CN115334868A

CN115334868A - Travel route management system for work machine

Info

Publication number: CN115334868A
Application number: CN202080084379.2A
Authority: CN
Inventors: 铃川惠; 玉谷健二; 阪口和央; 中瀬了介; 目野鹰博; 松井裕佑; 宇都仁; 国安恒寿; 吉水健悟; 藤井健次
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2020-01-14
Filing date: 2020-06-18
Publication date: 2022-11-11
Also published as: KR20210091644A; WO2021145009A1; KR20220127228A; CN113124870A

Abstract

A travel route management system for a work machine capable of automatically traveling on a farm includes: a circular path creation unit (524) which calculates a travel path during travel on the basis of the outline of the farm calculated by traveling along the boundary line of the farm, and creates at least one circular path in the outer peripheral area of the farm; and a round-trip route creation unit (522) for creating a round-trip route including a plurality of straight routes in an inner region inside the outer peripheral region, wherein the number of the round routes is determined based on an area required for turning from a straight route in which the vehicle is traveling to a straight route to be traveled next.

Description

Travel route management system for work machine

Technical Field

The present invention relates to a travel route management system for a working machine that performs work on a work site such as a field while automatically traveling.

Background

As disclosed in patent document 1, a work vehicle (work implement) performs work such as planting while traveling in a field (work site). Further, the work vehicle (work implement) performs work travel by automatic travel. The work vehicle (work implement) calculates a travel route, and automatically travels along the travel route based on its own position calculated by using a GNSS (Global Navigation Satellite System) or the like.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2019-154394

Disclosure of Invention

Problems to be solved by the invention

A travel route management system for further improving the convenience of automatic work travel of such a work machine is required.

Means for solving the problems

(1) The travel route management system for a work machine that can automatically travel on a farm according to the present invention includes: a circular path creation unit that calculates a travel path during travel based on a shape calculation travel for traveling along a boundary line of the farm to calculate the shape of the farm, and creates at least one circular path in an outer peripheral area of the farm; and a round-trip route creation unit that creates a round-trip route including a plurality of straight routes in an inner region inside the outer peripheral region, wherein the number of the round routes is determined based on an area required for turning travel from the straight route being traveled to the straight route to be traveled next.

In this configuration, the number of circling runs can be limited to as small as possible on the condition that the area required for turning runs when the straight run is shifted from the straight run among the round-trip runs is secured. If a route in which direction conversion is complicated in a corner region of a field in the circling travel is considered and a route in which travel is simple using a round-trip route in which a plurality of straight routes are connected by turning travel, it is appropriate to reduce the number of circling travels.

In a preferred embodiment of the present invention, the round trip route is created by calculating a travel locus during travel based on an outline of travel along a boundary line of the farm. In this configuration, the travel locus obtained by manually traveling to calculate the outer shape of the farm represents the current outer shape of the farm. Therefore, when the reciprocating path is made as wide as possible based on the outer shape of the farm, efficient work can be achieved.

In a preferred embodiment of the present invention, the present invention includes: the driving method management unit may select a driving method of the round route from manned autonomous driving and unmanned autonomous driving. In this configuration, the vehicle can travel in a suitable driving manner between the manned automatic travel and the unmanned automatic travel on a winding route that takes travel closest to the boundary line of the field such as the ridge. In unmanned automatic travel, if the work machine can travel along a winding path that has actually been achieved in the case of the previously-performed contour calculation travel, the desired automatic travel is achieved, but the accuracy of the profile travel depends on the automatic travel control technique. If the working machine automatically travels so as not to deviate from the circulating route within a predetermined allowable range, there is an effect in terms of labor saving. However, in order to cope with an unexpected situation due to weather, deterioration of the farm surface, or the like, and a dangerous situation of contact with an entrant or an entrant, it is preferable that a person automatically travels even if the operator enters the working machine. An operator who enters the working machine does not actually drive the working machine, and performs emergency processing such as stopping the working machine when an unexpected event or a dangerous event occurs. By selecting such a driving style according to the situation, that is, selecting the manned automatic travel and the unmanned automatic travel according to the situation, it is possible to efficiently travel in the travel using the round route regardless of the situation. When the automatic travel is stopped, the manual travel is performed. Of course, in the case of a skilled operator driving, it is also possible to manually travel on a round route.

The outer circumferential path of travel closest to the boundary line of a field such as a ridge is most likely to contact obstacles such as ridges or persons or objects whose bodies project from the ridge. It is reasonable to deal with the occurrence of such an emergency and predict the emergency by the operator of the riding work machine. Thus, in a preferred embodiment of the present invention, the surrounding route includes an outer surrounding route that matches the travel locus in the contour calculation travel and an inner surrounding route that is located inside the outer surrounding route, and the driving style of the outer surrounding route is defined as the manned automatic travel or manual travel.

In the case where the round paths include an inner round path and an outer round path, the inner round path is located between an end contour (end envelope) of a straight path of the round paths and the outer round path. Since the field area located between the end contour line and the working area based on the outer circumferential path is worked during the working travel using the inner circumferential path, the inner circumferential path is formed so as to follow the end contour line of the straight path and the outer circumferential path, and thereby the work can be smoothly performed. Thus, in a preferred embodiment of the present invention, the inner circumferential path is formed so as to follow end contour lines (end envelopes) of a plurality of straight paths formed in an inner region located inside the outer peripheral region and the outer circumferential path. Since the round trip route is created in the internal area of the farm, the round trip route is also referred to as an internal round trip route.

When the working width of a field area located between the end contour line and a working area based on the outer circumferential path varies, the working width is adjusted (each row clutch control in the case of a rice transplanter) and the work is repeated. Thus, in a preferred embodiment of the present invention, when the interval between the end portion outline and the outer circumferential path varies (when the working width varies with traveling), on/off information (on/off) of each clutch for changing the working width in accordance with the variation of the interval is allocated as the working control information to the inner circumferential path.

Various settings for creating the round route, setting the driving method for assigning the round route, and the like are performed based on the operation input by the operator. In order to facilitate the operator's operation input to such a work machine, a graphical interface is preferably used. In this way, in a preferred embodiment of the present invention, the information terminal with a touch panel connected to the in-vehicle LAN of the working machine is configured such that the circular route creation unit, the round-trip route creation unit, and the driving method management unit are configured to be operable through a graphical user interface, and the circular route is displayed on the screen of the touch panel so as to be recognizable according to the driving method.

The path on which manual travel is performed as the driving manner does not need to be displayed on a screen of a touch panel or the like, and therefore, by being eliminated from the screen, the screen can be suitably used for other purposes. However, even a route on which manual travel is performed is displayed on the screen, and thus can be suitably used as a guide route that assists manual travel.

In the round trip route, a straight route that follows a circling travel is sometimes used in turning travel for shifting from a straight route that is traveling to the straight route that is to be traveled next. In this case, when a part of the circling path is used as a straight path in turning, there is no need to newly create the path. Thus, in a preferred embodiment of the present invention, a part of the round route is used as a part of a turning route for performing turning travel from the straight route being traveled to the straight route to be traveled next.

(2) The work machine according to the present invention is characterized in that the work machine capable of automatic travel includes: a body position calculating unit for positioning the body position of the computer using a satellite; a map information storage unit that stores map information indicating a shape of the work place based on position information indicating a position of the work place and time information indicating a time at which the map information is created; a display device having a display screen; a map information display unit that displays, on the display screen, the map information extracted based on the body position, the position information, and the time information, from among the map information stored in the map information storage unit; an input area determination unit configured to determine an input area for a user to perform an operation input, from the map information displayed on the display screen; an input position information calculation unit that calculates position information in the map information corresponding to the determined input area as input position information; and a thumbnail display section that extracts the map information stored in the map information storage section based on the input position information to display as a thumbnail on the display screen.

With this characteristic configuration, it is possible to automatically display the map information corresponding to the body position of the work machine on the display screen, and it is also possible to display the map information corresponding to the user's input operation for the displayed map information on the display screen as thumbnails. Therefore, the map information stored in the map information storage unit can be easily used, and therefore, for example, during automatic operation traveling, the user can easily grasp the map information, thereby improving convenience.

Preferably, the display screen is a touch panel, and includes: an operation determination unit that determines whether the input area relates to at least two or more pieces of map information in a state where a plurality of pieces of map information are displayed on the display screen; and an area calculation unit configured to calculate an area of the input area in each of the map information when the input area relates to the at least two or more pieces of map information, wherein the input area determination unit is configured to set map information of an input area having a largest area among the at least two or more pieces of map information as the map information on which the operation input has been performed.

With this configuration, when the input area of the user relates to a plurality of pieces of map information, it is possible to automatically perform the operation input by the user on the map information in the widest input area. Therefore, convenience can be improved.

Preferably, the thumbnail display unit further displays job information indicating a job performed in a job place based on the map information displayed in the thumbnail.

With this configuration, the user can easily grasp the map information displayed as thumbnails and the past work information performed in the work place based on the map information.

Further, it is preferable that the time elapsed since the map information is created is calculated based on the time information on the map information displayed on the display screen, and the map information is notified of the creation of the map information again based on the elapsed time.

With this configuration, if a desired time has elapsed after the map information is created, the user can be urged to recreate the map information. Therefore, the user does not need to grasp the elapsed time after the map information is created, and convenience can be improved.

In addition, it is preferable that disaster information indicating a disaster occurred at the work place is acquired, and when it is determined that the work place based on the map information is damaged after the map information is created based on the disaster information and the time information related to the map information displayed on the display screen, the map information is notified of the remanufacturing.

When a disaster occurs in a work place corresponding to map information after the map information is created, the shape and situation of the map information may differ from those of the actual work place. Therefore, with this configuration, the user can be prompted to recreate the map information according to the occurrence of the disaster. Therefore, the user does not need to know the occurrence of the disaster in advance, and convenience can be improved.

(3) The travel route management system for a work machine capable of automatically traveling on a farm according to the present invention includes: a reference edge setting unit that sets one edge of the outer shape of the farm as a reference edge; a round-trip path creating unit that creates a round-trip path including a plurality of straight paths extending in a predetermined direction with respect to the reference side; and a traveling direction setting unit that sets a traveling direction of the traverse route.

In this configuration, the plurality of straight paths extending in the predetermined direction with respect to one side of the farm set as the reference side extend over the internal area of the farm. As a result, the plurality of straight paths are parallel to each other and extend in the same orientation, and therefore, formation and management thereof are easy. Meanwhile, the automatic traveling along such a straight route is easier than the traveling along a curved route such as a general road. And, through the direction conversion travel of organism a plurality of straight going route of connecting gradually realize the high-efficient operation travel. At this time, the work travel starting point and the work travel end point are determined based on the travel direction set by the travel direction setting unit. Since the positions of the work travel starting point and the work travel ending point need to be associated with the entrance and exit of the farm, a function of setting the travel direction of the reciprocating path is advantageous. The travel direction setting unit may be configured to set a travel direction or may be configured to specify a travel direction, and therefore, the travel direction setting unit is also referred to as a travel direction specifying unit.

Many farms are square and substantially rectangular. In general, in a map or the like, since a farm is divided based on a field road, it is easier to assume the shape and size of the farm based on the field road in contact with the farm. Therefore, when a side in contact with the field road is selected as the reference side, the long side of the farm is either a side parallel to the reference side or a side perpendicular to the reference side. In one embodiment of the present invention, the straight path is formed to extend parallel or perpendicular to the reference side. This enables the formation of a long straight path. Of course, in a farm with work directionality, a short straight path can be formed.

In order to replenish materials to be fed to the farm, a working machine such as a rice transplanter, a fertilizer applicator, or a chemical applicator sets one side of the outer shape of the farm, for example, the side in contact with the field road, as a material replenishment side, and approaches the material replenishment side at the time of material replenishment. In the above-described working machine, the material is usually supplied in a posture in which the front end or the rear end of the machine body is close to the material supply edge. When the material replenishment edge is positioned at the front end of the straight path, the material replenishment edge can be moved forward or backward from the traveling posture on the straight path to approach the material replenishment edge. In this way, in a preferred embodiment of the present invention, the farm includes a feeder-side setting unit that sets one side of the outer shape of the farm as a material feeder side of the material consumed by the working machine, the material feeder side being set so as to face the extending direction of the straight path.

In a working machine such as a rice transplanter, after work traveling using a reciprocating path, an outer peripheral area of a farm used as a space for turning traveling for shifting from a straight path to a next straight path remains as an unworked area. Therefore, as the final work, the work travel is performed in which the end point of the forward/backward path is surrounded by the outer peripheral area as the start point. When the travel of the circling work is finished, the working machine goes out of the farm directly through the entrance and exit of the farm. It is thus appropriate when the end point of the roundtrip path is close to the entrance or exit of the farm. In a preferred embodiment of the present invention, the end point of the round trip route is set at a terminal of the straight route near the entrance and exit of the farm.

In a rice transplanter or the like, seedling supply as material supply is performed in a posture in which the front end of the machine body is close to a material supply side. Therefore, when the seedling is to be supplied, it is preferable that the seedlings travel in front of the straight path being traveled without shifting from the straight path being traveled to the next straight path. In this case, it is preferable to give the operator time to consider whether or not to perform the material replenishment before entering the turning travel for entering the next straight travel path from the straight travel path being traveled. In addition, usually, the medicine is supplied in a posture in which the rear end of the living body is close to the material supply side. In this case, since the approach travel to the material replenishment side is performed by the reverse travel as it is in a posture before the work travel on the next straight travel path is entered, it is preferable to give the operator time to consider whether or not the material replenishment is performed before the work travel on the next straight travel path is entered through the turning travel from the straight travel path on which the vehicle is traveling. Thus, in a preferred embodiment of the present invention, temporary stop information of the vehicle body as the travel control information is assigned to an end region of the straight travel route traveled while the material is being replenished, a start region of the straight travel route traveled next, or both regions. In a rice transplanter or the like that supplies only seedlings as a material, the temporary stop of the vehicle body may be performed only in the end region of the straight path that travels while supplying the material.

As described above, in the working machine such as the rice transplanter, the outer peripheral area of the farm, which is used as a space for turning travel for shifting from the straight path to the next straight path, remains as an unworked area after the working travel using the round trip path. In a preferred embodiment of the present invention, the farm is divided into an outer peripheral area and an inner area, the outer peripheral area is an area where the vehicle travels around along a boundary line of the farm, the inner area is an area located inside the outer peripheral area, the straight traveling path is formed in the inner area, and the outer peripheral area is used for turning traveling for shifting from the straight traveling path being traveled to the straight traveling path to be traveled next. Thus, the round-trip path is also referred to as an internal round-trip path.

The reference side, the traveling direction, and the like are set based on the operation input by the operator. In order to facilitate the operator's operation input to such a work machine, it is preferable to use a graphical interface. Thus, in a preferred embodiment of the present invention, the reference side setting unit, the round-trip route creation unit, and the travel direction setting unit (travel direction determination unit) are configured so as to be operable via a graphical user interface in an information terminal with a touch panel connected to an on-vehicle Local Area Network (LAN) of the work machine, and the round-trip route is displayed on a screen of the touch panel so that a driving method for the round-trip route can be recognized.

(4) A work machine according to the present invention is characterized in that the work machine capable of automatically traveling includes: a body position calculating section that calculates a body position; a position information calculation unit that calculates position information based on the position of the body and a position of a rear end on an outer peripheral side of the body at a travel start time in one of the areas and calculates the position information based on the position of the body and a position of a front end on the outer peripheral side of the body at a travel end time in the one area, when the vehicle travels in each of a plurality of areas divided along an outer periphery of a work place; and a map information creating unit that creates map information indicating a shape of the work place based on the position information.

With this characteristic configuration, the position of the travel start time and the position of the travel end time in each of the plurality of areas divided along the outer periphery of the work place can be accurately detected, and the position information of each area can be accurately calculated based on these positions. Therefore, map information indicating the shape of the work place can be appropriately created, and therefore, for example, convenience can be improved by using the map information during automatic work traveling.

In addition, it is preferable that a working unit configured to perform a ground work to be lifted up and down with respect to the machine body is provided, and the position information calculation unit sets a time point at which the working unit in a lifted position is brought into a lowered state as the travel start time, and sets a time point at which the working unit in the lowered state returns to the lifted position as the travel end time.

With this configuration, the travel start time and the travel end time can be automatically set in accordance with the rise and fall of the working unit. Therefore, the number of operations by the user (operator) related to the setting of the travel start time and the setting of the travel end time can be reduced, and convenience can be improved.

Preferably, the machine body is provided with a working unit for performing a ground work, and the machine body includes: and a travel path generation unit that generates a travel path in performing the ground work with reference to a position shifted toward a center of the work place with respect to an outer peripheral portion of the work place indicated by the map information when traveling along the outer peripheral portion in the work place.

With this configuration, the travel route can be generated while ensuring a margin for the shape of the work place indicated by the map information. Therefore, the working machine can be prevented from entering the outside of the working site.

Further, it is preferable that the position information calculation unit calculates the position information based on a position where a first line virtually extending in the width direction of the machine body from a position of a center of gravity of the machine body intersects with a second line virtually extending in the length direction of the machine body from a projecting portion of the machine body that projects most in the width direction of the machine body in the one area from a start to an end of travel.

For example, when a user manually runs a work implement, the work implement is often run with reference to a center portion of a machine body of the work implement in a longitudinal direction. Therefore, with this configuration, the position information is calculated based on the position at which the first line and the second line intersect during the period from the start position to the end position of the travel, and therefore, the position information that matches the reference set by the user can be calculated.

Preferably, the map information creating unit includes a display device having a display screen on which a shape of the work place indicated by the map information is clearly indicated using a plurality of indicators, and deletes the data corresponding to a portion where an amount of change in the shape of the work place is small when an amount of data of the map information is equal to or larger than a preset value, and clearly indicates the indicator corresponding to the deleted data on the display screen so as to be distinguishable from the other indicators.

With this configuration, it is possible to clearly instruct the user to delete data while suppressing an increase in the amount of data, and thus it is possible to improve convenience.

Preferably, the position at the previous travel start time is invalidated when a moving distance of the machine body from the position at the previous travel start time to the position at the next travel start time is equal to or less than a preset distance.

For example, when the vehicle travels in each of a plurality of areas, the vehicle may repeatedly travel and stop to adjust the position of the vehicle body to a desired position. Therefore, with this configuration, the result of the position detected as the travel start time can be invalidated when the position of the machine body is adjusted, and therefore map information can be appropriately created.

Preferably, the vehicle further includes a display device having a display screen on which a shape of the work place indicated by the map information is explicitly indicated using a plurality of indices, and the position of the travel start time and the position of the travel end time are displayed on the display screen using indices different from the indices indicating positions other than the position of the travel start time and the position of the travel end time.

With this configuration, the user viewing the display screen can intuitively grasp the position of the travel start time, the position of the travel end time, and other positions.

Further, it is preferable that the position of the travel start time and the position of the travel end time are displayed on the display screen with indices different from each other.

With this configuration, the user viewing the display screen can intuitively grasp the position of the travel start time and the position of the travel end time.

Preferably, the machine body is provided with a work unit for performing a ground-engaging work, and when the ground-engaging work is performed in an outer peripheral area of the work place, the machine body travels at the same speed as a machine body speed at the time of creating the map information.

With this configuration, the vehicle can easily travel along the route traveled during the map creation.

In addition, it is preferable that the map information creating unit creates the map information using only the position information transmitted to the map information creating unit, of the position information calculated by the position information calculating unit.

With this configuration, even when the data amount of the body position calculated by the body position calculating unit is larger than a desired amount, the body position can be used in a thinned-out state when the map information is created, and therefore, an increase in the data amount of the map information can be suppressed.

(5) The travel route management system for a work machine that can automatically travel on a farm according to the present invention includes: a circumferential route creation unit that creates at least one circumferential route in an outer peripheral area of the farm; a round-trip path creation unit that creates a round-trip path including a plurality of straight paths and a curved path connecting the two straight paths, in an inner region located inside the outer peripheral region; a starting point setting unit that sets a starting point of work travel using the round trip route; and a starting point guide route creating unit that creates a starting point guide route for automatically guiding the work machine satisfying the guide condition to the starting point.

In this configuration, if the preset guidance condition is satisfied, the work implement is guided to the start point of the work travel using the round trip route by the automatic travel using the start point guide route as the target route, and therefore, it is not necessary to manually move the work implement to the start point. Since it is difficult for an operator who is not skilled in driving the work implement to accurately position the work implement at the start point of work travel, the burden on the operator is reduced by appropriately selecting the guidance conditions to create the start point guidance route for automatic travel.

In a preferred embodiment of the present invention, the guidance condition includes that a difference between a preset guidance direction and a direction in the traveling direction of the work machine is within an allowable range. In this configuration, the work machine is guided to the starting point by the automatic travel using the starting point guide route as the target route only by setting the travel destination of the work machine at a position facing a preset direction, and therefore the burden on the operator is reduced.

In a preferred embodiment of the present invention, the guidance condition includes that at least a part of the work machine enters a guidable area set in advance. In this configuration, when at least a part of the work implement is located in a guidable area that is a guidance start area set in advance, the work implement can automatically travel to the starting point, and therefore the burden on the operator is small. If the guidable area is provided near the entrance of the farm, the operation travel in the farm is substantially fully automated.

In a preferred embodiment of the present invention, a plurality of the guidable regions are set. In this configuration, if there are a plurality of guidable areas in which the working machine is located, which are required to automate the work travel, the options increase. The operator is able to select a simpler guidable area and is therefore appropriate for the operator.

In a preferred embodiment of the present invention, the guidable region is set so that a straight path of a predetermined distance or more can be ensured from the center point of the guidable region to the start point.

In this configuration, only the required length (space) for creating the starting point guide route is used, and therefore, the starting point guide route that can be automatically traveled without difficulty is created, and the burden of automatic control is reduced.

In a preferred embodiment of the invention, at least a portion of the starting point guide path follows a portion of the encircling path. Since the starting point is a starting point of the round-trip route set in the inner area, the starting point guide route is formed in the outer peripheral area. Thus, the starting point guide path extends along a part of the encircling path. Therefore, as at least a part of the starting point guide route, a part of the circling route can be easily followed. This reduces the burden of creating the start point guide route.

In the creation of the round route, the setting of the start point, the creation of the start point guide route, and the like, the operator is required to input various information. In order to facilitate such information input, a graphical interface is preferably used. In this way, in a preferred embodiment of the present invention, the loop route creation unit, the round trip route creation unit, the start point setting unit, and the start point guide route creation unit are constructed in an information terminal with a touch panel connected to the in-vehicle LAN of the working machine so as to be operable through a graphical user interface, and when the guide condition is not satisfied, a guide for satisfying the guide condition is displayed on a screen of the touch panel.

At the start of work travel in actual automatic travel, it is important for the operator to know whether or not the guidance condition is satisfied. In particular, it is appropriate for the operator when the guide condition is characteristically displayed on the screen of the information terminal having the graphical interface. Thus, in a preferred embodiment of the present invention, an appearance indicating that the guidance condition is satisfied is displayed on the screen of the touch panel. The displayed representation may be characters, but it is easier for the operator to grasp it by using illustrations, animation, and the like.

The number of straight paths of the round-trip path affects the positions of the start point and the end point of the round-trip path. For example, if the number of straight paths is odd, the position of the start point and the position of the end point are opposite to each other in the inner region, that is, face each other. If the number of straight paths is even, the position of the start point and the position of the end point are on the same side of the inner area. In other words, by changing the number of straight paths, the positional relationship between the start point and the end point, which is important for the overall route creation, can be changed. In this way, in a preferred embodiment of the present invention, the positional relationship between the start point and the end point of the work travel using the round trip route is adjusted by adjusting the number of the straight travel routes and the idle travel traveling in which the vehicle travels on one straight travel route in a non-work manner or the number of the straight travel routes.

This operation can be performed through the screen of the touch panel of the information terminal both during the creation of the travel route and during the actual work travel. Specifically, it is preferable for the route design if the number of straight paths is set to an even number when the start point and the end point are on the same side, and to an odd number when the start point and the end point are on different sides.

Even if the number of straight routes in the round trip route is the same, if the travel without work (referred to as idle travel or idle insertion travel) and the travel with work are repeated for one straight route, the positional relationship between the start point and the end point can be reversed. Thus, in a preferred embodiment of the present invention, the idle running may be performed such that the start point and the end point are located on the same side when the number of the straight paths is an odd number. This operation can be performed through the screen of the touch panel of the information terminal both during the creation of the travel route and during the actual work travel.

(6) The work machine capable of automatically traveling according to the present invention includes: a body position calculating unit for positioning the body position of the computer using a satellite; a plurality of object detection sensors mounted on a body to scan the periphery of the body; an obstacle sensing section that senses an obstacle based on a detection signal from the object detection sensor; and a sensor management unit that manages operation inspection of the object detection sensor, the sensor management unit including: a sensor inspection execution unit that executes a sensor inspection process when a predetermined condition is satisfied; and a validity determination unit that records an operation confirmation flag indicating that the operations of all the object detection sensors are confirmed by the sensor check processing, and determines the validity of the operation confirmation flag. The operation confirmation flag (flag) is interpreted not only as a narrow flag used in programming or the like but also as a broad flag including data (information) or the like indicating that the operation of the object detection sensor is confirmed.

In the case of performing automatic traveling, particularly unmanned automatic traveling, a function of sensing an obstacle is important. When sensing an obstacle based on a detection signal from the object detection sensor, the sensor management unit needs to perform sensor inspection processing by a common operation with an operator as to whether or not the object detection sensor is malfunctioning due to adhesion of mud, water droplets, or the like. However, sensor inspection is frequently performed during automatic traveling, and a burden is large for both an operator and a control system. According to the configuration of the present invention, the sensor inspection execution unit performs the sensor inspection process only when the predetermined condition is satisfied, and therefore the load is suppressed. Then, at the time point when the operation of all the object detection sensors is confirmed, an operation confirmation flag indicating the state is recorded. If the operation check flag is recorded, it is determined that the operation state of the object detection sensor is good, and automatic travel is performed. However, since the sensor check needs to be performed at a proper timing, the operation check flag recorded temporarily is invalidated at a predetermined timing. The validity determination unit determines the timing at which the recorded operation confirmation flag is invalidated, that is, whether or not the operation confirmation flag is valid at that time. The determination conditions in the validity determination unit are different depending on the type of work, the environmental state of the work, and the like, and therefore are set based on actual experience and experiments for each type of work machine.

In order to avoid the operator from neglecting the sensor check, it is also important to develop a habit of performing the sensor check at the start of operation of the working machine. In a preferred embodiment of the present invention, an initial sensor inspection request command requesting execution of the sensor inspection process is provided to the sensor inspection execution unit at the time of startup of the work machine, and the operation confirmation flag is recorded (overwritten) and updated when the operations of all the object detection sensors are confirmed by the sensor inspection process based on the initial sensor inspection request command. However, even when the vehicle is not traveling automatically, it is troublesome to always perform the sensor check at the time of starting the work machine (when the key switch is turned on), and therefore, it is preferable that the sensor check process can be stopped by a manual operation of the operator.

Since the work in the work place is basically performed by the automatic travel, it is preferable to perform the sensor check before the work machine enters the work place. In this way, in a preferred embodiment of the present invention, when the machine body has reached an area where entry into a work place as a work target is possible in a state where the operation check flag is invalid, a pre-work sensor check request command requesting execution of the sensor check process is provided to the sensor check execution unit.

Since the work implement basically travels manually as soon as it leaves the work place, there is no need to sense an obstacle by the object detection sensor, and therefore, it is preferable to cancel the operation confirmation flag recorded at this timing and wait for the next sensor check. However, when it is considered that the work machine returns to the work site immediately after leaving the work site to restart the work, it is not preferable that the operation confirmation flag is canceled immediately after the work machine leaves the work site. Thus, in a preferred embodiment of the present invention, the operation confirmation flag is canceled when the working machine is separated from the working place, or when a predetermined time has elapsed from the time, or when the working machine is separated from the working place by a predetermined distance or more.

When the work machine basically ends the work in the work place, the automatic travel is shifted to the manual travel. Therefore, it is preferable that the recorded operation check flag is canceled for the next automatic travel as the work ends. However, when the end of a job is temporary, a sensor check must be performed when the next job is resumed. In order to avoid such a problem, it is necessary to separately perform sensor inspection management between complete job termination and temporary job termination (that is, job interruption). Thus, in a preferred embodiment of the present invention, the operation confirmation flag is canceled when a job end instruction for job end is provided, and the operation confirmation flag is maintained when a job interrupt instruction for job interrupt is provided.

