predetermined operation (step #4 in FIG. 5).
　内部往復経路ＩＰＬに沿って１往復する毎に補給準備処理を行っても、補給を行わずに作業走行を継続できる場合がある。そのような場合、機体１が停止する際に、作業者の所定の操作によって作業走行が再開される。このような、不要な作業走行の停止と作業走行を再開させるための操作とを行うと作業効率が低下する。 Even if replenishment preparation processing is performed for each round trip along the internal round-trip route IPL, it may be possible to continue work travel without replenishment. In such a case, when the machine body 1 stops, work traveling is resumed by a predetermined operation of the operator. Such an operation for stopping unnecessary travel for work and restarting the travel for work lowers work efficiency.
　また、圃場の大きさ（内部往復経路ＩＰＬの長さ）や、搭載するマット状苗の量、苗取り量、条間等によって、補給が必要となるまでの走行距離（補給準備処理の実施間隔）が予測できる場合がある。 In addition, depending on the size of the field (the length of the internal round-trip route IPL), the amount of mat-like seedlings to be loaded, the amount of seedlings taken, the distance between rows, etc., the travel distance until replenishment is required (the interval between replenishment preparation processing ) can be predicted.
　そのため、補給準備処理の実施間隔である往復回数を設定できる構成とすることにより、不要な作業走行の停止と作業走行を再開させるための操作とを行うことが抑制され、作業効率を向上させることができる。 Therefore, by adopting a configuration in which the number of reciprocations, which is the execution interval of the replenishment preparation process, can be set, unnecessary operations for stopping work travel and restarting work travel can be suppressed, and work efficiency can be improved. can be done.
　なお、補給辺ＳＬが内部往復経路ＩＰＬの進行方向の前後両側に設定された場合、補給準備処理は、内部往復経路ＩＰＬの走行毎に行うことができる。そのため、走行回数操作部５３は、補給準備処理の実施間隔として往復回数に限らず、内部往復経路ＩＰＬの走行回数を選択する構成としても良い。 If the replenishment sides SL are set on both front and rear sides of the internal round-trip route IPL in the traveling direction, the replenishment preparation process can be performed each time the internal round-trip route IPL is traveled. Therefore, the number-of-travels operation unit 53 may be configured to select not only the number of round trips but also the number of round trips of the internal round-trip route IPL as the execution interval of the replenishment preparation process.
　例えば、走行回数として３回が設定されると、図２の補給準備位置ＳＰＰの次に、位置ＳＰ４で苗補給準備処理が実施される。 For example, when the number of runs is set to 3, the seedling supply preparation process is performed at the position SP4 after the supply preparation position SPP in FIG.
　内部往復経路ＩＰＬを設定された走行回数で走行する度に補給準備処理を行うことにより、補給の必要性に応じた補給準備処理をより精度良く行うことができ、さらに作業効率が向上する。 By performing replenishment preparation processing every time the internal round-trip route IPL is traveled for the set number of times, replenishment preparation processing can be performed more accurately according to the need for replenishment, further improving work efficiency.
　補給が必要となるまでの走行距離（補給準備処理の実施間隔）を正確に予測できない場合があり、圃場の状況等により走行距離当たりの苗の消費量が変化する場合もある。このような場合、あらかじめ設定した実施間隔で補給準備処理を行っても、苗の補給を適切なタイミングで行うことができない場合がある。 In some cases, it may not be possible to accurately predict the distance traveled until replenishment is required (interval of replenishment preparation processing), and the amount of seedlings consumed per distance traveled may change depending on the conditions of the field. In such a case, even if the replenishment preparation process is carried out at intervals set in advance, seedlings may not be replenished at an appropriate timing.
　例えば、作業走行中に、次の補給準備位置ＳＰＰまでに苗がなくなると予測できる場合や、補給準備処理が実施されても、まだ十分な苗が残っている場合がある。 For example, during work travel, there are cases where it can be predicted that there will be no seedlings before the next replenishment preparation position SPP, or there are cases where there are still sufficient seedlings remaining even after replenishment preparation processing is performed.
　このような場合、自動作業走行中に次の補給準備位置ＳＰＰ（補給準備処理の実施間隔）を変更できる構成であると好適である。これにより、より効率的に作業走行を行うことができる。 In such a case, it is preferable that the next replenishment preparation position SPP (interval of replenishment preparation processing) can be changed during automatic work travel. As a result, work traveling can be performed more efficiently.
　そのため、自動作業走行中に実施間隔の変更が可能となる回数変更操作部５４が設けられても良い。例えば、回数変更操作部５４は、作業走行中にタッチパネル５０に表示されるソフトウェアスイッチである。回数変更操作部５４は、走行回数操作部５３と同様に実施間隔を選択できる構成であっても良いし、実施間隔を増減できる構成であっても良い。例えば、回数変更操作部５４は、操作された回数に応じて実施間隔が決定される構成であっても良い。あるいは、回数変更操作部５４は、回数変更操作部５４が操作している間（長押し等）にタッチパネル５０に表示される実施間隔が順に変化し、操作をやめた時点で表示されている実施間隔に変更される構成であっても良い。さらに、回数変更操作部５４は、直接実施間隔が入力されるのではなく、実施間隔を１往復（１走行回数）だけ速める操作と延ばす（実施間隔を増減する）操作とを行う構成としても良い。 Therefore, the number of times change operation unit 54 may be provided to enable the change of the implementation interval during automatic work travel. For example, the number change operation unit 54 is a software switch displayed on the touch panel 50 during work travel. The number-of-times change operation unit 54 may be configured to select the implementation interval similarly to the number-of-runs operation unit 53, or may be configured to increase or decrease the implementation interval. For example, the number-of-times change operation unit 54 may be configured to determine the implementation interval according to the number of times it is operated. Alternatively, the number of times change operation unit 54 changes the implementation interval displayed on the touch panel 50 while the number of times change operation unit 54 is being operated (such as a long press), and changes the implementation interval displayed when the operation is stopped. The configuration may be changed to Further, the frequency change operation unit 54 may be configured to perform an operation to speed up the implementation interval by one round trip (one running count) and an operation to extend it (increase or decrease the implementation interval) instead of directly inputting the implementation interval. .
　そして、自動作業走行中に、次の補給準備位置ＳＰＰまでに苗がなくなると予測できる場合や、次の補給準備位置ＳＰＰまで作業走行しても十分な苗が残ると予測できる場合には、回数変更操作部５４が操作されて（図５のステップ＃５）、次の補給準備位置ＳＰＰが変更される。つまり、あらかじめ設定された実施間隔より早く補給を行ったり、補給準備位置ＳＰＰをスキップしたりすることができる。 Then, when it can be predicted that there will be no seedlings before the next replenishment preparation position SPP during automatic work travel, or when it can be predicted that sufficient seedlings will remain even if the work travels to the next replenishment preparation position SPP, the number of times The change operation unit 54 is operated (step #5 in FIG. 5) to change the next replenishment preparation position SPP. In other words, it is possible to perform replenishment earlier than the preset implementation interval, or to skip the replenishment preparation position SPP.
　例えば、往復回数として２往復が設定されているとし、図２の補給準備位置ＳＰＰで補給を行って自動作業走行している途中で、十分なマット状苗が搭載されていると判断すると、作業者は回数変更操作部５４にて往復回数を３往復に変更する操作を行う。回数変更操作部５４はこの操作に基づいて苗補給設定部４１に変更指示を送信する。苗補給設定部４１はこの情報を走行制御部３２に送信し、走行制御部３２はこの情報に基づいて補給準備処理を実施する。具体的には、補給準備位置ＳＰＰの次の補給準備処理は、位置ＳＰ２で行われず、位置ＳＰ３で行われる。 For example, if two reciprocations are set as the number of reciprocations, and it is determined that a sufficient number of mat-like seedlings are loaded during automatic work travel after replenishment at the replenishment preparation position SPP in FIG. The user performs an operation to change the number of reciprocations to three with the number of reciprocations operation section 54 . The frequency change operation unit 54 transmits a change instruction to the seedling replenishment setting unit 41 based on this operation. The seedling replenishment setting unit 41 transmits this information to the running control unit 32, and the running control unit 32 carries out replenishment preparation processing based on this information. Specifically, the replenishment preparation process subsequent to the replenishment preparation position SPP is not performed at the position SP2, but is performed at the position SP3.
　なお、回数変更操作部５４が操作されると、直前の補給準備処理から次の補給準備処理までの実施間隔のみが変更され、その後の実施間隔が当初設定された実施間隔に戻される構成であっても良いが（図５のステップ＃６－１）、次回以降の実施間隔が変更される構成であっても良い（図５のステップ＃６－２）。つまり、設定された実施間隔自体が変更されても良い。 Note that when the number of times change operation unit 54 is operated, only the execution interval from the immediately preceding replenishment preparation processing to the next replenishment preparation processing is changed, and the subsequent execution interval is returned to the initially set execution interval. (Step #6-1 in FIG. 5), but it is also possible to change the implementation interval from the next time onward (Step #6-2 in FIG. 5). That is, the set implementation interval itself may be changed.
　この場合、苗補給設定部４１は記憶部４２に記憶されている実施間隔を、回数変更操作部５４の操作に応じた実施間隔に変更すると共に、走行制御部３２に変更後の実施間隔を送信する。そして、走行制御部３２は、記憶部３５に記憶された実施間隔を変更後の実施間隔に変更し、以降の苗補給準備処理を変更後の実施間隔で実施する。 In this case, the seedling supply setting unit 41 changes the implementation interval stored in the storage unit 42 to the implementation interval according to the operation of the number change operation unit 54, and transmits the implementation interval after the change to the travel control unit 32. do. Then, the travel control unit 32 changes the implementation interval stored in the storage unit 35 to the changed implementation interval, and performs subsequent seedling supply preparation processing at the changed implementation interval.
