JP2019168812A - Automatic traveling system - Google Patents

Abstract

An automatic traveling system that can select a traveling mode in a headland area according to a user's request is provided. A rice transplanter travels in a field having a work area and a headland area, having a first straight path and a second straight path set in a work area W, and a connecting path set in the headland area. Automatically travel along the route. The route generation unit can selectively generate a first connection route and a second connection route as the connection routes. The first connection route is set such that the automatic traveling of the rice transplanter is stopped unless the specific condition is satisfied. The second connection route does not use the specific condition as the requirement for the automatic traveling of the rice transplanter. [Selection] Fig. 6F

Description

  The present invention relates to an automatic traveling system.

  In the field work machine of the following patent document 1, when performing farm work in the field, the travel path calculation unit calculates a travel route suitable for the farm work. Then, the field work machine performs the farm work while traveling along the travel route. Specifically, the farm field working machine travels linearly from the work start point while performing farm work in an internal region surrounded by the headland, and reaches the work end point. Then, the field work machine turns 180 ° on the headland, reaches the next work start point next to the previous work end point, travels linearly from the next work start point, and moves to the next work. Reach the end point. By repeating this, farm work is performed throughout the inner area.

JP 2015-112071

  By the way, in recent years, automation of field work machines has progressed, and there is a growing need to automatically run field work machines even in headlands. Depending on the user, the travel route on which the farm work machine is to be automatically traveled in the headland may differ. For example, when the field work machine is moved straight toward the fence on the headland, it is necessary to pay attention to the presence of the fence during automatic traveling because the field work machine may collide with the fence. On the other hand, when the field work machine is driven along a travel route sufficiently away from the kite, it is not necessary to pay attention to the presence of the kite during automatic traveling because the kite does not become an obstacle to automatic traveling.

  Therefore, a main object of the present invention is to provide an automatic traveling system capable of selecting a traveling form in a headland area according to a user's desire.

  In one embodiment of the present invention, in a field having an internal region and a headland region surrounding the internal region, a first straight path that is set in the internal region and connects a first start point and a first end point, A travel route having a second straight line connecting the second start point and the second end point set in the inner region and a connecting route connecting the first end point and the second start point set in the headland region An automatic traveling system for automatically traveling the agricultural machine along the first connection path set so that the automatic traveling of the agricultural machine is stopped if a specific condition is not established as the connection path, There is provided an automatic traveling system including a route generation unit capable of selectively generating a second connection route that does not make a specific condition a requirement for automatic traveling of the agricultural machine.

  According to this configuration, the route generation unit, as the connection route set in the headland area, the first connection route that needs to satisfy the specific condition in order for the farm machine to automatically travel, and the specific condition of the farm machine. It is possible to selectively generate a second connection route that is not a requirement for automatic travel. That is, according to a user's request, the driving | running route from which the traveling form of the agricultural machine in a headland area differs can be selectively produced | generated.

  Here, for example, the first connection path moves the farm machine forward from the first end point toward the straw of the field, and reverses the farm machine toward the first end point from the end of the hook side in the forward path. It is comprised by the reverse path | route and the turning path | route which turns the said agricultural working machine toward the 2nd start point from the edge part of the 1st end point side in a reverse path | route, and a 2nd connection path | route is made from a 1st end point to a 2nd start point. A case is assumed in which the farming machine is configured only by a turning path for moving the farming machine.

  In this case, for example, when the farming machine is approaching the end on the heel side in the forward path, it is a specific condition that the user continues to touch the communication terminal etc. Even if the user notices that the machine is approaching a hoe, the automatic traveling of the farm work machine can be forcibly stopped. Therefore, since the farmer can run the shore under the user's monitoring, the collision of the farmer with the hoe can be suppressed.

  In one embodiment of the present invention, the automatic traveling system displays a selection screen on which a user can select which of the first connection route and the second connection route is to be generated by the route generation unit; And a display control unit for displaying the selection screen on a display unit. And when the said route production | generation part produces | generates the said 1st connection route, in order that the said display control part makes the said agricultural work machine drive | work automatically in the said 1st connection route, establishment of the said specific condition is required Is displayed on the display unit.

  According to this configuration, the user can know whether or not the specific condition needs to be satisfied when the travel route is generated. For this reason, when the user selects the first connection route, the user can appropriately pay attention to the establishment of the specific condition during the automatic travel. When the user selects the second connection route, the user can specify the automatic travel. It is possible to save the trouble of paying attention to the establishment of the conditions. Therefore, it is possible to reduce the burden on the user when the farm work machine is automatically driven.

  In one embodiment of the present invention, the autonomous traveling system needs to establish the specific condition during automatic traveling of the agricultural work machine, and an automatic traveling control unit that automatically travels the agricultural working machine along the traveling route. And a notification unit that notifies the user of the fact. And if the said specific conditions are not satisfied within the predetermined time after the said alerting | reporting part alert | reports, the said automatic traveling control part will stop the automatic traveling of the said agricultural working machine.

  According to this configuration, the user can know the timing at which the specific condition needs to be satisfied during the automatic traveling of the agricultural machine by notifying the notifying unit. Therefore, since the frequency at which automatic traveling is forcibly stopped can be reduced, the farm work machine can be automatically and smoothly traveled along the traveling route. Moreover, since the automatic traveling of the agricultural machine is stopped if the specific condition is not satisfied within a predetermined time, even if the user fails to recognize the notification by the notification control unit, the agricultural machine on the first connection route Automatic driving can be forcibly stopped. Therefore, it is possible to reduce the burden on the user when the farm work machine is automatically driven.

  In another embodiment of the present invention, in a field having an internal region and a headland region surrounding the internal region, a first straight path that is set in the internal region and connects a first start point and a first end point; A travel route having a second straight path formed by connecting the second start point and the second end point set in the internal region, and a connection route connecting the first end point and the second start point set by the headland region. An automatic traveling system for automatically traveling the agricultural machine along the path, wherein the connection path is a forward path for moving the agricultural machine forward from the first end point toward the straw of the field, and the heel side in the forward path A reverse path for reversing the agricultural work machine from the end of the reverse direction toward the first end point, a turn path for connecting the end of the reverse end side on the first end point side and the second start point to turn the agricultural work machine An automatic travel control unit that automatically travels the farm work machine along the travel route, and when the specific condition is not satisfied when the farm work machine approaches the basket, the automatic travel control unit And an automatic travel monitoring unit that stops the automatic travel of the farm work machine.

  According to this configuration, when the specific condition is not satisfied when the farm work machine approaches the fence, the automatic travel monitoring unit causes the automatic travel control unit to stop the automatic travel of the farm work machine. For example, when the specific condition is that the user keeps touching the communication terminal, even if the user does not notice that the hoe is approaching the farm machine, the farm machine is forced to automatically run. Can be stopped. Therefore, since the farmer can run the shore under the user's monitoring, the collision of the farmer with the hoe can be suppressed.