The most reliable sensor inspection is performed by arranging a simulated obstacle in the detection range of the object detection sensor by an operator (including a monitor). Since the sensor inspection is a common operation of a control system of the work machine and a person, an operator needs to recognize the start of the sensor inspection. Further, since a plurality of object detection sensors are provided, the operator needs to grasp the processing result, and if there is an object detection sensor with a malfunction, the operator identifies the object detection sensor with the malfunction and examines the cause of the malfunction. Thus, in a preferred embodiment of the present invention, the sensor inspection execution unit notifies, by a notification device, the start of execution of the sensor inspection process and the process result of the sensor inspection process.

The automatically traveling working machine is equipped with a touch panel type graphic display for displaying a traveling route and the like. Therefore, it is preferable to use a graphic display as the notification device. In this case, it is preferable to grasp at a glance the processing results of the respective object detection sensors and the display mode of the processing results of the entire object detection sensors. Thus, the notification device is a graphic display (e.g., a touch panel) that displays a first visual symbol indicating each processing result of the object detection sensors and a second visual symbol indicating that all the object detection sensors are good.

If the sensor check is not performed at the proper time, the operation check flag is invalidated, but only the operator is notified of the invalidation, and there is a possibility that the automatic traveling is performed without performing the sensor check. To avoid this, in a preferred embodiment of the present invention, if the motion confirmation flag is invalid, the automatic travel is prohibited. In spite of the fact that there is an object detection sensor with poor operation, the reliability of automatic driving is improved by prohibiting automatic driving because sensor inspection is not performed at a proper time.

As the object detection sensor, a sonar which is inexpensive and has a simple structure is preferably used. In this case, the sensor management unit is a sonar management unit, and the sensor inspection execution unit is a sonar inspection execution unit.

(7) The travel route management system for a work machine that can automatically travel on a farm according to the present invention includes: a replenishment-side setting unit that sets a specific side of the outer shape of the farm, the specific side including one or more sides, as a material replenishment side of the material consumed by the working machine; a traverse path creation unit that creates a traverse path including a plurality of straight paths extending toward the material supply edge; and a replenishment control management unit that manages replenishment travel control for bringing the work implement closer to the material replenishment side from an end region of the straight path on which the work implement is traveling while replenishing the material, from a start region of the straight path to be traveled next, or from both regions. When a round trip route is created in the internal area of the farm, the round trip route is also referred to as an internal round trip route.

In order to replenish materials to be delivered to the farm, working machines such as a rice transplanter, a fertilizer applicator, and a chemical applicator have a side of the outer shape of the farm, for example, a side in contact with the field road, as a material replenishment side, and approach the material replenishment side at the time of material replenishment. In the above-described working machine, the material is usually supplied in a posture in which the front end or the rear end of the machine body is close to the material supply edge. In the above configuration of the present invention, the vehicle can approach the material replenishment side set by the replenishment-side setting unit by advancing or retreating from the traveling posture on the straight path based on the replenishment travel control, and thus the vehicle can easily approach the material replenishment side.

In a working machine such as a rice transplanter, seedling supply as material supply is performed in a posture in which the front end of the machine body is close to a material supply side. Thus, in a preferred embodiment of the present invention, the replenishment travel control includes a forward approach mode in which a tip end of the work implement is brought close to the material replenishment side, and in the forward approach mode, the transfer travel from the straight travel path on which the work implement is traveling to the straight travel path to be traveled next is stopped, the work implement is brought close to the material replenishment side by the straight travel directly, and after the material replenishment, the work implement is brought close to the straight travel path to be traveled next by the reverse turning travel. In this configuration, if the forward approach mode is set, the vehicle travels from the straight travel path on which the vehicle is traveling directly toward the material replenishment side and approaches the material replenishment side, and thus efficient material replenishment is achieved.

In a preferred embodiment of the present invention, a temporary stop information of the vehicle body is assigned as the travel control information to an end region of the straight path on which the vehicle travels while being replenished with the material. In this configuration, before the vehicle enters the turning travel for entering the next straight travel path from the straight travel path being traveled, the operator can be given time to replenish the material in consideration of whether or not the automatic travel is interrupted at that point in time.

In the case of performing the approach travel in which the straight travel route departing from the traverse route approaches the material replenishment side by the automatic travel, if the extended route in which the departing straight travel route is extended to reach the material replenishment side is used as the target route for the automatic travel, it is not necessary to calculate a special route, and therefore the efficiency is high.

In this way, in a preferred embodiment of the present invention, the approach travel to the material replenishment side in the approach-ahead mode is performed by automatic travel that takes as a target route an extended route that extends the straight travel route. Of course, even if the approach travel is performed by the manual travel, such an extended route can be used as a guide route for assisting the manual travel.

In chemical supply in a working machine such as a rice transplanter, seedling supply as material supply is performed in a posture in which the rear end of the machine body is close to a material supply edge. Thus, in a preferred embodiment of the present invention, the replenishment travel control includes a backward approach mode in which a rear end of the working machine is brought close to the material replenishment side, and in the backward approach mode, after completion of the transit travel from the straight travel path being traveled to the straight travel path to be traveled next, the working machine is brought close to the material replenishment side by the backward travel as it is, and after the material replenishment, the working machine is brought close to the straight travel path to be traveled next by the forward travel. In this configuration, the rear end of the working machine reaches the material replenishing side by directly retreating in the body posture to travel on the next straight path, and therefore, efficient material replenishment is realized.

In the approach travel for material supply, the selection of the front approach mode or the rear approach mode depends on the kind of material to be replenished. The working machine is provided with a mechanism for detecting the remaining amount of the replenishing material which is normally carried. Since the material shortage or the material shortage can be calculated from the detected remaining amount of the replenishing material and the material consumption amount per work travel, the replenishment timing of the replenishing material can be managed. Thus, in a preferred embodiment of the present invention, the present invention includes: and a material replenishment management unit that determines replenishment timing of the replenishment material based on the calculated remaining amount of the replenishment material, and selects either a front approach mode in which a front end of the working machine is brought close to the material replenishment side or a rear approach mode in which a rear end of the working machine is brought close to the material replenishment side, depending on a type of the material to be replenished. This enables automation of approach travel for material replenishment. The material replenishment management unit may also serve as the replenishment control management unit.

During approach travel for material replenishment, the work implement approaches a straight travel route as a travel destination after the material replenishment. Even if the approach travel is performed manually, when a straight travel route as the next travel route is captured, the travel can be shifted to the automatic travel. In this way, in a preferred embodiment of the present invention, the replenishment travel control interrupts the automatic travel and performs the manual travel, and when the next straight travel path is captured after the material replenishment, the automatic travel is resumed. This simplifies the transition from manual travel to automatic travel, and reduces the burden on the operator.

In a preferred embodiment of the present invention, the replenishment travel control may be remotely operated using a remote controller. In this configuration, the approach travel is manually performed using a remote controller at the time of material replenishment. Therefore, even if the travel using the round trip route or the like is unmanned automatic travel, the operator can manually perform approach travel from a position away from the work implement, for example, a ridge, which is suitable.

The setup of the supply margin, various setups in route creation, and the like are performed based on the operation input by the operator. In order to facilitate the operator's operation input to such a work machine, it is preferable to use a graphical interface. Thus, in a preferred embodiment of the present invention, the replenishment-side setting unit, the round-trip-path creation unit, and the replenishment control management unit are configured so as to be operable via a graphical user interface in an information terminal with a touch panel connected to an on-vehicle Local Area Network (LAN) of the working machine, and the selection of the material replenishment side and the selection of the content of the replenishment travel control are performed via the touch panel.

(8) In order to achieve the above object, a work machine according to an embodiment of the present invention is a work machine that travels by a driving force output from a power source while performing work, and includes: a continuously variable transmission device for changing the driving force by changing the angle of a swash plate; a vehicle speed operating means that operates an angle of the swash plate; a swash plate angle detector that detects an angle of the swash plate; an operation position detector that detects an operation position of the vehicle speed operation tool; and an actuator for adjusting the angle of the swash plate according to the operation position detected by the operation position detector.

According to this configuration, the vehicle speed operating means is not directly connected to the continuously variable transmission. Even in this case, the actuator adjusts the angle of the swash plate of the continuously variable transmission device in accordance with the operating position of the vehicle speed operating tool detected by the operating position detector. Then, the angle of the swash plate is detected by the swash plate angle detector, and the operation position of the vehicle speed operation tool detected by the operation position detector is compared with the detected angle of the swash plate, so that whether the angle of the swash plate is the angle corresponding to the operation position of the vehicle speed operation tool can be confirmed, and whether the vehicle speed is the traveling vehicle speed corresponding to the operation position of the vehicle speed operation tool can be confirmed.

Further, the accelerator control device may include an accelerator lever that increases or decreases a rotation speed corresponding to the driving force output from the power source, and an accelerator detector that detects an operation position of the accelerator lever.

With this configuration, the rotation speed corresponding to the operation position of the accelerator lever can be output with high accuracy.

Further, the vehicle speed operating tool may be operated in a forward direction and a reverse direction with a neutral position interposed therebetween, and an operation path may be bent at the neutral position, the vehicle speed operating tool may be fixed to a lever holding portion, the lever holding portion may be provided integrally with a gear, the gear may swing about an axis in accordance with an operation of the vehicle speed operating tool, and the lever holding portion may include: and a neutral holding mechanism for biasing the vehicle speed operation tool in a direction intersecting the forward direction or the backward direction, wherein the holding mechanism is provided between the gear and the shaft.

The vehicle speed operating tool moves only on a predetermined path, and it is not easy to accurately position the vehicle speed operating tool at a desired position. Further, when the operation position of the vehicle speed operation tool is moved against the intention, the operation of the appropriate travel vehicle speed cannot be performed. As described above, the vehicle speed control tool can be easily maintained at the neutral position by providing the neutral holding mechanism. Further, by providing the holding mechanism, a fixed resistance can be applied to the movement of the operation position of the vehicle speed operation tool. This improves the operational feeling of moving the operation position of the vehicle speed operation tool, and the vehicle speed operation tool can be operated with high accuracy.

Further, the vehicle speed control device may further include an information terminal for displaying the operation position of the vehicle speed operation tool in terms of the number of gear shift steps.

By displaying the number of shift steps corresponding to the vehicle speed operating means, the driver can intuitively grasp the traveling vehicle speed, and the operation of the traveling vehicle speed becomes easy.

Further, the work machine according to an embodiment of the present invention is a work machine that performs work travel by automatic travel along a predetermined travel route, and includes an automatic travel control unit that controls the automatic travel, wherein the automatic travel control unit controls a deceleration start position such that deceleration of a travel vehicle speed is started from a position ahead by a predetermined distance from a terminal end of the straight travel when shifting from the straight travel to the turning travel, and the distance is longer as the control travel vehicle speed is faster.

The turning travel is performed at a lower speed than the straight travel. In order to decelerate the traveling vehicle speed in the straight traveling to the traveling vehicle speed in the turning traveling, it is necessary to start deceleration from the middle of the straight traveling. At this time, if the deceleration acceleration is rapid, the field may be damaged or the driver may feel uncomfortable when riding. By increasing the deceleration start position according to the traveling vehicle speed, the acceleration of deceleration can be suppressed from becoming rapid.

Further, a maximum vehicle speed for work travel may be set, and the automatic travel control unit may control such that the distance is longer as the maximum vehicle speed is faster.

When the maximum vehicle speed is set, the running vehicle speed is equal to or less than the maximum vehicle speed. By increasing the deceleration start position according to the maximum vehicle speed, the acceleration of deceleration can be more reliably suppressed from becoming rapid.

The automatic travel may include a manned automatic travel mode and an unmanned automatic travel mode, and the deceleration start position may be adjusted in the manned automatic travel mode.

In the unmanned automatic travel mode, the driver often does not board, whereas in the manned automatic travel mode, the driver is requested to board. According to the above configuration, in the manned automatic travel mode in which the acceleration required to be decelerated is steeper than the acceleration required to be decelerated in the unmanned automatic travel mode, the deceleration can be suppressed with priority from becoming steeper.

Further, the acceleration at the time of deceleration of the traveling vehicle speed may be set.

The acceleration at which the driver feels an inappropriate deceleration differs depending on the work status, the field status, and the riding. According to the above configuration, deceleration can be performed at an appropriate acceleration suitable for the situation.

Further, the automatic travel control unit may notify the start of deceleration when the deceleration is started.

With this configuration, the driver and the monitor can grasp that the machine body is decelerated, and can contribute to an appropriate operation.

The automatic travel control unit may control the vehicle to travel at the turning speed regardless of an operation position of the vehicle speed operation tool.

With this configuration, the vehicle can be driven at an appropriate driving speed without operating the vehicle speed operating tool.

Further, a work implement according to an embodiment of the present invention is a work implement that performs work while automatically traveling along a predetermined travel path, and includes: a driver seat; a seating sensor that detects seating on the driver seat; and an automatic travel control unit that controls automatic travel, wherein the automatic travel control unit controls to perform a predetermined travel restriction when the seating sensor does not sense seating during automatic travel.

With this configuration, the vehicle can travel automatically and appropriately according to whether or not the driver is seated.

Further, the travel restriction may be control such that: when the seating sensor does not sense seating during automatic travel, at least one of a notification urging seating, deceleration of the travel vehicle speed, and stop of travel is performed.

With this configuration, it is possible to perform appropriate automatic traveling within a range in which the driver is allowed to be seated.

Further, the travel restriction may be control such that: when the seating sensor does not sense seating at the time of automatic travel start, automatic travel is not started.

With this configuration, more appropriate automatic traveling can be performed.

Further, the automatic travel control unit may control the automatic travel control unit to perform a predetermined notification when the seating sensor does not sense seating during automatic travel at least at any one of a time when turning travel is started and a time when reverse travel is started.

At the start of turning or at the start of backward running, the traveling direction changes, which may give an uncomfortable feeling to the driver. According to the above configuration, the driver can know in advance that the traveling direction is changed, and therefore, the feeling of discomfort is suppressed.

The driver seat may be configured to be rotatable, and wiring connected to the seating sensor may be disposed along a rotation fulcrum of the driver seat.

With this configuration, damage to the wiring can be suppressed.

(9) In order to achieve the above object, a work machine according to an embodiment of the present invention is a work machine that travels by a driving force output from a power source while performing work, and includes: a battery that is charged during operation of the power source and supplies electric power; a sensor that detects a charge amount of the battery; and a charge control unit that, when an operation to stop operation of the power source is performed, continues operation of the power source when the sensor senses that a charge amount of the battery is equal to or less than a predetermined first charge amount.

With this configuration, even when the capacity of the battery is reduced, the operation of the power source can be continued until the capacity of the battery is recovered when the power source is stopped, and therefore, it is possible to suppress a job-related travel from being stopped due to a shortage of the capacity of the battery.

The charge control unit may stop the operation of the power source when the sensor senses that the amount of charge of the battery is a second amount of charge equal to or greater than the first predetermined amount of charge.

With this configuration, the power source can be appropriately stopped while the capacity of the battery is sufficiently recovered.

The charge control unit may stop the operation of the power source after a predetermined time has elapsed.

Further, the charge control unit may notify continuation of the operation when the operation of the power source is continued.

If control is performed to continue the operation of the power source, the operation of the power source is continued against the intention of the driver who performs the operation to stop the power source. In this case, by giving a notification indicating that the operation of the power source is continued due to the shortage of the capacity of the battery, the driver can recognize that the operation of the power source is continued in order to charge the battery, and can understand that the operation is not a malfunction.

Further, the running and the work may be stopped while the operation of the power source is continued.

The driver performs the operation to stop the power source on the premise that the work travel is stopped. Therefore, for example, even if the operation of the power source is continued, the running and the work are appropriately stopped.

Further, the charge control unit may increase the rotation speed of the power source while continuing the operation of the power source.

The higher the rotational speed of the power source, the higher the charging rate of the battery. Therefore, when the operation of the power source is continued to charge the battery, the rotational speed of the power source is increased, thereby increasing the charging efficiency of the battery.

Further, a vehicle speed operating means for operating a traveling vehicle speed may be provided, and the vehicle speed operating means may be set to a neutral position when the operation of the power source is continued.

With this configuration, the body can be suppressed from traveling while the operation of the power source continues. When the vehicle speed operating tool is located at a position other than the neutral position during the operation of the power source, the machine body is unexpectedly started. The vehicle speed operating means is kept at the neutral position even when the power source is stopped while the operation of the power source is continued, and therefore, the vehicle speed operating means is kept at the neutral position even when the power source is stopped, and the engine body can be prevented from being started unexpectedly.

Further, when the operation of the power source is continued, the vehicle speed operation tool may be notified of the neutral position.

With this configuration, it is possible to facilitate the vehicle speed operation tool to be placed in the neutral position, and it is possible to suppress the travel of the machine body with a higher probability.

(10) In order to achieve the above object, a work machine according to an embodiment of the present invention is a work machine that performs work travel by automatic travel, including: an obstacle sensing device for sensing an obstacle using a predetermined area around a body as a sensing range, the obstacle sensing device including: one or more front obstacle sensing devices taking the front of the body as a sensing range; one or more rear obstacle sensing devices which take the rear of the machine body as a sensing range; and one or more transverse obstacle sensing devices which take the transverse side of the machine body as a sensing range.

When the vehicle travels in a work place such as a field, if an obstacle is present in the work place, the vehicle body may collide with the obstacle and damage the vehicle body, or appropriate work may not be performed. Therefore, in the automatic traveling, control for sensing an obstacle and avoiding a collision with the obstacle is required.

According to the above configuration, it is possible to sense an obstacle in a necessary area of four sides of the body, and to perform appropriate automatic traveling in consideration of the presence of the obstacle.

Further, the number of the front obstacle sensing devices may be set to be the same as or less than the number of the rear obstacle sensing devices.

With this configuration, an obstacle behind the machine body, which is difficult to secure an appropriate sensing range due to the presence of the working device or the like, can be sensed with high accuracy.

Further, a work machine according to an embodiment of the present invention is a work machine that performs work travel by automatic travel, including: an obstacle sensing device for sensing an obstacle using a predetermined area around a body as a sensing range, the obstacle sensing device including: a plurality of front obstacle sensing devices taking the front of the machine body as a sensing range; one or more rear obstacle sensing devices taking the rear of the body as a sensing range; and one or more transverse obstacle sensing devices taking the transverse side of the machine body as a sensing range, wherein the front obstacle sensing devices can be arranged in a plurality of numbers to the rear obstacle sensing devices and in a plurality of numbers to the transverse obstacle sensing devices.

The work travel is generally performed by forward travel. By providing a large number of front obstacle sensing devices for sensing an obstacle in front of the machine body during forward travel, it is possible to sense an obstacle during work travel with higher accuracy.

Further, the vehicle may further include a sensing control device for controlling the obstacle sensing device, and the sensing control device may be disposed near a central portion of the body in a plan view.

With this configuration, the wiring for connecting the obstacle sensing device and the control sensing control device can be efficiently arranged.

The vehicle may further include a sensing control device that controls the obstacle sensing devices, wherein the sensing control device controls the obstacle sensing devices within a predetermined number, and the number of the obstacle sensing devices is an integral multiple of the number that can be controlled by the sensing control device.

According to this configuration, even if the sensing control device in which the number of controllable obstacle sensing devices is limited is used, the obstacle sensing device and the sensing control device can be efficiently provided.

In addition, the sensing control device for controlling the front obstacle sensing device may be disposed in a front region of the machine body in a plan view, and the sensing control device for controlling the rear obstacle sensing device may be disposed in a rear region of the machine body in a plan view.

According to this configuration, it is possible to provide the obstacle sensing devices capable of sensing the number of obstacles with high accuracy, and it is possible to efficiently dispose the wiring connecting the obstacle sensing devices and the control sensing control device.

Further, the lateral obstacle sensing device and the rear obstacle sensing device may also be controlled by the common sensing control device.

According to this configuration, the sensing control device can be efficiently provided.

Further, the sensing control device that controls the lateral obstacle sensing device and the rear obstacle sensing device may also be disposed in an area surrounded by the lateral obstacle sensing device and the rear obstacle sensing device.

With this configuration, the sensing control device can be efficiently provided, and the length of the wiring connecting the obstacle sensing device and the sensing control device can be shortened, thereby efficiently arranging the obstacle sensing device and the sensing control device.

In addition, the sensing control device that controls the rear obstacle sensing device may be detachable from an outside of the machine body.

According to this configuration, maintenance of the sensing control device becomes easy, and the rear obstacle sensing device can be postpositioned.

Further, the sensing control device that controls the rear obstacle sensing device may also be provided at a position remote from a hydraulic hose provided to the machine body.

Since the hydraulic hose operates in accordance with the operation, when the wiring is disposed close to the hydraulic hose, the wiring may be damaged. According to the above configuration, damage to the wiring by the hydraulic hose can be suppressed.

The vehicle may further include a power source for driving the machine body, and an engine frame for supporting the power source, wherein four or more front obstacle sensors are provided, and two of the front obstacle sensors near the center of the machine body are supported by a member extending from the engine frame.

With this configuration, the obstacle in the center area in front of the machine body can be sensed with higher accuracy in the most required traveling direction during the work traveling.

Further, the vehicle may include a power source for driving the vehicle body and an engine cover for housing the power source, and at least one of the front obstacle sensors may be supported by the engine cover.

Further, the front obstacle sensing device may be disposed to be directed upward in a horizontal direction with respect to the machine body than the direction in which the rear obstacle sensing device and the lateral obstacle sensing device are disposed.

When the machine body travels forward, a mud cake or a mud surface generated along with a turn in the turning area may be erroneously sensed as an obstacle. According to the above configuration, such erroneous sensing of the clod and the mud surface can be suppressed. Moreover, by making the front obstacle sensor device face upward, adhesion of soil scattered along with traveling can be suppressed.

Further, the lateral obstacle sensing device may be supported by a rear table provided in a rear region of the machine body.

With this configuration, it is possible to sense an obstacle on the lateral side of the body with high accuracy.

The lateral obstacle sensing device may be supported near a preliminary seedling support frame supporting a preliminary seedling storage device provided in the machine body, or a positioning means for receiving radio waves from a satellite and calculating the position of the machine body.

Further, the rear obstacle sensing device may also be disposed at a non-operating portion of the rear region of the body.

If an obstacle sensing device is provided in the operating portion, it is not easy to appropriately sense an obstacle during operation of the portion. In addition, in the rear part of the machine body, there are many devices that operate, such as a working device. According to the above configuration, an obstacle behind the body can be sensed with high accuracy.

In addition, the rear obstacle sensing device can also be arranged at the upper part of a seedling carrying platform arranged on the machine body or above a mud guard cover of the medicament spreading device.

With this configuration, it is possible to suppress adhesion of mud to the rear obstacle sensing device, and to sense an obstacle behind the body with high accuracy.

Further, a plurality of the rear obstacle sensing devices may be provided, and the rear obstacle sensing devices may be disposed to be directed outward from the front-rear direction of the machine body.

According to this configuration, even if the arrangement position is limited and a sufficient number of rear obstacle sensing devices are not provided, a sensing range necessary for sensing an obstacle behind the body can be easily secured.

In addition, three or more rear obstacle sensing devices may be provided in parallel on an upper portion of a seedling table provided on the machine body, and each of the rear obstacle sensing devices may be provided in a rearward direction parallel to the forward and rearward directions of the machine body.

With this configuration, a necessary number of rear obstacle sensing devices can be provided, and an obstacle behind the machine body can be sensed with high accuracy.

Further, a plurality of the rear obstacle sensing devices may be provided, and may be arranged in a left-right direction intersecting the forward/backward direction of the machine body with the medicine dispensing device provided in the machine body interposed therebetween.

The medicine dispensing device is provided at a position protruding rearward of the body, and becomes an obstacle when securing a sensing range of the rear obstacle sensing device. According to the above configuration, the sensing ranges of the rear obstacle sensing devices provided with the medicine dispensing device interposed therebetween can mutually compensate for dead angles generated by the medicine dispensing device, and the sensing range for sensing an obstacle behind the body can be easily secured.

In addition, the obstacle sensing device may be provided in an area above a table body provided in the machine body.

With this configuration, it is possible to sense an obstacle around the body with high accuracy.

Further, the obstacle sensing device may be provided at a position overlapping with a table body provided on the machine body in a plan view.

If the obstacle sensing device is provided at a position protruding from the body, soil or the like is likely to adhere to the obstacle sensing device, and sufficient obstacle sensing may not be possible. According to the above configuration, it is possible to suppress adhesion of soil to the obstacle sensing device and continue sensing of an obstacle during automatic traveling.

(11) In order to achieve the above object, a work machine according to an embodiment of the present invention is a work machine that performs work travel by performing work while performing automatic travel, and includes: an obstacle sensing device for sensing an obstacle with a predetermined area around a body as a sensing range; and an automatic travel control unit that controls travel based on a result of sensing by the obstacle sensing device, wherein the automatic travel control unit includes a start suppression mode that determines whether travel can be started based on a result of sensing the obstacle when automatic travel is started, and an obstacle sensing mode that controls automatic travel based on a result of sensing the obstacle during automatic travel.

When a work is performed in a work place such as a field, if an obstacle exists in the work place, the body may collide with the obstacle and damage the body or an appropriate work may not be performed. Therefore, in the automatic traveling, it is appropriate to perform control of sensing an obstacle and avoiding a collision with the obstacle.

In addition, while it is necessary to change a travel route, stop travel, and the like in accordance with the presence of an obstacle during automatic travel, it is appropriate that travel is not started when an obstacle is present at the time of starting travel by automatic travel.

Therefore, when controlling automatic travel based on the result of sensing an obstacle, it is appropriate to divide the control state into a start suppression mode in which control is performed at the start of automatic travel and an obstacle sensing mode in which control is performed during automatic travel. This enables appropriate control of automatic travel according to the travel state.

In addition, the obstacle sensing device may include one or more front obstacle sensing devices having a sensing range in front of the body, one or more rear obstacle sensing devices having a sensing range in rear of the body, and one or more lateral obstacle sensing devices having lateral sides of the body.

With this configuration, it is possible to sense an obstacle in an appropriate range according to the running state, and to perform appropriate control of automatic running according to the running state.

The lateral obstacle sensing device may include a sensing range in the periphery of the platform body through which the driver passes when boarding the vehicle.

Drivers and the like generally use the platform body to ride on the machine body. In particular, when the driver or the like wants to get on and off the machine body at the time of starting traveling, it is inappropriate to start traveling.

According to the above configuration, a driver or the like who wants to go up and down from the body can be sensed with high accuracy.

In the start suppression mode, the automatic travel control unit may sense the obstacle in front of the machine body in the traveling direction and in a lateral direction of the machine body.

When starting to travel, it is necessary to sense an obstacle in front of the machine body in the direction of travel. As described above, it is preferable to sense a driver or the like who wants to get on or off the body. According to the above configuration, an obstacle in a required range at the start of travel is appropriately sensed.

Further, the present invention may further include: and an obstacle determination unit that determines whether or not the obstacle sensed by the obstacle sensing device is a mud surface, wherein the automatic travel control unit determines that the obstacle determined to be a mud surface by the obstacle determination unit is not the obstacle and controls automatic travel in the start suppression mode.

In order to perform appropriate automatic traveling, it is necessary to enlarge the obstacle sensing range. On the other hand, since the machine body travels on the upper surface of a working site such as a field, it is considered that the working surface such as a mud surface is also sensed. When a mud surface or the like is sensed, appropriate automatic traveling is hindered. According to the above configuration, even if a mud surface or the like is sensed, it is possible to control so as not to recognize it as an obstacle, and therefore, it is possible to appropriately start traveling.

Further, the present invention may further include: and an obstacle determination unit configured to determine whether or not the obstacle sensed by the obstacle sensing device is a moving person, wherein the automatic travel control unit controls automatic travel by recognizing only the moving person as the obstacle in the start suppression mode.

The most problematic obstacle at the start of travel is a moving person. According to the above configuration, the control of the start of travel corresponding to the obstacle can be appropriately performed, and the start of travel can be more appropriately performed.

In addition, the obstacle sensing device may include one or more front obstacle sensing devices having a sensing range in front of the vehicle body and one or more rear obstacle sensing devices having a sensing range in rear of the vehicle body, and the automatic travel control unit may control automatic travel using the front obstacle sensing devices during forward travel and may control automatic travel using the rear obstacle sensing devices during backward travel in the obstacle sensing mode.

During traveling, it is most appropriate to sense an obstacle in front of the traveling direction of the machine body. According to the above configuration, the sensing of the appropriate obstacle according to the running state is performed, and the automatic running is appropriately continued.

Further, the vehicle may further include one or more lateral obstacle sensing devices each having a lateral side of the vehicle body as a sensing range as the obstacle sensing device, and the automatic travel control unit may control the automatic travel using the lateral obstacle sensing devices during forward travel and during backward travel in the obstacle sensing mode.