　なお、実施間隔を早めるまたは延ばす操作を行う構成の場合、設定された実施間隔に対して、早める操作の場合は１往復（１走行回数）減じ、延ばす操作の場合は１往復（１走行回数）加えて設定された実施間隔を変更する。 In addition, in the case of a configuration in which an operation to advance or extend the implementation interval is performed, one round trip (one number of runs) is reduced in the case of the operation to advance the set implementation interval, and one round trip (number of runs) in the case of the operation to extend it. In addition, change the set implementation interval.
　さらに、次の実施間隔のみが変更されるか、以降の実施間隔が全て変更されるかが選択可能な構成とされても良い。圃場の状況等により走行距離当たりの苗の消費量が変化した場合は、一時的に実施間隔が適切ではなくなることが多い。一方、苗の消費量の予測が実作業と異なる場合は、作業走行全体において実施間隔が適切ではなくなる場合がある。そのため、実施間隔の変更期間を、次回のみ、または、次回以降の全てから選択可能な構成とすることにより、その時の状況に応じて、適切に実施間隔を変更することができる。 Further, it may be possible to select whether only the next implementation interval is changed or all subsequent implementation intervals are changed. When the amount of seedlings consumed per distance traveled changes due to field conditions, etc., the implementation interval often becomes inappropriate temporarily. On the other hand, if the seedling consumption amount is different from the actual work, the implementation interval may not be appropriate for the entire work run. Therefore, by adopting a configuration in which the change period of the implementation interval can be selected from only the next time or from the next time onward, the implementation interval can be appropriately changed according to the situation at that time.
　なお、補給辺設定操作部５２にて「補給準備処理を行わない」を選択して無補給準備モードに設定されている際に、作業者の判断で補給を行う場合に回数変更操作部５４が用いられても良い。この場合、自動作業走行中に、補給が必要だと作業者が判断して回数変更操作部５４を操作すると、走行制御部３２は回数変更操作部５４が操作された情報を受信し、苗補給を行うために圃場の外周辺（補給辺ＳＬ）に向けて走行するように制御する。 When the replenishment side setting operation unit 52 selects "do not perform replenishment preparation processing" to set the non-replenishment preparation mode, when replenishment is performed at the operator's discretion, the number of times change operation unit 54 is changed. May be used. In this case, when the operator determines that replenishment is necessary during automatic work traveling and operates the number of times change operation unit 54, the travel control unit 32 receives information that the number of times change operation unit 54 has been operated, and replenishes the seedlings. to run toward the outer perimeter of the field (replenishment side SL).
　具体的には、回数変更操作部５４が操作されると、走行制御部３２は、走行中の内部往復経路ＩＰＬの走行後、旋回走行に移行せず、機体１を停止させるように制御する。その後、そのまま機体１が前進されて、圃場の外周辺（補給辺ＳＬ）に至ると機体１が停止される。 Specifically, when the number-of-times change operation unit 54 is operated, the travel control unit 32 controls the machine body 1 to stop without transitioning to turning travel after travel on the internal round-trip route IPL during travel. After that, the machine body 1 is moved forward as it is, and when it reaches the outer periphery of the field (replenishment side SL), the machine body 1 is stopped.
　また、補給辺ＳＬが設定され、かつ、無補給準備モードに設定されている場合に、回数変更操作部５４が操作されると、次の補給辺ＳＬに向かう内部往復経路ＩＰＬの走行後に旋回走行が行われず、次の補給辺ＳＬで補給が行われても良い。その後、苗補給設定部４１は、作業走行の開始から回数変更操作部５４の操作によって補給が行われた往復回数（走行回数）に基づいて実施間隔を決定し、補給準備処理を実施するように設定しても良い。 Further, when the replenishment side SL is set and the non-replenishment preparation mode is set, when the number of times change operation unit 54 is operated, the vehicle turns after traveling on the internal reciprocating route IPL toward the next replenishment side SL. is not performed, and replenishment may be performed at the next replenishment side SL. After that, the seedling replenishment setting unit 41 determines the implementation interval based on the number of round trips (number of runs) in which replenishment is performed by operating the number change operation unit 54 from the start of work travel, and performs replenishment preparation processing. May be set.
　また、以上の構成において、回数変更操作部５４に代わり、実施間隔の変更がオペレータ（作業者）の声に基づいて行われる構成としても良い。例えば、オペレータが、「回数変更」との声を発した後、「３回」との声を発すると、実施間隔が３回に変更されても良い。また、「回数変更」との声を発した後、「増」または「減」との声を発することにより、実施間隔が１回ずつ増減される構成であっても良い。また、これらの音声認識技術は人工知能による深層学習に基づいて音声が認識される構成であっても良い。 Further, in the above configuration, instead of the number of times change operation unit 54, a configuration may be adopted in which the implementation interval is changed based on the voice of the operator (worker). For example, when the operator utters "change number of times" and then utters "three times", the implementation interval may be changed to three times. Further, after saying "change the number of times", by saying "increase" or "decrease", the execution interval may be increased or decreased by one time. Further, these speech recognition technologies may be configured to recognize speech based on deep learning by artificial intelligence.
　具体的には、情報端末５は、マイク４４と、予め決められた音声に反応してその音声を認識する音声認識部４５とを備える。マイク４４は作業者の音声による指示が入力されると音声認識部４５に音声データを転送し、音声認識部４５で音声データを具体的な指示の内容として認識する。音声認識部４５は指示の内容を走行制御部３２に送信し、走行制御部３２は指示の内容に応じて、苗補給を行うために圃場の外周辺（補給辺ＳＬ）に向けて走行するように機体１を制御する。 Specifically, the information terminal 5 includes a microphone 44 and a voice recognition unit 45 that reacts to a predetermined voice and recognizes the voice. When the operator's voice instruction is input, the microphone 44 transfers the voice data to the voice recognition section 45, and the voice recognition section 45 recognizes the voice data as the specific contents of the instruction. The voice recognition unit 45 transmits the content of the instruction to the travel control unit 32, and the travel control unit 32 instructs the vehicle to travel toward the outer periphery (replenishment side SL) of the field in order to replenish the seedlings according to the content of the instruction. to control the airframe 1.
　さらに、情報端末５は、所定の報知を行う報知部４７と、残量判定部４８とを備え、設定された実施間隔で補給準備処理を実施すると、苗の残量が不足すると予測される場合にその旨を報知する構成としても良い。 Further, the information terminal 5 includes a notification unit 47 that performs predetermined notification and a remaining amount determination unit 48, and when it is predicted that the remaining amount of seedlings will be insufficient when the replenishment preparation process is performed at the set implementation interval. It is also possible to have a configuration in which the fact is notified to the user.
　具体的には、残量判定部４８は、記憶された、苗取り量の情報、縦送り量の情報、マット状苗の長さの情報、および株間の情報から、単位走行距離当たりの苗の消費量を算出すると共に、マット残量の情報から苗の残量を算出する。そして、残量判定部４８は、算出された消費量および残量に基づいて、次に補給準備処理を行うまでの作業走行中に苗の残量が不足するか否かを判定する。残量判定部４８は、苗の残量が不足すると判定すると、報知部４７に、苗の残量が不足することを警告する報知を行わせる。 Specifically, the remaining amount determination unit 48 determines the number of seedlings per unit traveling distance from the stored seedling amount information, vertical feeding amount information, mat-like seedling length information, and distance information. In addition to calculating the amount of consumption, the remaining amount of seedlings is calculated from information on the remaining amount of the mat. Then, based on the calculated consumption amount and remaining amount, the remaining amount determination unit 48 determines whether or not the remaining amount of seedlings is insufficient during the work traveling until the next replenishment preparation process is performed. When determining that the remaining amount of seedlings is insufficient, the remaining amount determination unit 48 causes the notification unit 47 to issue a warning that the remaining amount of seedlings is insufficient.
　このように、苗の残量が不足することを警告することにより、苗の残量が不足する場合には、作業者は補給準備処理の前に補給を行うことができ、自動作業走行中に苗切れが生じることを抑制し、効率的に作業走行を行うことができる。 In this way, by warning that the remaining amount of seedlings is insufficient, the operator can replenish the seedlings before the replenishment preparation process, and during the automatic work traveling, when the remaining amount of seedlings is insufficient. It is possible to suppress the occurrence of cut seedlings and efficiently perform work traveling.
〔実施形態２〕
　次に、図６～図９を用いて、実施形態２として補給設定の別の実施形態について説明する。実施形態２の補給設定は、実施間隔を往復回数（走行回数）で設定するのではなく、作業距離で設定する点が実施形態１の補給設定と異なる。なお、以下の説明において、実施形態１と同様の構成については説明を省略する。 [Embodiment 2]
Next, another embodiment of replenishment setting will be described as Embodiment 2 with reference to FIGS. 6 to 9. FIG. The replenishment setting of the second embodiment differs from the replenishment setting of the first embodiment in that the interval is set not by the number of reciprocations (number of runs) but by the working distance. In addition, in the following description, the description of the same configuration as that of the first embodiment is omitted.
　図６に示すように、自動走行制御システムは、機体１に設けられる制御ユニット３０と、機体１に設けられる測位ユニット８と、情報端末５とを備える。また、情報端末５は、田植機に通信可能な状態で接続される。情報端末５は、運転部１４に装着されても良いが、機体１から離れた作業者が操作可能な状態で保持しても良い。 As shown in FIG. 6, the automatic cruise control system includes a control unit 30 provided on the body 1, a positioning unit 8 provided on the body 1, and an information terminal 5. Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.
　情報端末５は、制御部３８と、通信部３９と、タッチパネル５０と、苗補給設定部４１（「資材補給設定部」に相当）と、記憶部４２とを備える。また、情報端末５は、タッチパネル５０に表示される情報を変更したり、各種設定を行ったりするためのスイッチやボタン等の操作部を備える。 The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a storage unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.