In another embodiment of the present invention, the automatic traveling monitoring unit notifies the user that the specific condition needs to be established when the agricultural machine approaches the ridge, and a predetermined time has elapsed after the notification. Even if the specific condition is not satisfied, the automatic traveling control unit stops the automatic traveling of the farm work machine.
According to this configuration, the user can know the timing at which the specific condition needs to be established during automatic traveling of the farm work machine by notification from the automatic traveling monitoring unit. Therefore, since the frequency at which automatic traveling is forcibly stopped can be reduced, the farm work machine can be automatically and smoothly traveled along the traveling route. In addition, since the automatic traveling of the agricultural machine is stopped if the specific condition is not satisfied within a predetermined time, even if the user fails to recognize the notification from the automatic traveling monitoring unit, the agricultural work on the first connection route The automatic running of the machine can be forcibly stopped. Therefore, it is possible to reduce the burden on the user when the farm work machine is automatically driven.

FIG. 1 is a side view of a rice transplanter to which an automatic traveling system according to a first embodiment of the present invention is applied. FIG. 2 is a plan view of the rice transplanter. FIG. 3A is a schematic diagram for explaining how the rice transplanter travels along a first travel route. FIG. 3B is an enlarged view of a portion surrounded by a two-dot chain line in FIG. 3A, and is a schematic diagram for explaining details of the first connection route included in the first travel route. FIG. 4 is a schematic diagram for explaining how the rice transplanter travels along the second travel route. FIG. 5 is a block diagram showing an electrical configuration of the rice transplanter and an electrical configuration of a wireless communication terminal that communicates with the rice transplanter. FIG. 6A is a diagram showing a top screen of a route generation condition setting screen displayed on the operation display unit of the wireless communication terminal. FIG. 6B is a diagram illustrating a field selection screen of the route generation condition setting screen displayed on the operation display unit. FIG. 6C is a diagram illustrating a field area selection screen of the route generation condition setting screen displayed on the operation display unit. FIG. 6D is a diagram illustrating a work vehicle selection screen of the route generation condition setting screen displayed on the operation display unit. FIG. 6E is a diagram illustrating a work mode setting screen of the route generation condition setting screen displayed on the operation display unit. FIG. 6F is a diagram illustrating a planting method setting screen of the route generation condition setting screen displayed on the operation display unit. FIG. 6G is a diagram showing a setting confirmation screen of the route generation condition setting screen displayed on the operation display unit. FIG. 6H is a diagram illustrating a path generation result screen of the path generation condition setting screen displayed on the operation display unit. FIG. 7A is a diagram illustrating a traveling screen displayed on the operation display unit, and is a diagram illustrating a state before the start of automatic traveling. FIG. 7B is a diagram illustrating a traveling screen displayed on the operation display unit, and is a diagram illustrating a state where the rice transplanter is automatically traveling on the first straight path. FIG. 7C is a diagram illustrating a traveling screen displayed on the operation display unit, and is a diagram illustrating a state in which the rice transplanter has moved forward along a forward path and approached a ridge. FIG. 7D is a diagram illustrating a traveling screen displayed on the operation display unit, and is a diagram illustrating a state where the rice transplanter is traveling backward on a reverse path. FIG. 8 is a flowchart showing an example of the automatic travel monitoring control by the automatic travel monitoring unit provided in the wireless communication terminal.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a side view of a rice transplanter 1 to which an automatic traveling system according to an embodiment of the present invention is applied. FIG. 2 is a plan view of the rice transplanter 1.
With reference to FIG. 1 and FIG. 2, the rice transplanter 1 performs the planting operation | work which plants a seedling on the ground of the agricultural field F, running the agricultural field F (refer also FIG. 3A etc.). The rice transplanter 1 includes a traveling machine body 2 and a planting unit 3 disposed behind the traveling machine body 2. The traveling machine body 2 includes a pair of left and right front wheels 5 and a pair of left and right rear wheels 6, and can travel with the driving force of the engine 10.

  The traveling machine body 2 includes a transmission 27, a front axle 28, and a rear axle 29. The transmission 27 changes the power from the engine 10 and transmits it to the front axle 28 and the rear axle 29. The front axle 28 transmits the power input from the transmission 27 to the front wheels 5. The rear axle 29 transmits the power input from the transmission 27 to the rear wheel 6.

The traveling machine body 2 includes a driver's seat 7 for a user to board, a steering handle 8 for steering the traveling machine body 2, and a speed change pedal 9 for adjusting the traveling speed of the traveling machine body 2.
In the vicinity of the steering handle 8, an operation unit 11 (see FIG. 5 described later) for a user to perform various operations is provided. The operation unit 11 includes a main transmission lever and the like. The main transmission lever is an operating tool for changing the speed (vehicle speed) at which the rice transplanter 1 travels in a stepless manner.

  When the rice transplanter 1 travels automatically (autonomous traveling), the rice transplanter 1 travels at the vehicle speed set by the main transmission lever. The automatic traveling means that the traveling mechanism of the rice transplanter 1 is controlled by the control unit 4 described later, and the rice transplanter 1 travels along the traveling route R. On the other hand, manual travel means that the rice transplanter 1 travels when each mechanism provided in the rice transplanter 1 is operated by the user. In addition, the vehicle speed of the rice transplanter 1 may be set using the radio | wireless communication terminal 100 (refer FIG. 5 mentioned later).

The planting unit 3 is connected to the rear of the traveling machine body 2 via the lifting link mechanism 13. A PTO shaft 14 for outputting the driving force of the engine 10 to the planting unit 3 and a lifting cylinder 15 for driving the planting unit 3 up and down are disposed at the rear of the traveling machine body 2. The driving force of the engine 10 is transmitted to the PTO shaft 14 via the transmission 27.
The elevating link mechanism 13 has a parallel link structure including a top link 18 and a lower link 19. The lower cylinder 19 is connected to the lower link 19. The entire planting part 3 can be raised and lowered by extending and retracting the lifting cylinder 15.

The planting unit 3 includes a plurality of (three in this embodiment) planting units 21 for planting seedlings on the ground, a planting input case 20 for driving the planting unit 21, and a seedling mat (not shown). It is mainly provided with a seedling stand 22 to be placed and a plurality of floats 23 for leveling the ground before planting seedlings.
The planting input case 20 is connected to the lifting link mechanism 13, and a plurality of planting units 21 are attached thereto.

Each planting unit 21 is a rotary planting device having a planting transmission case 24, a rotating case 25, and a planting arm 26. Two rotation cases 25 are attached to the planting transmission case 24 of each planting unit 21, and two planting arms 26 are attached to each rotation case 25.
The planting input case 20 drives the planting unit 21 when a driving force from the PTO shaft 14 is input. Power is transmitted from the planting input case 20 to the planting transmission case 24. The rotating case 25 is rotationally driven by the power from the planting transmission case 24. Thereby, the front-end | tip part of the planting arm 26 draws a loop-shaped rotation locus | trajectory, and act | operates. When the tip of the planting arm 26 moves from the top to the bottom, the seedling is scraped off from a seedling mat (not shown) placed on the seedling mounting table 22, and the seedling is planted on the ground of the field F.