In automatic travel, an obstacle may approach the machine body. An obstacle may come close to the side of the body. According to the above configuration, it is possible to more reliably sense an obstacle that hinders travel, and more appropriately continue automatic travel.

In the obstacle sensing mode, the travel control unit may control automatic travel using all of the obstacle sensing devices during forward travel and during reverse travel.

With this configuration, the obstacle can be sensed with higher accuracy, and the automatic travel can be continued more appropriately.

Further, the present invention may further include: and an obstacle determination unit configured to determine whether or not the obstacle sensed by the obstacle sensing device approaches, wherein the automatic travel control unit controls automatic travel based on the approaching obstacle during backward travel in the obstacle sensing mode.

With this configuration, it is possible to maintain the efficiency of work travel while sensing the minimum required obstacle.

In addition, as the obstacle sensing device, one or more front obstacle sensing devices having a sensing range in front of the body, one or more rear obstacle sensing devices having a sensing range in rear of the body, and one or more lateral obstacle sensing devices having lateral sides of the body, may be provided, and the sensing range of the lateral obstacle sensing device may be narrower than the sensing range of the front obstacle sensing device and the sensing range of the rear obstacle sensing device.

Various devices are protruded at the side area of the body. When the obstacle sensing device detects these devices as an obstacle, the work travel is hindered. According to the above configuration, it is possible to suppress the possibility of erroneous sensing of these devices as an obstacle, and to perform appropriate work traveling.

Further, the sensing range of the obstacle sensing device in the obstacle sensing mode may be narrower than the sensing range of the obstacle sensing device in the take-off suppression mode.

While sensing an obstacle in a wider range is appropriate at the start of travel, it is necessary to suppress erroneous sensing during travel from the viewpoint of continuity of work travel. According to the above configuration, the obstacle can be sensed in an appropriate sensing range corresponding to the traveling state.

In addition, the sensing range of the obstacle sensing device in the obstacle sensing mode may be widened as the distance from the ridge becomes longer.

Since the vehicle travels inside the field during operation traveling, the distance from the ridge provided on the outer periphery of the field changes constantly. Generally, a ridge is sensed as an obstacle when it enters the sensing range of the obstacle. The travel route is generated in consideration of a ridge. Therefore, due to the relationship with the length of the sensing range of the obstacle, the work travel should be free from the obstacle even if the ridge is sensed. According to the above configuration, the length of the sensing range of the obstacle is optimized according to the distance from the ridge, whereby the possibility of sensing the ridge as an obstacle is reduced. As a result, the work travel can be appropriately continued.

Further, the obstacle sensing device may include a plurality of front obstacle sensing devices each having a sensing range in front of the body, and the sensing range may be wider as the front obstacle sensing device in the obstacle sensing mode is located on the inner side of a turn during turning.

During turning, the machine body moves in the turning direction as it travels. According to the above configuration, an obstacle ahead of the machine body in the traveling direction can be more appropriately sensed, and an obstacle that obstructs the work traveling can be more appropriately sensed.

Further, the obstacle sensing device may include one or more rear obstacle sensing devices each having a sensing range at the rear of the machine body, the sensing range of the front obstacle sensing device being set to be outside a locus drawn by a front outermost end portion of the preliminary seedling housing device provided in the machine body, and the sensing range of the rear obstacle sensing device being set to be outside a locus drawn by a rear outermost end portion of a slide plate guard provided in the machine body.

According to the above configuration, the sensing range can secure the maximum width while suppressing erroneous sensing.

In addition, the automatic travel may include a round trip operation travel performed on an inner region of a field and a round trip operation travel performed on an outer peripheral region of the field, the round trip operation travel may include an outermost periphery operation travel, and the automatic travel control unit may control the automatic travel based on the obstacle during the round trip operation travel in the obstacle sensing mode.

With this configuration, during the reciprocating operation travel, the automatic travel can be performed in consideration of the obstacle.

Further, the automatic travel control unit may control automatic travel based on the obstacle even during the outermost work travel in the obstacle sensing mode.

With this configuration, the automatic traveling can be performed in consideration of the obstacle even during the outermost work traveling.

The obstacle sensing device may start the control of the automatic travel using the sensing result together with the notification when the automatic travel is started, without performing the control of the automatic travel using the sensing result before the start of the automatic travel.

Before starting the travel by the automatic control, even if an obstacle is sensed, the control corresponding to the sensing result is not performed, and the control corresponding to the sensing result is performed from the start of the travel. Then, this is notified when the control is started. As a result, the automatic travel control unit operates efficiently by performing the control operation only when necessary, and the driver or the like can reliably recognize that the control according to the sensing result is performed.

Further, when the obstacle is sensed, the automatic travel control unit may set a main transmission device that controls the travel vehicle speed to a neutral position and maintain the engine speed.

According to this configuration, the machine body stops when an obstacle is sensed, but if the obstacle is eliminated, the work travel can be immediately resumed, and efficient work travel can be continued.

Further, the obstacle sensing device may include at least one of a sonar sensor, a laser sensor, an image analysis device, and analysis using a learned model that is learned by a machine.

With this configuration, the obstacle can be sensed by using the optimum obstacle sensing device.

(12) The work machine of the present invention includes: the work vehicle comprises a self-propelled vehicle, a work device positioned behind the self-propelled vehicle, a control unit for managing automatic work traveling, and a laminated lamp for displaying the control mode of the control unit on the outer portion of the self-propelled vehicle, wherein the laminated lamp is arranged on the outer periphery of the self-propelled vehicle.

According to this configuration, even when the operator monitors the automatic operation travel of the work implement at a position remote from the work implement, the stacked lamp is easily visible, and therefore, the travel state and the work state of the work implement automatically operated and traveled based on the display of the stacked lamp are easily known.

In the present invention, it is preferable that the working device includes: carry seedling platform and follow carry the seedling platform to take out the seedling to plant the seedling that takes out in the mechanism of transplanting in the field the self-walking car possesses the preparation seedling platform of arranging into upper and lower multilayer, range upon range of the lamp setting than the position that the topmost layer in the preparation seedling platform of upper and lower multilayer prepares the seedling platform height.

According to this configuration, since the preliminary seedling table on the uppermost stage is generally provided at a high position and the stack lamp is located at a position higher than the preliminary seedling table on the uppermost stage, the display of the stack lamp can be more easily seen, and the traveling state and the working state of the working machine can be more easily understood.

In the present invention, it is preferable that the self-propelled vehicle includes a positioning unit that receives radio waves from satellites of a global navigation satellite system to acquire position information of the self-propelled vehicle, the self-propelled vehicle includes a support frame extending in a direction along a vehicle body vertical direction, the positioning unit is supported by an upper end side portion of the support frame, the laminated lamp is supported by a lower end side portion of the support frame that is lower than the upper end side portion, and the support frame is configured to be changeable in state: the upper end side part is lifted and swung relative to the lower end side part to position the positioning unit at a lifted using position, and the upper end side part is lowered and swung relative to the lower end side part to position the positioning unit at a lowered accommodating position.

According to this configuration, even when the positioning means is switched from the raised use position to the lowered accommodation position, the stacked lamp is supported by the lower end side portion of the support frame and assumes the posture during use, and therefore, the same support frame is used for supporting the stacked lamp and for supporting the positioning means, the support structure can be simplified, and even when the positioning means is accommodated at a position lower than during use, the stacked lamp can be maintained in a state in which, for example, car wash water or rainwater is unlikely to enter.

In the present invention, it is preferable that the autonomous moving vehicle includes an antenna for receiving a wireless command signal from a remote control device, and the antenna is detachably supported by the upper end side portion.

According to this configuration, even if the antenna in use is supported at the upper end side portion of the support frame which swings upward and is located at a high position, the antenna can be detached from the upper end side portion when the positioning unit is housed, and, for example, the antenna can be prevented from falling with the upper end side portion and hitting a peripheral member.

In the present invention, it is preferable that the self-propelled vehicle includes: a sonar sensor that detects an obstacle that hinders the traveling of the autonomous vehicle; and a sonar control device that controls the sonar sensor, wherein the laminated lamp, the sonar control device, and a receiving device associated with the antenna are provided on one of the lateral sides of the autonomous vehicle.

According to this configuration, the laminated lamp, the sonar control device, and the receiving device are provided so as to be offset to one lateral side of the autonomous vehicle, and therefore, for example, when inspecting and repairing the laminated lamp, it is easy to perform the inspection of the sonar control device and the inspection of the receiving device together.

In the present invention, it is preferable that a battery is provided on one of both lateral sides of the autonomous vehicle, on which the laminated lamp, the sonar control device, and the receiving device are provided.

According to this configuration, the laminated lamp, the sonar control device, the receiving device, and the battery are provided so as to be offset to one lateral side of the autonomous vehicle, and therefore, the wiring for supplying power from the battery to the laminated lamp, the sonar control device, and the receiving device can be shortened.

In the present invention, it is preferable that the self-propelled vehicle includes a plurality of preliminary seedling stages arranged in a vertical direction, and the plurality of preliminary seedling stages are supported by the support frame.

According to this configuration, since the same support frame is used for the support of the positioning unit and the support of the preliminary seedling stage, the support structure of the positioning unit and the preliminary seedling stage can be simplified.

(13) In order to achieve the above object, a work machine according to an embodiment of the present invention is a work machine that performs work travel by automatic travel, and includes a notification device that notifies a warning at least one of during backward travel during automatic travel, during turning during automatic travel, and when automatic travel is started.

Even if the driver gets on the machine body during automatic traveling, the awareness of traveling of the machine body tends to be low. In particular, when the vehicle body starts traveling from a stopped state during traveling other than straight traveling, which is normal work traveling, the driver may feel a sense of incongruity if the awareness is low. Even in such a case, by notifying this, the driver can be easily made aware of it, and the sense of incongruity felt by the driver can be alleviated. Further, even if there is a person around the body, the person can easily perceive the movement of the body, and the person around the person turns to the body.

Further, the warning may be a warning using sound.

According to this configuration, the driver can easily notice the warning regardless of the state of the driver, and the sense of incongruity felt by the driver is reduced.

Further, the vehicle may be provided with a vehicle speed operating tool for operating a vehicle speed, and the automatic travel may include: the vehicle speed control device is configured to start or restart the work travel by the manned automatic travel by operating the vehicle speed control means to a position other than a neutral position, and the work travel by the unmanned automatic travel is started or restarted under a condition that the vehicle speed control means is located at the neutral position.

With this configuration, the driver can easily operate the start of the travel when someone travels automatically. Further, the start of the automatic travel is automatically controlled by the unmanned automatic travel, so that the operation of the vehicle speed operation tool is not necessary, and when the automatic travel is released in a state where the vehicle speed operation tool is operated other than the neutral position, the machine body starts the travel at that moment. According to the above configuration, when the vehicle is automatically driven by no person, the vehicle speed operating means is operated to the neutral position, whereby the body can be prevented from being accidentally driven after the automatic driving is cancelled.

Further, the present invention may include: a remote controller capable of remote operation from a position away from the body; and an automatic travel start/stop switch provided in the machine body, for operating start and stop of the work travel by the automatic travel, and starting or restarting the work travel only when the remote controller is operated in the case of unmanned automatic travel, and starting or restarting the work travel only when the automatic travel start/stop switch is operated in the case of manned automatic travel.

In the case of unmanned automatic travel, since the driver does not need to board the vehicle, it is appropriate to instruct the start of travel from a position away from the machine body by a remote controller. In the case where the vehicle is automatically driven by a person, since the driver gets on the vehicle, it is appropriate to provide an operation tool for instructing the start of driving on the vehicle body. With the above configuration, the operation of starting the work travel according to the need of the driver during the automatic travel can be performed.

In addition, the vehicle speed control device may include a work operation tool for operating the work implement, and the manual operation of moving the vehicle speed control tool and operating the work operation tool may be required in accordance with a guidance by voice guidance when the vehicle speed control tool is required to be moved to a neutral position or when the work implement is required to be shifted to a work state, the notification device may notify the voice guidance until the operation corresponding to the voice guidance is performed.

With this configuration, the driver can easily grasp the necessary operation, and can efficiently perform work travel while suppressing erroneous operation during predetermined manned automatic travel.

Further, the present invention may further include: in a work operation tool for operating a work implement and an information terminal for displaying information, when a person automatically travels and requires a manual operation for moving the vehicle speed operation tool and operating the work operation tool in accordance with a guidance, and when a movement operation of the vehicle speed operation tool to a neutral position is required or a transfer operation of the work implement to a work state is required, the guidance is performed as follows: after the notification device performs the voice guidance a predetermined number of times, the information terminal displays the guidance until the corresponding operation is performed.

Even if the driver grasps a necessary operation, the driver may not be able to immediately operate the operation depending on the state of the machine body, the state of the work place, and the like. In this case, if the guidance based on the voice is continuously notified, the driver may feel bored. According to the above configuration, it is possible to continue necessary guidance while suppressing such annoyance and suppressing unpleasant feeling.

Further, the vehicle speed operation tool may be instructed to be urged to be operated in the traveling direction from the neutral position at the start and the restart of the work traveling by the manned automatic traveling.

With this configuration, the start of the work travel can be performed with high accuracy.

Further, the vehicle speed operation tool may be configured not to start traveling even if the vehicle speed operation tool is operated in a direction opposite to the traveling direction from the neutral position at the start and restart of the automatic traveling by a person.

With this configuration, even if an erroneous operation is performed, erroneous travel is not performed, and predetermined work travel can be performed appropriately.

Further, the vehicle speed operation tool may not be required to be operated even in the case of switching between forward and reverse directions at the time of the direction change.

When someone is traveling automatically, a predetermined operation is required. When the direction is changed along the travel route, the operation of the machine body during the direction change is fixed and can be performed in the flow of the automatic travel.

According to the above configuration, the work travel can be continuously and smoothly continued.

Further, the vehicle speed control device may include a continuously variable transmission device that adjusts a traveling vehicle speed, and may be configured to instruct the vehicle speed operation tool to move to a neutral position when the vehicle speed operation tool needs to be moved to the neutral position and the continuously variable transmission device is not in the neutral position.

According to this configuration, the guidance is given when the angle of the swash plate of the continuously variable transmission device directly corresponding to the actual running is not at the neutral position (the state where the driving force is not transmitted), and the guidance more suitable for the actual running is given.

Further, when an operation against preset automatic travel is performed, a guidance indicating that an operation according to automatic travel is performed may be notified until the operation according to automatic travel is performed.

With this configuration, the operation in accordance with the predetermined automatic travel can be more reliably urged, and the appropriate automatic travel can be continued.

In addition, the work travel may be automatic travel of an inner round trip route in an inner area of a work place, automatic travel of an inner surrounding route in an outer area, and automatic travel of a person on each side of an outer surrounding route in the outer area, and the work place may be provided with a guidance starting area in which the person is guided to a starting point of the inner round trip route by the automatic travel of the person when the body stops in the guidance starting area, and the start of the automatic travel may be start of the automatic travel of the inner round trip route, start of the automatic travel of the inner surrounding route, start of the automatic travel of the person on each side of the outer surrounding route, start of guidance from the guidance starting area, and return to the travel route when the material is replenished.

With this configuration, the automatic travel can be started in an appropriate state. In particular, by setting the respective sides of the outside circumferential route to be independent automatic traveling, even if an unexpected situation occurs during turning traveling of the outside circumferential route, it is possible to more easily resume the working traveling.

Further, the guidance from the guidance start area may be automatically performed by performing guidance for urging the vehicle speed operation tool to be operated to the backward position after the vehicle travels backward and forward, and by performing guidance for urging the vehicle speed operation tool to be operated to the forward position after the vehicle travels backward and forward by a predetermined amount.

With this configuration, the starting point of the internal round trip path is appropriately guided.

The vehicle speed control device may further include a work operating tool for operating the working device, wherein the vehicle speed control tool needs to be operated in a forward direction when the automatic traveling by a person on a first side of the outer circumferential path is started, the vehicle speed control tool does not need to be operated when the automatic traveling by a person on the other side is started, and the work operating tool needs to be operated in a non-operating state before a turn is made between the sides.

With this configuration, the travel is first continued only by operating the vehicle speed operating tool, and only the operation to put the working device into the non-operating state is required, so that the work travel can be continued by a simple operation.

Further, after the end of the turn, the work tool may be required to be operated to the working state at the next work travel start time.

With this configuration, the work travel after the start can be continued more easily by only operating the work implement.

Further, it may be possible to set whether or not the state displacement of the work implement performed when the work travel is started next after the end of turning and when the turning between the sides is automatically performed.

The turning travel is a fixed operation, and therefore, the automatic control is relatively easy. In the case of the configuration in which the vehicle can perform the turning under the automatic control, the configuration in which the driver can select whether or not the vehicle can turn under the automatic control is employed, and the automatic driving suitable for the working state can be performed.

Further, a work machine according to an embodiment of the present invention is a work machine that performs work travel by automatic travel, and includes: the vehicle speed control device includes a vehicle speed operating tool that operates a vehicle speed, a first actuator that displaces the vehicle speed operating tool according to a traveling state, and a clutch that switches the vehicle speed operating tool and the first actuator between a connected state and a disconnected state, wherein the vehicle speed operating tool is displaced to a forward position and a reverse position via a neutral position, and the clutch is in the disconnected state at the neutral position.

In the case where the forward position and the reverse position of the vehicle speed operation tool are not arranged in a straight line, the displacement between the forward position and the reverse position cannot be performed by one actuator. In the neutral position between the forward position and the reverse position, the vehicle speed operating tool and the actuator are in the disengaged state by the clutch, and thereby the vehicle can be displaced between the forward position and the reverse position.

Further, the vehicle speed control device may further include a second actuator for displacing the vehicle speed control tool at a neutral position.

According to this configuration, in a state where the connection between the vehicle speed operation tool and the first actuator is disconnected, the vehicle speed operation tool can be displaced between the forward position and the reverse position by the second actuator, and the vehicle speed operation tool can be automatically displaced from the forward position to the reverse position by the two actuators.

Further, the vehicle speed control device may further include a notification device that notifies a warning, and the notification device notifies an operating state of the vehicle speed control device when the vehicle speed control device is displaced.

With this configuration, even if the vehicle speed operation tool is displaced regardless of the driver, the driver can recognize the displacement and can easily grasp the traveling state of the machine body.

Further, the vehicle speed operation tool may be maintained at the forward position during the reverse movement accompanying the direction change.

When the direction along the travel route is changed, the operation of the machine body during the direction change is fixed and is performed in the flow of the automatic travel. Therefore, in this case, the driver has less need to be interested in the traveling state of the machine body, and notification more than necessary can be suppressed.

Further, a brake used when decelerating the traveling vehicle speed may be provided, and the vehicle speed operating means may be displaced in accordance with an operation of the brake.

According to this configuration, the vehicle speed operating tool is displaced in accordance with the running vehicle speed that changes in accordance with the operation of the brake, and the driver can feel the running vehicle speed in accordance with the position of the vehicle speed operating tool.

(14) The work machine of the present invention includes: the automatic working vehicle comprises a self-propelled vehicle, a driving part arranged on the self-propelled vehicle, a working device positioned behind the self-propelled vehicle, a control unit for managing automatic working running and a notification device for notifying the control executed by the control unit, wherein the notification device is arranged at the front upper position of the driving part.

According to the present configuration, since the notification device notifies the state of the automatic work traveling, the notification by the notification device is easily made from the position above and in front of the driver, and thus the state of the automatic work traveling is easily recognized. In addition, it is easy to take measures against a change in control to be performed.

In the present invention, it is preferable that: and a positioning unit provided at a position above and in front of the driving unit, the positioning unit receiving radio waves from satellites of a global navigation satellite system to acquire position information of the self-propelled vehicle, wherein the notification device is provided below the positioning unit in a state of being covered from above by the positioning unit.

According to this configuration, since the positioning means is used as a member for covering the notification device, the notification device can be prevented from being immersed in rainwater, car wash water, or the like at low cost.

In the present invention, it is preferable that: a frame portion provided at a position forward and upward of the cab portion in a state of extending in a vehicle width direction; a mounting table supported by the frame portion and on which the positioning unit is mounted and fixed; and a support member extending downward from the table, the notification device being supported by the support member.

According to the present configuration, since the support member is supported by the frame portion via the mounting table, the structure of the support member can be simplified and the notification device can be positioned below the positioning unit, as compared with the case where the support member is directly supported by the frame portion.

In the present invention, it is preferable that the operation unit includes an operation seat, and a lower end of the notification device is located above an upper end of the operation seat.

According to this configuration, the notification device does not cause an obstacle to the front as viewed from the driver seat, and is easy to drive.

In the present invention, it is preferable that the driving unit includes a steering wheel, and a lower end of the notification device is located above an upper end of the steering wheel.

According to this configuration, the notification device does not cause an obstacle to the front as viewed from the driver, and is easy to drive.

In the present invention, it is preferable that a prime mover having an engine and a hood is provided in a front region of the self-propelled vehicle, and a lower end of the notification device is located above an upper end of the hood.

In the present invention, it is preferable that the notification device is a voice alarm generation device provided in a state where a sound generation unit faces the driving unit.

According to the present configuration, the content of the notification can be easily recognized.

(15) In order to achieve the above object, a work machine according to an embodiment of the present invention is a work machine that performs work travel by automatic travel including automatic travel by a person who needs a driver and automatic travel by an unmanned person who does not need a driver, the work machine including: the driving seat is used for a driver to sit; and a seating sensor that senses that a driver is seated in the driver seat, wherein the seating sensor senses that the driver is seated in the driver seat as a start condition for the automatic travel of a person.

The person automatically drives and must be ridden by a driver. In the case where the driver rides on the machine body, it is appropriate that the driver is seated on the driver seat. According to the above configuration, the manned automatic travel is started only when the driver is seated in the driver seat, and therefore, the manned automatic travel is suppressed from being performed in an inappropriate state.

Further, the vehicle seat control device may further include a notification device that notifies a warning, and the notification device may notify the warning when the seating sensor does not sense that the driver is seated in the driving seat.

According to this configuration, when the driver is not seated in the driver seat even though the driver is riding, the driver can be urged to be seated, and work traveling in an inappropriate state can be suppressed.

In the above configuration, the vehicle may further include a notification device that notifies a warning, and the notification device may notify the warning when the seating sensor does not sense that the driver is seated in the driver seat after the seating sensor senses that the driver is seated in the driver seat during the unmanned automatic travel, and then the vehicle may not start the working travel by the unmanned automatic travel until the seating sensor senses that the driver is seated in the driver seat.

The unmanned automatic vehicle does not need a driver to board the vehicle, but does not hinder the driver from boarding the vehicle. Even if the vehicle travels autonomously, it is appropriate that the driver sits on the driver seat when the driver gets on the vehicle. According to the above configuration, after the seating sensor senses that the driver is seated (seated), when the seating sensor does not sense that the driver is seated, it can be estimated that the driver is in a state where the driver is not seated despite being seated. In this case, by adopting a configuration in which the work travel is not started, it is possible to perform appropriate automatic travel in a state in which the driver is seated.

Further, the vehicle seat control device may further include an information terminal that displays information, and the information terminal may display a warning when the seating sensor does not sense that the driver is seated in the driver seat.

According to this configuration, when the driver gets on the vehicle, and when the driver is not seated, the driver can be urged to be seated, and work travel in an inappropriate state can be suppressed.

Further, the present invention may further include: and an information terminal that displays information, wherein when the seating sensor does not sense that the driver is seated in the driver seat at the start of turning travel and at the start of backward travel, the information terminal displays a warning and a warning is notified by the notification device.

When switching between the cornering travel and the reverse travel is performed, the travel direction is switched, and it is appropriate that the driver riding thereon sits. According to the above configuration, when switching between the turning travel and the backward travel is made, if the driver on board is not seated, it is possible to urge the driver to be seated, and work travel in an inappropriate state is suppressed.

Further, the traveling vehicle speed may be decelerated when the seating sensor does not sense that the driver is seated on the driver seat at the time of start of turning traveling and the time of start of reverse traveling.

With this configuration, even if the driver is not seated, the inappropriate situation is alleviated, and work travel in an inappropriate state is suppressed.

The seating sensor may be a pressure sensor provided in the driver seat.

With this configuration, the driver can be efficiently sensed as being seated.

The driver seat may be configured to be rotatable, and the wiring of the seating sensor may be arranged along a rotation axis of the driver seat.

Wiring for power supply, signals, and the like is connected to the seating sensor such as a pressure sensor. In the case where the driver seat is rotated, such wiring may be broken along with the rotation of the driver seat. According to the above configuration, the damage of the wiring can be suppressed.

(16) The work machine of the present invention is characterized by comprising: a machine body which is operated and driven in a field; a positioning unit that acquires position information of the body based on a positioning signal of a navigation satellite; a feeding device for feeding agricultural materials to a field; and a control unit configured to control the supply device based on the position information during travel of the machine body, wherein the control unit is configured to operate the supply device before the start of the work travel when the work travel is started from a preset start position, and to stop the supply device before the end of the work travel when the work travel is ended at a preset end position.

In the prior art, after the control unit outputs the instructions for starting and stopping the operation of the feeding device, the feeding of the agricultural material to the field is likely to be started or stopped with a time lag. When the feeding device feeds the agricultural material to the field, it is preferable to start feeding the agricultural material at a position where the agricultural material is to be started with high accuracy and stop the agricultural material at a position where the agricultural material is to be stopped with high accuracy, in order to achieve accurate agriculture. According to the present invention, the start position and the end position are set in the field based on the position information. The start position is a position at which the supply of the agricultural material should be started, and the end position is a position at which the supply of the agricultural material should be ended. The control unit operates the supply device before the work travel is started, and stops the supply device before the work travel is finished. Therefore, even when a time lag occurs between the start of the operation of the feeding device and the start of the feeding of the agricultural material to the field, the feeding of the agricultural material is started at the start position with high accuracy. Even if a time lag occurs between the stop of the feeding device and the stop of the actual feeding of the agricultural material to the field, the feeding of the agricultural material is stopped at the end position with high accuracy. Further, in the present invention, since the control unit is configured to adjust the timing of starting and stopping the operation of the supply device, it is not necessary to attach a special valve mechanism or the like to the end portion of the supply device in the transport direction, and it is advantageous in terms of cost compared with a configuration in which the special valve mechanism or the like is attached. This further improves the convenience during automatic operation traveling.

In the present invention, it is preferable that the supply device includes: a housing portion housing agricultural materials; a feeding mechanism for feeding the agricultural material from the container; and a hose that conveys the agricultural material fed by the feeding mechanism and discharges the agricultural material to a field, wherein the control unit is configured to operate the supply device so that the agricultural material conveyed along the hose starts to be discharged at the start position, and to stop the supply device so that the agricultural material conveyed along the hose is discharged at the end position.

The time lag from the start or stop of the operation of the feeding device to the start or stop of the feeding of the actual agricultural material to the field becomes longer in proportion to the length of the hose. With this configuration, the agricultural material starts to be discharged from the hose at the start position and the agricultural material is discharged from the hose at the end position, so that the supply device can supply the agricultural material to the field with high accuracy.

In the present invention, it is preferable that the control unit includes a speed detection unit capable of detecting a speed of the body, and the control unit is configured to be capable of changing a timing of operating or stopping the supply device based on the speed.

In this configuration, the control unit is configured to variably control the timing of operating or stopping the supply device according to the speed, and therefore, even when the supply device operates at a high speed or a low speed according to the speed of the machine body, the control unit can flexibly control the supply device.

In the present invention, it is preferable that the control unit decelerates the machine body before operating or stopping the supply device when the speed is higher than a preset speed.

If the speed of the machine body is too high, the agricultural material may not be accurately supplied at the start position, and the agricultural material may not be accurately supplied at the end position. In this configuration, the control unit decelerates the machine body before the feeding device is operated or stopped, and thus the feeding of the agricultural material is started accurately at the start position and ended accurately at the end position.

In the present invention, it is preferable that the control unit increases the speed of the machine body before the supply device is operated or stopped, when the speed is lower than a preset speed.

With this configuration, the control means can output instructions to start and stop the operation of the feeding device in a state where the machine body is traveling at a preset speed, and therefore the feeding device can feed agricultural materials to a field with higher accuracy.

In the present invention, it is preferable that the control means causes the machine body to travel at the speed, when the speed is lower than a preset speed, until the supply device starts to operate or stops.

With this configuration, the control means can output instructions for starting and stopping the operation of the feeding device while maintaining the speed of the machine body, and therefore the feeding device can feed agricultural materials to a field with higher accuracy.