　実施形態２の補給設定において、図７に示されるような設定画面が、タッチパネル５０に表示される（図８のステップ＃１）。設定画面にはソフトウェアスイッチとして補給辺設定操作部５２が表示される。補給辺ＳＬは補給辺設定操作部５２により選択的に設定される。設定画面には、圃場の外周形状と、内部往復経路ＩＰＬに対応する矢印等の図柄とが表示され、内部往復経路ＩＰＬの始端および終端に相当する辺が、補給辺ＳＬの候補として表示される。 In the replenishment setting of the second embodiment, a setting screen as shown in FIG. 7 is displayed on the touch panel 50 (step #1 in FIG. 8). A replenishment side setting operation section 52 is displayed as a software switch on the setting screen. The replenishment side SL is selectively set by the replenishment side setting operation section 52 . The setting screen displays the outer shape of the field and a pattern such as an arrow corresponding to the internal round-trip route IPL, and the sides corresponding to the start and end of the internal round-trip route IPL are displayed as candidates for the replenishment side SL. .
　補給辺設定操作部５２は候補となる辺のいずれか、候補となる全ての辺、または補給準備処理を行わない（辺を選ばない）のうちのいずれかを選択することができる。補給辺設定操作部５２で選択された辺が補給辺ＳＬとして設定される（図８のステップ＃２）。なお、図７の例では、候補となる辺がＡ辺とＢ辺の２つであるが、１または３以上の辺が候補とされても良く、候補となる辺が複数ある場合は、そのうちの複数の辺が選択されても良い。 The replenishment side setting operation unit 52 can select any of the candidate sides, all the candidate sides, or not to perform replenishment preparation processing (no side selected). The side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in FIG. 8). In the example of FIG. 7, there are two candidate sides, side A and side B, but one or more sides may be candidates. may be selected.
　なお、補給辺設定操作部５２にて「補給準備処理を行わない」を選択した場合、補給準備処理を行わない無補給準備モードに設定され、補給のための一時停止が行われない。この場合、作業者が補給の必要性を判断して任意の位置で作業を中断し、機体１を補給位置に移動させて補給を行う。 It should be noted that when "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and a temporary stop for replenishment is not performed. In this case, the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment.
　また、無補給準備モードは、補給辺設定操作部５２で「補給準備処理を行わない」を選択した場合に限らず、別途設けられた操作具（図示せず）により設定されても良い。この場合、補給辺設定操作部５２で補給辺ＳＬが設定されたうえで、無補給準備モードに設定することができる。 In addition, the non-replenishment preparation mode is not limited to the case where "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, and may be set by a separately provided operation tool (not shown). In this case, after the supply side SL is set by the supply side setting operation unit 52, the no-supply preparation mode can be set.
　次に、補給準備処理を行う実施間隔が設定される。具体的には、設定画面にはソフトウェアスイッチとして作業距離入力部５６が表示される（図８のステップ＃３）。作業距離入力部５６は補給される苗で作業走行可能な作業距離が入力される。作業距離入力部５６は作業距離に相当する数字を直接入力する構成であっても良いが、図７のように、数字を増減させる構成であっても良い。作業距離は、苗載せ台２１に搭載されるマット状苗の量や、横送り回数、縦送り量、株間等の情報からあらかじめ予測でき、圃場の状況等を加味して経験的に決定されても良い。苗補給設定部４１は、作業距離入力部５６で入力された作業距離と補給辺ＳＬとに基づいて補給準備位置ＳＰＰを設定して記憶部４２に記憶し、走行制御部３２にその情報を送信する。走行制御部３２は、設定された補給準備位置ＳＰＰを記憶部３５に記憶し、設定された補給準備位置ＳＰＰで補給準備処理を実施するために、機体１を一時停止させる。 Next, the implementation interval for replenishment preparation processing is set. Specifically, the working distance input section 56 is displayed as a software switch on the setting screen (step #3 in FIG. 8). A working distance input unit 56 is used to input a working distance that allows the seedlings to be replenished to work. The working distance input unit 56 may be configured to directly input a number corresponding to the working distance, or may be configured to increase or decrease the number as shown in FIG. The working distance can be predicted in advance from information such as the amount of mat-like seedlings mounted on the seedling mounting table 21, the number of times of horizontal feeding, the amount of vertical feeding, and the distance between plants, and is empirically determined taking into consideration the conditions of the field. Also good. The seedling supply setting unit 41 sets the supply preparation position SPP based on the working distance and the supply side SL input by the working distance input unit 56, stores it in the storage unit 42, and transmits the information to the traveling control unit 32. do. The traveling control unit 32 stores the set replenishment preparation position SPP in the storage unit 35, and temporarily stops the machine body 1 in order to perform replenishment preparation processing at the set replenishment preparation position SPP.
　例えば、植付開始位置Ｓから内部往復経路ＩＰＬ１、内部往復経路ＩＰＬ２、内部往復経路ＩＰＬ３を走行し、内部往復経路ＩＰＬ４上の位置ＰＡまで走行した距離が設定された作業距離となる場合、走行経路上で位置ＰＡに最も補給辺ＳＬに近い内部往復経路ＩＰＬの端部領域が補給準備位置ＳＰＰに設定される。図９の例では、位置ＰＢが補給準備位置ＳＰＰに設定される。 For example, from the planting start position S, the internal round-trip route IPL1, the internal round-trip route IPL2, and the internal round-trip route IPL3 are traveled, and the distance traveled to the position PA on the internal round-trip route IPL4 is the set working distance. Above, the end region of the internal reciprocating path IPL closest to the replenishment side SL to the position PA is set to the replenishment preparation position SPP. In the example of FIG. 9, the position PB is set to the supply preparation position SPP.
　ここで、植付開始位置Ｓから補給準備位置ＳＰＰまでの走行距離は設定された作業距離より長くなる。このような場合、株間を長くしたり、苗取り量を少なくしたりして、植付開始位置Ｓから補給準備位置ＳＰＰ（位置ＰＢ）まで作業走行ができるように調整される。 Here, the travel distance from the planting start position S to the replenishment preparation position SPP is longer than the set working distance. In such a case, the distance between plants is lengthened or the amount of seedlings taken is reduced so that the planter can travel from the planting start position S to the replenishment preparation position SPP (position PB).
　なお、部分的に株間の調整が行われると美観を損なう場合がある。このような場合、株間の調整は圃場の中央部で行われることが好ましい。例えば、圃場の外縁部から所定の距離以上離れた領域でのみ株間の調整が行われる。 In addition, if the spacing between plants is partially adjusted, the aesthetic appearance may be impaired. In such a case, it is preferable that the adjustment between plants is carried out in the central part of the field. For example, the spacing between plants is adjusted only in a region that is at least a predetermined distance away from the outer edge of the field.
　また、位置ＰＡから補給辺ＳＬまでの距離が長い場合、株間や苗取り量の調整を行っても、植付開始位置Ｓから位置ＰＢまで作業走行を行えない場合もある。このような状態が予想される場合、位置ＰＡを含む内部往復経路ＩＰＬの次に植付開始位置Ｓ側の、補給辺ＳＬに向かう内部往復経路ＩＰＬの端部領域が補給準備位置ＳＰＰに設定される。例えば、図９において補給辺ＳＬとして補給辺ＳＬＢが含まれる場合、位置ＰＣが補給準備位置ＳＰＰに設定される。また、補給辺ＳＬが補給辺ＳＬＡのみの場合、位置ＰＤが補給準備位置ＳＰＰに設定される。そして、必要な設定の全てが行われると、所定の操作を受け付けることにより自動作業走行が開始される（図８のステップ＃４）。 Also, if the distance from the position PA to the replenishment side SL is long, it may not be possible to travel from the planting start position S to the position PB even if the spacing between plants and the amount of seedlings are adjusted. When such a state is expected, the end region of the internal round-trip route IPL toward the replenishment side SL next to the planting start position S side of the internal round-trip route IPL including the position PA is set to the replenishment preparation position SPP. be. For example, when the supply side SLB is included as the supply side SL in FIG. 9, the position PC is set to the supply preparation position SPP. Further, when the supply side SL is only the supply side SLA, the position PD is set to the supply preparation position SPP. Then, when all necessary settings are made, automatic work travel is started by accepting a predetermined operation (step #4 in FIG. 8).
　このように、補給準備位置ＳＰＰを作業距離に基づいて設定することにより、補給される苗の量に応じてより精度良く補給準備位置ＳＰＰを設定することができる。その結果、不要な作業走行の停止と作業走行を再開させるための操作とを行うことが抑制され、作業効率をより向上させることができる。 By setting the replenishment preparation position SPP based on the working distance in this way, the replenishment preparation position SPP can be set more accurately according to the amount of replenished seedlings. As a result, it is possible to suppress unnecessary operations for stopping the traveling for work and for restarting the traveling for work, and it is possible to further improve the working efficiency.
　また、株間や苗取り量の調整は、自動作業走行中に、作業距離を決定する際に考慮される理論苗消費量と、作業走行の結果求められる実消費量とが比較され、両者に差異がある場合に行われても良い。また、車輪回転数センサが設けられ、車輪回転数センサから算出される走行距離と、測位ユニット８が出力する測位データに基づいて算出される走行距離との比較によって圃場内のスリップ率が計測され、スリップ率に基づいて適切な株間が算出され、作業装置の駆動系に設けられる無段静油圧式機構（ＨＳＴ）等の無段変速機構により株間が調整されることで、精度の高い苗消費量を算出することが可能である。 In addition, when adjusting the spacing between plants and the amount of seedlings taken, the theoretical seedling consumption, which is considered when determining the work distance, is compared with the actual consumption obtained as a result of the work during automatic work driving, and there is a difference between the two. may be done if there is Further, a wheel rotation speed sensor is provided, and the slip ratio in the field is measured by comparing the travel distance calculated from the wheel rotation speed sensor and the travel distance calculated based on the positioning data output from the positioning unit 8. , An appropriate spacing between plants is calculated based on the slip ratio, and the spacing between plants is adjusted by a stepless transmission mechanism such as a stepless hydrostatic mechanism (HST) provided in the drive system of the work device, resulting in highly accurate seedling consumption. It is possible to calculate the amount.