The float 23 is provided in the lower part of the planting part 3. The float 23 is arranged so that the lower surface can contact the ground of the field F. When the float 23 contacts the ground, the ground before planting the seedling is leveled.
3A, 3B, and 4 are schematic diagrams for explaining how the rice transplanter 1 travels in the field F. FIG. The farm field F has a work area W (inner area) where planting work is performed, a headland area N surrounding the work area W, and a ridge FP surrounding the headland area N. The work area W has, for example, a rectangular shape in plan view. In the field F, one of the first travel route R1 shown in FIG. 3A and the second travel route R2 shown in FIG. 4 is set. Hereinafter, the first travel route R1 and the second travel route R2 may be collectively referred to as a travel route R.

  With reference to FIG. 3A and FIG. 4, the travel route R is a zigzag route. Specifically, the travel route R has a configuration in which a plurality of straight routes P set in the work area W and a connection route C set in the headland area N are alternately connected. Each straight path P is a straight path formed by connecting the start point SP and the end point EP. The connection path C is a path that connects the ends of adjacent linear paths P to each other. The start point SP and the end point EP of each straight path P are located at the boundary between the work area W and the headland area N. The rice transplanter 1 travels automatically throughout the entire second travel route R2. When the rice transplanter 1 travels, the planting unit 3 is pulled by the traveling machine body 2. The rice transplanter 1 performs a planting operation when traveling along the straight path P.

  Hereinafter, the straight path P on which the rice transplanter 1 is currently traveling is referred to as a first straight path P1, and the straight path P on which the rice transplanter 1 travels next is also referred to as a second straight path P2. The start point SP of the first straight path P1 is referred to as a first start point SP1, and the end point EP of the first straight path P1 is referred to as a first end point EP1. The start point SP of the second straight path P2 is referred to as a second start point SP2, and the end point EP of the second straight path P2 is referred to as a second end point EP2. In the second travel route R2, the rice transplanter 1 travels in this order on the first straight route P1, the second connection route C2, and the second straight route P2.

  For example, the rice transplanter 1 automatically travels in order from a straight path P located on one end side of the work area W in the longitudinal direction (left side of the paper surface in FIGS. 3A and 4). The rice transplanter 1 starts traveling from the start point SP (first start point SP1) to the end point EP (first end point EP1) of the straight path P (first straight path P1). Then, when the rice transplanter 1 reaches the first end point EP1, the rice transplanter 1 automatically travels along the headland area N along the first connection route C, and the start point SP (second point) of the adjacent straight route P (second straight route P2). The starting point SP2) is reached. And the rice transplanter 1 starts automatic driving | running | working toward 2nd end point EP2 from 2nd start point SP2 of the 2nd straight path | route P2. When the rice transplanter 1 finishes traveling on the straight path P set on the farthest other side in the longitudinal direction (the rightmost side in FIG. 3A and FIG. 4), the automatic traveling of the rice transplanter 1 on the travel route R ends. .

  The first travel route R1 illustrated in FIG. 3A has a first connection route C1 as the connection route C. Referring to FIG. 3B, the first connection path C1 has a forward path E1, a reverse path E2, and a turning path E3. The forward path E1 is a linear path extending from the end point EP of the straight path P immediately before the certain first connection path C1 toward the flange FP. The reverse path E2 extends from the end of the forward path E1 on the heel FP side toward the end point EP of the straight path P immediately before the first connection path C1. The turning route E3 has an arc shape that connects the end of the reverse route E2 on the end point EP side of the straight route P immediately before the first connection route C1 and the straight route P that travels next to the first connection route C1. This is the route.

  In FIG. 3B, the forward path E1 and the reverse path E2 are illustrated as being shifted left and right for convenience of explanation, but the forward path E1 and the reverse path E2 may overlap. In FIG. 3B, for the sake of convenience of explanation, the forward path E1 and the reverse path E2 are illustrated as having the same length, but the reverse path E2 may be shorter than the forward path E1. In other words, the end portion of the forward path E1 on the end point EP side of the straight path P may be located at 畦 FP more than the end portion of the reverse path E2 on the end point EP side of the straight path P. If so, it is possible to prevent the rear wheel 6 from stepping on the ground on which the seedling is planted while traveling on the backward path E2.

  When the rice transplanter 1 travels on the first travel route R1 and reaches the first end point EP1, the rice transplanter 1 moves forward along the forward route E1 to just before the eaves FP. And the rice transplanter 1 moves backward along the reverse path E2 from the end of the forward path E1 on the heel FP side. And the rice transplanter 1 turns along the turning path | route E3 toward the 2nd starting point SP2 from the edge part by the side of the 1st end point EP1 in the reverse path | route E2.

The second travel route R2 illustrated in FIG. 4 includes a second connection route C2 as the connection route C. The second connection path C2 is an arcuate turning path that connects the end point EP of the straight path P and the start point SP of the adjacent straight path P.
In the first travel route R1 shown in FIG. 3A, the forward route E1 of the first connection route C1 extends to the end, so that a straight route P longer than the second travel route R2 shown in FIG. 4 can be set. Therefore, when the first travel route R1 is set in the field F, the work area W can be set wider than in the case where the second travel route R2 is set in the field F.

  By running around the work area W after the work in the work area W is completed, a rounding step of performing a planting work on the headland area N may be executed. When the rice transplanter 1 travels along the first travel route R1, the work area W is wider than when the rice transplanter 1 travels along the second travel route R2. The number of times of going around the headland region N can be reduced. Therefore, the time required for the entire farm work in the field is shortened.

FIG. 5 is a block diagram illustrating an electrical configuration of the rice transplanter 1 and an electrical configuration of the wireless communication terminal 100 that communicates with the rice transplanter 1.
As shown in FIG. 5, the rice transplanter 1 operates the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the planting unit 3 attached to the traveling machine body 2 (elevating, driving, stopping, etc.). ) Is provided. A plurality of controllers for controlling each part of the rice transplanter 1 are electrically connected to the controller 4.

The plurality of controllers include an engine controller 31, a vehicle speed controller 32, a steering controller 33, a lift controller 34, and a PTO controller 35.
The engine controller 31 controls the rotational speed of the engine 10 and the like. The engine controller 31 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, when the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close, high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector to each cylinder of the engine 10. Thus, the injection pressure, injection timing, and injection period (injection amount) of fuel supplied from each injector are controlled with high accuracy. The engine controller 31 controls the number of revolutions of the engine 10 by controlling the common rail device 41. The engine controller 31 can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the common rail device 41.

The vehicle speed controller 32 controls the vehicle speed of the traveling machine body 2 (which is also the vehicle speed of the rice transplanter 1) by controlling the transmission 27 (see FIG. 1). The transmission 27 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission.
The vehicle speed controller 32 changes the gear ratio of the transmission 27 by changing the angle of the swash plate of the transmission 42 with an actuator (not shown). Thereby, the traveling machine body 2 can be decelerated (accelerated) until the desired vehicle speed is reached, or the traveling machine body 2 can be stopped. By adjusting the speed of changing the angle of the swash plate of the transmission 42, the degree of deceleration of the traveling machine body 2 can be adjusted. By adjusting the degree of deceleration of the traveling machine body 2, the distance from when the traveling machine body 2 starts to decelerate until it stops can be adjusted.