In the present invention, it is preferable that the control unit is configured to calculate a first time, which is a time until the machine body reaches the start position, and a second time, which is a time until the machine body reaches the end position, based on the position information, and to operate the supply device when the first time is equal to or less than a predetermined threshold value, and to stop the supply device when the second time is equal to or less than a predetermined threshold value.

According to this configuration, the first time is calculated as the time until the body reaches the start position, and the second time is calculated as the time until the body reaches the end position. Thus, the control unit can manage the timing of starting the operation of the supply device at the first time, and can manage the timing of stopping the operation of the supply device at the second time. Thus, the feeding device can feed agricultural materials to a field with higher accuracy.

In the present invention, it is preferable that the control unit is configured to calculate a first distance and a second distance based on the position information, the first distance being a distance from the machine body to the start position, the second distance being a distance from the machine body to the end position, and to operate the supply device when the first distance is equal to or less than a predetermined threshold value, and to stop the supply device when the second distance is equal to or less than a predetermined threshold value.

According to this configuration, the first distance is calculated as the distance until the body reaches the start position, and the second distance is calculated as the distance until the body reaches the end position. Thus, the control unit can manage the position at which the operation of the supply device is started by the first distance, and can manage the position at which the operation of the supply device is stopped by the second distance. Thus, the feeding device can feed agricultural materials to a field with higher accuracy.

In the present invention, it is preferable that the seedling feeder includes a working device capable of transplanting seedlings row by row in a field, and the control unit is configured to operate or stop the feeder row by row in conjunction with a row where seedlings are transplanted by the working device.

With this configuration, the feeding device can move in conjunction with the row of seedlings that are cut by the working device, and therefore the feeding device can feed agricultural materials with high accuracy according to the actual position of the cut seedlings. In the present invention, the term "seedling" includes a seed before germination and a seedling after germination. The term "transplanting" refers to a general term for operations of sowing seeds before germination into a field or transplanting seedlings after germination into a field.

(17) The present invention is characterized in that an automatically traveling work machine includes: an operation device for performing an operation in a paddy field; a working clutch that switches a driving state of the working device by turning on and off power transmission from an engine; a clutch control unit that controls on and off states of the work clutch; and a vehicle speed control unit for controlling a vehicle speed; when the clutch control unit executes switching control as control for switching the on and off states of the working clutch, the vehicle speed control unit executes deceleration control as control for reducing the vehicle speed before switching the on and off states of the working clutch.

In the present invention, the on/off state of the working clutch is switched in a state where the vehicle speed is relatively low. Therefore, in the case where the working clutch is controlled to switch the on and off states of the working clutch at a predetermined position, the actual machine body position at the time point when the on and off states of the working clutch are switched is less likely to deviate from the predetermined position.

Therefore, according to the present invention, the switching position of the driving state of the working device can be accurately switched.

This can further improve the convenience of the work machine during automatic work travel.

In the present invention, it is preferable that the working device is a transplanting system working device for performing a seedling transplanting operation or a sowing operation in a predetermined row direction, and the working clutch is a row clutch configured to be able to select a start of operation and a stop of operation of the working device by a predetermined number of rows.

According to this configuration, when the operation machine performs the seedling planting operation or the seeding operation while traveling, the switching position of the number of rows of seedlings to be planted or the number of rows of seeding is highly accurate. Thus, for example, even if the shape of the paddy field is relatively complicated, it is easy to plant seedlings or sow seedlings in accordance with the shape of the paddy field. As a result, the entire paddy field can be efficiently used.

In the present invention, it is preferable that the working device is a transplanting system working device for performing a seedling transplanting operation or a seeding operation in a predetermined row direction, the working device is driven when the working clutch is in an on state, and the working device is stopped when the working clutch is in an off state.

According to this configuration, when the operation machine performs the seedling planting operation or the seeding operation while traveling, the accuracy of the starting position and the ending position of the seedling planting or the seeding is good.

In the present invention, it is preferable that the vehicle speed control unit executes a speed increase control as a control for increasing the vehicle speed after the vehicle passes a switching point of the vehicle body position as a time point at which the clutch control unit executes the switching control.

According to this configuration, the operation can be performed more easily and more quickly than in the case where the speed increasing control is not executed after the machine body passes through the switching point. As a result, the working machine having excellent working efficiency and excellent accuracy of the switching position of the driving state of the working device can be realized.

In the present invention, it is preferable that the vehicle speed control unit does not execute the speed increase control until the body reaches the second point after passing through the first point, when a first point as the switching point and a second point as the switching point are located on a travel path of the body, and the body is scheduled to pass through the second point after passing through the first point, and a distance between the first point and the second point is equal to or less than a predetermined reference distance.

With this configuration, it is easy to avoid a situation where the deceleration control and the acceleration control are repeatedly switched in a short time. This allows the work machine to travel smoothly and stably.

Another feature of the present invention is summarized as a work machine capable of traveling automatically, including: the seedling transplanting device is used for transplanting seedlings; a transplanting clutch for switching a driving state of the seedling transplanting device by turning on and off power transmission from an engine; a clutch control unit that controls on and off states of the insertion clutch; and a lifting control unit configured to start driving of the seedling planting device by switching the planting clutch from an off state to an on state, and to stop driving of the seedling planting device by switching the planting clutch from the on state to the off state, wherein the lifting control unit is configured to lower the seedling planting device when the driving of the seedling planting device is started, and to raise the seedling planting device when the driving of the seedling planting device is stopped, and to maintain the seedling planting device in a lowered state while the machine body travels a predetermined distance from a machine body position at a time point when the planting clutch is switched from the on state to the off state by the clutch control unit.

When the seedling planting device is immediately raised after the planting clutch is switched from the on state to the off state, the seedling in a state immediately before planting is not planted but easily falls off from the seedling planting device. Thus, the seedlings for transplanting are consumed wastefully.

In the present invention, the seedling planting device is maintained in a lowered state while the machine body travels a predetermined distance after the planting clutch is switched from the on state to the off state. Therefore, as described above, it is easy to avoid a situation in which the seedling in the state immediately before the transplanting is detached from the seedling transplanting device without being transplanted. Therefore, the situation that the seedlings for transplanting are consumed wastefully is easily avoided. This can further improve the convenience of the work machine during automatic work travel.

In the present invention, it is preferable that the predetermined distance is equal to or greater than an interval of transplanting seedlings along a traveling direction of the machine body.

Generally, a seedling planting device is provided with a rotary planting mechanism. The insertion mechanism is configured to stop in a predetermined stop posture when the driving is stopped. Therefore, when the insertion clutch is switched from the on state to the off state during the driving of the insertion mechanism, the insertion mechanism is continuously driven from the time point when the insertion clutch is switched from the on state to the off state until the insertion mechanism is in the predetermined stop posture.

The length of time from the time point when the insertion clutch is switched from the on state to the off state until the insertion mechanism assumes the predetermined stop posture is different depending on the posture of the insertion mechanism at the time point when the insertion clutch is switched from the on state to the off state. The length of this time, in the longest case, is equal to the length of time required for the body to travel a distance corresponding to the planting distance. It should be noted that the plant spacing is the planting interval of the seedlings along the traveling direction of the machine body.

Here, according to the above configuration, the seedling planting device is maintained in the lowered state from the time point when the planting clutch is switched from the on state to the off state until the machine body runs for a distance corresponding to the inter-plant distance. During this period, the insertion mechanism is in a predetermined stop posture. Thus, the transplanting mechanism is easily and reliably stopped while the seedling transplanting device is maintained in the lowered state.

Therefore, according to the above configuration, it is easy to reliably avoid a situation in which the seedling in the state immediately before the transplanting is detached from the seedling transplanting device without being transplanted.

(18) The present invention is characterized by comprising: a running device driven by power from the engine; a hydraulic continuously variable transmission device having a swash plate whose angle can be changed, for transmitting power from the engine to the traveling device side while changing the speed; a braking device that brakes the travel device; a brake pedal configured to be capable of being stepped from an initial position to a maximum stepped position, the brake pedal being configured to brake the brake device; a brake detection unit that detects that the brake pedal is depressed; and a control unit that controls the continuously variable transmission, and when the brake detection unit detects that the brake pedal is depressed, the control unit starts returning the swash plate to a neutral position before the brake pedal reaches the maximum depression position.

According to this characteristic configuration, when the brake pedal is depressed, the swash plate starts to return to the neutral position at a stage before the brake pedal reaches the maximum depressed position. This can reduce the load applied to various parts such as the brake when the brake pedal is depressed. That is, according to the present characteristic configuration, convenience during automatic operation traveling of the work implement can be further improved.

In the present invention, it is preferable that the brake detection unit includes: and a step-on sensor that detects that the brake pedal is stepped on to a halfway position between the initial position and the maximum step-on position, and the control unit starts returning the swash plate to a neutral position when the step-on sensor detects that the brake pedal is stepped on to the halfway position.

According to this characteristic configuration, when the brake pedal is depressed to the halfway position, the swash plate starts to return to the neutral position.

Here, in the case of the configuration in which the swash plate starts to return to the neutral position when the brake pedal is depressed from the initial position, if the brake pedal is slightly shifted from the initial position to the depressed side by vibration of the machine body, the swash plate starts to return to the neutral position every time, and there is a possibility that the work efficiency is lowered.

In this regard, according to the present characteristic configuration, if the brake pedal is not depressed to the halfway position, the swash plate does not start to return to the neutral position, and therefore, it is possible to prevent erroneous operation of the swash plate due to erroneous detection of the brake pedal, and to reduce the load applied to various parts such as the brake when the brake pedal is depressed to the halfway position or more.

In the present invention, it is preferable that the brake detection unit includes: and a stepping end sensor that detects that the brake pedal is stepped to the maximum stepping position, wherein the control unit starts returning the swash plate to a neutral position when the stepping sensor detects that the brake pedal is stepped to the intermediate position, and returns the swash plate to the neutral position when the stepping end sensor detects that the brake pedal is stepped to the maximum stepping position.

According to this characteristic configuration, the swash plate returns to the neutral position while the brake pedal is depressed from the neutral position to the maximum depression position. This prevents the swash plate from being erroneously operated due to erroneous detection of the brake pedal, and reduces the load applied to various parts such as the brake when the brake pedal is depressed to the maximum depression position.

In the present invention, it is preferable that the brake detection unit includes: a depression start sensor that detects depression of the brake pedal from the initial position; and a depression sensor that detects that the brake pedal is depressed to a midway position between the initial position and the maximum depression position, wherein the control unit starts returning the swash plate to a neutral position when the depression start sensor detects that the brake pedal is depressed from the initial position, and returns the swash plate to the neutral position when the depression sensor detects that the brake pedal is depressed to the midway position.

According to this characteristic configuration, the swash plate returns to the neutral position while the brake pedal is depressed from the initial position to the intermediate position. Thus, the load applied to various parts such as the brake can be reduced from a relatively early stage when the degree of depression of the brake pedal is equal to or less than the intermediate position.

In the present invention, it is preferable that the brake detection unit includes: and a depression amount sensor that detects a depression amount of the brake pedal, wherein the control unit returns the swash plate to a neutral position side as the depression amount of the brake pedal detected by the depression amount sensor increases.

According to this characteristic configuration, the swash plate is returned to the neutral position side as the depression amount of the brake pedal detected by the depression amount sensor increases. This makes it possible to reduce the load applied to various parts such as the brake when the brake pedal is depressed, so as to be suitable for the braking force of the brake device.

Further, in the present invention, it is preferable that: a start operation tool for starting and operating the engine; a neutral sensor that detects that a shift position of the continuously variable transmission is a neutral position; and a control unit that controls the engine, wherein when the engine is started and operated by the starting operation tool, the control unit detects that the brake pedal is stepped on to the maximum stepped position by the brake detection unit, and when the neutral sensor detects that a shift position of the continuously variable transmission is a neutral position, the control unit starts the engine based on the starting operation of the starting operation tool.

According to this characteristic configuration, the engine can be started only in a state where the running device is braked by the brake device and the power from the continuously variable transmission is not transmitted to the running device. This makes it possible to start the engine in a stable state of the engine body.

In the present invention, it is preferable to provide a notification device for notifying that the engine is not started.

According to this characteristic configuration, when the engine is not started, the notification device notifies that the engine is not started. This makes it possible to reliably make the driver notice that the engine is not started.

In the present invention, it is preferable that the control unit estimates a loss amount of the brake device based on traveling information when the brake device brakes the traveling device.

Here, a correlation is confirmed between the travel information when the brake device brakes the travel device and the amount of wear of the brake device. With this characteristic configuration, the amount of loss of the brake device can be estimated with high accuracy.

Drawings

FIG. 1 is a side view of a rice transplanter capable of traveling automatically.

FIG. 2 is a plan view of a rice transplanter capable of traveling automatically.

FIG. 3 is a front view of a rice transplanter capable of traveling automatically.

Fig. 4 is a schematic diagram illustrating operation travel of the transplanter.

FIG. 5 is a functional block diagram showing a control system of the rice transplanter.

Fig. 6 is a schematic diagram illustrating an example of an operation configuration of the continuously variable transmission.

Fig. 7 is an enlarged schematic view illustrating an operation configuration of the continuously variable transmission.

Fig. 8 is an exploded perspective view exemplifying the operational configuration of the continuously variable transmission.

Fig. 9 is a schematic view showing an example of the configuration of the lever guide member.

Fig. 10 is a schematic diagram illustrating a configuration of the neutral holding mechanism by way of example.

Fig. 11 is a diagram illustrating a relationship between the continuously variable transmission and the engine speed for controlling the traveling vehicle speed.

Fig. 12 is a schematic diagram illustrating the arrangement of the rear sonar.

Fig. 13 is a conceptual diagram illustrating a horizontal sensing range of a sonar sensor.

Fig. 14 is a conceptual diagram illustrating a sensing range in the vertical direction of the sonar sensor.

Fig. 15 is a schematic view of a power transmission configuration from the engine to the insertion mechanism.

FIG. 16 shows the travel of the rice transplanter.

Fig. 17 is a diagram showing changes in vehicle speed.

FIG. 18 is a view showing the travel of the rice transplanter.

Fig. 19 is a side explanatory view showing the start of the operation of the fertilizer application device at the start position.

Fig. 20 is a side explanatory view showing the start of the operation of the fertilizer application device at the start position.

Fig. 21 is a side explanatory view showing the stop of the fertilizer application device at the end position.

Fig. 22 is a side explanatory view showing the stop of the fertilizer application device at the end position.

Fig. 23 is a plan view of a field showing a state where the seedling planting device performs planting work while crossing the boundary between the outer peripheral region and the inner region.

FIG. 24 is a functional block diagram showing a control system of the rice transplanter, and is a diagram showing neutral return control of a swash plate of a continuously variable transmission and start control of an engine.

Fig. 25 is a perspective view showing the positioning unit, the voice alarm generating device, and the upper end side portion in a detached state, and showing the receiving device in an assembled state.

Fig. 26 is a side view showing a support structure of the upper end side portion.

Fig. 27 is a side view showing a support structure of the upper end side portion.

Fig. 28 is a perspective view showing the laminated lamp and the cover in a detached state.

Fig. 29 is a side view showing a use posture and a storage posture of the laminated lamp.

Fig. 30 is an explanatory diagram showing a display state of the laminated lamps and a display state of the display lamp section of the center mark.

Fig. 31 is a rear view showing a support structure of the audio alarm generating device.

Fig. 32 is an explanatory diagram showing a voice alarm.

Fig. 33 is a top view of the remote controller.

Fig. 34 is a plan view of the information terminal.

Fig. 35 is a functional block diagram showing a functional unit in sonar inspection control.

Fig. 36 is a flowchart of the entire sonar inspection control.

Fig. 37 is a flowchart of sonar inspection processing.

Fig. 38 is a screen view in the sonar inspection process.

Fig. 39 is a screen view in the sonar inspection process.

Fig. 40 is a warning screen displayed on the touch panel when the automatic travel mode is activated.

Fig. 41 is a functional block diagram showing a functional unit in the map selection process.

Fig. 42 is a screen view in the map selection process.

Fig. 43 is a screen view in the map selection process.

Fig. 44 is a screen view in the map selection process.

Fig. 45 is a functional block diagram showing a functional unit in the field shape acquisition process.

Fig. 46 is a view showing a plurality of regions divided along the outer periphery of a field.

Fig. 47 is a view for explaining a process in a case where the raising and lowering of the seedling planting device are repeated.

Fig. 48 is a diagram illustrating a first line and a second line.

Fig. 49 is a screen image in the field shape acquisition process.

Fig. 50 is a screen image in the field shape acquisition process.

Fig. 51 is a screen image in the field shape acquisition process.

Fig. 52 is a screen image in the field shape acquisition process.

Fig. 53 is a screen image in the field shape acquisition process.

Fig. 54 is a screen view in the field shape acquisition process.

Fig. 55 is a functional block diagram showing a functional unit related to route creation.

Fig. 56 is a screen displayed on the touch panel at the time of route creation.

Fig. 57 is a screen displayed on the touch panel at the time of route creation.

Fig. 58 is a screen displayed on the touch panel at the time of route creation.

FIG. 59 is a schematic illustration of a tie-up turn.

Fig. 60 is a schematic view for explaining double return bend.

Fig. 61 is a diagram illustrating the plug-in operation travel with each row clutch control.

Fig. 62 is a schematic diagram for explaining basic start point guidance.

Fig. 63 is a schematic diagram for explaining basic start point guidance.

Fig. 64 is a screen view during start point guidance.

Fig. 65 is a screen view of the start point guide.

Fig. 66 is a screen view in another mode of the start point guidance.

Fig. 67 is a screen view in another mode of the starting point guide.

Fig. 68 is a screen view in another mode of the start point guidance.

Fig. 69 is a schematic diagram illustrating a basic start point guide.

Fig. 70 is a schematic diagram showing the work travel in which the end of the straight path is successively shortened.

Fig. 71 is a schematic diagram showing the work travel in which the end of the straight path is sequentially lengthened.

Fig. 72 is a diagram showing a travel route in the special planting region.

Detailed Description

A rice transplanter that travels in a field in an operation will be described below.

Here, for ease of understanding, in the present embodiment, unless otherwise specified, "front" (the direction of arrow F shown in fig. 1) means the front in the machine body front-rear direction (the traveling direction), and "rear" (the direction of arrow B shown in fig. 1) means the rear in the machine body front-rear direction (the traveling direction). The left-right direction or the lateral direction refers to a transverse direction of the body (a body width direction) orthogonal to the front-back direction of the body, that is, "left" (a direction of an arrow L shown in fig. 2) and "right" (a direction of an arrow R shown in fig. 2) refer to the left direction and the right direction of the body, respectively.

[ integral structure ]

As shown in fig. 1 to 3, the rice transplanter is of a riding type and includes a four-wheel drive type body. The body 1 includes: a parallel four-bar linkage 13 connected to the rear part of the machine body 1 in a vertically swingable manner, a hydraulic lifting link 13a for driving the linkage 13 to swing, a seedling planting device 3 connected to the rear end region of the linkage 13 in a laterally swingable manner, a fertilizer application device 4 installed in a range from the rear end region of the machine body 1 to the seedling planting device 3, and a chemical application device 18 provided in the rear end region of the seedling planting device 3. The seedling planting device 3, the fertilizer applying device 4, and the chemical applying device 18 are examples of the working device.

The machine body 1 includes wheels 12, an engine 2 (corresponding to a "power source"), and a hydraulic continuously variable transmission 9 as a main transmission as a mechanism for traveling. The continuously variable Transmission 9 is, for example, an HST (Hydro-Static Transmission) and changes the speed of a driving force (rotation speed) output from the engine 2 by adjusting the angles of a motor swash plate and a pump swash plate. The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The engine 2 and the continuously variable transmission 9 are mounted on the front portion of the machine body 1. The power from the engine 2 is supplied to the front wheels 12A, the rear wheels 12B, the working devices, and the like via the continuously variable transmission 9 and the like.

The seedling planting device 3 is configured as an example of an 8-row seedling planting type. The seedling transplanting device 3 includes seedling stages 21, 8-row transplanting mechanisms 22, and the like. The seedling planting device 3 can be changed to a 2-row seedling planting mode, a 4-row seedling planting mode, a 6-row seedling planting mode, and the like, by controlling each row clutch, not shown.

The seedling table 21 is a table for placing 8 rows of mat-like seedlings. The seedling carrying table 21 reciprocates in the left-right direction at a fixed stroke corresponding to the left-right width of the mat-shaped seedlings, and the longitudinal transfer mechanism 23 transfers each mat-shaped seedling on the seedling carrying table 21 longitudinally at a predetermined pitch toward the lower end of the seedling carrying table 21 each time the seedling carrying table 21 reaches the left-right stroke ends. The 8 insertion mechanisms 22 are of a rotary type and are arranged in the left-right direction at a fixed interval corresponding to the insertion row pitch. Then, each transplanting mechanism 22 is shifted to a transmission state by a transplanting clutch (see C5 in fig. 15 described later) to transmit a driving force from the engine 2, and a seedling (also referred to as a transplanted seedling) is cut from the lower end of each mat-shaped seedling placed on the seedling stage 21 and transplanted to a soil portion after soil preparation. Thus, in the operating state of the seedling transplanting device 3, seedlings can be taken out from the mat-shaped seedlings placed on the seedling carrying table 21 and transplanted to the soil part of the paddy field.

As shown in fig. 1 to 3, the fertilizer application device 4 includes a rectangular hopper 25, a feeding mechanism 26, an electric blower 27, a plurality of fertilizer application hoses 28, and furrow openers 29 provided for each row. The hopper 25 contains granulated or powdered fertilizer. The feed mechanism 26 is operated by power transmitted from a motor (not shown), and feeds a predetermined amount of fertilizer by 2 rows from the hopper 25.

The blower 27 is operated by electric power from the battery 73 mounted on the machine body 1, and generates air to convey the fertilizer fed by each of the feeding mechanisms 26 toward the mud surface of the field. The fertilizer application device 4 can be switched between an operating state in which fertilizer contained in the hopper 25 is supplied to a field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 27 or the like.

Each fertilizing hose 28 guides the fertilizer, which is transported by the transport air, to each furrow opener 29. Each furrow opener 29 is provided to each soil preparation floating plate 15. The furrow openers 29 are elevated together with the soil preparation float plates 15, and form a fertilizer application furrow in the soil portion of the paddy field and guide the fertilizer into the fertilizer application furrow during operation of grounding the soil preparation float plates 15.

As shown in fig. 1 to 3, the machine body 1 includes an operator's section 14 in a rear side region thereof. The driver unit 14 includes: a steering wheel 10 for steering front wheels, a main shift lever 7A (corresponding to "vehicle speed operating means") for adjusting a vehicle speed by performing a shift operation of a continuously variable transmission 9, a sub shift lever 7B (corresponding to "vehicle speed operating means") for performing a shift operation of a sub transmission, a work operating lever 11 (corresponding to "work operating means") for performing an elevating operation of the seedling planting device 3, switching of an operating state, and the like, an information terminal 5 having a touch panel for displaying (notifying) various information and notifying (outputting) to an operator and receiving input of the various information, a driver seat 16 for the operator (driver/operator), and the like. In front of the cab 14, a preliminary seedling storage device 17A for storing preliminary seedlings is supported by the preliminary seedling support frame 17.

The steering wheel 10 is coupled to the front wheels 12A via a steering mechanism, not shown, and the steering angle of the front wheels 12A is adjusted by a rotational operation of the steering wheel 10.

[ automatic traveling ]

The operation travel of the transplanter for transplanting rice seedlings into a field by automatic travel will be described with reference to fig. 1 to 3 with reference to fig. 4.

The rice transplanter of the present embodiment can selectively perform manual travel and automatic travel.

The manual running and the automatic running are selected by switching an automatic/manual changeover switch 7C. The manual travel is a work travel performed by a driver manually operating tools such as a steering wheel 10, a main shift lever 7A, a sub shift lever 7B, and a work operating lever 11. The automatic travel is a travel and work of the rice transplanter performed by automatic control along a predetermined travel route. Further, the automatic travel can perform manned automatic travel (manned automatic travel mode) requiring boarding of the driver and unmanned automatic travel (unmanned automatic travel mode) not requiring boarding of the driver. The manned automatic travel is that the rice transplanter automatically controls operations accompanying other travel and work while the driver performs a part of operations in accordance with instructions (guidelines) provided by the rice transplanter. In the unmanned automatic traveling, the driver does not need to be boarding, but the driver may be boarding in the unmanned automatic traveling. The unmanned automatic travel is a travel in which a start operation of the automatic travel is performed by a driver, for example, the start operation is performed by a remote controller 90 (see fig. 33) described later, the work travel is started by automatic control, and the preset work travel is performed by automatic control. The information terminal 5 is used to set a manned automatic mode for carrying out manned automatic travel and an unmanned automatic mode for carrying out unmanned automatic travel.

When the rice transplanter performs the transplanting operation, first, the driver manually operates the rice transplanter to travel along the outer circumference of the field without performing the operation. By this peripheral travel, a peripheral shape (field map) of the field is generated, and the field is divided into a peripheral area OA and an internal area IA. At this time, the entry/exit E of the field into which the seedling planting machine enters is set, and one side or a designated polygon in the outer periphery of the field is set as a seedling supply side SL for supplying mat-like seedlings, fertilizer, chemicals, fuel, and the like to the seedling planting machine.

When a field map is generated, a travel path on which the rice transplanter travels for work is set. In the inside area IA, an inside round-trip path IPL is generated in which a plurality of paths substantially parallel to one side of the field are connected by turning paths. The internal round trip route IPL is a travel route for traveling over the entire internal area IA from the start point S to the end point G. When the internal round-trip route IPL is generated, the guidance-startable area GA is generated in the vicinity of the entrance E. By stopping the rice transplanter in the guidance starting area GA, the rice transplanter can be shifted to the starting point S of the internal round trip route IPL by automatic travel. Note that, although the dedicated travel route is set for the start point guidance from the guidance start area GA, a plurality of the travel routes may be set. Depending on the shape of the field, it may be difficult to perform starting point guidance from a parking position. Setting a plurality of travel routes in advance is preferable because the possibility of appropriately performing the starting point guidance is increased regardless of the parking position.

In the outer peripheral area OA, two travel paths, an inner circumferential path IRL and an outer circumferential path ORL, which are circumferentially arranged in the outer peripheral area OA along the outer periphery of the field, are generated. The work traveling is performed through the inner circumferential route IRL and the outer circumferential route ORL, and the entire work traveling of the outer peripheral area OA is performed. After the work travel (the reciprocating work travel) on the internal reciprocating path IPL is completed, the vehicle travels along a travel path set separately, and moves to the work travel start position on the inner circumferential path IRL. In a case where the field has a complicated shape, it is sometimes necessary to separate the end point of the inner round-trip path IPL from the start point of the inner loop path IRL. At this time, as a travel route that moves from the end point of the internal traverse route IPL to the start point of the internal round route IRL, a travel route including a route parallel to any one side of the field may be provided.

In the case of performing automatic travel, in a state where a travel route is created in this way, the rice planting machine first enters the field from the entrance E, moves to the guidance-capable area GA, and stops. When the automatic travel is started in the guidance-startable area GA, the rice planting machine moves to the starting point S (starting point guidance) after moving backward, and performs the automatic travel of the internal reciprocating path IPL of the internal area IA until reaching the end point G. The running vehicle speed in the unmanned automatic running is controlled according to the maximum speed of the preset running vehicle speed.

When the shape of the field is complicated, the work cannot be completed in a region required for turning during the work traveling on the inner circumferential path IRL and the outer circumferential path ORL. In such a case, the work travel needs to be performed by extending a part of the internal traverse path IPL. In this case, after the turning of the internal reciprocating path IPL, the vehicle may travel by the forward work after retreating by a necessary distance. The backward travel in this case is performed by the automatic travel, and no special operation is required. However, since steering of the front wheels is difficult unlike in the forward direction, switching to the manual operation may be performed only in the reverse direction.

When the operation traveling in the inner area IA is finished, the operation traveling in the outer area OA is performed. First, the rice transplanter manually moves to the starting point of the inner circumferential path IRL, and then performs the operation travel of the inner circumferential path IRL by unmanned automatic travel. Then, the rice transplanter manually moves to the starting point of the outer circumferential path ORL, and then performs work traveling (circumferential work traveling) on the outer circumferential path ORL by automatic traveling by a person. In the manned automatic travel, the automatic travel is performed along the travel route at a manually operated travel vehicle speed, and the working device is manually operated in accordance with a guidance (drive assist). When the machine body 1 is automatically and temporarily stopped at a predetermined position at the time of turning, and a required operation of the working device is manually performed according to a guide, the turning travel is performed by the automatic travel. By the operation traveling described above, the planting operation of the entire field is completed.