　具体的には、情報端末５は、さらに、位置算出部５７と、消費量予測部５８と、消費量算出部５９とを備える。 Specifically, the information terminal 5 further includes a position calculation unit 57 , a consumption prediction unit 58 , and a consumption calculation unit 59 .
　位置算出部５７は、目標走行経路上の機体１の位置を任意の方法で算出する。例えば、位置算出部５７は、測位ユニット８が出力する測位データを継続的に取得し、圃場における機体１の位置を継続的に算出する。算出された機体１の位置の情報は記憶部４２および記憶部３５の少なくとも一方に記憶される。なお、記憶される機体１の位置は、少なくとも各内部往復経路ＩＰＬの始端部と終端部との位置のみであっても良いが、継続的に算出された機体１の位置のうちの任意の割合のもの、または全てであっても良い。 The position calculation unit 57 calculates the position of the aircraft 1 on the target travel route by any method. For example, the position calculator 57 continuously acquires the positioning data output by the positioning unit 8 and continuously calculates the position of the machine body 1 in the field. Information on the calculated position of the aircraft 1 is stored in at least one of the storage unit 42 and the storage unit 35 . The positions of the machine body 1 to be stored may be at least the positions of the start and end parts of each internal round-trip route IPL. or all of them.
　消費量予測部５８は、苗植付装置３の縦送り量および横送り回数と、マット状苗の長さおよび幅とから、作業距離を走行する際に消費する理論苗消費量を予測して制御ユニット３０に送信する（図８のステップ＃５－１）。 The consumption amount prediction unit 58 predicts the theoretical seedling consumption amount consumed when traveling the working distance from the vertical feeding amount and the number of horizontal feeding times of the seedling planting device 3 and the length and width of the mat-like seedling. It is transmitted to the control unit 30 (step #5-1 in FIG. 8).
　消費量算出部５９は、位置算出部５７で算出された機体１の位置の内部往復経路ＩＰＬ上での変化量と、記憶されている縦送り量の情報と、横送り回数の情報とから、単位距離当たりの苗の消費量を算出し、このままの設定で作業距離を走行した場合に消費される実苗消費量を算出して制御ユニット３０に送信する（図８のステップ＃６－１）。 Based on the amount of change in the position of the machine body 1 calculated by the position calculation unit 57 on the internal reciprocating route IPL, the stored information on the amount of longitudinal feed, and the information on the number of times of lateral feed, the consumption calculation unit 59 calculates: The amount of seedlings consumed per unit distance is calculated, and the actual seedling consumption amount that would be consumed if the working distance is traveled with the current settings is calculated and transmitted to the control unit 30 (step #6-1 in FIG. 8). .
　そして、作業制御部３３は、理論苗消費量および実苗消費量を受け取って、両者を比較し、比較結果に応じて株間および苗取り量の少なくともいずれかを調整する（図８のステップ＃７－１）。 Then, the work control unit 33 receives the theoretical seedling consumption amount and the actual seedling consumption amount, compares them, and adjusts at least one of the spacing between plants and the amount of seedlings taken according to the comparison result (step #7 in FIG. 8). -1).
　これにより、株間および苗取り量の調整が必要になった場合のみに行われ、より精度良く苗植付け作業を行いながら、効率的に作業走行を行うことができる。 As a result, it is only necessary to adjust the distance between plants and the amount of seedlings taken, and it is possible to carry out work efficiently while planting seedlings more accurately.
　また、圃場の状況等により、作業距離に誤差が生じる場合がある。このような場合、搭載する苗の量で実際に作業走行できる距離に応じて、補給準備位置ＳＰＰが変更されても良い。 In addition, there may be an error in the working distance depending on the field conditions. In such a case, the replenishment preparation position SPP may be changed according to the distance that can actually be traveled for work with the amount of seedlings to be loaded.
　このような構成を実現するために、情報端末５は、位置算出部５７と、距離比較部６１と、位置変更操作部６２と、報知部４７とを備えても良い。 In order to realize such a configuration, the information terminal 5 may include a position calculation section 57, a distance comparison section 61, a position change operation section 62, and a notification section 47.
　距離比較部６１は、まず、消費量算出部５９が算出する単位距離当たりの苗の消費量と、搭載される苗の量とから、直前の補給準備位置ＳＰＰから次に苗の補給が必要となるまでの走行可能な走行距離を算出する（図８のステップ＃５－２）。次に、距離比較部６１は、算出された走行可能な走行距離と、設定に用いられた作業距離とを比較する（図８のステップ＃６－２）。そして、距離比較部６１は、走行可能な走行距離と作業距離とに、所定のしきい値以上の差がある場合、報知部４７にその旨を報知させる（図８のステップ＃７－２）。この際、どちらの距離の方が長いかが合わせて報知されることが好ましい。 First, the distance comparison unit 61 determines, based on the amount of seedlings consumed per unit distance calculated by the consumption amount calculation unit 59 and the amount of seedlings to be loaded, that seedlings need to be replenished next from the immediately preceding replenishment preparation position SPP. Then, the travelable distance is calculated (step #5-2 in FIG. 8). Next, the distance comparison unit 61 compares the calculated possible travel distance with the working distance used for setting (step #6-2 in FIG. 8). Then, if there is a difference equal to or greater than a predetermined threshold value between the possible travel distance and the working distance, the distance comparison section 61 causes the notification section 47 to notify that fact (step #7-2 in FIG. 8). . At this time, it is preferable to notify both of which distance is longer.
　位置変更操作部６２は、補給準備位置ＳＰＰを変更するための操作を受け付ける。作業者は、報知部４７の報知を受けて補給準備位置ＳＰＰを変更する必要があると判断した場合、位置変更操作部６２を操作する（図８のステップ＃８－２）。そして、苗補給設定部４１は、位置変更操作部６２の操作に応じて、進行方向の前方または後方の内部往復経路ＩＰＬの終端領域のうちの補給辺ＳＬと隣り合う位置に補給準備位置ＳＰＰを変更する（図８のステップ＃９－２）。 The position change operation unit 62 accepts an operation for changing the replenishment preparation position SPP. When the operator receives notification from the notification unit 47 and determines that the replenishment preparation position SPP needs to be changed, the operator operates the position change operation unit 62 (step #8-2 in FIG. 8). Then, the seedling replenishment setting unit 41 sets the replenishment preparation position SPP to a position adjacent to the replenishment side SL in the end region of the internal reciprocating path IPL in the forward or rearward direction in the traveling direction in accordance with the operation of the position change operation unit 62. change (step #9-2 in FIG. 8).
　これにより、実際の苗の消費量に応じた作業距離に補給準備位置ＳＰＰを変更することができ、より効率的に苗の補給を行うことができる。なお、位置変更操作部６２を作業者が操作することにより補給準備位置ＳＰＰが変更される構成に限らず、距離比較部６１の比較結果に応じて、自動的に補給準備位置ＳＰＰが変更される構成であっても良い。 As a result, the replenishment preparation position SPP can be changed to the working distance according to the actual consumption of seedlings, and the replenishment of seedlings can be performed more efficiently. The replenishment preparation position SPP is not limited to being changed by the operator operating the position change operation section 62 , but the replenishment preparation position SPP is automatically changed according to the comparison result of the distance comparison section 61 . It may be a configuration.
　上述のように、横送り回数、縦送り量、および苗取り量は設定変更が可能である。また、株間が変更される場合がある。これらが変更されることにより、苗の補給を行ってから作業走行を行うことができる距離が変化する。これに伴い、補給準備位置ＳＰＰが変更されることが好適である。 As mentioned above, it is possible to change the settings for the number of horizontal feeds, the amount of vertical feed, and the amount of seedlings taken. Also, stock intervals may change. By changing these, the distance that can be traveled for work after replenishment of seedlings is changed. Accordingly, it is preferable that the replenishment preparation position SPP is changed.
　そのため、苗補給設定部４１は、横送り回数、縦送り量、苗取り量、または株間が変更された際には（図８のステップ＃５－３）、変更量に応じて補給準備位置ＳＰＰが変更されても良い（図８のステップ＃６－３）。 Therefore, when the number of times of horizontal feeding, the amount of vertical feeding, the amount of seedling removal, or the spacing between plants is changed (step #5-3 in FIG. 8), the seedling supply setting unit 41 changes the supply preparation position SPP according to the amount of change. may be changed (step #6-3 in FIG. 8).
〔実施形態３〕
　次に、図１０～図１２を用いて、実施形態３として補給設定の別の実施形態について説明する。実施形態３の補給設定は、実施形態１または実施形態２において、上述の構成と異なる構成で苗補給辺を設定する。なお、以下の説明において、実施形態１または実施形態２と同様の構成については説明を省略する。 [Embodiment 3]
Next, another embodiment of replenishment setting will be described as Embodiment 3 with reference to FIGS. 10 to 12. FIG. The replenishment setting of the third embodiment sets the seedling replenishment side in a configuration different from the configuration described above in the first or second embodiment. In addition, in the following description, the description of the configuration similar to that of the first embodiment or the second embodiment will be omitted.
　図１０に示すように、自動走行制御システムは、機体１に設けられる制御ユニット３０と、機体１に設けられる測位ユニット８と、情報端末５とを備える。また、情報端末５は、田植機に通信可能な状態で接続される。情報端末５は、運転部１４に装着されても良いが、機体１から離れた作業者が操作可能な状態で保持しても良い。 As shown in FIG. 10, the automatic cruise control system includes a control unit 30 provided on the body 1, a positioning unit 8 provided on the body 1, and an information terminal 5. Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.
　情報端末５は、制御部３８と、通信部３９と、タッチパネル５０と、苗補給設定部４１（「資材補給設定部」に相当）と、記憶部４２とを備える。また、情報端末５は、タッチパネル５０に表示される情報を変更したり、各種設定を行ったりするためのスイッチやボタン等の操作部を備える。 The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a storage unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.