  The steering controller 33 controls the turning angle of the front wheels 5 during automatic traveling. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 8. The steering controller 33 controls the steering actuator 43 so that the rotation angle of the steering handle 8 becomes the target turning angle. Thereby, the turning angle of the front wheel 5 of the traveling machine body 2 is controlled.

  The raising / lowering controller 34 controls raising / lowering of the planting part 3. The lifting controller 34 drives the lifting cylinder 15 by opening and closing a solenoid valve (not shown) based on a control signal input from the control unit 4 to drive the planting unit 3 as appropriate. The elevating controller 34 can support the planting unit 3 at a desired height such as a non-working height where no planting work is performed and a work height where the planting work is performed.

  The PTO controller 35 controls the rotation of the PTO shaft 14. Specifically, the rice transplanter 1 includes a PTO clutch 45 for switching between transmission / cutoff of power to the PTO shaft 14. With this configuration, the PTO controller 35 switches the PTO clutch 45 based on the control signal input from the control unit 4 and rotationally drives the planting input case 20 of the planting unit 3 via the PTO shaft 14. This rotational drive can be stopped.

  A position information calculation unit 49 (positioning unit) is electrically connected to the control unit 4. The positioning information received by the satellite signal receiving antenna 46 is input to the position information calculation unit 49. The satellite signal receiving antenna 46 receives signals from positioning satellites constituting a satellite navigation system (GNSS: Global Navigation Satellite System). The position information calculation unit 49 calculates the position information of the rice transplanter 1 (strictly speaking, the satellite signal receiving antenna 46) as, for example, latitude / longitude / altitude information.

A wireless communication unit 47 is electrically connected to the control unit 4. For example, the wireless communication unit 47 may include a wireless LAN router (Wi-Fi router). A wireless communication antenna 48 is connected to the wireless communication unit 47. An operation unit 11 is electrically connected to the control unit 4.
An inertia measuring device 36 is electrically connected to the control unit 4. The inertial measurement device 36 is a sensor unit that can specify the posture of the rice transplanter 1 (the direction of the traveling machine body 2), acceleration, and the like. Specifically, the inertial measurement device 36 includes a sensor group in which an angular velocity sensor and an acceleration sensor are attached to each of a first axis, a second axis, and a third axis that are orthogonal to each other.

  More specifically, the inertial measurement device 36 includes a first acceleration sensor that detects acceleration in the first axis direction, a second acceleration sensor that detects acceleration in the second axis direction, and a first acceleration sensor that detects acceleration in the third axis direction. A third acceleration sensor; a first angular velocity sensor that detects an angular velocity around the first axis; a second angular velocity sensor that detects an angular velocity around the second axis; and a third angular velocity that detects an angular velocity around the third axis. A sensor.

The control unit 4 includes a microcomputer having a CPU and a memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). Examples of the function processing unit include an automatic travel control unit 51 and the like.
The automatic travel control unit 51 controls each of the controllers 31 to 35 to cause the rice transplanter 1 to automatically travel along the currently set travel route, pause the automatic travel, or end the automatic travel. Or

A storage unit 50 is connected to the control unit 4. The storage unit 50 includes a storage device such as a hard disk or a nonvolatile memory.
The wireless communication terminal 100 includes a control unit 101. The control unit 101 includes a microcomputer having a CPU and a memory (ROM, RAM, etc.). A storage unit 102, an operation display unit 103, a wireless communication unit 104, and a wireless communication antenna 105 are connected to the control unit 101. The operation display unit 103 displays various data and accepts user operations. The operation display unit 103 is configured by, for example, a touch panel display. The storage unit 102 includes a storage device such as a hard disk or a nonvolatile memory.

  The control unit 101 includes a route generation unit 110, a display control unit 111, and an automatic travel monitoring unit 112. The route generation unit 110 generates a travel route R necessary for automatic travel of the rice transplanter 1. The route generation unit 110 includes a first travel route R1 that is set so that the automatic traveling of the rice transplanter 1 is stopped unless the specific condition is satisfied, and a second that does not make the specific condition a requirement for the automatic traveling of the rice transplanter 1. The travel route R2 can be selectively generated. The specific condition is, for example, that the user performs a touch operation on the operation display unit 103 provided in the wireless communication terminal 110 while automatically traveling along the first connection path C1.

  The display control unit 111 controls display contents of the operation display unit 103. The display contents include a route generation condition setting screen (screens shown in FIGS. 6A to 6H described later) that can be touched by the user in order to give the route generation unit 110 information necessary for generating the travel route R, A traveling screen (screen shown in FIGS. 7A to 7D to be described later) showing the state when the rice transplanter 1 travels automatically is included.

Hereinafter, a route generation condition setting screen displayed on the operation display unit 103 and a method for generating the travel route R will be described.
6A to 6H are diagrams showing route generation screens displayed on the operation display unit 103. FIG. In order to generate the travel route R, the top screen shown in FIG. 6A, the field selection screen shown in FIG. 6B, the field region selection screen shown in FIG. 6C, the work vehicle selection screen shown in FIG. 6D, and the work mode setting screen shown in FIG. The planting method setting screen shown in FIG. 6F, the setting confirmation screen shown in FIG. 6G, and the path generation result screen shown in FIG. 6H are displayed in this order.

  The display control unit 111 causes the operation display unit 103 to display the top screen illustrated in FIG. 6A after the power is turned on or the application is started. The top screen is divided into an upper display area 60 on the upper end side of the screen and a lower display area 61 on the lower side of the screen. The upper display area 60 is a common fixed display screen in various screens (FIGS. 6B to 6H) displayed after the top screen. The lower display area 61 is a non-fixed display area where different display contents are displayed when the user operates the operation image 62 that can be selected and operated.

  At the left end of the upper display area 60, two operation images 62 in which the characters “To Map” and “Help” are drawn are displayed. Two operation images 62 in which characters “GNSS” and “MENU” are drawn are displayed at the right end of the upper display area 60. In the center of the upper display area 60, what kind of screen is currently displayed in the lower display area 61 is displayed.

In the lower display area 61 of the top screen shown in FIG. 6A, “field registration”, “work machine registration”, “pass generation”, “registration information editing / deletion”, “work history”, “various settings”, and “application” Seven operation images 62 are displayed on which the characters “END” are drawn.
By selecting and operating the operation image 62 on which the characters “field registration” are drawn, information on a new field F can be registered. Below the operation image 62 on which “field registration” is drawn, the number of currently registered farm fields F is displayed. By selecting and operating the operation image 62 on which “work machine registration” is drawn, information on a new work machine such as a rice transplanter can be registered. Below the operation image 62 on which the characters “work machine registration” are drawn, the number of currently registered work machines is displayed.