The internal reciprocating path IPL and the inner revolving path IRL are not limited to the unmanned automatic travel, and may be operated by the manned automatic travel or the manned travel. The outside round route ORL may be operated not only by autonomous driving but also by manual driving or by unmanned autonomous driving. The movement from the end point G of the internal traverse path IPL to the inner circumferential path IRL is not limited to the manual travel, and may be performed by the automatic travel with or without a person. Similarly, the movement from the end point of the inner loop path IRL to the outer loop path ORL is not limited to the manual travel, and may be performed by the automatic travel with or without a person.

In the case of manned automatic travel, it is a starting condition for automatic travel that at least the rider and the main shift lever 7A are located at the neutral position. When the main shift lever 7A is moved in the traveling direction in a state where the start condition is satisfied, the automatic traveling is started. In the travel route of the field, the work travel on the outside round route ORL is performed by someone automatically, but the work travel may be performed on another travel route. In addition, in the case of automatic traveling by a person, the raising and lowering of the seedling planting device 3 is performed by automatic control. For example, during the operation traveling in the case where the person travels automatically on the internal reciprocating path IPL and the inner circulating path IRL, the raising and lowering of the seedling planting device 3 is performed by automatic control. However, during the operation traveling on the outer circumferential route ORL, the seedling planting device 3 is lowered by manual operation. Specifically, when the machine body 1 reaches the turning position of the outer encircling path ORL, the seedling planting device 3 is raised by automatic control. When the turning is completed in this state, the machine body 1 is stopped, and the seedling planting device 3 is lowered by a manual operation, thereby continuing the work traveling under the automatic traveling. The possibility of obstacles existing around the outside surrounding route ORL is higher than other travel routes. In order to perform smooth operation traveling, the seedling planting device 3 is lowered by manual operation after confirming that no obstacle or the like is present during operation traveling on the outer circumferential route ORL.

In addition, in the unmanned automatic travel, the automatic travel is started by operating the remote controller 90, and the work travel is performed by the automatic control according to the travel route set in advance. In the travel route of the field, unmanned automatic travel can be performed during work travel on the inner round trip route IPL and the inner loop route IRL. In unmanned automatic running, the lifting of the seedling transplanting device 3 is also controlled automatically.

[ control System ]

Next, a control system of the transplanter will be described with reference to fig. 1 to 3 and fig. 5.

The control unit 30, which forms the core of the rice transplanter control system, controls the travel of the rice transplanter and the operation of the various working devices 1C. The control unit 30 performs control in accordance with the operation of the various operation tools 1B performed by the driver during manual travel, and acquires the position of the vehicle during automatic travel and performs control in accordance with the position of the vehicle.

Therefore, a control unit 30 including an automatic traveling microcomputer 6 and the like is connected to a positioning unit 8 for calculating the position of the vehicle, an information terminal 5 for performing various settings and operations and displaying various information, a sensor group 1A for detecting various states of the rice transplanter, various operation tools 1B, various working devices 1C, a traveling apparatus 1D including a steered front wheel 12A, a continuously variable transmission 9 and the like, and the like. The mode changeover switch 7E, which is one of the operation tools 1B, is a switch for selecting any one of a manual travel mode for performing manual travel, a manned automatic travel mode for performing automatic travel when a person is present, and an unmanned automatic travel mode for performing automatic travel when no person is present.

The positioning unit 8 outputs positioning data for calculating the position and orientation of the body 1.

The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of a Global Navigation Satellite System (GNSS) and an inertial measurement module 8B that detects the inclination and acceleration of the three axes of the body 1.

In the manual travel mode, the control unit 30 controls the travel device 1D according to the operation of the operation tool 1B and the setting state of the information terminal 5, and controls the vehicle speed and the steering amount, thereby controlling the travel. The control unit 30 controls the operation of the working device 1C according to the operation of the operation tool 1B and the setting state of the information terminal 5.

In the manned automatic travel mode or the unmanned automatic travel mode, the control unit 30 calculates the map coordinates (the vehicle position) of the body 1 based on the satellite positioning data sequentially transmitted from the positioning unit 8. The control unit 30 acquires a field map, and sets a travel route based on the field map and the setting and operation of the information terminal 5. Meanwhile, the control unit 30 determines the action of the working device 1C according to the position in the travel path. Further, control section 30 calculates a travel position on the travel route based on the vehicle position, and controls travel device 1D and work apparatus 1C based on the travel position on the travel route and the setting state of information terminal 5. In this manner, the control unit 30 controls the work travel in the automatic travel mode.

In the manned automatic travel mode, the control unit 30 controls the vehicle to slow down acceleration and deceleration as compared with the unmanned automatic travel mode. Thus, work traveling can be efficiently performed in the unmanned automatic traveling mode, and riding comfort of a riding driver is not impaired in the manned automatic traveling mode.

The control unit 30 may have any configuration as long as the above-described functions can be realized, and may be configured by a plurality of functional blocks. Further, a part or all of the functions of the control unit 30 may be constituted by software. The software program is stored in an arbitrary storage unit, and is executed by a processor such as an ECU or a CPU included in the control unit 30, or a separately provided processor.

[ constitution of operation of continuously variable transmission ]

Next, a description will be given of a configuration of an angle of a swash plate (hereinafter, simply referred to as "swash plate") for operating a motor and a pump of a continuously variable transmission device 9 such as an HST with reference to fig. 1 to 3 and with reference to fig. 6 to 10.

The continuously variable transmission 9 adjusts the angle of the swash plate in response to the operation of the main shift lever 7A, and performs switching between forward and reverse and adjustment of the traveling vehicle speed. The operation region of the main shift lever 7A is provided with a forward operation region and a reverse operation region in a linear or zigzag manner with a neutral position interposed therebetween. In the forward operation region and the reverse operation region, the main shift lever 7A is operated to a position away from the neutral position, whereby the traveling vehicle speed at the time of forward or reverse is increased.

The operation position of the main shift lever 7A is detected by an operation position detector such as a potentiometer 40. The lower end of the main shift lever 7A is fixed to the lever holding portion 42A. The potentiometer 40 is supported by a shaft cover or the like that protects a steering shaft (not shown).

The potentiometer 40 has a shaft 40A. The gear 42 is supported to be swingable along a shaft 41 held by the machine body 1. The gear 42 swings about the shaft 41 in accordance with the operating position of the main shift lever 7A.

One end of the rotation transmitting portion 40B is fixed to a shaft 40A of the potentiometer 40, and the shaft 40A rotates with the rotation of the rotation transmitting portion 40B. A pin 40C is provided at the other end of the rotation transmitting portion 40B. The gear 42 is provided with a rotation transmission portion 42B. A hole 42C is provided at the tip end of the rotation transmitting portion 42B. The rotation transmitting portion 40B is disposed with the pin 40C passing through the hole 42C. When the operating position of the main gear lever 7A is displaced, the gear 42 swings. The shaft 40A of the potentiometer 40 rotates in accordance with the oscillation of the gear 42 via the rotation transmitting portion 42B and the rotation transmitting portion 40B. The potentiometer 40 detects the operation position of the main shift lever 7A by detecting the angle.

Further, a lever guide member 43 that defines an operation range of the main shift lever 7A is supported by the power steering unit 44. The lever guide member 43 is provided with a hole 43B having a shape that defines an operation range of the main shift lever 7A. The lever 43A is fixed to the lever holding portion 42A. The rod 43A penetrates the hole portion 43B. With the above configuration, the main shift lever 7A defines the operation range through the hole 43B of the lever guide 43.

A plurality of notches 42H aligned along the oscillating direction of the gear 42 are formed in the outer peripheral edge of one end of the gear 42. As the gear 42 swings, any of the cutouts 42H engages with a holding pin 42I supported by the power steering unit 44. The notches 42H are formed in both sides of the swinging direction of the gear 42 so as to be engaged with the holding pin 42I through the notches when the main shift lever 7A is operated to the neutral position. These notches 42H are divided into a notch that engages with the holding pin 42I when the main shift lever 7A is positioned on the forward side and a notch that engages with the holding pin 42I when the main shift lever 7A is positioned on the forward side. Therefore, the notch 42H is configured such that the notch corresponding to the forward operation region and the notch corresponding to the backward operation region are arranged in parallel with each other with the notch corresponding to the neutral position interposed therebetween.

By engaging any of the notches 42H with the holding pin 42I, the driver who operates the main shift lever 7A can feel a fixed feeling from the operation position. This makes a reference when the driver operates the main shift lever 7A, and improves the operability of the main shift lever 7A.

Conventionally, the driver recognizes the traveling vehicle speed from the number of steps of the main shift lever 7A. The number of stages is represented by a variable speed stage, such as 1-speed, 2-speed 8230, and 8230. In the present embodiment, the concept of the number of steps does not exist because the continuously variable transmission 9 is used, but the driver can virtually recognize the number of steps according to the presence or absence of the above-described feeling, and the feeling of incongruity is less likely to be felt than in the conventional operability.

Further, the opening width of the slit 42H corresponding to the neutral position can be formed wider than the other slits 42H. Even if the neutral position of the main shift lever 7A is slightly deviated due to the assembly and use deterioration of the main shift lever 7A, the neutral position can be defined by a certain width, and the operability of the main shift lever 7A is improved.

In order to improve the operational feeling of the main shift lever 7A, a friction holding mechanism 42D (corresponding to a "holding mechanism") and a neutral holding mechanism 42E may be provided. The friction holding mechanism 42D is provided between the shaft 40A and the gear 42 around the shaft 40A, and generates resistance when the gear 42 swings with respect to the shaft 40A by its frictional force. The friction holding mechanism 42D generates an appropriate resistance when the main shift lever 7A is operated, and the main shift lever 7A can be easily operated to a desired operation position. The friction holding mechanism 42D is not limited to this configuration, and any configuration may be adopted as long as resistance can be applied to the movement of the operation position of the main shift lever 7A to such an extent that the operability of the main shift lever 7A can be ensured.

The neutral holding mechanism 42E includes a lever 42F fixed to the gear 42 and a torsion coil spring 42G through which the lever 42F is inserted. The torsion coil spring 42G is provided such that one end thereof is in contact with the gear 42 and the other end thereof is in contact with a side portion of the lever holding portion 42A, and biases the lever holding portion 42A in a direction intersecting a direction in which the gear 42 swings (a direction in which the main shift lever 7A moves in the forward operation region or the backward operation region). Here, when the hole portion 43B of the lever guide member 43 is formed in a zigzag shape, for example, in order to operate the main shift lever 7A from the neutral position to the advanced position, the main shift lever 7A needs to be operated in a lateral direction (a direction intersecting the direction in which the gear 42 swings) along the zigzag from the neutral position and then moved to the advanced position. Since the main shift lever 7A is biased by the neutral holding mechanism 42E in a direction in which the main shift lever 7A is restrained from moving from the neutral position to the forward range, a force of a certain level or more is required to move the main shift lever 7A from the neutral position to the forward range. As a result, the main shift lever 7A is properly held in the neutral position.

The angle of the swash plate of the continuously variable transmission 9 is changed according to the operation position of the main shift lever 7A. The main shift lever 7A is not mechanically connected to the continuously variable transmission 9, and the angle of the swash plate of the continuously variable transmission 9 is changed by an actuator including a motor 45 and the like. Specifically, the actuator for changing the angle of the swash plate of the continuously variable transmission 9 includes a motor 45, a gear 48, and a link 49. The gear 48 is driven by the motor 45, and the angle of the swash plate of the continuously variable transmission 9 is changed by a link 49 connected to the gear 48 and the continuously variable transmission 9. The angle of the swash plate of the continuously variable transmission 9 is detected by a swash plate angle detector such as a potentiometer 46, and the correspondence between the operation position of the main shift lever 7A detected by the potentiometer 40 and the angle of the swash plate of the continuously variable transmission 9 is confirmed by the control unit 30 and the like described above. That is, the control unit 30 controls the motor 45 based on the detection results of the potentiometer 40 and the potentiometer 46 so as to be the angle of the swash plate of the continuously variable transmission 9 corresponding to the operation position of the main shift lever 7A.

The potentiometer 46 and the motor 45 are supported by the power steering unit 44 via a support 47. The potentiometer 46 has a shaft 46A, and can detect the rotation angle of the shaft 46A.

The gear 48 is configured to swing with the rotation of the shaft 46A, and is fixed to the shaft 46A. Motor 45 drives gear 48 to oscillate. The shaft 46A of the potentiometer 46 rotates with the oscillation of the gear 48. Therefore, the potentiometer 46 detects the swing angle of the gear 48.

One end of the link 49 is supported in the end region of the gear 48. The other end of the link 49 is connected to a swash plate of the continuously variable transmission 9. Therefore, the angle of the swash plate of the continuously variable transmission 9 is changed in accordance with the swing of the gear 48. More specifically, the link 49 includes a lever 49A and an operation portion 49B. One end of the rod 49A is supported by the gear 48. One end of the operating portion 49B is supported by the other end of the rod 49A, and the other end of the operating portion 49B is connected to a swash plate of the continuously variable transmission 9.

According to the above configuration, the motor 45 is driven based on the detection value of the potentiometer 40, the gear 48 swings, and the angle of the swash plate of the continuously variable transmission 9 is changed by the link 49.

In the above configuration example, the main shift lever 7A is not connected to the motor 45, the potentiometer 40 detects the operation position of the main shift lever 7A, and the motor 45 is driven based on the detection value of the potentiometer 40. However, the present invention is not limited to this configuration, and a configuration may be adopted in which the main shift lever 7A is directly connected to the motor 45, and the motor 45 is directly driven in accordance with the operation position of the main shift lever 7A.

In the configuration in which the main shift lever 7A and the motor 45 are not connected, the motor 45 can be driven to change the angle of the swash plate of the continuously variable transmission device 9 regardless of the operation position of the main shift lever 7A during automatic traveling. The machine body 1 travels in a traveling state corresponding to the angle of the swash plate of the continuously variable transmission 9. In this case, an actuator such as a motor may be provided in the main shift lever 7A, and the operation position of the main shift lever 7A may be changed according to the angle of the swash plate of the continuously variable transmission device 9. The main shift lever 7A is operated in a zigzag shape at the neutral position. That is, the operation path of the main shift lever 7A is restricted to a zigzag shape, and the main shift lever 7A moves in a direction intersecting the forward/reverse direction at the neutral position at the time of switching forward/reverse. Therefore, if this actuator is connected to the main shift lever 7A, the main shift lever 7A cannot move between the forward side and the reverse side across the neutral position. Therefore, a clutch may be provided between the main shift lever 7A and the actuator, and the clutch may be disengaged at a neutral position, so that the mechanism of the main shift lever 7A can be operated in the left-right direction. Further, another actuator for moving the main shift lever 7A in the left-right direction may be provided, and the main shift lever 7A may be moved in the left-right direction only at the neutral position by switching the clutch. Further, an actuator for moving the main shift lever 7A from the neutral position to the forward side and an actuator for moving the main shift lever 7A from the neutral position to the backward side may be provided separately. The actuators and clutches are controlled by the control unit 30, a main shift lever control unit built in the control unit 30, or a main shift lever control unit provided outside the control unit 30, based on the angle of the swash plate of the continuously variable transmission 9 sensed by the potentiometer 46.

As described above, if the main shift lever 7A is not connected to the motor 45 and the angle of the swash plate of the continuously variable transmission 9 is changed by driving the motor 45, the angle of the swash plate of the continuously variable transmission 9 cannot be changed when the motor 45 fails, and the machine body 1 cannot be moved. For example, even if the motor 45 fails in the middle of the field, if the machine body 1 cannot be moved, it is very difficult to repair the machine body in the field.

Therefore, it is preferable to prepare a predetermined lever as an emergency tool (not shown) and directly connect the main shift lever 7A to the swash plate of the continuously variable transmission device 9. For example, the emergency tool is configured to be able to directly couple the lever 43F and the gear 48, and is preferably always mounted on the machine body 1. By directly coupling the lever 43F and the gear 48 with the emergency tool, the gear 48 is driven according to the operation position of the main shift lever 7A, whereby the angle of the swash plate of the continuously variable transmission 9 can be changed.

In the above configuration example, the actuator for changing the angle of the swash plate, which includes the motor 45, the gear 48, and the link 49, is disposed between the main shift lever 7A and the continuously variable transmission device 9. However, the position of the actuator may be arbitrarily set, and the actuator may be disposed in a region below the stage (step) 14A in the machine body 1.

The running speed may be displayed on a display device such as main monitor 14B or information terminal 5. In this case, the running vehicle speed may be displayed by the number of shift steps. In the automatic travel, the driver selects and sets the travel speed at the time of the work in advance using the information terminal 5 or the like, but the travel speed at this time may be set in accordance with the shift stage number. This allows the driver or the monitor to intuitively recognize the traveling vehicle speed, and thus enables efficient work and setting.

In addition, during manual travel or automatic travel by a person, a recommended travel vehicle speed corresponding to the work content during work travel may be displayed on a display device such as the information terminal 5. There are running speeds suitable for running over a ridge, running during planting, running before turning, running during turning, and running after turning as work contents. During or before such work traveling, the recommended traveling vehicle speed corresponding to the work content is displayed, whereby the driver can easily perform work traveling at a traveling vehicle speed suitable for the work content.

The recommended engine speed corresponding to the work content may be displayed, not limited to the recommended travel speed. The engine speed is displayed on a display device such as main monitor 14B. The engine load varies depending on the work content, and the engine load depends on the engine speed. The driver operates the main shift lever 7A and the like so as to become the displayed recommended engine speed while confirming the engine speed displayed on the main monitor 14B. This makes it possible for the driver to easily perform work travel at an engine speed appropriate for the work content.

As described above, the insertion mechanism 22 operates to perform the insertion operation by shifting the insertion clutch (not shown) to the transmission state. The operating speed of the transplanting mechanism 22 is determined based on the traveling vehicle speed, and transplanting work is performed so that the planting distance is fixed. Therefore, although the transplanting clutch is stopped in the transplanting work, if the running is continued, the seedlings which should be transplanted are not transplanted during this time, resulting in a plant shortage. In order to suppress the occurrence of a defect, the continuously variable transmission may be configured to stop the operation traveling by shifting the angle of the swash plate of the continuously variable transmission 9 to the neutral position when the insertion clutch is in the disengaged state during the insertion operation. When the machine body 1 is stopped, a warning indicating that the machine body 1 is stopped may be given in advance. When the machine body 1 is stopped, it is preferable that the machine body is slowly decelerated until the machine body stops without rapidly decelerating.

As an operation tool for operating the vehicle speed, an accelerator lever (accelerator lever) 7F may be provided. The running speed is controlled mainly based on the operation position of the main shift lever 7A and according to a map scheduled by the angle of the swash plate of the continuously variable transmission 9 and the engine speed. Here, depending on the state of the field and the working condition, it may be desired to increase only the engine speed while maintaining the traveling vehicle speed, and it may be desired to decrease the engine speed in consideration of fuel efficiency and the like. In this case, the engine speed is increased or decreased by the accelerator lever 7F. Specifically, by changing the operating position of the accelerator lever 7F, only the engine speed can be increased or decreased from the current engine speed while maintaining the angle of the swash plate of the continuously variable transmission device 9. Further, a potentiometer (corresponding to an "accelerator detector") that senses the operation position of the accelerator lever 7F may be provided.

As described above, the engine speed is basically determined based on the detection value of the potentiometer 40 of the main shift lever 7A. However, regardless of the engine speed determined in this way, the engine speed is increased or decreased in accordance with the detection value of the potentiometer of the accelerator lever 7F. For example, when the accelerator lever 7F is operated in a direction to increase the engine speed during traveling at the engine speed determined based on the detection value of the potentiometer 40 of the main shift lever 7A, the engine speed increases, and the engine speed becomes the minimum required indicated speed indicated by the accelerator lever 7F.

[ traveling speed control at cornering ]

When the vehicle is traveling in a curve on the internal reciprocating path IPL (see fig. 4) by the automatic traveling, the traveling vehicle is decelerated at the time of the curve traveling than at the time of the work traveling on the straight path (straight traveling). That is, the turning travel is performed at a lower speed than the straight travel. The running speed during cornering is set in advance (cornering speed), and running is performed at the cornering speed regardless of the operation position of the main shift lever 7A.

Therefore, deceleration is started at a position in front of the position (turning start position) entering the turning path by a predetermined distance. Here, the travel speed during work travel on the straight path is set by the information terminal 5 or the like. For example, in setting the automatic travel, the maximum vehicle speed, which is the maximum travel vehicle speed during the automatic travel, is set using the information terminal 5. When the maximum vehicle speed is set, the vehicle travels at a speed lower than the set maximum vehicle speed regardless of the operation position of the main shift lever 7A (see fig. 1) during automatic travel. The deceleration start position may be a position immediately before the turning start position by a predetermined distance set in advance, or may be a position different depending on the traveling vehicle speed. That is, the length of the deceleration section provided immediately before the turning path may be variable according to the traveling vehicle speed. In the manned automatic mode, the set vehicle speed based on the information terminal 5 may be changed by the main shift lever 7A, and the turning vehicle speed may be set based on the changed set vehicle speed.

For example, the deceleration section is set to be longer as the traveling vehicle speed is higher, and deceleration is started from a position away from the turning start position. The running vehicle speed may be actually measured or may be set by the information terminal 5 or the like.

As the automatic travel, the manned automatic travel and the unmanned automatic travel can be set. In the case of the unmanned automatic travel, the driver does not need to board the vehicle, and in fact, the vehicle may travel in a state where the driver does not board the vehicle. When the driver gets on the vehicle, sudden deceleration increases the feeling of annoyance of the driver, which is inappropriate. On the other hand, from the viewpoint of work efficiency, it is effective to rapidly accelerate or decelerate the traveling speed within a range that does not interfere with the work traveling. Therefore, it is preferable to set the deceleration start position to be different between when the vehicle is automatically driven by a person and when the vehicle is not automatically driven by a person. The deceleration at this time is performed regardless of the operation position of the main shift lever 7A (see fig. 6). Therefore, even if the traveling vehicle speed changes, the operation position of the main shift lever 7A may not change.

Preferably, when the vehicle is automatically driven by a person, the deceleration section is set to be long, and deceleration is started from a position away from the turning start position. In addition, when the vehicle is traveling by unmanned automatic driving, it is preferable to set the deceleration section short and start deceleration from a position close to the turning start position. By such control, the work traveling can be efficiently performed when the vehicle is traveling by no-man, and the work traveling can be performed appropriately even for the driver when the vehicle is traveling by man. The deceleration start position may be adjusted only when the vehicle is automatically driven by a person, and the vehicle may be decelerated from a predetermined deceleration start position when the vehicle is not automatically driven by a person. Further, the deceleration section may be secured with a margin on the seedling supply side SL side, and the deceleration start position at the time of turning on the side other than the seedling supply side SL may be set to a position closer to the turning start position than the seedling supply side SL side.

When the deceleration start position is adjusted, a configuration capable of setting the adjustment efficiency may be adopted.

That is, a configuration may be adopted in which the deceleration can be set, and the deceleration start position is adjusted so that the deceleration section becomes shorter when the setting is made to allow rapid deceleration, and the deceleration start position is adjusted so that the deceleration section becomes longer when the setting is made to slow deceleration. This makes it possible to select appropriate automatic travel according to the situation.

When the deceleration start position is approached, the driver may be notified of the start of deceleration. For example, the information terminal 5 may display the information or notify the information by voice. By making the notification, the driver can be ready for deceleration.

Whether or not to adjust the deceleration start position as described above is not limited to the case where it is determined that the vehicle is traveling by a person or the case where it is determined that the vehicle is traveling by no person, and it may be determined whether or not the driver actually gets on the vehicle. Even if the vehicle is automatically driven by no person, it is appropriate to consider the sense of annoyance of the driver when the driver gets on the vehicle, and it is preferable to focus on the work efficiency only when the driver does not actually get on the vehicle.

Therefore, it is possible to determine whether or not the driver actually gets on the vehicle, start deceleration from a predetermined position when the driver does not get on the vehicle, and adjust the deceleration start position only when the driver gets on the vehicle. For example, whether or not the driver actually boards can be determined by a seating sensor 16A (fig. 1) provided in the driver seat 16 (see fig. 1), a human detection sensor, or the like (one of the sensor group 1A shown in fig. 5). Further, the position information of the wearable terminal or the smartphone held by the driver may be detected, and whether or not the driver actually boards may be determined based on whether or not the position of the driver and the position of the body 1 detected from the position information are within a predetermined range.

In the automatic travel by a person, a driver needs to board the vehicle. Therefore, a seating sensor 16A or the like is provided to determine whether or not the driver is riding. Then, it is sensed that the driver gets on the start condition that someone is set to automatically travel. Further, when the driver is not sensed to board during the automatic travel by a person, an alarm urging the driver to board (board) may be notified. In this case, a warning may be displayed on the information terminal 5. These warnings may also be given during unmanned autonomous driving. The warning during the unmanned automatic traveling does not require urging of sitting, but merely notifies the driver that the vehicle is not sitting. Further, when it is sensed that the driver is not seated, the traveling vehicle speed may be decelerated or the traveling may be stopped. When the machine body 1 is decelerated and stopped, a warning to that effect may be notified in advance. When the machine body 1 is stopped, it is preferable to stop the machine body 1 by slowly decelerating the speed without stopping the machine body rapidly. Then, when it is detected that the driver is seated, the travel may be started or the travel speed may be recovered. These controls are not limited to the automatic travel, and may be performed during manual travel.

Further, when it is sensed that the driver is not seated, the automatic travel may not be started, and the automatic travel after the temporary stop may not be started. For example, as a start condition for the automatic travel by a person, it may be defined that the seating sensor 16A detects seating. In this case, when the seating sensor 16A does not detect seating at the time of starting the automatic travel of the person, a notification requesting seating may be given. The notification is performed by voice, display to the information terminal 5, or the like. Further, when the maximum vehicle speed during the work travel is set, the maximum vehicle speed may be reduced when the sitting is not confirmed, and when the sitting is confirmed, the work travel may be performed beyond the set maximum vehicle speed.

In addition, in the unmanned automatic traveling, the driver is not required to board, but the driver cannot board. However, unmanned automatic running is controlled to have a faster running speed than manned automatic running, and acceleration and deceleration are also rapidly performed. Therefore, in the unmanned automatic traveling, after the seating sensor 16A or the like senses that the driver is seated on the driver seat 16, a notification urging seating may be given when the driver does not sense seating, such as when standing up. Further, it is possible to control such that: when the absence is sensed, the automatic travel is temporarily stopped, and the automatic travel is not started until the seating is confirmed.

Further, it may be possible to confirm whether or not the driver is seated even when turning or backing is started during automatic travel by a person or automatic travel by no person, and to urge the driver to be seated by a display to the information terminal 5, an alarm such as a buzzer, or other warning when the driver is not seated. At this time, the machine body 1 may be decelerated or stopped, but the machine body 1 may not necessarily be decelerated or stopped in consideration of convenience of the operator.

As described above, at the turning start position, the running speed is adjusted so as to be decelerated at the turning start position regardless of the operation position of the main shift lever 7A (see fig. 1) or the running vehicle speed set by the information terminal 5 or the like. Such control of the running vehicle speed according to the running condition is not limited to the turning start position, and may be performed when the vehicle runs near the outer periphery of the field such as the ridge.

When the furrow of the field is wasted, the vehicle cannot appropriately travel on the travel route, and the work cannot be appropriately performed in some cases. For example, in the case of the insertion work, the insertion may not be performed at an appropriate line pitch on an appropriate travel route, and an insertion failure may occur. In order to suppress such a working failure, the control unit 30 may notify that a planting failure may occur in the case where the furrow floor is wasted, and may perform control so as to suppress the traveling vehicle speed. Waste of the plough base can be detected from the movement of the machine body 1, for example, the operation in the roll or pitch direction of the working device can be detected and judged from the working link, the swing of the floating plate can be detected and judged, and the change in the inclination of the machine body 1 can be detected and judged from the inertia measuring module 8B.

During automatic travel, turning is performed by automatic control, and switching between forward and backward is performed by automatic control. When turning and switching the direction of travel, the body 1 shakes, and the impact is transmitted to the driver, and it is appropriate to prepare for the impact. Therefore, when turning or switching the traveling direction, a notification may be given to alert the driver of the turning or switching the traveling direction or to urge the driver to sit on the seat. Note that the notification may be performed by display on the information terminal 5, display on the remote controller 90, display on the main monitor 14B (see fig. 2), notification by a later-described voice alarm generation device 100 (see fig. 1), lighting of the laminated lamp 71, or various methods.