　実施形態３の補給設定において、図１１に示されるような設定画面が、タッチパネル５０に表示される（図１２のステップ＃１）。設定画面にはソフトウェアスイッチとして補給辺設定操作部５２と経路選択操作部６４とが表示される。補給辺設定操作部５２は、補給準備処理を行うか否かの選択操作を受け付ける（図１２のステップ＃２）。補給辺設定操作部５２で補給準備処理を行わないことが選択された場合、補給辺ＳＬの設定が行われない。なお、設定画面には、圃場の外周形状と、内部往復経路ＩＰＬに対応する矢印等の図柄とが表示される。補給辺ＳＬの候補は、圃場の外周辺のうち、内部往復経路ＩＰＬの始端および終端に相当する辺である。 In the replenishment setting of the third embodiment, a setting screen as shown in FIG. 11 is displayed on the touch panel 50 (step #1 in FIG. 12). On the setting screen, a supply side setting operation section 52 and a route selection operation section 64 are displayed as software switches. The replenishment side setting operation section 52 receives a selection operation as to whether or not to perform replenishment preparation processing (step #2 in FIG. 12). When the replenishment side setting operation unit 52 selects not to perform replenishment preparation processing, the replenishment side SL is not set. The setting screen displays the outer peripheral shape of the field and a pattern such as an arrow corresponding to the internal reciprocating route IPL. Candidates for the replenishment side SL are sides corresponding to the start and end of the internal round-trip route IPL in the outer perimeter of the field.
　補給準備処理を行うことが選択されると（図１２のステップ＃２　Ｙｅｓ）、作業者は経路選択操作部６４を操作して内部往復経路ＩＰＬを選択する（図１２のステップ＃３）。作業者は、内部往復経路ＩＰＬに表示される矢印等から進行方向を把握し、進行方向側の外周辺が補給辺ＳＬとなるように内部往復経路ＩＰＬを選択することにより、補給辺ＳＬを選択する。経路選択操作部６４は表示された内部往復経路ＩＰＬの１つを選択できる操作具であり、例えば、複数の内部往復経路ＩＰＬのうちの１つを選択できるスイッチであっても良いし、図１１に示すように、選択される内部往復経路ＩＰＬを左右に順送りする操作具であっても良い。さらに、経路選択操作部６４を設けず、タッチパネル５０上で内部往復経路ＩＰＬに対応する図柄を直接タッチすることにより内部往復経路ＩＰＬが選択される構成であっても良い。なお、選択された内部往復経路ＩＰＬは、発光したり着色されたりして選択された内部往復経路ＩＰＬが識別できるように変化する。 When the replenishment preparation process is selected (step #2 Yes in FIG. 12), the operator operates the route selection operation unit 64 to select the internal round-trip route IPL (step #3 in FIG. 12). The operator grasps the traveling direction from the arrows or the like displayed on the internal round-trip route IPL, and selects the supply side SL by selecting the internal round-trip route IPL so that the outer periphery on the traveling direction side becomes the supply side SL. do. The route selection operation unit 64 is an operation tool that can select one of the displayed internal round-trip routes IPL. , it may be an operating tool that sequentially feeds the selected internal round-trip route IPL to the left and right. Further, the internal round-trip route IPL may be selected by directly touching a pattern corresponding to the internal round-trip route IPL on the touch panel 50 without providing the route selection operation unit 64 . In addition, the selected internal round-trip route IPL changes so that the selected internal round-trip route IPL can be identified by emitting light or coloring.
　設定画面に表示される内部往復経路ＩＰＬには進行方向を示す矢印等の図柄が表示されている。苗補給設定部４１は、経路選択操作部６４により選択された内部往復経路ＩＰＬの進行方向の側の圃場の外周辺ＬＡを補給辺ＳＬに設定する（図１２のステップ＃４）。なお、苗補給設定部４１は、複数の補給辺ＳＬが設定可能である場合、外周辺ＬＡに加え、内部往復経路ＩＰＬの進行方向と逆側の圃場の外周辺ＬＢも補給辺ＳＬに設定しても良い。 On the internal round-trip route IPL displayed on the setting screen, a pattern such as an arrow indicating the direction of travel is displayed. The seedling replenishment setting unit 41 sets the outer perimeter LA of the field on the traveling direction side of the internal round-trip route IPL selected by the route selection operation unit 64 as the replenishment side SL (step #4 in FIG. 12). When a plurality of replenishment sides SL can be set, the seedling replenishment setting unit 41 sets the replenishment side SL not only to the outer periphery LA but also to the outer periphery LB of the field opposite to the traveling direction of the internal reciprocating path IPL. can be
　そして、補給準備位置ＳＰＰの設定等の必要な設定の全てが行われると、所定の操作を受け付けることにより自動作業走行が開始される。また、補給準備処理を行わないことが選択された場合にも（図１２のステップ＃２　Ｎｏ）、補給準備位置ＳＰＰの設定等の必要な設定の全てが行われ後に、所定の操作を受け付けることにより自動作業走行が開始される（図１２のステップ＃５）。 Then, when all necessary settings such as the setting of the replenishment preparation position SPP are performed, automatic work traveling is started by accepting a predetermined operation. Also, even if it is selected not to perform the replenishment preparation process (step #2 No in FIG. 12), the predetermined operation is accepted after all necessary settings such as setting of the replenishment preparation position SPP are performed. starts the automatic work traveling (step #5 in FIG. 12).
　このように、補給辺ＳＬの設定を、設定画面に表示された内部往復経路ＩＰＬを選択するという簡単な方法で行うことができ、容易に補給辺ＳＬの設定を行って、効率的に設定処理を行うことができる。 Thus, the supply side SL can be set by a simple method of selecting the internal round-trip route IPL displayed on the setting screen. It can be performed.
　なお、補給辺設定操作部５２にて補給準備処理を行わないことが選択された場合、補給準備処理を行わない無補給準備モードに設定され、補給のための一時停止が行われない。この場合、作業者が補給の必要性を判断して任意の位置で作業を中断し、機体１を補給位置に移動させて補給を行う。 When it is selected not to perform replenishment preparation processing in the replenishment side setting operation unit 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and temporary stop for replenishment is not performed. In this case, the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment.
　作業者が任意に苗の補給を行うために、苗補給操作部６５（「資材補給操作部」に相当）を備えても良い。苗補給操作部６５は、情報端末５のタッチパネル５０に表示されるソフトウェアスイッチとすることができる。自動作業走行中に、補給が必要だと作業者が判断して苗補給操作部６５を操作すると、走行制御部３２は苗補給操作部６５が操作された情報を受信し、苗補給を行うために圃場の外周辺（補給辺ＳＬ）に向けて走行するように制御する（図１２のステップ＃６）。 A seedling replenishment operation unit 65 (equivalent to a "material replenishment operation unit") may be provided so that the operator can arbitrarily replenish seedlings. The seedling supply operation unit 65 can be a software switch displayed on the touch panel 50 of the information terminal 5 . When the worker determines that replenishment is necessary during automatic work traveling and operates the seedling replenishment operation unit 65, the travel control unit 32 receives information that the seedling replenishment operation unit 65 has been operated and replenishes the seedlings. control so as to run toward the outer periphery of the field (replenishment side SL) immediately (step #6 in FIG. 12).
　具体的には、苗補給操作部６５が操作されると、走行制御部３２は、走行中の内部往復経路ＩＰＬの走行後、旋回走行に移行せず、そのまま前進させて、圃場の外周辺（補給辺ＳＬ）に至ると機体１を停止させるように制御する。 Specifically, when the seedling replenishment operation unit 65 is operated, the traveling control unit 32 does not shift to turning traveling after traveling on the internal reciprocating route IPL during traveling, but continues to move forward, and the outer periphery of the field ( Control is performed so that the machine body 1 is stopped when it reaches the replenishment side SL).
　また、苗補給操作部６５を設けることに代わり、無補給準備モード中の自動作業走行中にも経路選択操作部６４と内部往復経路ＩＰＬに対応する図柄が表示され、経路選択操作部６４により内部往復経路ＩＰＬを選択する構成としても良い。苗補給設定部４１は、選択された内部往復経路ＩＰＬの走行後に、苗の補給を行うために圃場の外周辺に向けて機体１を走行させるように走行制御部３２に情報を送信する。 In addition, instead of providing the seedling replenishment operation unit 65, a pattern corresponding to the route selection operation unit 64 and the internal reciprocating route IPL is displayed even during the automatic work traveling in the non-replenishment preparation mode, and the route selection operation unit 64 A configuration may be adopted in which the round-trip route IPL is selected. The seedling replenishment setting unit 41 transmits information to the travel control unit 32 so that the machine body 1 travels toward the outer periphery of the field in order to replenish the seedlings after traveling on the selected internal round-trip route IPL.
　さらに、苗補給設定部４１は、苗補給操作部６５が操作されて苗の補給が行われると、苗の補給が行われる直前に走行していた内部往復経路ＩＰＬの進行方向側の外周辺、つまり、苗の補給が行われた外周辺を補給辺ＳＬとして設定しても良い（図１２のステップ＃７）。 Furthermore, when the seedling replenishment operation unit 65 is operated to replenish seedlings, the seedling replenishment setting unit 41 sets the outer perimeter on the traveling direction side of the internal round-trip route IPL that was running immediately before the replenishment of seedlings. That is, the outer perimeter where seedlings have been replenished may be set as the replenishment side SL (step #7 in FIG. 12).
　また、補給辺ＳＬが設定されて補給準備位置ＳＰＰの設定が行われた後に、補給の際に必要となる苗の補給量が報知されても良い。この補給量は、苗の補給後、次の補給準備位置ＳＰＰまで作業走行を行うために必要となる苗の量である。必要な補給量は、補給準備位置ＳＰＰ間の作業走行距離と、縦送り量、横送り回数、苗取り量、マット状苗の寸法等とから算出することができる。 Further, after the replenishment side SL is set and the replenishment preparation position SPP is set, the replenishment amount of seedlings required for replenishment may be notified. This replenishment amount is the amount of seedlings necessary for carrying out work travel to the next replenishment preparation position SPP after the replenishment of seedlings. The necessary replenishment amount can be calculated from the work travel distance between the replenishment preparation positions SPP, the amount of vertical feeding, the number of times of horizontal feeding, the amount of seedlings taken, the size of mat-like seedlings, and the like.