When at least one field F and at least one work machine are registered, the operation image 62 on which the characters “pass generation” are drawn can be touch-operated. When the operation image 62 on which “pass generation” is drawn is operated, the display control unit 111 changes the top screen shown in FIG. 6A to the field selection screen shown in FIG. 6B.
The field selection screen illustrated in FIG. 6B is a screen for selecting the field F that has generated the travel route R. In the field selection screen, the lower display area 61 is divided into a lower left display area 61A and a lower right display area 61B. A map information image 63 including a plurality of registered fields F is displayed in the lower left display area 61A.

  In this embodiment, seven farm fields F are registered, and the farm fields F1 to F7 are displayed in the map information image 63. A predetermined mark (pin image) 64 is displayed on the field F (the field F2 in this embodiment) on which a work machine such as a rice transplanter previously performed farming. A selection promotion image 64 is displayed at the upper end of the lower left display area 61A to prompt the user to select the field F for which a travel route is to be generated.

  In the lower right display area 61 </ b> B, a list of farm field information images 65 showing farm field information stored in the wireless communication terminal 100 is displayed. The field information image 65 is displayed by being rearranged in the operated order by selecting and operating the operation image 62 on which characters such as “distance order”, “name order”, and “registration order” are drawn. . When the user selects a specific field F (field F3 in this embodiment) on the field selection screen, the selected field F is displayed so as to be distinguishable from other fields F. For example, the selected field F is surrounded by a broken line with the frame color changed. The operation image 62 indicating the field information of the selected field F is also displayed so as to be distinguishable from the other operation images 62. For example, the operation image 62 indicating the field information of the selected field F is surrounded by a thick line with the frame color changed.

  When the operation image 62 on which “return” is drawn is operated, the display control unit 111 displays the field selection screen shown in FIG. 6B as the previous screen (here, the top screen shown in FIG. 6A). Transition to. When the operation image 62 on which the characters “next” are drawn is operated, the display control unit 111 changes the field selection screen shown in FIG. 6B to the next screen (here, the field region selection screen shown in FIG. 6C). ). The roles of the “return” and “next” operation images 62 will be described below, but the same applies to the screen.

The field area selection screen illustrated in FIG. 6C is a screen for setting the work area W in the field F. Also in the field area selection screen, the lower display area 61 is divided into a lower left display area 61A and a lower right display area 61B, similarly to the farm field selection screen shown in FIG. 6B.
The display content of the lower right display area 61B has the same configuration as the field selection screen shown in FIG. 6B. In the lower left display area 61A, a map information image 63 obtained by enlarging the field F (field F3 in this embodiment) selected on the field selection screen shown in FIG. 6B is displayed. At the upper end of the lower left display area 61A, a selection promotion image 66 for prompting the user to select the work opening position (path start point SS), end position (path end point EE), and work direction is displayed.

The work vehicle selection screen illustrated in FIG. 6D is a screen for selecting the rice transplanter 1 (work vehicle) that performs the planting work on the travel route R. Also in the work vehicle selection screen, the lower display area 61 is divided into a lower left display area 61A and a lower right display area 61B, as in the field selection screen shown in FIG. 6B.
A list of work vehicle information images 67 indicating work vehicle information stored in the wireless communication terminal 100 is displayed in the lower right display area 61B. The work vehicle information image 67 is displayed by being rearranged in the order in which the operation images 62 such as “name order” and “registration order” are selected and operated. When the user selects a specific work vehicle information image 67 on the work vehicle selection screen, the work vehicle information image 67 is displayed so as to be distinguishable. For example, the selected work vehicle information image 67 is surrounded by a thick line with the frame color changed. When a specific work vehicle information image 67 is selected, detailed information of the selected work vehicle is displayed in the lower left display area 61A.

  The work mode setting screen shown in FIG. 6E is a screen for setting the work mode of the rice transplanter 1. Examples of the working mode include a vertical collection amount, a lateral feed amount, a stock interval, a planting depth, and the like. The work mode is displayed in the lower display area 61 of the work mode setting screen. The lower display area 61 displays recommended settings for work modes that take into account various conditions such as the number of mats (number of seedling mats), variety, leaf age, weather, and the like. The user can change various conditions and work modes by touching the operation image 62 on which the characters “change” are drawn.

The planting method setting screen shown in FIG. 6F is a screen for selecting a planting method. As a planting method, for example, a normal planting method using a normal turning that turns the rice transplanter 1 that has entered the headland area N immediately 180 °, and a 180 ° turning of the rice transplanter 1 immediately, and after planting to the shore In other words, there is a vine planting method in which the rice transplanter 1 is turned 180 ° after reverse.
A plurality (two in this embodiment) of planting method selection images 68 are displayed in the lower display area 61 of the planting method setting screen. In the left part of the lower display area 61, a cocoon planting selection image 68a for selecting a cocoon planting method is displayed. In the lower display area 61, a warning image 69 is displayed in a portion below the cocoon planting selection image 68a. The attention image 69 includes a message that the user needs to touch the continuation button 83 when the rice transplanter 1 travels (turns) at the shore (that a specific condition needs to be met). It is an image. On the right side of the lower display area 61, a normal turning selection image 68b for selecting a normal planting method is displayed.

When the user selects a specific planting method selection image 68 (in this embodiment, the border planting selection image 68a) on the planting method setting screen, the selected planting method selection image 68 is displayed as another The planting method selection image 68 is displayed so as to be distinguishable. For example, the selected planting method selection image 68 is surrounded by a thick line with the frame color changed.
The setting confirmation screen shown in FIG. 6G is a screen for confirming the contents set on the screens of FIGS. 6B to 6G. In the lower display area 61 of the setting confirmation screen, the contents set on the screens of FIGS. 6B to 6G are displayed. Specifically, columns indicating “work vehicle setting”, “field area”, “work mode”, and “planting method setting” are displayed. The corresponding settings can be edited by operating the operation image 62 in which the characters “EDIT” provided in each column are drawn.

  Based on this setting content, the route generation unit 110 of the control unit 101 travels by touching the operation image 62 provided with the characters “Generate path” provided at the lower end of the lower display area 61. A route R is generated. Specifically, in the planting method setting screen shown in FIG. 6F, when the user selects the cocoon planting selection image 68a, the route generation unit 110 generates the first travel route R1. When the user selects the normal turning selection image 68b on the planting method setting screen shown in FIG. 6F, the route generation unit 110 generates the second travel route R2. In this way, the operation display unit 103 selects which of the first travel route R1 (first connection route C1) and the second travel route R2 (second connection route C2) is to be generated by the user in the route generation unit 110. A possible selection screen (planting method setting screen) functions as an example of a display unit. When the travel route R is generated, the display control unit 111 changes the setting confirmation screen in FIG. 6G to the path generation result shown in FIG. 6H.