The seating sensor 16A may be provided in the driver seat 16 (see fig. 1). Since the seating sensor 16A transmits and receives signals to and from the control ECU such as the control unit 30, wiring such as signal wiring and power supply wiring may be connected. The driver seat 16 may be configured to be rotatable about an axis in a direction intersecting the seat face. When the driver seat 16 is rotated, the wiring connected to the seating sensor 16A may come into contact with a rotating shaft of the driver seat 16 or the like, or may be entangled or damaged. In order to suppress damage to the wiring members, the wiring members are preferably arranged along the vicinity of the rotation shaft as a pivot of the driver seat 16 and clamped in the vicinity of the pivot portion.

The seating sensor 16A may be, for example, a pressure sensor, and may have any configuration as long as seating can be confirmed.

[ Engine speed control ]

The engine speed control microcomputer (corresponding to or incorporated in the control unit 30 and the like in fig. 5) controls the engine speed by driving the motor 45 (see fig. 6) in accordance with the operation position of the main shift lever 7A (see fig. 1) during manual travel and in accordance with the control of the automatic travel ECU (corresponding to or incorporated in the control unit 30 and the like in fig. 5) during automatic travel.

When the remaining amount of fuel in the fuel tank is equal to or less than a predetermined amount, the microcomputer for controlling the engine speed can control at least one of the engine speed and the angle of the swash plate of the continuously variable transmission 9 (see fig. 6), thereby improving fuel efficiency. For example, in order to improve fuel efficiency, the microcomputer for controlling the engine speed displaces the angle of the swash plate of the continuously variable transmission 9 to the high speed side and reduces the engine speed. For example, a sensor or the like (one of the sensor group 1A shown in fig. 5) may be provided in the fuel tank, and the remaining amount of fuel may be detected by the sensor or the like. The angle of the swash plate of the continuously variable transmission 9 may be controlled by a dedicated transmission control microcomputer (corresponding to or incorporated in the control unit 30 of fig. 5).

When the rice transplanter moves over a ridge or moves to a cargo bed of a truck, the traveling speed is low, and a large driving force is required to maintain the engine speed. Therefore, when the rice transplanter moves over a ridge or to a platform of a truck, it is preferable to set the engine speed high by displacing the continuously variable transmission 9 (see fig. 1) to the low speed side regardless of the operation position of the main shift lever 7A (see fig. 1), the operation position of the accelerator lever 7F (see fig. 2), and the running vehicle speed set by the information terminal 5 or the like. In this case, the angle of the swash plate of the continuously variable transmission 9 and the engine speed can be adjusted regardless of the operation position of the main shift lever 7A and the like. The detection of the state of the rice transplanter moving to the platform of the truck when crossing over the ridge can be determined by detecting the inclination of the body 1, or a ridge crossing mode switch (not shown) can be provided as one of the operating means, and the state of the rice transplanter moving to the platform of the truck when crossing over the ridge can be set by manually operating the ridge crossing mode switch. Alternatively, the state detection may be performed based on a change in the height position of the machine body 1 detected by the mounted positioning means 8.

In addition, even in the case where the field is a strong wet field, a load is applied to the engine 2 (see fig. 1), and a large power is required, and in the worst case, the engine 2 is stopped and the work is interrupted. Therefore, when the vehicle travels in a strong wet field, the engine speed can be automatically controlled to be increased, and the angle of the swash plate of the continuously variable transmission 9 can be set to the low speed side. This enables the appropriate work travel to be continued.

It is preferable that such a workload be determined by the engine speed, and when the workload is large, the engine speed be increased. At the same time, the angle of the swash plate of the continuously variable transmission 9 can be controlled to the low speed side. Thus, even if the work load increases, the stop of the engine 2 can be suppressed, and the work travel can be continued. When the work load is small, it is preferable to reduce the engine speed. At the same time, the angle of the swash plate of the continuously variable transmission 9 can be controlled to the high speed side. This can improve fuel efficiency. This enables the work travel to be continued at an appropriate engine speed.

The reverse travel is performed at a lower speed than the forward travel. Therefore, the maximum value of the engine speed can be suppressed to be lower during the backward travel than during the forward travel.

The microcomputer for controlling the engine speed may be incorporated in the control unit 30, but may be provided separately. For example, the engine speed control microcomputer may be disposed in the vicinity of the steering shaft. The engine 2 and the continuously variable transmission 9 are controlled by an engine speed control microcomputer and a transmission control microcomputer. Therefore, the engine speed control microcomputer and the transmission control microcomputer are preferably disposed in the vicinity of the engine 2 and the continuously variable transmission 9.

[ traveling vehicle speed control ]

Next, a control structure of the traveling vehicle speed will be described with reference to fig. 1 and fig. 11.

The travel vehicle speed is operated in accordance with the operation position of the main shift lever 7A, the angle of the swash plate of the continuously variable transmission 9 and the engine speed are controlled, and the machine body 1 travels at a speed (operation speed) corresponding to the operation position of the main shift lever 7A. The larger the angle of the swash plate of the continuously variable transmission device 9, that is, the larger the opening degree of the swash plate of the continuously variable transmission device 9, the faster the running vehicle speed. Further, the higher the engine speed, the faster the running vehicle speed.

In the conventional control of the traveling vehicle speed, the faster the operation speed by the main shift lever 7A is, the higher the engine speed is in proportion to the operation speed, and the opening degree of the swash plate of the continuously variable transmission device 9 is increased. Here, this control is referred to as control in the normal mode, and the relationship is shown in a graph a of the normal mode in fig. 11. For example, in the normal mode, the engine speed of 3000[ rpm ] is a limit, and at this time the opening degree of the swash plate of the continuously variable transmission device 9 is controlled to 100[% ], and the running vehicle speed is 1.8[ m/s ] as the maximum running vehicle speed. Then, in order to output the set speed ES [ m/s ] from the graph a of the normal mode, the control unit 30 (see fig. 5) controls the engine speed to Ro [ rpm ] and controls the opening degree of the swash plate of the continuously variable transmission device 9 to r [% ].

In the present embodiment, the running vehicle speed is controlled not in the normal mode but in the energy saving mode in which the fuel efficiency is prioritized. The energy-saving mode is a control for preferentially increasing the opening degree of the swash plate of the continuously variable transmission 9 and ensuring a set speed even if the engine speed is reduced, and is a control for improving fuel efficiency by suppressing the engine speed to be low.

Specifically, when accelerating from a certain speed O [ m/s ] to a set speed ES [ m/s ], the control unit 30 (see fig. 5) sets the opening degree of the swash plate of the continuously variable transmission 9 to rE [% ] larger than r [% ], and increases the engine speed toward the target engine speed rE [ rpm ]. When the opening degree of the swash plate of the continuously variable transmission device 9 is rE [% ], the engine speed is rE [ rpm ], and thus the vehicle can travel at the set speed ES [ m/s ].

However, when the engine load during the work traveling is large, the target engine speed RE may not be reached even if the engine speed is attempted to be increased. In this case, the target engine speed RE is set high, and the engine speed is controlled to reach RE. When the engine speed does not reach the target engine speed RE even if the target engine speed RE is set to 3000[ rpm ] which is the limit of the engine speed, the target engine speed RE is set high by reducing the opening RE of the swash plate of the continuously variable transmission device 9, and the running vehicle speed is controlled to reach the set speed ES. By performing such control, fuel efficiency can be improved when operating at the set speed ES.

If a load equal to or greater than a certain limit is applied to the engine 2, the engine speed may not be increased, and the engine 2 may stop. Therefore, even when a load equal to or greater than a predetermined load is applied to the engine 2 before the target engine speed RE is set to 3000[ rpm ] which is the limit of the engine speed, control can be performed in which the opening RE of the swash plate of the continuously variable transmission 9 is set to be small. This can suppress the stop of the engine 2 and continue the work traveling.

In addition, when the control is performed such that the opening rE of the swash plate of the continuously variable transmission unit 9 is set to be small, it is preferable that the opening of the swash plate of the continuously variable transmission unit 9 is not restored even in a state where the engine speed is increased. This can suppress excessive increase and decrease in the travel speed and maintain smooth work travel.

In the present embodiment, the control of the running vehicle speed is performed only in the energy saving mode, but a configuration in which the energy saving mode and the normal mode can be selectively performed is also possible. With such a configuration, fuel efficiency can be improved by performing the work travel in the energy saving mode, and stable work travel can be performed by performing the work travel in the normal mode while the performance of the machine body 1 is maximized, and the optimum travel vehicle speed can be controlled according to the situation.

[ travel control when an error is sensed, etc. ]

Although not shown, sensors (a sensor group 1A shown in fig. 5) for detecting an operation state are provided as necessary in various devices such as the seedling planting device 3 (see fig. 1), the continuously variable transmission 9 (see fig. 1), and the positioning unit 8. In the case where these sensors sense an error state or determine that the sensors themselves have failed during automatic traveling, the control unit 30 may end automatic traveling and stop the machine body 1, or may temporarily stop the machine body 1 while maintaining automatic traveling.

When a trouble such as an error occurs, it is preferable to stop the travel in order to suppress inappropriate work from being performed. In some cases, it is appropriate to start redoing from the setting of the automatic travel and restart the travel after the automatic travel is finished and the trouble is eliminated. However, in the case of a temporary failure, it may be inefficient to start redoing from the setting of automatic travel.

For example, although the signal from the satellite acquired by the positioning unit 8 may temporarily become weak, in many cases, the state of reception of radio waves is temporarily degraded and the state is immediately restored. If the automatic travel is terminated each time the vehicle enters such a state, the work efficiency may be deteriorated. Therefore, in this case, it is preferable to temporarily stop the automatic travel and stop only the travel. It is preferable to wait for a while and end the automatic travel and perform necessary repair or the like if the situation is not improved.

When the main body 1 is stopped, a warning indicating that the main body 1 is stopped, a failure has occurred, a content of the failure, or the like may be given in advance. When the machine body 1 is stopped, it is preferable that the machine body is slowly decelerated until the machine body stops without rapidly decelerating.

When the machine body 1 is stopped at an inclined place such as an entrance of a field, the machine body 1 may slide down the inclined plane. In this case, the angle of the swash plate of the continuously variable transmission device 9 can be adjusted in the uphill direction without bringing the angle of the swash plate of the continuously variable transmission device 9 to the neutral position. For example, when the machine body 1 is stopped on a downhill to enter a field, the control unit 30 moves the angle of the swash plate of the continuously variable transmission 9 in the backward direction. This drives the machine body 1 in the direction opposite to the sliding-down direction, and therefore, the machine body 1 can be stopped while suppressing the sliding-down of the machine body 1.

When the vehicle position calculated by the positioning means 8 is moved while the machine body 1 is stopped and the angle of the swash plate of the continuously variable transmission device 9 is operated to the neutral position, the angle of the swash plate of the continuously variable transmission device 9 is adjusted in accordance with the vehicle position and controlled to maintain the stopped state.

Further, in order to maintain the machine body 1 stopped at an inclined position or the like, the engine speed may be controlled simultaneously in addition to the angle of the swash plate of the continuously variable transmission device 9.

[ Battery capacity control ]

Among various devices mounted on a rice transplanter, there are devices that operate by electric power supplied from a battery 73 (see fig. 2). These devices use different amounts of electric power when operating. For example, the blower of the fertilizer application device 4 (see fig. 1) consumes a large amount of electric power. The battery 73 is charged during operation of the engine 2 (see fig. 1). However, during the work traveling in which the power-consuming apparatus operates, the power may be consumed beyond the amount of charge of the battery 73, and the remaining amount of the battery 73 may decrease. Therefore, when the remaining amount of the battery 73 is less than the predetermined amount, even if the operation to stop the engine 2 is performed, it is preferable to temporarily operate the engine 2 to charge the battery 73.

The battery 73 is provided with a sensor (one of the sensor groups 1A shown in fig. 5) for measuring a charged amount. The stop and start of the engine 2 are performed by operation of a key or the like. When the operation of stopping the engine 2 is performed, the control unit 30 does not immediately stop the engine 2 but continues the operation of the engine 2 to charge the battery 73 and then stops the engine 2 when the sensor provided in the battery 73 senses that the charged amount is equal to or less than the predetermined value. After the stop operation of the engine 2, the running and the work are stopped even if the engine 2 is operated during the charging of the battery 73 (the engine operation continuation period). That is, during this period, the swash plate of the continuously variable transmission 9 is maintained at the neutral position, the insertion clutch and the like are disengaged, and the brake is set to the braking state. At least one of the main shift lever 7A and the sub-shift lever 7B can be maintained at the neutral position.

The engine operation continuation period may be a predetermined time period, or may be a period in which the charge amount is detected to be equal to or greater than a predetermined value by a sensor provided in the battery 73. Further, it is preferable to notify the situation when the engine 2 is not stopped even if an operation to stop the engine 2 is performed.

When a device with high power consumption is used for operating the engine 2 or when the remaining amount of the battery 73 is reduced, control for increasing the engine speed is performed. By increasing the engine speed, the charging of the battery 73 is promoted.

The control related to the charging of the battery 73 and the operation of the engine 2 may be performed by the control unit 30, or may be performed by a functional block such as a charging control unit (not shown) incorporated in the control unit 30 or provided separately from the control unit 30.

[ auxiliary gear lever ]

The sub-shift lever 7B (see fig. 1) is used for switching the traveling vehicle speed between a working speed during work and a traveling speed during travel. For example, the inter-field movement is performed at a moving speed, and the planting operation is performed at a working speed.

Generally, the traveling speed is faster than the traveling speed of the working speed. Further, the seedling planting device 3 is controlled to have a fixed row spacing for planting in a field at an operating speed. As a result, when the transplanting operation is performed at the moving speed, the transplanting operation is not performed at a predetermined planting distance, and there is a possibility that the transplanting operation cannot be appropriately performed. Therefore, it is preferable that the control unit 30 controls not to start the work when the sub-shift lever 7B is not operated to the work speed side. For example, the control unit 30 controls to disconnect the plug-in clutch when the sub-shift lever 7B is not operated to the working speed side. This allows the vehicle to travel at a travel speed suitable for the work, thereby performing the suitable work. In order to confirm the operation position of the sub-shift lever 7B, it is preferable to provide a potentiometer also in the sub-shift lever 7B.

More preferably, the sub-shift lever 7B is operated to the neutral position when the work travel is started after the inter-field movement. That is, the start operation of the work such as the transplanting work is preferably effective only in a state where the sub-shift lever 7B is operated to the neutral position. Specifically, after the sub-shift lever 7B is operated to the neutral position, the work start operation is performed, and then the work is started by the sub-shift lever 7B being operated to the work speed. When the sub-shift lever 7B is not located at the neutral position at the time of operation for starting the work, a notification may be given to urge the sub-shift lever 7B to be operated to the neutral position.

Note that, even when the operation of the engine 2 is continued to charge the battery 73, the sub-shift lever 7B is preferably in the neutral position. Thus, when the engine 2 is continued to be operated and thereafter the engine 2 is restarted, the sub-shift lever 7B is in the neutral position, and therefore the machine body 1 is suppressed from traveling unexpectedly. In another embodiment, the sub-shift lever 7B can be automatically returned to the neutral position when the main shift lever 7A and the swash plate are in the neutral position or when a braking operation is performed.

Further, there is a problem in that the machine body 1 travels at the time of inspection/maintenance. Therefore, it is preferable to adopt a configuration that enables inspection and maintenance only when the sub-shift lever 7B is operated to the neutral position. When the sub-shift lever 7B is not located at the neutral position during inspection and maintenance, a notification may be given to urge the sub-shift lever 7B to be operated to the neutral position.

The body 1 approaches a ridge, which is an end of a field, when supplying mat-shaped seedlings, chemicals, and the like. The automatic travel rice transplanter senses an obstacle and stops traveling when the obstacle is sensed. Therefore, even if the end of the field is approached, the ridge is sensed as an obstacle, and the vehicle cannot normally travel. Therefore, the rice transplanter of the present embodiment has a function of temporarily stopping obstacle sensing when the machine body 1 is moved to the end of the field, and approaching the end of the field in a state where the ridge is not sensed as an obstacle.

[ configuration and constitution of Sonar ]

The arrangement and structure of sonar will be described with reference to fig. 1 to 3 and 12 to 14.

The rice transplanter of the present embodiment can travel automatically. When there is an obstacle in front of the traveling direction and around the machine body 1 at the traveling start time of the automatic traveling or during the automatic traveling, a problem may occur in traveling or work. Therefore, the rice transplanter of the present embodiment includes sonar sensors 60 as an example of an obstacle sensing device (one of the sensor groups 1A shown in fig. 5) that senses an obstacle around the machine body 1. The obstacle sensing is basically performed during automatic traveling, but a configuration may be employed in which the obstacle sensing is performed during manual traveling.

Specifically, for example, the sonar sensor 60 is configured to include four front sonars 61 that sense an obstacle in an area in front of the body 1, two rear sonars 62 that sense an obstacle in an area behind the body 1, and two cross sonars 63 that sense an obstacle in an area to the side of the body 1. The traveling speed of the machine body 1 during forward traveling is often faster than the traveling speed during backward traveling and turning traveling. Therefore, the number of front sonars 61 for sensing an obstacle in the front region of the body 1 is set to be larger than the number of rear sonars 62 and the number of cross sonars 63. Thus, even when the vehicle travels straight ahead at a high traveling vehicle speed, the obstacle can be sensed with high accuracy.

Two of the front sonars 61 are arranged in parallel in the left-right direction of the machine body 1 on the side surface of the front end portion of the table body 14A. The other two front sonars 61 are supported by support members 61A protruding forward from the left and right preliminary seedling support frames 17, respectively. The heights of the four front sonars 61 with respect to the ground are substantially the same.

As shown in fig. 13, the planar sensing range (planar sensing range) of each front sonar 61 extends in a fan shape from the front sonar 61. The sensing range in the front direction of the front sonar 61 is adjusted to a length that can ensure that the machine body 1 can stop in front of an obstacle after the obstacle is sensed, when the vehicle is traveling at the maximum traveling vehicle speed. Front sonar 61 is disposed so that at least a part of the horizontal sensing ranges of adjacent front sonars 61 overlap each other. Thereby, the sensing accuracy of the obstacle is improved. As another embodiment, the sensing range of the sensor may be automatically adjusted according to the vehicle speed. Therefore, when the vehicle is running at a low speed, the sensing range is not excessively enlarged, and the obstacle can be sensed in the optimal sensing range.

As shown in fig. 12, the rear sonar 62 is supported by the support structure 62A, and the support structure 62A is supported by the seedling planting device 3 and the like in order to support the chemical application device 18. The two rear sonars 62 are disposed on the lateral sides in the left-right direction of the drug application device 18, respectively, and the height of the rear sonars 62 with respect to the ground is substantially the same as the height of the upper end portion of the drug application device 18.

The rear sonar 62 mainly senses an obstacle when backing up. As shown in fig. 13, the sensing range in the plane direction of each rear sonar 62 extends in a fan shape from the rear sonar 62. Each rear sonar 62 is disposed slightly outward from the front rear, and the sensing range of each rear sonar 62 is slightly offset outward. This ensures a wide sensing range in the left-right direction of the machine body 1 at the rear of the machine body 1. The rear sonar 62 is arranged so that at least a part of the horizontal sensing ranges of the two rear sonars 62 overlap each other. Thereby, the sensing accuracy of the obstacle is improved.

The sonar 63 is provided on the side surface of both side end portions (rear table body 14C) of the machine body 1 rearward of the table body 14A on the side of the driver seat 16. The rear stage 14C is disposed at a position higher than the stage 14A. Therefore, the influence of mud splash from the rear wheel and the like can be suppressed. As another mounting position, the sonar 63 may be mounted on the preliminary seedling support frame 17 located on the opposite side of the table body 14A.

The sonar 63 senses the vicinity of the boarding and alighting area of the platform body 14A and detects an obstacle on the side of the machine body 1. When starting the automatic traveling, if someone intends to get on or off the driving unit 14, a problem arises. The sonar 63 detects a person who intends to get on and off the cab 14, in particular.

As shown in fig. 12, the planar sensing range of each sonar 63 extends in a fan shape from the front sonar 61. The person who gets on and off the cab 14 mainly gets on and off the side and the front of the cab seat 16. Further, the fertilizer application device 4 and the like are provided behind the driver seat 16, and it is considered that it is difficult for a person to get on or off the vehicle from this direction. Therefore, the sensing range of the horizontal sonar 63 in the planar direction is inclined slightly forward from the side of the machine body 1. Further, in front of the machine body 1, the preliminary seedling support frame 17 protrudes in the left-right direction. The front end of the sensing range in the plane direction of the sonar 63 is set to be rearward of the preliminary seedling support frame 17 so as not to sense the preliminary seedling support frame 17 or the preliminary seedling housing device 17A by the sonar 63.

As described above, the sonar sensor 60 senses an object existing within a specific sensing range. Further, when the mud surface of the field exists in the sensing range, the sonar sensor 60 senses the mud surface as an obstacle. When the mud surface is sensed as an obstacle, the automatic running is not started and the running is not continued. Therefore, the sensing range of sonar sensor 60 is adjusted not to sense the mud surface.

As shown in fig. 14, sonar sensor 60 is adjusted to be supported slightly upward, and does not sense the mud surface while ensuring a predetermined sensing distance. That is, sonar sensor 60 is adjusted so that the lower end of the sensing range does not reach the mud surface within a predetermined sensing distance. Further, since the machine body 1 swings up and down as it travels, it is easy to sense the mud surface as it moves up and down. In addition, when there is a clod generated during turning in an unearthed field (headwand), the clod protruding from the mud surface may be erroneously sensed. Therefore, a certain margin may be considered for the distance from the mud surface to the lower end of the sensing range. In this way, the sensing range in the vertical direction (the sensing range in the side view) of sonar sensor 60 is adjusted in consideration of a necessary sensing distance and non-sensing of a mud surface, and the like, thereby ensuring an appropriate sensing range.

Conversely, sonar transducer 60 may be supported slightly downward. For example, when considering a situation in which there is a low possibility of an obstacle in the height direction and a situation in which it is desired to preferentially detect an obstacle having a relatively low height such as a mud surface for a person who squats down, it is preferable to adjust the sensing range so as to be able to sense an obstacle having a low height at a position as close to the machine body 1 as possible. In this case, sonar sensor 60 is adjusted to be supported slightly downward, and the lower area in the vicinity of body 1 is included in the sensing range. In this case, the mud level or the like is sensed to a degree higher than necessary. Therefore, it is preferable to analyze the pattern sensed on the mud surface, determine whether the sensed obstacle is a mud surface, and control so that the obstacle is not recognized even if the mud surface is sensed.

The front sonar 61 is not limited to the configuration supported by the table body 14A and the preliminary seedling support frame 17, and can be arranged at any position as long as an appropriate sensing range can be secured. For example, the front sonar 61 may be supported by the engine cover 2B or may be supported by an extension member supported by the machine body 1. Furthermore, front sonar 61 may be provided near positioning unit 8, or may be provided near positioning unit 8 instead of four front sonars 61 or in addition to four front sonars 61.

In order to stabilize the sensing state, sonar sensor 60 is preferably supported at a position where the arrangement position does not move during sensing of an obstacle. The rear sonar 62 is also preferably arranged at a position where the arrangement position does not move (non-operation portion), but may be arranged at any position as long as an appropriate sensing range can be secured. For example, the rear sonar 62 may be provided on a tool bar (toolbar) for supporting the working device, a planting box of the seedling planting device 3, the sliding plate 3A, the sliding plate guard plate 3B, a support column of the seedling carrying table 21, or the like.

Further, the rear sonar 62 is located closest to the rear wheel 12B and is susceptible to mud splash. Therefore, rear sonar 62 is preferably provided at a high position with respect to the ground surface, which is distant from the mud surface. For example, the rear sonar 62 may be provided at the upper end of the seedling stage 21. The seedling stage 21 has an inclined surface inclined forward as it goes upward. As described above, the rear sonar 62 has a fan-shaped sensing range. Therefore, by providing the rear sonar 62 at the upper end portion of the seedling stage 21, it is possible to efficiently ensure an appropriate sensing range while suppressing the rear sonar 62 from erroneously sensing the seedling stage 21.

Further, rear sonar 62 may be provided in an area above mud guard 18A provided in drug application device 18. The chemical applicator 18 may be provided with a mud guard cover, and the rear sonar 62 is provided in an area above the mud guard cover, whereby adhesion of soil to the rear sonar 62 is suppressed. Similarly, the rear sonar 62 may be provided in a region above the upper end of the transplanting transmission case 3D of the seedling transplanting device 3, and more preferably in a region above the mud splash guard 3E provided in the seedling transplanting device 3. Further, a dedicated cover may be provided in the area below rear sonar 62. The rear sonar 62 may be provided above or above the fertilizer application device 4, the granular material feeder such as insecticide, bactericide, herbicide, or the like, or the direct seeder.

The two rear sonars 62 are disposed slightly outward of the body 1. Therefore, the horizontal sensing ranges of the two rear sonars 62 are set to be wide while partially overlapping with each other. Three or more rear sonars 62 may be provided so that the sensing ranges overlap with each other, and a wide sensing range can be secured. In this case, it is not necessary that each rear sonar 62 be disposed slightly outward of the machine body 1, and each rear sonar 62 may be disposed in any direction, and some or all of the rear sonars 62 may be disposed slightly inward or just rearward of the machine body 1. For example, a plurality of rear sonars 62 may be arranged along the seedling stage 21.

Two rear sonars 62 are disposed in a positional relationship with each other with the drug application device 18 interposed therebetween. This enables an obstacle such as a person around the medicine dispensing device 18 to be appropriately sensed. In order not to erroneously sense the agent dispensing device 18, the sensing range of these rear sonars 62 is set to an area where the sensing range does not include the agent dispensing device 18. Further, the rice transplanter does not necessarily have the chemical application device 18. In this case, the area where the drug dispensing device 18 is disposed does not enter the sensing range of the rear sonar 62. Specific components may be placed in the area to at least inhibit entry of a person into the area.

Each sonar sensor 60 may be provided inside the machine body 1 from the end of the machine body 1. Since the sensing range of each sonar sensor 60 is extended like a fan, by installing sonar sensors 60 inside the end of machine body 1, the dead angle of the sensing range around machine body 1 is reduced, and it is easy to sense an obstacle in a region closer to the periphery of machine body 1. In order to prevent the soil from adhering to each sonar sensor 60, each sonar sensor 60 is preferably disposed inside the machine body 1, that is, at a position overlapping with the machine body 1, for example, the table 14A in a plan view.

Conversely, each sonar sensor 60 may be provided at the tip portion of the machine body 1. When each sonar sensor 60 is provided on the inner side of the machine body 1, the machine body 1 itself may be erroneously sensed as an obstacle. When each sonar sensor 60 is provided at the distal end portion of the machine body 1, the possibility of the machine body 1 itself being erroneously sensed as an obstacle is reduced. In this case, a mud removing member is preferably provided below each sonar sensor 60.

The front sonar 61 may be provided above the axles of the machine body 1, preferably above the upper ends of the axles, and more preferably above the lower ends of the table bodies 14A. Furthermore, front sonar 61 may be provided below the upper end of positioning means 8, preferably below the upper end of steering wheel 10, and more preferably below the upper end of table 14A. Further, the front sonar 61 may be provided on the preliminary seedling support frame 17. By disposing the front sonar 61 at a position away from the mud surface in this manner, it is possible to easily set a sensing range in which an assumed obstacle can be sensed with higher accuracy while suppressing sensing of the mud surface. Further, the front sonar 61 may be provided to the engine frame 1F or the platform frame 1G.

The front sonar 61 may be configured to be adjustable in arrangement position. For example, the front sonar 61 may be supported via a support member, and the position of the support member supporting the front sonar 61 may be selected; the support member supporting the front sonar 61 can be deformed so that the configuration of the arrangement position of the front sonar 61 can be changed.

Note that sonar sensor 60 may be configured such that the posture is changed to the use state when the obstacle is sensed, and the posture is changed to the storage state when the obstacle is not sensed. For example, in the stored state, the sensing portion of sonar sensor 60 is configured to be hidden on the back surface of another member or to face upward. This suppresses adhesion of dirt such as mud to sonar sensor 60 in a state where no obstacle is sensed, and facilitates maintenance of a state where obstacle sensing is appropriately performed in an obstacle sensing state.

Note that adjacent sonar sensors 60 are not limited to a configuration in which at least a part of the sensing ranges overlap each other, and may be configured without an overlapping area as long as the sensing ranges can be appropriately secured.

There is a case where it is desired to improve the sensing accuracy of the region in the center portion in the left-right direction of the body 1 in the front-rear direction of the body 1. In this case, at least either one of front sonar 61 and rear sonar 62 may be disposed near the center of the body 1 in the left-right direction.