　このような構成を実現するために、情報端末５は、さらに、報知部４７と、報知制御部６６とを備えても良い。 In order to realize such a configuration, the information terminal 5 may further include a notification unit 47 and a notification control unit 66.
　報知制御部６６は、補給準備位置ＳＰＰの設定が行われた後に、算出された補給量を報知部４７に報知させる。 After the replenishment preparation position SPP is set, the notification control unit 66 causes the notification unit 47 to notify the calculated replenishment amount.
　さらに、苗補給設定部４１は、算出された補給量に応じて、補給辺ＳＬおよび補給準備位置ＳＰＰの少なくともいずれかを修正しても良い。例えば、算出された補給量が、苗載せ台２１に搭載可能なマット状苗の量に比べて大幅に少ない場合、補給準備位置ＳＰＰをより離れた位置に設定することができる場合がある。また、補給辺ＳＬを圃場の別の外周辺に設定できる場合もある。このような場合、苗補給設定部４１は補給辺ＳＬを修正しても良い。 Furthermore, the seedling supply setting unit 41 may correct at least one of the supply side SL and the supply preparation position SPP according to the calculated supply amount. For example, when the calculated replenishment amount is significantly smaller than the amount of mat-like seedlings that can be mounted on the seedling placement table 21, the replenishment preparation position SPP may be set at a farther position. In some cases, the replenishment side SL can be set at another outer perimeter of the field. In such a case, the seedling supply setting unit 41 may correct the supply side SL.
　また、無補給準備モードに設定された際の自動作業走行において、苗切れを検出した旨の報知が行われることによって初めて、苗補給操作部６５の操作を受け付ける構成としても良い。 In addition, it may be configured such that the operation of the seedling replenishment operation unit 65 is accepted for the first time when the seedling shortage is detected during the automatic work travel when the no-replenishment preparation mode is set.
　報知制御部６６は、センサ２３等により苗切れが検出されると、報知部４７にその旨を報知させる。このような報知がされた後、補給準備位置ＳＰＰおよび補給辺ＳＬの少なくともいずれかの設定が可能となる構成であっても良い。センサ２３は苗切れを直接的に検出する構成であっても良いが、上述のように苗（マット状苗）の残量を検出する構成であっても良い。センサ２３が苗の残量を検出する構成である場合、報知制御部６６は、苗の残量が所定の量以下である場合、苗切れの状態であると判断して、報知部４７に報知を行わせる。 When the sensor 23 or the like detects seedling shortage, the notification control unit 66 causes the notification unit 47 to notify that fact. After such notification, at least one of the replenishment preparation position SPP and the replenishment side SL may be set. The sensor 23 may be configured to directly detect runout of seedlings, or may be configured to detect the remaining amount of seedlings (mat-like seedlings) as described above. When the sensor 23 is configured to detect the remaining amount of seedlings, the notification control unit 66 determines that the seedlings are out of stock and notifies the notification unit 47 when the remaining amount of seedlings is equal to or less than a predetermined amount. to do
　苗切れの検出は、センサ２３に限らず、残量推定部６８を用いて行われても良い。残量推定部６８は情報端末５に設けることができる。残量推定部６８は、補給後の作業走行における縦送り量の情報・横送り回数の情報・苗取り量の情報・株間の情報・走行距離の情報等を用いて予想消費量を算出する。そして、残量推定部６８は、苗の補給時に搭載され、情報端末５の記憶部４２等に記憶されたマット状苗の量から、算出された予想消費量を減算して実苗残量を推定する。 The detection of running out of seedlings is not limited to the sensor 23, and may be performed using the remaining amount estimation unit 68. The remaining capacity estimation unit 68 can be provided in the information terminal 5 . The remaining amount estimating unit 68 calculates the expected consumption using information on the amount of vertical feeding, information on the number of times of horizontal feeding, information on the amount of seedlings collected, information on the interval between plants, information on the travel distance, etc. in work traveling after replenishment. Then, the remaining amount estimating unit 68 is installed at the time of replenishment of seedlings, and subtracts the calculated expected consumption amount from the amount of mat-shaped seedlings stored in the storage unit 42 of the information terminal 5 to calculate the remaining amount of real seedlings. presume.
　さらに、センサ２３による苗の残量の検出と、残量推定部６８による実苗残量の推定の両方が行われる構成としても良い。この場合、報知制御部６６は、センサ２３が検出する苗の残量と実苗残量とのうちの作業者により選択されたいずれか一方を用いて報知を制御しても良い。 Further, the sensor 23 may detect the remaining amount of seedlings, and the remaining amount estimating section 68 may estimate the remaining amount of actual seedlings. In this case, the notification control unit 66 may control the notification using either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of actual seedlings selected by the operator.
　そのために、残量選択操作部６９が設けられても良い。残量選択操作部６９は、情報端末５のタッチパネル５０に表示されるソフトウェアスイッチ等として設けられる。 For this purpose, a remaining amount selection operation section 69 may be provided. The remaining amount selection operation unit 69 is provided as a software switch or the like displayed on the touch panel 50 of the information terminal 5 .
　自動作業走行中に、作業者は、残量選択操作部６９を操作して、センサ２３が検出する苗の残量と実苗残量とのうちの一方を選択する。報知制御部６６は、選択された苗の残量または実苗残量が所定量以下となった場合に苗切れと判断し、報知部４７にその旨を報知させる。 During automatic work traveling, the operator operates the remaining amount selection operation unit 69 to select either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of seedlings. The notification control unit 66 determines that seedlings are out of stock when the remaining amount of selected seedlings or the remaining amount of real seedlings is equal to or less than a predetermined amount, and causes the notification unit 47 to notify that fact.
〔別実施形態〕
（１）上記各実施形態において、制御ユニット３０および情報端末５は上記のような機能ブロックから構成されるものに限定されず、任意の機能ブロックから構成されても良い。例えば、制御ユニット３０および情報端末５の各機能ブロックはさらに細分化されても良く、逆に、各機能ブロックの一部または全部がまとめられても良い。また、制御ユニット３０および情報端末５の機能は、上記機能ブロックに限らず、任意の機能ブロックが実行する方法により実現されても良い。また、制御ユニット３０および情報端末５の機能の一部または全部は、ソフトウエアで構成されても良い。ソフトウエアに係るプログラムは、記憶部３５、記憶部４２等の任意の記憶装置に記憶され、制御ユニット３０または情報端末５が備えるＣＰＵ等のプロセッサ、あるいは別に設けられたプロセッサにより実行される。 [Another embodiment]
(1) In each of the above-described embodiments, the control unit 30 and the information terminal 5 are not limited to those configured from the above functional blocks, and may be configured from arbitrary functional blocks. For example, each functional block of the control unit 30 and the information terminal 5 may be further subdivided, or conversely, a part or all of each functional block may be grouped together. Also, the functions of the control unit 30 and the information terminal 5 may be realized by a method executed by arbitrary functional blocks, not limited to the above functional blocks. Also, part or all of the functions of the control unit 30 and the information terminal 5 may be configured by software. A program related to software is stored in an arbitrary storage device such as the storage unit 35 and the storage unit 42, and is executed by a processor such as a CPU provided in the control unit 30 or the information terminal 5, or a processor provided separately.
（２）上記各実施形態において、苗補給設定部４１、マイク４４、音声認識部４５、報知部４７、残量判定部４８、位置算出部５７、距離比較部６１、消費量予測部５８、消費量算出部５９、報知制御部６６、残量推定部６８は、情報端末５に設けられる構成に限らず、これらの内の少なくとも１つが制御ユニット３０に設けられても良く、機体１の他のユニットまたは機体１と通信可能な外部の管理コンピュータ等に設けられても良い。例えば、マイク４４と報知部４７は運転部１４に設けられ、苗補給設定部４１、音声認識部４５、残量判定部４８、位置算出部５７、距離比較部６１、消費量予測部５８、消費量算出部５９、報知制御部６６、残量推定部６８の少なくともいずれかは、機体１に設けられる制御ユニット３０等に設けられても良い。また、走行回数操作部５３、回数変更操作部５４、作業距離入力部５６、位置変更操作部６２、経路選択操作部６４、苗補給操作部６５の少なくともいずれかは運転部１４等の機体１に設けられても良い。苗補給設定部４１、マイク４４、音声認識部４５、報知部４７、残量判定部４８、位置算出部５７、距離比較部６１、消費量予測部５８、消費量算出部５９、報知制御部６６、残量推定部６８、走行回数操作部５３、回数変更操作部５４、作業距離入力部５６、位置変更操作部６２、経路選択操作部６４、苗補給操作部６５の少なくともいずれかは、リモコン６に設けられても良い。 (2) In each of the above embodiments, the seedling supply setting unit 41, the microphone 44, the voice recognition unit 45, the notification unit 47, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption The amount calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 are not limited to the configuration provided in the information terminal 5, and at least one of them may be provided in the control unit 30. It may be provided in an external management computer or the like that can communicate with the unit or body 1 . For example, the microphone 44 and the notification unit 47 are provided in the operation unit 14, the seedling supply setting unit 41, the voice recognition unit 45, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption At least one of the amount calculation unit 59 , the notification control unit 66 , and the remaining amount estimation unit 68 may be provided in the control unit 30 or the like provided in the body 1 . In addition, at least one of the number-of-travels operation unit 53, the number-of-times change operation unit 54, the working distance input unit 56, the position change operation unit 62, the route selection operation unit 64, and the seedling supply operation unit 65 is attached to the machine body 1 such as the operation unit 14. may be provided. Seedling supply setting unit 41, microphone 44, voice recognition unit 45, notification unit 47, remaining amount determination unit 48, position calculation unit 57, distance comparison unit 61, consumption prediction unit 58, consumption calculation unit 59, notification control unit 66 , remaining amount estimation unit 68, number of times of running operation unit 53, number of times change operation unit 54, working distance input unit 56, position change operation unit 62, route selection operation unit 64, seedling supply operation unit 65 may be provided in
（３）上記各実施形態において、機体１に機体１の周辺を撮影する撮像装置１９と苗補給ポイント検出部２０とが設けられる構成であっても良い。補給位置として補給ポイントＳＡで苗の補給が行われる際に、苗補給ポイント検出部２０は、撮像装置１９の撮影画像から画像解析により補給ポイントＳＡを識別し、走行制御部３２は、識別された補給ポイントＳＡに自動走行で移動する構成としても良い。 (3) In each of the above embodiments, the configuration may be such that the imaging device 19 for photographing the periphery of the body 1 and the seedling replenishment point detection unit 20 are provided on the body 1 . When the seedlings are replenished at the replenishment point SA as the replenishment position, the seedling replenishment point detection unit 20 identifies the replenishment point SA by image analysis from the image captured by the imaging device 19, and the travel control unit 32 identifies the replenishment point SA. It may be configured to automatically move to the replenishment point SA.