In the path generation result screen shown in FIG. 6H, the lower display area 61 is divided into a lower left display area 61A and a lower right display area 61B. A farm field image 70 showing the farm field F is displayed in the lower left display area 61A. In the agricultural field image 70, the travel route R generated by the route generation unit 110 is depicted.
The description of each part in the farm field image 70 is displayed at the center of the lower right display area 61B. Specifically, in the farm image 70, a work area image 71 showing the work area W, an automatic work path image 72 showing the straight path P, an automatic turning path image 73 showing the connection path C, and the current position of the rice transplanter 1 are shown. A work vehicle position image 74, a start position image 75 indicating the route start point SS, and an end position image 76 indicating the route end point EE are displayed. FIG. 6H shows a farm field image 70 when the first travel route R1 is selected. In addition, the automatic turning path image 73 shows the first connection path C1.

Information on the travel route R generated by the route generation unit 110 is transmitted from the wireless communication terminal 100 to the rice transplanter 1 by performing a touch operation on the operation image 62 on which the characters “transfer this path” are drawn. The
Hereinafter, a traveling screen displayed on the operation display unit 103 and a method for operating the traveling screen will be described.

  7A to 7D are diagrams illustrating travel screens displayed on the operation display unit 103. FIG. The travel screen is displayed on the operation display unit 103 after information related to the travel route R generated by the route generation unit 110 is transmitted from the wireless communication terminal 100 to the rice transplanter 1. The travel screens shown in FIGS. 7A to 7D show an example when the first travel route R1 is generated by the route generation unit 110. FIG.

The travel screens shown in FIGS. 7A to 7D are divided into an upper display area 60 on the upper end side and a lower display area 61 on the lower side of the screen, similarly to the route generation condition setting screen. A farm field image 70 is displayed in the center of the lower display area 61.
FIG. 7A is a travel screen before the start of automatic travel. A travel start button 80 and a travel stop button 81 are displayed at the upper end of the lower display area 61.

  The travel start button 80 is an image that is touch-operated to start automatic travel of the rice transplanter 1. When the user touches the travel start button 80, a travel start signal is transmitted from the wireless communication unit 104. The travel start signal is a signal for causing the rice transplanter 1 to start automatic travel. When the rice transplanter 1 receives the travel start signal, the automatic travel control unit 51 of the control unit 4 starts the automatic travel of the rice transplanter 1.

  The travel stop button 81 is an image that is touch-operated to stop the engine 10 and stop the automatic travel of the rice transplanter 1. When the user performs a touch operation on the travel stop button 81, a stop signal is transmitted from the wireless communication unit 104. The stop signal is a signal for stopping automatic traveling. When the rice transplanter 1 receives the stop signal, the automatic traveling control unit 51 of the control unit 4 stops the engine 10 and stops the automatic traveling of the rice transplanter 1.

  When the user moves the rice transplanter 1, the work vehicle position image 74 on the travel screen moves accordingly. As shown in FIG. 7A, when the automatic travel start condition for starting the automatic travel of the rice transplanter 1 is satisfied, the travel start button 80 becomes a touch operable state. The automatic travel start condition is, for example, that the rice transplanter 1 is located within a predetermined distance range from the route start point SS, and the orientation of the traveling machine body 2 of the rice transplanter 1 is within a predetermined angle range with respect to the traveling direction. It is that you are. The predetermined angle range is an angle range including a direction from the route start point SS toward the first end point EP1. That is, the predetermined angle range includes not only the direction from the route start point SS to the first end point EP1, but also the direction in which the traveling machine body 2 is inclined by a predetermined angle from the direction from the route start point SS to the first end point EP1. . When the automatic traveling is started, the rice transplanter 1 travels along the straight route P (first straight route P1).

FIG. 7B is a travel screen after the start of automatic travel. When the automatic travel is started, a pause button 82 is displayed in a portion where the travel start button 80 (see FIG. 7A) was displayed before the automatic travel started.
The pause button 82 is an image that is touch-operated to temporarily stop the automatic traveling of the rice transplanter 1 without stopping the engine. When the user performs a touch operation on the pause button 82, a pause signal is transmitted from the wireless communication unit 104. When the rice transplanter 1 receives the temporary stop signal, the automatic traveling control unit 51 of the control unit 4 temporarily stops the automatic traveling of the rice transplanter 1 with the engine 10 activated.

A traveled image 77 indicating that the rice transplanter 1 has already traveled is displayed at a location corresponding to the portion of the straight path P where the rice transplanter 1 has already traveled.
FIG. 7C is a travel screen when the rice transplanter 1 moves forward on the forward path E1 and approaches the eaves FP. A continuation button 83 and a warning image 84 are displayed on the traveling screen when the rice transplanter 1 approaches the heel FP.

  “The rice transplanter 1 has approached the fence FP” means, for example, that the rice transplanter 1 has reached the approach position provided between the fence FP and the first end point EP1. “The rice transplanter 1 has approached the fence FP” may be that a predetermined display start time has elapsed since the rice transplanter 1 passed the first end point EP1. This display start time may be constant regardless of the vehicle speed of the rice transplanter 1, or may be variable according to the vehicle speed of the rice transplanter 1.

The continuation button 83 is an image that is touch-operated to continue the automatic traveling and farming of the rice transplanter 1. The continuation button 83 is displayed in the lower part of the lower display area 61 than the field image 70.
The warning image 84 is displayed in a portion above the farm field image 70 in the lower display area 61. The warning image 84 indicates that the rice transplanter 1 has approached the fence FP, and that the continuation button 83 needs to be continuously touched to continue the operation (automatic traveling) (specific conditions need to be established) ). The user can know from the display of the warning image 84 that the specific condition is necessary. The operation display unit 103 is an example of a notification unit that notifies the user that the specific condition needs to be established.

FIG. 7D is a diagram illustrating a state in which the rice transplanter 1 is traveling backward on the backward path E2. When the rice transplanter 1 starts moving backward along the reverse path E2, the continuation button 83 and the warning image 84 are deleted from the traveling screen.
The automatic traveling monitoring unit 112 gives various commands to the automatic traveling control unit 51 of the control unit 4 of the rice transplanter 1 that travels on the coast and the operation display unit 103 of the control unit 101 of the wireless communication terminal 100, thereby 1 automatic driving is monitored. The automatic travel monitoring unit 112 may control the display content of the travel screen instead of the display control unit 111.

Hereinafter, the function of the automatic travel monitoring unit 112 will be described in detail.
When the rice transplanter 1 approaches the heel FP along the first travel route R1, the automatic travel monitoring unit 112 causes the operation display unit 103 to display the continuation button 83 and the warning image 84 at the same time. When the touch operation is continued until the backward movement of the rice transplanter 1 is started, the automatic travel monitoring unit 112 deletes the continuation button 83 and the warning image 84 from the operation display unit 103 from the operation display unit 103.