The sensing range of each sonar sensor 60 may be changed according to the position of the machine body 1, the traveling vehicle speed, and the operation state. The position of the machine body 1 is determined from the position information of the machine body 1 and the field map as to whether or not the position is a distance from a ridge, a distance from the outer periphery of a field, an outer circumferential route ORL, or the like. The outer periphery of the field is an electronic boundary defined in the field map as a boundary portion of the field. The sensing range of each sonar sensor 60 can be changed according to the state of the travel route and the work content by determining the position to be traveled next from the travel route and the field map set in advance.

[ Sonar ECU ]

The sonar ECU will be described with reference to fig. 1 to 3.

The sonar sensor 60 is controlled by a sonar ECU64 (corresponding to a sensing control device).

Sonar ECU64 controls the operation of sonar sensor 60, acquires the sensing result, and transmits the sensing result to control unit 30 (see fig. 5). In the present embodiment, a front sonar ECU64A and a rear sonar ECU64B are provided as the sonar ECU 64. The four front sonars 61 are controlled by a front sonar ECU64A, and the two rear sonars 62 and the two cross sonars 63 are controlled by a rear sonar ECU64B. Many signal wirings, power wirings, and the like are arranged between the front region and the rear region of the body 1. Therefore, front sonar ECU64A connected to sonar sensor 60 (front sonar 61) disposed on the front side of body 1 and rear sonar ECU64B connected to sonar sensor 60 (rear sonar 62 and cross sonar 63) disposed on the rear side of body 1 are disposed separately in the front and rear. Thus, the wiring such as signal wiring and power supply wiring connected to the sonar sensor 60 and the sonar ECU64 is suppressed from being arranged in the front and rear of the machine body 1, and the wiring efficiency of the machine body 1 is improved.

The front sonar ECU64A is provided in a front region of the machine body 1, and is supported, for example, on the left lateral side surface of the laminated lamp supporting member 74 supported by the preliminary seedling supporting frame 17. Wiring lines such as communication wiring lines and power supply wiring lines for performing data communication between front sonar ECU64A and each front sonar 61 are connected to front sonar ECU64A such that the wiring lines connected to each front sonar 61 are collected in a single line near front sonar 61 and the wiring lines collected in a single line are connected to front sonar ECU 64A.

Further, since the front sonar ECU64A is supported by the left lateral side surface of the laminated lamp supporting member 74, it can be easily attached and detached from the outside of the machine body 1. Therefore, the front sonar 61 can be attached to the rear, and the front sonar ECU64A can be easily repaired and replaced.

Rear sonar ECU64B is provided in a rear area of body 1, and is disposed in an area surrounded by rear sonars 62 and cross sonars 63, for example. Rear sonar ECU64B supports the left lateral side surface of body frame 1E in the area below driver seat 16 near left lateral sonar 63. Wiring such as communication wiring and power supply wiring for performing data communication between rear sonar ECU64B and each rear sonar 62 and each cross sonar 63 integrates the communication wiring connected to each rear sonar 62 and each cross sonar 63 into one, and the wiring integrated into one is connected to front sonar ECU 64A. Thus, wiring of each rear sonar 62, each cross sonar 63, and rear sonar ECU64B is efficiently performed.

In addition, a hydraulic hose and the like are disposed in the right side region of the machine body 1. Therefore, by providing rear sonar ECU64B in the left side region of the body, the wiring lines connected to rear sonar ECU64B and rear sonar ECU64B do not interfere with the hydraulic hoses and the like, damage to the wiring lines is suppressed, and the wiring lines are easily attached and detached.

Further, since the rear sonar ECU64B is supported by the left lateral side surface of the body frame 1E, it can be easily attached to and detached from the outside of the body 1. Therefore, the rear sonar 62 and the cross sonar 63 can be attached to the rear, and the rear sonar ECU64B can be easily repaired and replaced.

The number of sonar sensors 60 that can be connected to the sonar ECU64 is limited. Therefore, in the present embodiment, two sonar ECUs 64 are provided. When all the sonar sensors 60 can be controlled by one sonar ECU64, one sonar ECU64 is preferably provided in the central portion of the machine body 1. This can optimize wiring efficiency.

The total number of sonar sensors 60 to be mounted is preferably an integral multiple of the number of restrictions on the sonar sensors 60 that can be connected to the sonar ECU64. That is, it is preferable to provide sonar sensor 60 as many as possible for the restriction of sonar ECU64. This can improve the accuracy of sensing an obstacle.

Note that if there is a margin in the mountable number of sonar sensors 60, the number of front sonars 61 does not need to be larger than the number of rear sonars 62, and may be the same. This can improve the obstacle sensing accuracy of rear sonar 62.

In the above description, although the description has been given of the configuration example using sonar sensors 60 as the obstacle sensing device, the obstacle sensing device is not limited to the sonar sensors 60, and any device may be used as long as it can sense an obstacle.

For example, as the obstacle sensing device, a laser sensor or a touch sensor may be used.

Further, the periphery of the body 1 may be photographed by an imaging device, and an obstacle may be sensed by image analysis. The image analysis may be performed using a learned model generated by machine learning, and may also be performed by an arbitrary method using artificial intelligence.

[ sensing with Sonar sensor ]

A configuration for sensing an obstacle by a sonar sensor and travel control according to the sensing content will be described with reference to fig. 1 to 3 and 12 to 14.

Sonar sensor 60 senses an obstacle around machine body 1, and during automatic travel, control unit 30 (see fig. 5) controls automatic travel according to the sensed content of the obstacle. Specifically, such control may be performed by a function block such as an automatic travel control unit or an obstacle countermeasure unit built in the control unit 30 including the microcomputer 6 for automatic travel and the like, and these function blocks may be provided separately from the control unit 30.

When the machine body 1 starts to run by unmanned automatic running (unmanned automatic running start time), when an obstacle is sensed, the starting is suppressed without starting to run (starting suppression mode). For example, at the time of starting unmanned automatic travel during traveling, when the front sonar 61 and the cross sonar 63 sense an obstacle using the results of sensing by the sonar sensor 60, the vehicle starts to travel while being suppressed and does not start traveling when the front sonar 61 and the cross sonar 63 sense the obstacle. At the time of starting unmanned automatic traveling during backing, when the rear sonar 62 and the cross sonar 63 sense an obstacle using the results of sensing by the sonar sensor 60, the start of traveling is suppressed and traveling is not started when the rear sonar 62 and the cross sonar 63 sense the obstacle. At this time, the sonar 63 senses the periphery of the boarding platform body (platform body 14A) which is a boarding area through which the driver boards, and particularly senses a person who wants to get on or off the cab 14.

During the driving without automatic driving, an obstacle is sensed, and when the obstacle is sensed, control such as stopping of the automatic driving is performed (obstacle sensing mode). Specifically, when sonar sensor 60 senses an obstacle during the travel of unmanned automatic travel, the travel is stopped or the travel speed is reduced. For example, when the machine body 1 travels straight by unmanned automatic travel, the sensing result of the front sonar 61 is used, and when the machine body 1 travels backward by unmanned automatic travel, the sensing result of the rear sonar 62 is used. When the vehicle is turned by unmanned automatic traveling, the result of sensing by sonar 63 may be used in addition to the above, or only the result of sensing by sonar 63 in the turning direction may be used. When the travel is stopped, the travel vehicle speed may be slowly decelerated to finally stop the machine body 1. The obstacle sensing may be performed during the reciprocating operation traveling along the inner reciprocating path IPL, or may be performed also during the outermost periphery insertion (outermost periphery operation traveling).

Further, in the case where an obstacle is sensed in the take-off suppression mode and the obstacle sensing mode, the angle of the swash plate of the continuously variable transmission device 9 is maintained in the neutral state. In this case, it is preferable to maintain the engine speed so as not to decrease. Thus, when it is confirmed that the sensed obstacle does not obstruct the travel or when the obstacle is removed, the travel can be promptly started and restarted. When an obstacle is sensed by sonar sensor 60, information indicating that the obstacle is sensed may be notified. For example, the control unit 30 controls the voice alarm generating apparatus 100 and notifies the voice alarm generating apparatus 100. The notification indicating that the obstacle is sensed may be notified by a predetermined display pattern in the laminated lamp 71 and the center mark 20, which will be described later, may be notified to a remote controller 90 held by the work vehicle, a mobile terminal, the information terminal 5, or the like.

The control of traveling using the sensing result of sonar sensor 60 is not limited to the case of unmanned automatic traveling, and may be performed when someone travels automatically or manually. In particular, the outer round route ORL (see fig. 4) performs work travel by manned automatic travel or manual travel. The outermost periphery of the field is provided with a plurality of obstacles such as water outlets and the like. Therefore, obstacle sensing using sonar sensor 60 may be performed during outermost work traveling in which a person travels automatically or manually. In addition, when someone travels automatically or manually, travel control using the sensing result of sonar sensor 60 may be performed only in an area where there are many obstacles such as water outlets. In addition, the configuration that can sense whether or not the driver is riding on the driving unit 14 is adopted, and when it is not possible to sense whether or not the driver is riding on the driving unit 14 regardless of whether or not there is automatic travel or manual travel, travel control using the sensing result of the sonar sensor 60 can be performed. The seating sensor 16A and the like can sense whether or not the driver is riding on the driver section 14.

As described above, the sonar sensor 60 is set to a sensing range so as not to sense the mud surface. Since the field is in various states, the mud surface condition may be easily sensed even if it is set in this way. Here, since the machine body 1 is stationary at the time of starting the unmanned automatic traveling, it is easy to determine whether or not the sensed obstacle is a mud surface. Accordingly, at the time of starting the unmanned automatic traveling, the control unit 30 may determine whether or not it is a mud surface when sensing an obstacle, and correct (ignore) a sensing result that the obstacle is not sensed when determining that it is a mud surface.

Thus, the control unit 30 can control the automatic travel so that it is determined that the vehicle is not an obstacle even if the mud surface is sensed, and the vehicle can be smoothly automatically traveled while suppressing the start of the vehicle by sensing the obstacle to a necessary degree or more. The determination as to whether the mud surface is present or not may be performed by the obstacle determination unit. The obstacle determination unit may be built in the control unit 30, or may be provided outside the control unit 30.

Further, at the time of start of unmanned automatic traveling (start suppression mode), when sonar sensor 60 senses only a moving object such as a moving person, it may be controlled to sense an obstacle. In a state where the start of the vehicle needs to be suppressed at the time of starting the unmanned automatic traveling, a person often wants to go up and down from the driver unit 14. Therefore, by using only a moving object such as a person as a sensing object (an obstacle to be considered in automatic traveling), it is possible to suppress erroneous sensing and perform appropriate control at the start time of unmanned automatic traveling. The obstacle determination unit determines whether or not the vehicle is a moving object such as a person. The obstacle determination unit may determine an obstacle by image analysis or the like, or may input a captured image to learned data learned by a machine.

Note that sonar sensor 60 that does not use the sensing result depending on the traveling state may continue the sensing of the obstacle itself, or may be set to a non-use state such as a power-off state.

The rear sonar 62 is supported by the seedling planting device 3, and the seedling planting device 3 is lifted and lowered according to the traveling of the planting work. As a result, the seedling planting device 3 is lowered during the planting work, and the rear sonar 62 is positioned at a position where the mud surface can be easily sensed. In addition, the insertion operation is in a forward state, and a rear obstacle is rarely needed to be sensed. Thus, even during the forward operation traveling, the rear sonar 62 can be set to a non-use state under the condition that the seedling planting device 3 is lowered. The lowered state of the seedling planting device 3 can be sensed by a sensor (one of the sensor groups 1A shown in fig. 5) that senses the state of the lifting link 13a, and can be judged by the posture of the marker (marker) 19 and whether the land preparation floating plate 15 is grounded.

Note that rear sonar 62 may be controlled so as to recognize only an approaching object as an obstacle when backing up. At this time, when the seedling planting device 3 is in the raised position, it is easy to detect an obstacle located at a high position from the mud surface, and an obstacle entering the rear of the machine body 1.

Whether or not an obstacle approaches can be determined by the obstacle determination unit.

As described above, the sensing range in the plane direction of the cross sonar 63 is set to be narrower than the other sonar sensors 60 so as not to erroneously sense the preliminary seedling support frame 17 as an obstacle.

However, when there is little possibility of erroneous detection depending on the arrangement position of the preliminary seedling support frame 17, the arrangement position of the cross sonar 63, and the like, the sensing range of the cross sonar 63 may be equal to or more than the other sonar sensors 60.

Note that the size of the sensing range of sonar sensor 60 may be different between the start suppression mode and the obstacle sensing mode. For example, the size of the sensing range of sonar sensor 60 is larger in the start suppression mode than in the obstacle sensing mode. As the sensing range of sonar sensor 60 becomes larger, the sensing range in the vertical direction also becomes larger, and the mud surface is easily detected. As described above, since the machine body 1 is stationary in the start suppression mode, whether or not the vehicle is a muddy surface is determined by the sensed control, and even if the muddy surface is sensed, the sensed result can be ignored in the subsequent control. In contrast, in the obstacle sensing mode, the machine body 1 is in a traveling state, and thus it is easy to sense a mud surface and to determine whether the sensed obstacle is a mud surface. Therefore, in the obstacle sensing mode, in order to suppress sensing of the mud surface, it is preferable to reduce the sensing range.

During operation travel on the internal reciprocating path IPL (see fig. 4), the machine body 1 approaches the ridge as it travels. The ridge is higher than the mud surface and is easily sensed by sonar sensors 60. In the automatic travel, the turning path generated in consideration of the ridge is turned, and it is not necessary for the sonar sensor 60 to sense the ridge to more than necessary. Therefore, the size of the sensing range of sonar sensor 60 can be arbitrarily changed. For example, when the distance from the machine body 1 to the ridge is within a predetermined distance during the work travel on the internal reciprocating path IPL, the length of the sensing range of the sonar sensor 60 is controlled to be shorter as the distance to the ridge is shorter.

Further, the sensing range of sonar sensor 60 located on the inner side of the turn may be increased during the turning travel. For example, the sensing range of one or a plurality of front sonars 61 located inside a turn in the front sonars 61 may be increased during forward traveling. If the front sonar 61 can sense an obstacle in an area through which the machine body 1 passes by turning, the risk of the machine body 1 coming into contact with the obstacle can be sufficiently reduced. Therefore, the front sonar 61 may be configured to sense a trajectory of the front outermost end portion of the machine body 1 drawn by the turn. For example, when the front outermost end of the machine body 1 is the front outermost end of the preliminary seedling housing device 17A, the locus drawn by the front outermost end of the preliminary seedling housing device 17A may be included in the sensing range. Thereby, the risk of missed detection is reduced.

Similarly, the sensing range of rear sonar 62 located on the inner side of the turn, out of rear sonars 62, may be increased during backward traveling. The rear outermost end of the machine body 1 is the rear outermost end of the slide plate fence 3B. Therefore, the locus drawn by the rear outermost end of the slide plate cover 3B may be included in the sensing range. When turning around at a ridge, an assistant operator or the like always stands by in a field on the opposite side of the turning direction. In such a case, by adopting the above configuration, the sensing range is expanded to the opposite side of the machine body 1 with respect to the position where the assistant operator stands by, and the possibility that the assistant operator erroneously senses as an obstacle and the machine body stops is reduced.

Note that sonar sensor 60 may be configured to operate when in use, for example, at the time of starting unmanned traveling, but sonar sensor 60 may also operate to sense an obstacle when engine 2 is started, but the sensing result is not used until unmanned traveling is started (until use). When the automatic travel is controlled using the sensing result, this is notified by the voice alarm generating device 100 or the like.

As described above, sonar sensor 60 may erroneously detect an obstacle even if it is an object that does not interfere with the operation. It is preferable that the monitor starts traveling or continues traveling when the monitor can confirm whether the object does not interfere with the traveling of the work. Therefore, when the monitor can determine that the object does not interfere with the work travel, the monitor may be configured to perform the operation without temporarily considering the sensed obstacle. For example, the remote controller 90 is provided with a button operation capable of temporarily disregarding (ignoring) the sensed obstacle. The period for which the sensed obstacle is ignored may be a predetermined time period set in advance, or a button operation for resuming the consideration of the sensed obstacle may be separately provided, or the period may be ignored only for a period during which the button operation continues (long-pressed state of the button). Alternatively, the period during which the sensed obstacle is ignored may be a period during which the vehicle travels a predetermined distance set in advance. These button operations may be hidden commands that are not disclosed as operations of the normal remote controller 90. Further, in order to suppress an operation error, the button operation may be a complicated operation. For example, among the frequent operations, an operation that can be immediately resumed even if an erroneous operation is made can be realized by one button of the remote controller 90, and an operation that cannot be easily resumed if an erroneous operation is made such as automatic travel start may be realized by two or more buttons at the same time. It should be noted that one of the two or more buttons may be a function button.

A configuration may be adopted in which a broadcast using sound is performed, and such an operation is performed with reference to the broadcast. In addition, the operation may be effective only after the broadcast is performed.

A sensor (one of the sensor groups 1A shown in fig. 5) other than sonar sensor 60 may be provided separately, and this sensor can sense the size of the obstacle. The sensor may be configured to analyze an image captured by the imaging device, or may be a laser sensor that irradiates an obstacle, and may be any sensor as long as it can sense the size. When sonar sensor 60 senses an obstacle, the sensor may sense the size of the obstacle, and when the size is equal to or smaller than a predetermined size, the obstacle is not recognized.

Further, it may be configured to select whether or not to stop/start the operation of sonar sensor 60 and start/stop the control associated with the sensing of an obstacle by the operation of remote controller 90 or information terminal 5.

Further, when an obstacle is detected, the angle of the swash plate of the continuously variable transmission 9 may be displaced toward or maintained at neutral, but in this state, the sonar sensor 60 does not sense the obstacle or ignores it even if it senses it. After a predetermined period of time has elapsed, the obstacle sensing and processing by sonar sensor 60 may be resumed. In this case, the sensing and processing may be stopped in a state where there are many obstacles to be detected, such as when the vehicle is traveling along a ridge. Whether or not there are many obstacles can be determined from the position information and the field map, or can be determined by image analysis using an imaging device.

The sensing and processing of the obstacle may not be automatically resumed but only after a specific human operation. Further, it may be determined whether or not the automatic travel is appropriately started by image analysis using the imaging device, and when it is determined that the automatic travel is appropriately started, the sensing and processing of the obstacle may be restarted.

[ Sonar control when seedling is supplied ]

Control of sonar sensor 60 during seedling feeding will be described with reference to fig. 1 to 4 and 12 to 14.

The seedling is supplied by the transplanter when the seedling is insufficient. When the seedlings are supplied, the machine body 1 moves forward to be close to the ridge of the seedling supply side SL. When the seedling supply is finished, the machine body 1 retreats to the driving path.

In seedling supply, the operation vehicle moves around the machine body 1. Therefore, it is preferable to stop the operation of sonar sensor 60 during seedling supply. Alternatively, it is preferable that the obstacle be ignored even if the sonar sensor 60 senses the obstacle during seedling supply. Further, even if an obstacle is sensed during automatic traveling, the automatic traveling is terminated, and the setting information of the automatic traveling and the like are erased. When an obstacle is sensed in the seedling supply, the automatic travel may be shifted to a temporary stop state without ending the automatic travel. This enables the work travel to be promptly resumed.

Further, when the seedling supply is finished and the seedling returns to the travel route, it is preferable to restart the operation of at least the rear sonar 62 of the sonar sensors 60 or perform processing in consideration of the sensed obstacle. Further, immediately after the completion of seedling feeding, the possibility that the work vehicle approaches the machine body 1 is high. Therefore, when the seedlings move backwards after the completion of seedling supply, the cross sonar 63 can be operated. In addition, when the vehicle travels backward, a ridge is formed near the front of the machine body 1. Therefore, it is preferable to operate front sonar 61 at least until it reaches internal area IA of the field even when retreating. The same control can be performed not only for seedling supply but also for other material supply.

[ Fault sensing of Sonar sensor ]

A configuration for sensing a failure of sonar sensor 60 will be described with reference to fig. 1 to 5 and 12 to 14.

Sonar sensor 60 may be attached with soil or the like and may not appropriately sense an obstacle. When the vehicle starts traveling, the operation of the sonar sensor 60 is checked, but even if the sonar sensor 60 fails during traveling, the failure is not easily detected.

Therefore, when front sonar 61 does not sense a mud surface during backing, sonar ECU64 or control unit 30 may determine that front sonar 61 has failed. Even if the front sonar 61 senses an obstacle during backward movement, control is performed so as not to recognize the obstacle. Front sonar 61 performs control such that the sensing range includes a mud surface, and whether or not the obstacle is a mud surface is determined, and if the obstacle is a mud surface, the obstacle is not recognized. Therefore, when the front sonar 61 does not sense the mud surface for a predetermined period of time during the backward travel, it can be determined that the front sonar 61 has failed.

When the proximity to the ridge is known from the position information, even if the ridge enters the sensing range of the sonar sensor 60, the sonar sensor 60 that senses the obstacle in front in the traveling direction can determine that the sonar sensor 60 has failed when the obstacle is not sensed.

When at least a part of the sensing ranges of the four front sonars 61 overlap, if only one of the front sonars 61 senses an obstacle, it can be determined that any one of the front sonars 61 has a failure.

When adjacent sonar sensors 60 are disposed close to each other and only one sonar sensor 60 senses an obstacle, it can be determined that the other sonar sensor 60 has failed.

[ travel control at the time of chemical supply ]

Travel control during medicine replenishment will be described with reference to fig. 1 to 5.

The transplanter replenishes the chemical when the chemical carried by the transplanter runs out. When the agent is supplied, the machine body 1 moves backward to be close to the ridge of the seedling supply side SL. When the medicine supply is completed, the body 1 advances back to the travel route.

When the medicine is supplied, the machine body 1 is driven backward to approach the ridge of the seedling supply side SL while keeping the automatic state and turning by the operation of the person while the automatic driving is carried out by the person.

When the unmanned automatic vehicle travels from the turning route to the inside reciprocating route IPL, the machine body 1 is temporarily stopped, and during this time, the machine body 1 is manually operated to move backward (move closer as needed) at a predetermined speed, thereby moving the machine body 1 closer to the ridge at the seedling supply side SL. The manual operation may be performed by a remote controller 90 or the like. Such a manual operation can be accepted while traveling during a curve, and after the curve is completed, the machine body 1 can be reversed at a predetermined speed.

[ Notification in automatic Driving ]

A configuration for controlling notification during automatic travel will be described with reference to fig. 1 to 5.

Immediately before the start of the automatic driving in which the unmanned vehicle automatically travels, a notification screen prompting the operator to confirm whether or not insufficient seedlings or insufficient chemicals have occurred is displayed on the information terminal 5. Further, a sensor (one of the sensor group 1A shown in fig. 5) for detecting the remaining amount of the seedling and the chemical may be provided, and when insufficient seedling and insufficient chemical occur, at least one of a message indicating that insufficient seedling and insufficient chemical have occurred and a message indicating that replenishment of seedling and chemical is urged may be notified without starting automatic traveling. Such notification may be displayed on the information terminal 5, may be notified by voice from the audio alert generating apparatus 100, or may be notified or notified to the remote controller 90 or the like by lighting the multilayer lamp 71. When the operation of starting the running by the automatic running is performed by the remote controller 90, the above-described processing is performed, and at least one of the display of the notification screen, the notification indicating that insufficient seedlings and insufficient chemicals have occurred, and the notification indicating that the supply of seedlings and chemicals is urged is performed. Further, it is also possible to confirm abnormalities other than insufficient seedlings and insufficient chemicals, and to notify a prompt to eliminate/avoid abnormalities or steps thereof in addition to a display indicating occurrence of abnormalities.

In addition, when the automatic travel is started, a notification by a voice alarm or the like may be given before the start of the movement. Then, the body 1 may start moving after the end of the notification, or the body 1 may start moving at the same time as the notification.

The automatic running can be set with a seedling supply mode and a seedling-free supply mode. In the seedling supply mode, the machine body 1 is temporarily stopped to select whether or not to supply seedlings in the terminal area of the internal reciprocating path IPL in front of the turning path. When the seedling is not needed to be supplied, the machine body 1 is in a standby state until the remote controller 90 is operated by manually operating the remote controller 90 during temporary parking and then starts to run. When the seedlings need to be replenished, a human operation indicating that the seedlings need to be replenished is performed, and first, the machine body 1 is automatically moved straight to a ridge for a predetermined distance and is stopped. Then, the body 1 can be brought close to the ridge of the seedling supply side SL by another manual operation using the remote controller 90. As another embodiment, the seedling feeding place may not be a seedling feeding edge but a specific seedling feeding point on the outer circumference of the field. In addition, in the seedling supply mode, a path can be generated towards the seedling supply side and the seedling supply point and can automatically run along the path.

In addition, even in the no-seedling replenishment mode, the machine body 1 is temporarily stopped in order to switch the control at the boundary between the turning path and the internal round-trip path IPL. Even in the no-seedling supply mode, it is sometimes necessary to bring the body 1 close to the ridge of the seedling supply side SL because unexpected seedling supply is required or something else occurs. At this time, the machine body 1 can be brought close to the ridge of the seedling supply side SL by a human operation using the remote controller 90 or the like during the temporary stop of the machine body 1. Alternatively, the body 1 can be brought close to the ridge of the seedling supply side SL by manual operation using the remote controller 90 or the like while the body 1 is slowly decelerated before temporarily stopping the vehicle.

Note that, although the travel can be automatically resumed by the elapse of a predetermined time after the machine body 1 is temporarily stopped, the resumption of the travel may not require a manual operation.

Note that the notification indicating only forward or backward movement other than the notification abnormality may be set to be cancelled.

Further, at the time of starting the automatic traveling, an operation check of the voice alarm generating device 100 and the like can be performed. For example, the operation check is performed based on whether or not the current value flowing through the voice alarm generating device 100 or the like is appropriate when the automatic travel start/stop switch 7D is pressed.

[ operation of operating means in control in automatic traveling ]

The operation of the operation tool in the control during automatic travel will be described with reference to fig. 1 to 5.

In the unmanned automatic running, basically, the operation of the operator does not interfere after the start of running, the main shift lever 7A is held at the neutral position, and running and work are controlled by the control unit 30.

In the manned automatic travel, the driver starts the travel by operating the main shift lever 7A, and sometimes a certain manual operation is required in the case of performing the turning travel and the work. At this time, the driver receives the guidance under the control of the control unit 30 and performs an operation corresponding to the guidance to start traveling and perform turning traveling and work. For example, the main shift lever 7A is instructed to be operated in the traveling direction with respect to the traveling direction of the route. The guidance is performed by voice guidance, display on the information terminal 5, and the like, and includes guidance for prompting the operation of the main shift lever 7A and the operation of the working device 1C. In the case of the manned automatic traveling, the traveling start time, the backing-up, and the turning are notified.

In the manned automatic travel, an operation of positioning the main shift lever 7A at the neutral position is required to start the automatic travel, and an operation related to the operation of the working device 1C, such as lowering of the seedling planting device 3, is required to continue the automatic work travel. For example, the working device 1C that is set to the non-working state during turning needs to be shifted to the working state after turning. Therefore, guidance by voice or the like that urges such operations continues as long as these operations are not performed. For example, in the outermost periphery transplanting work where someone is traveling automatically, if the seedling transplanting device 3 is not lowered by manual operation, the automatic traveling is not continued. Therefore, the guidance urging the main shift lever 7A to be in the neutral position is continuously notified until the seedling planting device 3 is lowered.

Preferably, when the main shift lever 7A is operated to the neutral position during turning or during backward movement by the operator during automatic travel, the instruction to return the main shift lever 7A to the operation position is continuously notified, when the main shift lever is operated in the forward/backward direction during unmanned automatic control, the instruction to return the main shift lever 7A to the neutral position is continuously notified, and during automatic operation travel, the instruction to lower the seedling planting device 3 raised by the operator and the instruction to raise and lower the seedling planting device 3 at the starting end portion of each side in the outermost circumference planting operation are continuously notified until the operation is performed in accordance with the instructions. When the main shift lever 7A is operated to the neutral position during turning or during backward movement by the automated travel, the operator gives instructions to return the main shift lever 7A to the operating position, and when the main shift lever is operated in the forward/backward direction during the automated control, the operator gives instructions to return the main shift lever 7A to the neutral position, and when the operator gives instructions to lower the seedling planting device 3 raised by the operator during the automated operation travel, the operator violates the preset automated travel operation, and when such an operation is performed, the operator is instructed (warned) to perform the operation suitable for the set automated travel.

In this case, the voice guidance may be notified a predetermined number of times for a predetermined time, and only the guidance displayed on the information terminal 5 may be continued until the above operation is performed.