（４）上記各実施形態において、自動走行制御システムまたは圃場作業車は、コンバインと連携可能な構成であっても良い。さらに、田植機が苗植付作業を行う際に設定された補給辺ＳＬの情報がコンバインに伝達され、コンバインによる収穫作業の際の穀物の排出位置が補給辺ＳＬの情報に基づいて決定されても良い。 (4) In each of the above embodiments, the automatic travel control system or the field work vehicle may be configured to be able to cooperate with a combine harvester. Further, the information of the supply side SL set when the rice transplanter performs the seedling planting work is transmitted to the combine harvester, and the discharge position of the grain during the harvesting work by the combine is determined based on the information of the supply side SL. Also good.
　また、コンバインはライダーセンサ等を備え、収穫作業中に圃場の３Ｄデータを収集することができる場合、自動走行制御システムまたは圃場作業車は、補給辺ＳＬを設定する際に、圃場の３Ｄデータを考慮しても良い。 In addition, if the combine is equipped with a lidar sensor or the like and can collect 3D data of the field during harvesting work, the automatic travel control system or the field work vehicle can collect the 3D data of the field when setting the replenishment side SL. You can consider it.
　圃場の外周辺は、畦の高さや畦（圃場の外周）のうねり等により、補給辺ＳＬとして適切でない場合がある。前年等に取得された圃場の３Ｄデータを考慮して補給辺ＳＬが設定されることにより、不適切な位置に補給辺ＳＬが設定されることが抑制され、適切に補給辺ＳＬが設定される。 The outer perimeter of the field may not be suitable as the replenishment side SL due to the height of the ridge and the undulation of the ridge (perimeter of the field). By setting the replenishment side SL in consideration of the 3D data of the field acquired in the previous year or the like, the replenishment side SL is prevented from being set at an inappropriate position, and the replenishment side SL is appropriately set. .
（５）上記各実施形態において、センサ２３は、このようなセンサ２３が複数縦送り方向に並べて配置されることにより、マット状苗がどの程度残っているかを検出する構成であっても良い。さらに、センサ２３は苗載せ台２１上のマット状苗を撮影するカメラであっても良く、撮影画像を解析することによりマット状苗の残量を検出する構成であっても良い。また、センサ２３は重量センサであり、苗載せ台２１に搭載されるマット状苗の重さの変化から、苗の残量を計測する構成であっても良い。 (5) In each of the above embodiments, the sensor 23 may be configured to detect how many mat-like seedlings remain by arranging a plurality of such sensors 23 side by side in the longitudinal feeding direction. Furthermore, the sensor 23 may be a camera for photographing the mat-like seedlings on the seedling placement table 21, and may be configured to detect the remaining amount of mat-like seedlings by analyzing the photographed image. Moreover, the sensor 23 is a weight sensor, and may be configured to measure the remaining amount of seedlings from the change in the weight of the mat-like seedlings mounted on the seedling mounting table 21 .
　また、センサ２３に代わりドローンが搭載される構成であっても良い。この場合、ドローンにより苗載せ台２１上が撮影され、撮影画像が画像解析されることにより、苗載せ台２１上の苗の残量が検出される。 Also, a configuration in which a drone is mounted instead of the sensor 23 may be used. In this case, the seedling platform 21 is photographed by a drone, and the photographed image is image-analyzed to detect the remaining amount of seedlings on the seedling platform 21 .
　また、センサ２３により苗の残量を検出することに代わり、作業者の発する音声により、苗切れ等が認知される構成であっても良い。この場合、情報端末５、機体１、またはリモコン６に音声認識システムが設けられ、音声認識システムは、作業者の発する音声を解析して苗切れ等を認知する。 Also, instead of detecting the remaining amount of seedlings by the sensor 23, a configuration may be adopted in which the lack of seedlings or the like is recognized by the voice uttered by the operator. In this case, the information terminal 5, the machine body 1, or the remote control 6 is provided with a voice recognition system, and the voice recognition system analyzes the voice uttered by the operator and recognizes whether the seedling is cut or the like.
　例えば、音声認識システムは、作業者の「苗切れ」との音声を認識して苗切れが生じていることを検知する。また、音声認識システムは、作業者の「苗が多い」との音声を認識して、予定より作業走行を長距離行えることを検知する。 For example, the voice recognition system recognizes the worker's voice saying "seedling cut" and detects that the seedling is cut. In addition, the voice recognition system recognizes the worker's voice saying "there are many seedlings" and detects that the work can travel longer than planned.
　これらの検知内容に応じて、苗補給設定部４１は、補給準備処理を行うタイミングを変更する。 The seedling replenishment setting unit 41 changes the timing of replenishment preparation processing according to these detection details.
（６）上記各実施形態において、農場作業車は、田植機に限らず、圃場に農協資材を供給する播種機、薬剤散布機、施肥機等の他の作業車であっても良く、圃場で収穫した農作物を排出するコンバイン等の収穫機であっても良い。 (6) In each of the above embodiments, the farm work vehicle is not limited to a rice transplanter, and may be a seeding machine that supplies agricultural cooperative materials to a field, a chemical sprayer, a fertilizer applicator, or other work vehicle. It may be a harvester such as a combine that discharges harvested crops.
　この場合、圃場の外周辺から、収穫した農作物を排出する排出位置に沿う排出辺が設定され、資材排出設定部によって設定された内部往復経路ＩＰＬの排出準備位置で排出準備処理が実施される。すなわち、田植機の自動走行制御システムにおける「補給辺」は収穫機の自動走行制御システムにおける「排出辺」に相当し、「農業資材」は「収穫された農作物」に相当し、「資材補給設定部」は「資材排出設定部」に相当し、「補給準備位置」は「排出準備位置」に相当し、「補給準備処理」は「排出準備処理」に相当する。 In this case, a discharge side along the discharge position for discharging the harvested crops is set from the outer periphery of the field, and discharge preparation processing is performed at the discharge preparation position of the internal reciprocating route IPL set by the material discharge setting unit. In other words, the “replenishment side” in the automatic travel control system of the rice transplanter corresponds to the “discharge side” in the automatic travel control system of the harvester, the “agricultural material” corresponds to the “harvested crops”, and the “material replenishment setting "Part" corresponds to "Material discharge setting part", "Replenishment preparation position" corresponds to "Discharge preparation position", and "Replenishment preparation process" corresponds to "Discharge preparation process".
　本発明は、田植機等の苗移植車に限らず、コンバインやトラクタ等の各種の圃場作業車に適用することができる。 The present invention can be applied not only to seedling transplant vehicles such as rice transplanters, but also to various field work vehicles such as combine harvesters and tractors.
　　１　　機体
　　５　　情報端末
　　６　　リモコン
　２１　　苗載せ台
　２２　　植付機構
　２３　　センサ
　３２　　走行制御部
　３３　　作業制御部
　４１　　苗補給設定部（資材補給設定部）
　４４　　マイク
　４５　　音声認識部
　４７　　報知部
　４８　　残量判定部
　５３　　走行回数操作部
　５４　　回数変更操作部
ＩＰＬ　　内部往復経路（内部経路）
　ＳＬ　　補給辺
  1 body 5 information terminal 6 remote control 21 seedling platform 22 planting mechanism 23 sensor 32 running control unit 33 work control unit 41 seedling supply setting unit (material supply setting unit)
44 microphone 45 voice recognition unit 47 notification unit 48 remaining amount determination unit 53 number of times operation unit 54 number change operation unit IPL internal round trip route (internal route)
SL supply side

Claims (15)

  1. 　内部経路と旋回経路とからなる走行経路を走行する自動往復走行を繰り返すことにより圃場に農業資材を供給する圃場作業を行う圃場作業車の自動走行制御システムであって、
    　前記圃場作業車は、所定の補給辺で資材補給を行うために、前記内部経路の走行を所定の走行回数だけ行う度に走行を停止する補給準備処理を行い、
    　前記補給準備処理を含む自動走行を制御する走行制御部と、
    　前記圃場作業を制御する作業制御部と、
    　前記走行回数の選択を受け付ける走行回数操作部と、
    　前記走行回数操作部への入力に応じて前記走行回数を設定する資材補給設定部とを備える自動走行制御システム。     An automatic travel control system for a field work vehicle that performs field work for supplying agricultural materials to a field by repeating automatic reciprocating travel along a travel route consisting of an internal route and a turning route,
    In order to replenish materials at a predetermined replenishment side, the agricultural field work vehicle performs a replenishment preparation process of stopping travel every time it travels the internal route a predetermined number of times,
    a travel control unit that controls automatic travel including the replenishment preparation process;
    a work control unit that controls the field work;
    a number-of-runs operation unit that receives selection of the number of times of running;
    and a material replenishment setting unit for setting the number of times of travel according to an input to the number of times of travel operating unit.
  2. 　前記走行回数は、前記旋回経路を挟んだ２つの前記内部経路を走行する往復走行の回数である請求項１に記載の自動走行制御システム。 The automatic travel control system according to claim 1, wherein the number of travels is the number of reciprocating travels on two internal routes sandwiching the turning route.