If the touch operation of the continuation button 83 is not started even after a predetermined time has elapsed after the continuation button 83 and the warning image 84 are displayed, the automatic travel monitoring unit 112 transmits a temporary stop signal, and the automatic travel control unit In 51, the rice transplanter 1 is temporarily stopped.
Even when the touch operation of the continuation button 83 is started, if the touch operation is not continued until the backward movement of the rice transplanter 1 is started, the automatic travel monitoring unit 112 outputs a temporary stop signal. send. Even if the rice transplanter 1 is temporarily stopped, if the touch operation is started and the touch operation is continued until the time required for resumption elapses, the automatic travel monitoring unit 112 transmits a travel resumption signal. . The travel restart signal is a signal for causing the rice transplanter 1 to resume automatic travel. When the rice transplanter 1 receives the travel resumption signal, the automatic travel control unit 51 resumes the automatic travel of the rice transplanter 1.

Next, details of the automatic travel monitoring control performed by the automatic travel monitoring unit 112 will be described. FIG. 8 is a flowchart illustrating an example of automatic traveling monitoring control by the automatic traveling monitoring unit 112.
First, the automatic travel monitoring unit 112 determines whether or not automatic travel of the rice transplanter 1 has been started (step S1). Whether or not automatic traveling of the rice transplanter 1 has been started is determined based on, for example, whether or not a traveling start signal has been transmitted to the rice transplanter 1. When the automatic traveling of the rice transplanter 1 has not been started (step S1: NO), the automatic traveling monitoring unit 112 returns to step S1.

When the automatic driving | running | working of the rice transplanter 1 is started (step S1: YES), the automatic driving | running | working monitoring part 112 determines whether the rice transplanter 1 approached 畦 FP (step S2). When the rice transplanter 1 is not approaching the cocoon FP (step S2: NO), the automatic travel monitoring unit 112 returns to step S2.
When the rice transplanter 1 approaches the cocoon FP (step S2: YES), the automatic travel monitoring unit 112 causes the operation display unit 103 to display a continuation button 83 and a warning image 84 (step S3).

  When the continuation button 83 and the warning image 84 are displayed, the automatic travel monitoring unit 112 determines whether or not the touch operation of the continuation button 83 is started (ON) (step S4). When the touch operation of the continuation button 83 is not started (step S4: NO), the automatic travel monitoring unit 112 determines whether or not a predetermined time has elapsed after the display of the warning image 84 is started (step S5). ). Since the warning image 84 and the continuation button 83 are displayed simultaneously, the timing at which the warning image 84 is displayed is the timing at which the continuation button 83 is displayed.

  If the predetermined time has not elapsed since the display of the warning image 84 (step S5: NO), the automatic travel monitoring unit 112 returns to step S4. When the touch operation of the continuation button 83 is started after the display of the warning image 84 is started until the predetermined time has elapsed (step S4: YES), the automatic travel monitoring unit 112 displays the continuation button 83. It is determined whether or not the touch operation has been continued (step S6). When the touch operation of the continuation button 83 is continued (step S6: NO), the automatic travel monitoring unit 112 determines whether the rice transplanter 1 has started reverse travel on the reverse travel path E2 (step S7). .

When the reverse movement of the rice transplanter 1 is not started (step S7: NO), the automatic travel monitoring unit 112 returns to step S6.
When the rice transplanter 1 starts to reverse on the reverse path E2 while the touch operation of the continuation button 83 is continued (step S7: YES), the automatic travel monitoring unit 112 displays the continuation button 83 and the warning image 84. Erase from the operation display unit 103 (step S8). When the continuation button 83 and the warning image 84 are deleted from the operation display unit 103, the automatic travel monitoring unit 112 returns to step S2.

  In step S5, when a predetermined time has elapsed since the display of the warning image 84 is started without touching the continuation button 83 (step S5: YES), the rice transplanter 1 starts reverse driving in step S7. When the touch operation of the continuation button 83 is released (OFF) before (step S7: YES), the automatic travel monitoring unit 112 transmits a temporary stop signal to the rice transplanter 1 (step S9).

When the temporary stop signal is transmitted in step S6, the automatic travel monitoring unit 112 determines whether or not the touch operation of the continuation button 83 is started (step S10). When the touch operation of the continuation button 83 is not started in step S10 (step S10: NO), the automatic travel monitoring unit 112 returns to step S10.
When the touch operation of the continuation button 83 is started in step S10 (step S10: YES), the automatic travel monitoring unit 112 starts time measurement (time start) (step S11). After the time start, the automatic travel monitoring unit 112 determines whether or not the touch operation of the continuation button 83 is released (OFF) (step S12). When the touch operation of the continuation button 83 is not released (step S12: NO), the automatic travel monitoring unit 112 determines whether or not a predetermined resumption time has elapsed (time up) from the time start (time up) (step S12: NO). Step S13). When the time is not up (step S13: NO), the automatic travel monitoring unit 112 returns to step S12.

  If it is determined in step S13 that the time is up (step S13: YES), that is, if the touch operation of the continuation button 83 is continued until the time required for resumption elapses, the automatic travel monitoring unit 112 transmits a travel resumption signal to the rice transplanter 1 (step S14). When the travel resumption signal is transmitted, the automatic travel monitoring unit 112 returns to step S6.

If the touch operation of the continuation button 83 is canceled before the time is up in step S13 (step S12: YES), the measurement of the resumption required time is stopped and the measurement time is set to zero (time reset) (step S15). ). When the time is reset, the automatic travel monitoring unit 112 returns to step S10.
Note that the automatic traveling of the rice transplanter 1 on the second traveling route R2 does not require a touch operation of the continuation button 83 as a requirement. Therefore, when the route generation unit 110 generates the second travel route R2, the continuation button 83 is not displayed on the operation display unit 103 regardless of the position of the rice transplanter 1. Further, when the rice transplanter 1 automatically travels along the second travel route R2, the automatic travel monitoring control by the automatic travel monitoring unit 112 is not executed.

  In the automatic traveling system of this embodiment, the route generating unit 110 does not touch the continuation button 83 when the rice transplanter 1 travels near the coast (if the specific condition is not satisfied), the rice transplanter 1 It is possible to selectively generate the first travel route R1 in which the automatic travel is stopped and the second travel route R2 in which the touch operation of the continuation button 83 is not a requirement for automatic travel. That is, according to a user's wish, the driving | running route R from which the driving | running | working form of the rice transplanter 1 in the headland area | region N differs can be selectively produced | generated.

  In the automatic travel system of this embodiment, a planting method setting screen (selection screen) that allows the route generation unit 110 to select which of the first travel route R1 and the second travel route R2 is generated is displayed on the operation display unit 103. Is done. In the operation display unit 103, a warning image 69 indicating that the touch operation of the continuation button 83 is necessary to automatically drive the rice transplanter 1 at the end of the driving (near the end of the forward path E1 on the 畦 FP side). Is displayed.

  According to this configuration, the user can know whether or not the specific condition needs to be satisfied when the travel route R is generated. Therefore, when the user selects the first travel route R1, the user can appropriately pay attention to the establishment of the specific condition during automatic travel. When the user selects the second travel route R2, the user is automatically traveling. It is possible to save the trouble of paying attention to the establishment of the specific condition. Therefore, the burden on the user when the rice transplanter 1 is automatically driven can be reduced.