  3. 　前記走行回数の変更指示を受け付ける回数変更操作部をさらに備え、
    　前記自動往復走行中に前記変更指示を受け付けると、前記資材補給設定部は前記変更指示に応じて、直前の前記補給準備処理から次の前記補給準備処理を行うまでの前記走行回数を変更する請求項１または２に記載の自動走行制御システム。     further comprising a number change operation unit that receives an instruction to change the number of runs,
    When the change instruction is received during the automatic reciprocating travel, the material replenishment setting section changes the number of travels from the last replenishment preparation process to the next replenishment preparation process according to the change instruction. Item 3. The automatic cruise control system according to Item 1 or 2.
  4. 　前記資材補給設定部は、変更された前記走行回数で前記補給準備処理を行った後、以降の前記走行回数を前記走行回数操作部にて選択された前記走行回数に戻す請求項３に記載の自動走行制御システム。 4. The material replenishment setting unit according to claim 3, wherein after performing the replenishment preparation process with the changed number of runs, the number of runs thereafter is returned to the number of runs selected by the number of runs operation unit. Automatic driving control system.
  5. 　前記資材補給設定部は、前記変更指示を受け付けると、以降の前記走行回数を前記変更指示に対応する前記走行回数に変更する請求項３に記載の自動走行制御システム。 The automatic travel control system according to claim 3, wherein the material replenishment setting unit, upon receiving the change instruction, changes the subsequent number of travels to the number of travels corresponding to the change instruction.
  6. 　前記回数変更操作部は、前記圃場作業車の機体に設けられる請求項３から５のいずれか一項に記載の自動走行制御システム。 The automatic travel control system according to any one of claims 3 to 5, wherein the number of times change operation unit is provided on the body of the field work vehicle.
  7. 　前記圃場作業車に着脱可能な情報端末をさらに備え、
    　前記回数変更操作部は、前記情報端末に設けられ、前記変更指示は、前記回数変更操作部が操作された回数に応じて決定される請求項３から５のいずれか一項に記載の自動走行制御システム。     further comprising an information terminal detachable from the field work vehicle,
    The automatic driving according to any one of claims 3 to 5, wherein the number of times change operation unit is provided in the information terminal, and the change instruction is determined according to the number of times the number of times change operation unit is operated. control system.
  8. 　前記圃場作業車に着脱可能な情報端末をさらに備え、
    　前記回数変更操作部は、前記情報端末に設けられ、前記変更指示は、前記回数変更操作部を操作されている間に変化する前記走行回数を選択することにより決定される請求項３から５のいずれか一項に記載の自動走行制御システム。     further comprising an information terminal detachable from the field work vehicle,
    6. The number-of-times change operation unit is provided in the information terminal, and the instruction to change is determined by selecting the number of times of running that changes while the number-of-times change operation unit is being operated. The automatic cruise control system according to any one of the items.
  9. 　前記圃場作業車に対する遠隔操作が可能なリモコンをさらに備え、
    　前記回数変更操作部は、前記リモコンに設けられる請求項３から５のいずれか一項に記載の自動走行制御システム。     further comprising a remote controller capable of remotely controlling the field work vehicle,
    The automatic cruise control system according to any one of claims 3 to 5, wherein the number of times change operation unit is provided in the remote controller.
  10. 　音声を入力するマイクをさらに備え、
    　前記資材補給設定部は、予め決められた前記音声に反応する音声認識部を有し、
    　前記音声認識部は前記マイクに入力される前記音声を認識し、
    　前記資材補給設定部は、前記音声認識部で認識された前記音声に応じて前記走行回数を変更する請求項３から５のいずれか一項に記載の自動走行制御システム。     Equipped with a microphone for inputting voice,
    The material supply setting unit has a voice recognition unit that responds to the predetermined voice,
    The speech recognition unit recognizes the speech input to the microphone,
    The automatic travel control system according to any one of claims 3 to 5, wherein the material replenishment setting unit changes the number of times of travel according to the voice recognized by the voice recognition unit.
  11. 　前記圃場作業車に対する遠隔操作が可能なリモコンをさらに備え、
    　前記マイクは、前記リモコンに設けられる請求項１０に記載の自動走行制御システム。     further comprising a remote controller capable of remotely controlling the field work vehicle,
    11. The automatic cruise control system according to claim 10, wherein said microphone is provided on said remote controller.
  12. 　前記走行回数操作部は、前記補給準備処理を実行しない無補給準備モードを選択でき、
    　前記無補給準備モードを選択した前記自動往復走行中に、前記回数変更操作部が操作されると、前記走行制御部は、次に前記補給辺に近づいた際に前記補給準備処理を実行する請求項３から１１のいずれか一項に記載の自動走行制御システム。     The number-of-travels operation unit can select a non-replenishment preparation mode in which the replenishment preparation process is not executed,
    When the number-of-times changing operation section is operated during the automatic reciprocating travel in which the non-replenishment preparation mode is selected, the travel control section executes the replenishment preparation processing the next time the vehicle approaches the replenishment side. Item 12. The automatic cruise control system according to any one of Items 3 to 11.
  13. 　前記圃場作業車は前記農業資材として苗を前記圃場に植え付ける苗移植車であり、苗載せ台と植付機構とを有し、
    　前記苗載せ台は、マット状苗を載置し、所定の縦送り量で継続的に前記植付機構に前記マット状苗を送り出し、
    　前記植付機構は、前記マット状苗から所定の苗取り量の前記苗を取り出して、所定の株間で前記苗を前記圃場に植え付け、
    　前記苗載せ台は前記マット状苗のマット残量を検出するセンサを有し、
    　前記自動走行制御システムは、所定の報知を行う報知部をさらに備え、
    　前記資材補給設定部は、前記センサが検出する前記マット残量の情報、前記苗取り量の情報、前記縦送り量の情報、前記マット状苗の長さの情報、および前記株間の情報から、次に前記補給準備処理を行うまでの前記圃場作業において、前記苗の残量が不足するか否かを判定する残量判定部を有し、
    　前記残量判定部は、前記苗の残量が不足する場合は、前記報知部に前記苗の残量が不足する旨の報知を行わせる請求項１から１２のいずれか一項に記載の自動走行制御システム。     The field working vehicle is a seedling transplanting vehicle for planting seedlings as the agricultural material in the field, and has a seedling platform and a planting mechanism,
    The seedling mounting table places a mat-like seedling and continuously feeds the mat-like seedling to the planting mechanism at a predetermined vertical feed amount,
    The planting mechanism extracts a predetermined amount of seedlings from the mat-shaped seedlings, and plants the seedlings in the field between predetermined intervals,
    The seedling mounting table has a sensor for detecting the remaining amount of mat of the mat-like seedlings,
    The automatic cruise control system further includes a notification unit that performs a predetermined notification,
    The material supply setting unit, based on information on the remaining amount of the mat detected by the sensor, information on the amount of seedlings taken, information on the amount of vertical feeding, information on the length of the mat-like seedling, and information on the distance between plants, a remaining amount determination unit that determines whether or not the remaining amount of seedlings is insufficient in the field work until the next replenishment preparation process is performed,
    13. The automatic apparatus according to any one of claims 1 to 12, wherein the remaining amount determination unit causes the notification unit to notify that the remaining amount of the seedlings is insufficient when the remaining amount of the seedlings is insufficient. travel control system.
  14. 　内部経路と旋回経路とからなる走行経路を走行する自動往復走行を繰り返すことにより圃場から農作物を収穫する圃場作業を行う圃場作業車の自動走行制御システムであって、
    　前記圃場作業車は、所定の排出辺で収穫した前記農作物を排出するために、前記内部経路の走行を所定の走行回数だけ行う度に走行を停止する排出準備処理を行い、
    　前記排出準備処理を含む自動走行を制御する走行制御部と、
    　前記圃場作業を制御する作業制御部と、
    　前記走行回数の選択を受け付ける走行回数操作部と、
    　前記走行回数操作部への入力に応じて前記走行回数を設定する資材排出設定部とを備える自動走行制御システム。     An automatic travel control system for a field work vehicle that performs field work for harvesting crops from a field by repeating automatic reciprocating travel along a travel route consisting of an internal route and a turning route,
    In order to discharge the crops harvested at a predetermined discharge side, the agricultural field work vehicle performs a discharge preparation process of stopping the driving each time the internal route is driven a predetermined number of times,
    a travel control unit that controls automatic travel including the discharge preparation process;
    a work control unit that controls the field work;
    a number-of-runs operation unit that receives selection of the number of times of running;
    and a material discharge setting unit that sets the number of times of running in accordance with an input to the number of times of running operation unit.
  15. 　内部経路と旋回経路とからなる走行経路を走行する自動往復走行を繰り返すことにより圃場に農業資材を供給する圃場作業を行い、所定の補給辺で資材補給を行うために、前記内部経路の走行を所定の走行回数だけ行う度に走行を停止する補給準備処理を行う圃場作業車であって、
    　前記圃場作業を行う作業装置と、
    　前記補給準備処理を含む自動走行を制御する走行制御部と、
    　前記圃場作業を制御する作業制御部と、
    　前記走行回数の選択を受け付ける走行回数操作部と、
    　前記走行回数操作部への入力に応じて前記走行回数を設定する資材補給設定部とを備える圃場作業車。
          By repeating automatic reciprocating traveling along a traveling route consisting of an internal route and a turning route, the internal route is used to perform field work to supply agricultural materials to the field, and to supply materials at a predetermined replenishment side. A field work vehicle that performs replenishment preparation processing to stop traveling every time it has traveled a predetermined number of times,
    a working device for performing the field work;
    a travel control unit that controls automatic travel including the replenishment preparation process;
    a work control unit that controls the field work;
    a number-of-runs operation unit that receives selection of the number of times of running;
    and a material replenishment setting unit that sets the number of runs according to an input to the number of runs operation unit.
PCT/JP2022/033493 2021-09-09 2022-09-07 Automatic travel control system and farmland work vehicle WO2023038040A1 (en)

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