  In the automatic traveling system of this embodiment, when the rice transplanter 1 that is automatically traveling on the forward route E1 of the first traveling route R1 does not satisfy the specific condition when approaching the 畦 FP, the automatic traveling monitoring unit 112 The automatic traveling control unit 51 stops the automatic traveling of the rice transplanter 1. If the user does not continue to touch the continuation button 83 when approaching the end of the forward path E1 on the heel FP side, the automatic traveling of the rice transplanter 1 is stopped. Therefore, when the user does not notice that the rice transplanter 1 during automatic traveling has approached 畦 FP, the automatic traveling of the rice transplanter 1 can be forcibly stopped. Therefore, since the rice transplanter 1 can travel on the shore under monitoring by the user, the collision of the rice transplanter 1 with the cocoon FP can be suppressed.

On the other hand, when the rice transplanter 1 automatically travels along the second travel route R2, the rice transplanter 1 does not approach the shoreline, so the rice transplanter 1 automatically travels smoothly without being bothered by the temporary stop of the rice transplanter 1. Can be made.
Moreover, in the automatic traveling system of this embodiment, when the rice transplanter 1 approaches 畦 FP, the automatic traveling monitoring unit 112 notifies the user that a touch operation of the continuation button 83 is necessary. If the touch operation of the continuation button 83 is not performed even after a predetermined time has elapsed after the notification, the automatic travel monitoring unit 112 causes the automatic travel control unit 51 to stop the automatic travel of the rice transplanter 1.

  According to this configuration, the user can know the timing at which the touch operation of the continuation button 83 is necessary during automatic traveling of the rice transplanter 1 by displaying the warning image 84 on the operation display unit 103. Therefore, since the frequency at which automatic traveling is forcibly stopped can be reduced, the rice transplanter 1 can be automatically and smoothly traveled along the traveling route R. In addition, if the touch operation of the continuation button 83 is not started even after the predetermined time has elapsed, the automatic traveling of the rice transplanter 1 is stopped, and the user fails to recognize the warning image 84 displayed on the operation display unit 103. Even if it is a case, the automatic driving | running | working of the rice transplanter 1 in the 1st connection path | route C1 can be stopped forcibly. Therefore, the burden on the user when the rice transplanter 1 is automatically driven can be reduced.

The present invention is not limited to the embodiments described above, and can be implemented in other forms.
In the above-described embodiment, the automatic travel monitoring unit 112 deletes the continuation button 83 and the warning image 84 when the rice transplanter 1 starts reverse travel on the reverse travel path E2. However, unlike the embodiment described above, the automatic travel monitoring unit 112 may delete the continuation button 83 and the warning image 84 when the rice transplanter 1 starts turning on the turning route E3. Alternatively, the automatic travel monitoring unit 112 may delete the continuation button 83 and the warning image 84 when the rice transplanter 1 has finished turning on the turning route E3.

  In the above-described embodiment, the specific condition is that the continuation button 83 displayed on the operation display unit 103 is touched. However, the specific condition is not limited to the touch operation of the continuation button 83. For example, the specific condition may be that the grip sensor provided in the wireless communication terminal 100 detects the grip of the wireless communication terminal 100 by the user. Alternatively, an operation of a remote controller (not shown) provided separately from the wireless communication terminal 100 may be set as the specific condition. The remote control is, for example, an emergency stop remote control capable of transmitting a travel stop signal.

In addition, after completing the traveling route R, the rice transplanter 1 may automatically travel in the circulation process of traveling in the headland area N. In this case, the automatic travel monitoring unit 112 displays the continuation button 83 and the warning image 84 on the operation display unit 103 from the start to the end of the circulation process.
In the above-described embodiment, the operation display unit 103 is an example of a notification unit. However, unlike the above-described embodiment, the wireless communication terminal 100 may be provided with a speaker that emits a warning sound that the specific condition needs to be established, as the notification unit.

1: Rice transplanter (automatic travel system)
51: Automatic traveling control unit 100: Wireless communication terminal (automatic traveling system)
103: Operation display unit (display unit, notification unit)
110: route generation unit 111: display control unit 112: automatic travel monitoring unit C: connection route C1: first connection route C2: second connection route E1: forward route E2: reverse route E3: turning route EP1: first end point EP2 : Second end point F: field FP: 畦 N: headland area P1: first straight route P2: second straight route R: travel route R1: first travel route R2: second travel route SP1: first start point SP2: Second start point W: work area (inner area)

Claims (5)

In a field having an internal region and a headland region surrounding the internal region, a first straight path that is set in the internal region and connects a first start point and a first end point, and a second start point that is set in the internal region And the farm machine is automatically traveled along a travel route having a second straight route formed by connecting the second end points and a connecting route set in the headland area and connecting the first end point and the second start point. An automatic driving system,
As the connection route, a first connection route that is set so that automatic traveling of the farm work machine is stopped if a specific condition is not satisfied, and a second that does not make the specific condition a requirement for automatic traveling of the farm work machine. An automatic traveling system including a route generation unit capable of selectively generating a connection route. A display unit that displays a selection screen that allows the user to select which of the first connection route and the second connection route is to be generated by the route generation unit;
A display control unit for displaying the selection screen on a display unit,
When the route generation unit generates the first connection route, the display control unit indicates that the specific condition needs to be satisfied in order to automatically run the agricultural machine on the first connection route. The automatic traveling system according to claim 1, wherein the automatic traveling system is displayed on a display unit. An automatic travel controller that automatically travels the agricultural machine along the travel route;
A notifying unit for notifying the user that the establishment of the specific condition is necessary during the automatic traveling of the agricultural machine;
3. The automatic traveling control unit according to claim 1, wherein the automatic traveling control unit stops automatic traveling of the farm work machine when the specific condition is not satisfied even after a predetermined time has elapsed after the notification unit notifies. Automated driving system. In a field having an internal region and a headland region surrounding the internal region, a first straight path that is set in the internal region and connects a first start point and a first end point, and a second start point that is set in the internal region And the farm machine is automatically traveled along a travel route having a second straight route formed by connecting the second end points and a connecting route set in the headland area and connecting the first end point and the second start point. An automatic driving system,
The connection path is a forward path for advancing the farm work machine from the first end point toward the straw of the field, and a reverse drive of the farm work machine from the end of the straw side in the forward path toward the first end point. A reverse path, and a turning path for turning the agricultural working machine from the end on the first end point side in the reverse path toward the second starting point,
An automatic travel controller that automatically travels the agricultural machine along the travel route;
An automatic travel system including an automatic travel monitoring unit that causes the automatic travel control unit to stop the automatic travel of the farm work machine when a specific condition is not satisfied when the farm work machine approaches the basket. The automatic traveling monitoring unit notifies the user that the specific condition needs to be established when the farm work machine approaches the fence, and the specific condition is satisfied even if a predetermined time elapses after the notification. The automatic traveling system according to claim 4, wherein the automatic traveling control unit stops automatic traveling of the farm work machine when the automatic traveling control unit does not.

Images