It should be noted that, regardless of the operation position of the main shift lever 7A, it is possible to determine whether the angle of the swash plate of the continuously variable transmission device 9 is at the neutral position, and when it is determined that the angle of the swash plate of the continuously variable transmission device 9 is not at the neutral position, a guidance indicating that the main shift lever 7A is operated to the neutral position is given. Further, when the angle of the swash plate of the continuously variable transmission device 9 is determined to be at the neutral position and the automatic travel is started in a state where the main shift lever 7A is not at the neutral position, the angle of the swash plate of the continuously variable transmission device 9 may be displaced to an angle corresponding to the operation position of the main shift lever 7A. This allows the vehicle to travel at a travel speed corresponding to the operation position of the main shift lever 7A, and the travel speed can be made to follow the operation of the operator.

When someone is traveling automatically, the operation of the main shift lever 7A and the like are instructed, and traveling is performed based on the operation corresponding thereto. However, in the outermost planting work, the turning travel (direction change) in which the sides of the outer circumferential route ORL are connected is switched between forward and reverse without requiring the operation of the driver. Therefore, even if the vehicle is automatically driven, it is preferable that the guidance is not given even if the vehicle is switched to the driving mode when the vehicle is driven without such an operation. However, during the turning travel in which the sides of the outer round route ORL are connected, the operation of the working device 1C may be manually operated, and at this time, a guidance indicating that the operation related to the operation of the working device 1C is to be performed may be notified.

The main shift lever 7A operated during automatic traveling is maintained in the path traveling direction during automatic traveling, and even if a reverse movement is performed in the middle of the automatic traveling in accordance with a direction change (turning), the main shift lever 7A is maintained at this position. In addition, when an actuator such as a motor for moving the operation position of the main shift lever 7A is provided, the operation position of the main shift lever 7A can be changed according to the traveling direction of the machine body 1 (the angle of the swash plate of the continuously variable transmission device 9). Similarly, when the traveling vehicle speed is changed by the brake, the operation position of the main shift lever 7A may be changed in accordance with the operation of the brake or the traveling vehicle speed (the angle of the swash plate of the continuously variable transmission 9). In this case, the operation status may be notified during and before and after the operation of the actuator.

The automatic travel start time is a time when starting the starting point guide, a time when starting the round trip planting, a time when returning from the material replenishment, a time when starting the unmanned automatic travel on the inner circumferential route IRL, a time when starting the automatic travel on each side (the travel route which is connected to the turning area and is substantially parallel to the outer periphery of the field) when the outermost circumferential planting is performed during the manned automatic travel, or the like.

Further, when the main shift lever 7A is erroneously operated from the neutral position during unmanned automatic traveling, a notification/guidance is given to urge the main shift lever 7A to return to the neutral position.

When the automatic driving is started, if a condition required for performing the automatic driving is satisfied, the control state is shifted to an automatic driving permission state. Only when the main shift lever 7A is operated in a predetermined direction in the automatic driving permission state, the automatic traveling is started. Therefore, even if the main shift lever 7A is operated in a direction different from the predetermined direction in the automatic driving permission state, the machine body 1 does not move.

The starting point guidance in the automatic travel by a person is performed by manual operation based on guidance. Therefore, when the person is guided from the starting point during the automatic traveling, the main shift lever 7A is first operated to the backward side for the backward traveling notification, and then the main shift lever 7A is operated to the forward side for the forward traveling notification after moving to the starting point S.

As a condition for starting or continuing the manned automatic travel, when the automatic travel is started from the automatic drive permission state or when the travel is restarted from the temporary stop state during the automatic travel, the main shift lever 7A may be positioned at a position other than the neutral position. Therefore, when starting the starting point guide, when starting the reciprocal planting (the planting work travel on the internal reciprocal path IPL), when restarting the travel after the seedling supply, after the reciprocal planting, before automatically guiding to the starting point of the internal reciprocal path IPL, and the like, the driver operates the main shift lever 7A from the neutral position in a predetermined direction and restarts the automatic travel.

In both the case of autonomous driving and the case of unmanned autonomous driving, the main shift lever 7A may be required to be in the neutral position before the start of autonomous driving.

In a state where the manned automatic travel is selected by the mode changeover switch 7E or the like, the manned automatic travel is started by pressing the automatic travel start/stop switch 7D and the travel is started by operating the main shift lever 7A in the forward direction, after a predetermined condition is satisfied. Further, the unmanned automatic travel is started by satisfying a predetermined condition, the travel is started by the operation of the remote controller 90, and the travel is not started by the operation other than the remote controller 90.

In the manned automatic travel, the automatic travel is started by operating the main shift lever 7A. In addition, in the manned automatic travel, the seedling planting device 3 is lowered by manual operation after the end of turning.

Further, the automatic travel start/stop switch 7D is operated to switch to the manned automatic travel mode.

However, the raising and lowering of the seedling planting device 3 at the turning time at the time of the outermost periphery planting is operated as instructed. In this case, even if it can be confirmed by image analysis using an imaging device that there is no problem even if the seedling planting device 3 is lifted, the lifting of the seedling planting device 3 can be automatically controlled.

Note that, in addition to the voice guidance by a voice alarm or the like and the display by the information terminal 5, the above guidance may be notified by various methods using the stack lamp 71, the remote controller 90, or the like. Such guidance is controlled by a notification control section or the like, which may be the control unit 30, may be built in the control unit 30, or may be provided separately from the control unit 30.

Since the outer circumferential route ORL travels around a ridge or the like, it may be configured such that a route is provided inside a predetermined distance from the outer circumference of the field, and unmanned automatic travel is not performed at all. In this case, it is preferable that the distance from the outer periphery of the field is sufficiently longer than the case where the restriction is imposed such that the unmanned automatic traveling is not performed, and occurrence of an unexpected situation is suppressed even when the unmanned automatic traveling is performed. In this way, by enabling unmanned automatic travel even on the outside loop route ORL, it is possible to perform work travel while continuing unmanned automatic travel on the inside loop route IRL and the outside loop route ORL.

Here, the travel route including the outer circumferential route ORL is determined based on the first non-work travel along the outer periphery of the field. The non-working travel along the outer periphery of the field may be performed close to the outer periphery of the field, or may be performed along the outer periphery at a predetermined distance from the outer periphery of the field.

When the non-work travel is performed near the outer periphery of the field, the outer circumferential route ORL is set to a predetermined distance inside the route on which the non-work travel is performed, and the inner circumferential route IRL and the inner reciprocating route IPL are set with the outer circumferential route ORL as a reference. When the non-work traveling is performed at a predetermined distance from the outer periphery of the field, the route on which the non-work traveling is performed is set as an outer circumferential route ORL, and an inner circumferential route IRL and an inner reciprocating route IPL are set with the outer circumferential route ORL as a reference.

For example, when non-work traveling is performed at a predetermined distance from the outer periphery of the field, the front mark (corresponding to the "adjacent mark") is used. The non-work travel is performed so that the front mark comes into contact with the outer periphery of the field (for example, ridge), and thus the non-work travel is performed along the outer periphery of the field by a distance of the front mark from the outer periphery of the field.

For example, the top mark is configured to be switched to three stages. The first stage is the storage state. The second stage is a state of projecting by a normal length, which is a length of projecting by a row pitch from the outermost end of the implant part. The third stage is a state in which the protruding machine body 1 is separated from the outer periphery of the field by a predetermined distance and travels a length when the non-work travel is performed so as to mark the contact with the outer periphery of the field (for example, ridge). In addition, the predetermined distance can be arbitrarily set by changing the length of the front mark in the third stage. When the predetermined distance can be arbitrarily set, the travel speed for traveling on the outer round route ORL can be set according to the predetermined distance.

Further, considering that someone on the outside round route ORL travels automatically, non-work travel along the outer periphery of the field may be performed at a distance determined by the driver from the outer periphery of the field. This ensures a necessary planting area in the field, and enables the predetermined distance to be set according to the skill of the driver.

The predetermined distance may be the minimum distance traveled by the machine body 1 from the time when an abnormality including an obstacle is sensed and the machine body 1 is stopped when the machine body 1 is stopped while traveling at a predetermined traveling vehicle speed, or may be a distance obtained by adding a margin to the minimum distance traveled by the machine body 1 from the time when the abnormality is sensed and the machine body 1 is stopped.

Position information of the outer periphery of the field is acquired by performing non-work travel along the outer periphery of the field, and an outline map (field map) of the field and a travel route are set based on the outer periphery. The non-working travel along the outer periphery of the field may be performed continuously along all sides constituting the field to acquire the position information of the continuous outer periphery, but the position information of each side constituting the field may be acquired separately to generate the field map. Thus, even if the travel is stopped in the middle of the non-work travel along the outer periphery of the field, the travel can be resumed from the side where the travel was stopped, without having to resume the non-work travel from the beginning. In the case of generating a field map by edge, outermost planting may be performed by edge.

The outer round route ORL is provided for the worker to automatically travel and perform the work travel. During the manned automatic travel on the outside round route ORL, the work travel is performed under the control of the automatic travel, and the turning travel is performed between the work travel on each side. Lifting and lowering of the seedling planting device 3, etc. are required at the time of turning, which is manually operated according to the direction. The present invention is not limited to this configuration, and the raising and lowering of the seedling planting device 3 may be performed by automatic control, and the operator may select whether to perform manual operation or automatic control. The automatic control, for example, raises the seedling planting device 3 before the start of turning and lowers the seedling planting device 3 after the end of turning.

The control unit 30 generates a field contour map (field map), sets the inner area IA, the outer peripheral area OA, sets the travel route, and adjusts the distance from the outer periphery of the field to the outer round route ORL. Alternatively, these processes may be performed by a travel route generation unit built in the control unit 30 or provided outside the control unit 30.

[ control of insufficient seedlings/insufficient fertilizers etc. ]

The control of insufficient seedling/insufficient fertilizer and the like will be described with reference to fig. 1 to 5.

Sensors (one of the sensor groups 1A shown in fig. 5) for detecting the remaining amount of each material may be provided in the seedling planting device 3, the fertilizing device 4, the chemical applying device 18, the sowing machine, and other devices for supplying various materials. Hereinafter, an insufficient seedling sensor for detecting the remaining amount of seedlings will be described as an example, but the present invention can be applied to various materials such as fertilizer, chemical, rice seed, and the like.

The control unit 30 may notify the information terminal 5, the voice alarm generating device 100, etc. of the fact when the insufficient seedling sensor senses that the remaining amount of the seedling is below the prescribed amount.

Further, the control unit 30 may control not to run when the insufficient seedling sensor senses that the remaining amount of seedlings is less than or equal to a predetermined amount at the time of starting the work running or when the work running is resumed after the vehicle is stopped. When the transplanting operation is performed in a state where the remaining amount of seedlings is insufficient, a plant shortage may occur in the middle of the field. Therefore, by adopting a configuration in which the vehicle does not run in such a possible state, the occurrence of a plant defect is suppressed.

When the remaining amount of the seedlings is detected to be equal to or less than the predetermined amount in the middle of the travel path, the machine body 1 may be stopped, but the seedling planting device 3 may be moved to the seedling supply side SL in a state where it is raised. Further, the following configuration may be adopted: the insufficient seedling sensor is configured to sense a predetermined amount within a range of an amount necessary for returning to the seedling supply side SL, and when the insufficient seedling sensor senses the amount, the vehicle travels to the seedling supply side SL while continuing the operation travel. Further, the seedling supply side SL is not limited to this, and the following configuration may be adopted: according to the position that the not enough sensor of seedling sensed, travel to other limits that can supply the seedling.

In the case of automatic travel, the travel route may be created according to the location of the plant by moving to the seedling supply side SL or another side, and automatic travel may be performed along the travel route.

In addition, even if the seedlings run out halfway in the field, in order to replenish the seedlings, the seedlings must travel to the seedling replenishing side SL. Therefore, even if it is sensed that the remaining amount of seedlings is equal to or less than the predetermined amount in the middle of the travel route, the work travel can be continued to the vicinity of the seedling supply side SL, for example, in front of the turning area of the inner round-trip route IPL.

A seedling shortage sensor (one of the sensor groups 1A shown in fig. 5) for sensing shortage of seedlings may be further provided in each row, and in the case where insufficient seedlings are left in any row during operation running after sensing that the remaining amount of seedlings is equal to or less than a predetermined amount in the middle of the running path, the seedling transplanting device 3 is raised to run. The insufficient seedling sensor for sensing insufficient seedlings may be configured to perform image analysis for determining insufficient seedlings by reducing seedlings to a threshold value or less, for example, by using a camera, or may be configured to input a captured image in a learned model learned by machine learning to sense insufficient seedlings. In addition, the insufficient seedling sensor for sensing insufficient seedlings may be a insufficient seedling sensor (one of the sensor groups 1A shown in fig. 5) provided at the terminal portion of the seedling feeding portion of the seedling carrying table 21 for sensing the presence or absence of seedlings.

The function of moving the seedling supply side SL to the position at any time can be used, but the moving speed of the rice seedling approaching at any time in the state of raising the seedling transplanting device 3 (idle work) can be made faster than the speed limit of the rice seedling approaching at any time, and the rice seedling approaching can be performed before and after the turning area. Thereby, even if a decrease in the remaining amount of seedlings is sensed at a position away from the seedling supplying side SL, it can be quickly moved to the seedling supplying side SL.

When the automatic travel start timing on the inner circumferential path IRL and the outer circumferential path ORL is detected that the remaining amount of seedlings is equal to or less than the predetermined amount, the travel is not started. Further, the following configuration may be adopted: even on each side of the inner circumferential path IRL and the outer circumferential path ORL, when the operation running start timing after the turn is sensed that the remaining amount of the seedling is equal to or less than the predetermined amount, the running is not started.

At least any one of the positions where the remaining amount of the seedling is sensed to be the predetermined amount or less and the positions where the shortage of the seedling is sensed by row may be displayed on the information terminal 5 or the like.

In the automatic travel on the inner circumferential path IRL and the outer circumferential path ORL, when it is sensed that the remaining amount of seedlings is equal to or less than the predetermined amount, the machine body 1 may be temporarily stopped after the end of the work travel along each side and before or after the turning travel. In this parking, can judge whether to carry out the seedling for supply.

It may also be configured to sense the seedling or the like, for example, clogging of side-feeding fertilizer/rice seed/side-feeding pesticide, etc., fuel shortage, remaining amount of the battery 73, etc. When these are detected, the machine body 1 may be stopped. For example, in the case of clogging of a material such as fertilizer, it is difficult to determine which row causes side-row clogging of the fertilizer application, and therefore, it is not possible to stop the fertilizer application for each row, and it is appropriate to stop the machine body 1. However, if possible, sensors (one of the sensor groups 1A shown in fig. 5) for line-wise sensing clogging of side-line fertilizer/rice seeds/side-line application or the like may be provided. Further, the battery 73 may be charged by increasing the engine speed. Therefore, the engine speed may be automatically increased when the remaining amount of the battery 73 is detected to be equal to or less than the predetermined amount.

[ slip determination ]

A configuration for determining a slip and controlling travel will be described with reference to fig. 1 to 5.

Depending on the state of the field, the machine body 1 slips during travel, and the wheels 12 (machine body 1) sink and delay the work travel. Therefore, it is preferable to measure the slip ratio of the body 1.

The slip ratio is a state in which the machine body 1 is ready to run but the machine body 1 is not running. Therefore, the slip ratio can be calculated from the state of the continuously variable transmission 9 and the vehicle position calculated by the positioning unit 8. Instead of the state of the continuously variable transmission 9, a rotation speed sensor (one of the sensor groups 1A shown in fig. 5) provided on the rotation shaft of the wheel 12 may be used.

When the slip ratio thus calculated is equal to or greater than a predetermined value and this state continues for a predetermined time or longer, it is determined that the wheel 12 is submerged.

When it is determined that the wheels 12 are submerged, the machine body 1 is temporarily stopped, and when the vehicle is automatically running, the automatic running is terminated. Further, when it is determined that the wheel 12 is sunk, the recovery operation may be performed, and when the recovery operation is not canceled even if sunk, the machine body 1 may be temporarily stopped. The return operation may be, for example, to drive either of the left and right wheels 12 by differentially locking, or, if the vehicle is turning, to return the steering wheel and engage the side clutch, or to perform hunting.

In addition, the sunk portion may be stored on the travel route, and the sunk portion may be regarded as an obstacle and reflected on the setting of the travel route. For example, the travel path is set to bypass the submerged portion.

[ control of vehicle speed at the time of switching of the operating clutch ]

The seedling planting device 3 shown in fig. 1 and 2 is a specific example of the working device 1C. The seedling planting device 3 performs operations in paddy fields. More specifically, the seedling planting device 3 performs the seedling planting operation in a predetermined row direction.

The present invention is not limited to this, and a specific example of the working device 1C may include a seed sowing device that performs seed sowing along a predetermined row direction. That is, the working device 1C may be a transplanting system working device for performing seedling transplanting work or sowing work in a predetermined row direction.

As shown in fig. 15, the rice transplanter in the present embodiment includes a first clutch C1, a second clutch C2, a third clutch C3, and a fourth clutch C4. Each of the clutches EC is formed by a first clutch C1, a second clutch C2, a third clutch C3, and a fourth clutch C4. Each of the line clutches EC is an example of a working clutch that switches the driving state of the working device 1C by turning on and off the power transmission from the engine 2.

As shown in fig. 15, the power from the engine 2 is distributed to each insertion mechanism 22 via each row clutch EC. Each row clutch EC is configured to be able to select the operation start and operation stop of the seedling planting device 3 by a predetermined number of rows. More specifically, each row of the clutches EC is configured to be able to select the operation start and the operation stop of the seedling planting device 3 in two rows.

The present invention is not limited to this, and the respective row clutches EC may be configured to be able to select the operation start and the operation stop of the seedling planting device 3 for one row or for three or more rows.

Hereinafter, each of the clutches EC will be described in detail. The eight insertion mechanisms 22 are provided in a state of being divided into four groups. Further, the control unit 30 controls the on and off states of the first clutch C1, the second clutch C2, the third clutch C3, and the fourth clutch C4. That is, the control unit 30 controls the on and off states of each row clutch EC. The control unit 30 is an example of a clutch control unit that controls the on and off states of the working clutch.

In the case where the first clutch C1 is in the on state, one of the left-end of the four sets of insertion mechanisms 22 is driven. Further, when the first clutch C1 is in the off state, one of the left-end groups of the four groups of insertion mechanisms 22 is stopped.

When the second clutch C2 is in the on state, the second group from the left of the four groups of insertion mechanisms 22 is driven. Further, in the case where the second clutch C2 is in the off state, the second group from the left of the four groups of insertion mechanisms 22 stops.

When the third clutch C3 is in the on state, the second right group of the four groups of the insertion mechanisms 22 is driven. When the third clutch C3 is in the off state, the second group from the right of the four groups of insertion mechanisms 22 stops.

When the fourth clutch C4 is in the on state, one of the right end of the four sets of insertion mechanisms 22 is driven. When the fourth clutch C4 is in the disengaged state, one of the four sets of the insertion mechanisms 22 on the right end stops.

As shown in fig. 15, the rice transplanter in the present embodiment includes an insertion clutch C5. The insertion clutch C5 is an example of a working clutch that switches the driving state of the working device 1C by turning on and off the power transmission from the engine 2.

As shown in fig. 15, the power from the engine 2 is distributed to each insertion mechanism 22 via an insertion clutch C5. The transplanting clutch C5 switches the driving state of the seedling transplanting device 3 by turning on and off the power transmission from the engine 2.

Specifically, the control unit 30 controls the on and off states of the insertion clutch C5. When the insertion clutch C5 is in the on state, the power from the engine 2 is transmitted to the first clutch C1, the second clutch C2, the third clutch C3, and the fourth clutch C4. At this time, if the first clutch C1, the second clutch C2, the third clutch C3, and the fourth clutch C4 are in the on state, the four-set insertion mechanism 22 is driven. Thereby driving the seedling planting device 3.

When the insertion clutch C5 is in the disengaged state, the power from the engine 2 is not transmitted to any of the first clutch C1, the second clutch C2, the third clutch C3, and the fourth clutch C4. As a result, the four sets of the insertion mechanisms 22 are stopped. Thereby, the seedling planting device 3 is stopped.

That is, when the transplanting clutch C5 is in the on state, the seedling transplanting device 3 is driven, and when the transplanting clutch C5 is in the off state, the seedling transplanting device 3 is stopped.

With the above configuration, the rice transplanter in the present embodiment is configured to start driving of the seedling planting device 3 by switching the planting clutch C5 from the off state to the on state, and to stop driving of the seedling planting device 3 by switching the planting clutch C5 from the on state to the off state.

The lifting link 13a shown in fig. 1 is a specific example of the working device 1C. The control unit 30 controls driving of the elevation link 13 a. The seedling planting device 3 is lifted by driving the lifting connecting rod 13 a. That is, the control unit 30 controls the elevation of the seedling planting device 3. The control unit 30 is an example of an elevation control unit that controls the elevation of the seedling planting device 3.

The control unit 30 is configured to raise the seedling planting device 3 when the driving of the seedling planting device 3 is stopped. Therefore, even if the transplanter is positioned beside the ridge, the transplanter can smoothly turn.

The control unit 30 is also configured to lower the seedling planting device 3 when starting the driving of the seedling planting device 3. Thus, the seedling planting work is reliably performed by the seedling planting device 3.

Further, the control unit 30 can execute deceleration control and speed increase control by controlling the running device 1D. The deceleration control is control for reducing the vehicle speed. The speed increase control is control for increasing the vehicle speed. That is, the control unit 30 controls the vehicle speed. The control unit 30 is an example of a vehicle speed control unit that controls a vehicle speed.

Here, the rice transplanter in the present embodiment is an example of a working machine that can travel automatically. When the rice transplanter is automatically driven, the control unit 30 automatically controls the first clutch C1, the second clutch C2, the third clutch C3, the fourth clutch C4, and the insertion clutch C5.

There is a time lag from the start of the control for turning on and off of each row clutch EC and the transplanting clutch C5 to the actual switching of the driving state of the seedling transplanting device 3. Therefore, when the traveling speed is too high, the insertion operation may not be started or ended at an appropriate position. In order to perform the insertion work appropriately, it is preferable to decelerate the traveling vehicle speed when the respective line clutch EC or the insertion clutch C5 is turned on and off. For example, when the respective line clutch EC or the interposing clutch C5 is turned on and off, the running vehicle speed is decelerated to a preset vehicle speed.

It is preferable to return the running speed after the on/off operation of each of the line clutches EC and the insertion clutch C5 is completed. This enables the insertion work or the subsequent travel to be performed efficiently while appropriately starting or ending the insertion work.

However, if the running vehicle speed is repeatedly switched in a short time, the work may not be properly performed, and smooth running may be hindered. Therefore, the following configuration may be adopted: when the distance traveled by the machine body 1 is equal to or less than a predetermined distance after the respective line clutch EC or the insertion clutch C5 is in the off state and until the respective line clutch EC or the insertion clutch C5 is in the on state, the travel speed is not recovered. Alternatively, the following configuration may be adopted: when the time from when each of the line clutches EC and the insertion clutch C5 is turned off to when each of the line clutches EC and the insertion clutch C5 is turned on is equal to or less than a predetermined time, the running vehicle speed is not recovered.

The predetermined distance and time may be set arbitrarily and may be changed according to the operation conditions. Further, the prescribed distance and time may be set by row. In addition, in the deceleration and acceleration, it is preferable to change the speed slowly, not rapidly.

Further, the following may be configured: the function of decelerating the running vehicle speed can be arbitrarily invalidated when the respective line clutch EC or the interposing clutch C5 is turned on and off.

The following describes vehicle speed control in the case where the on and off states of each of the clutches EC are switched, taking the automatic travel shown in fig. 16 as an example. Hereinafter, control for switching the on and off states of each of the clutches EC is referred to as "switching control".

In the example shown in fig. 16, the rice transplanter first performs a seedling planting operation while traveling along the internal reciprocating path IPL. Then, the rice transplanter performs a seedling planting operation while traveling along the inner circumferential path IRL. Finally, the rice transplanter performs a seedling planting operation while traveling along the outer circumferential path ORL.

In this example, the obstacle OB is located in the outer periphery of the field. Therefore, the outer round path ORL is generated in a state of bypassing the obstacle OB. Thereby, a part of the outer circumferential path ORL protrudes toward the inner circumferential path IRL.

As a result, when the rice transplanter travels along the inner circumferential route IRL, the left two sets of the four sets of planting mechanisms 22 pass through a predetermined area where the rice seedling planting work is performed when the rice transplanter travels along the outer circumferential route ORL. Thus, the left two of the four sets of insertion mechanisms 22 stop during passage through the area.

Also, in the case where the control unit 30 executes the switching control, the control unit 30 executes the deceleration control before switching the on and off states of the respective line clutches EC. Further, after the machine body 1 passes the switch point, the control unit 30 performs the speed increase control. The switching point is a body position when the control unit 30 performs switching control.

That is, in the case where the control unit 30 executes switching control as control for switching the on and off states of each of the line clutches EC, the control unit 30 executes deceleration control as control for reducing the vehicle speed before switching the on and off states of each of the line clutches EC.

Further, after the machine body 1 passes through a switching point as a machine body position at the time of the switching control performed by the control unit 30, the control unit 30 performs a speed increase control as a control for increasing the vehicle speed.

To describe in detail, when the rice transplanter travels along the inner circumferential path IRL shown in fig. 16, first, the machine body 1 passes through the position P1. The time at this time is set as time t1.

Subsequently, the body 1 reaches the position P3 after passing through the position P2. At this time, the first clutch C1 and the second clutch C2 are switched from the on state to the off state by the control of the control unit 30. As a result, the left two of the four sets of insertion mechanisms 22 stop.

Next, the body 1 passes through the positions P4, P5, P6, and P7 and then reaches the position P8. At this time, the first clutch C1 and the second clutch C2 are switched from the off state to the on state by the control of the control unit 30. As a result, the driving of the left two sets of the four sets of the transplanting mechanisms 22 is resumed.

Then, the body 1 passes through the positions P9 and P10.

That is, in this example, all of the four sets of the insertion mechanisms 22 are driven until the machine body 1 reaches the position P3. Therefore, the rice transplanter advances to plant 8 rows of rice seedlings before the machine body 1 reaches the position P3.

When the body 1 is positioned between the positions P3 to P8, the rice transplanter moves and plants only the right 4 rows of seedlings.

After the machine body 1 passes through the position P8, the rice transplanter moves and plants 8 rows of rice seedlings.

Fig. 17 shows a change in the speed of the rice transplanter when the rice transplanter travels along the inner circumferential path IRL in the example shown in fig. 16.

The times at which the body 1 reaches the positions P2, P3, P4, P5, P6, P7, P8, P9, and P10 are referred to as times t2, t3, t4, t5, t6, t7, t8, t9, and t10, respectively.

Until time t1, the speed of the rice transplanter is the first speed V1. Then, at time t1, the body 1 reaches the position P1. In this example, it is scheduled that the switching control is executed when the body 1 reaches the position P3. Therefore, the control unit 30 executes deceleration control from time t1 to time t 2. In the present embodiment, the deceleration control is executed until the speed of the rice transplanter reaches the predetermined second speed V2. The second vehicle speed V2 is lower than the first vehicle speed V1.

Thus, when the machine body 1 reaches the position P2, the speed of the rice transplanter reaches the second vehicle speed V2. That is, the vehicle speed reaches the second vehicle speed V2 at time t 2.

At time t3, the body 1 reaches the position P3. At this time, as described above, the first clutch C1 and the second clutch C2 are switched from the on state to the off state by the control of the control unit 30. That is, at this time, the control unit 30 performs switching control.

Here, as described above, the deceleration control has been executed during the period from the time t1 to the time t 2. That is, the control unit 30 has already executed the deceleration control before switching the on and off states of the respective line clutches EC.

Further, the position P3 is a switching point. Therefore, after the machine body 1 passes through the position P3, the control unit 30 performs the speed increasing control from time t4 to time t 5. In the present embodiment, the speed increase control is executed until the speed of the rice planting machine reaches the speed before the speed decrease control is executed.

Thus, when the machine body 1 reaches the position P5, the speed of the rice planting machine reaches the first speed V1. Thereafter, until time t6, the speed of the rice transplanter is maintained at the first speed V1.

In this example, it is predetermined that the switching control is executed when the body 1 reaches the position P8. Therefore, the control unit 30 executes deceleration control from time t6 to time t 7.

Thus, when the machine body 1 reaches the position P7, the speed of the rice planting machine reaches the second speed V2. That is, at time t7, the vehicle speed reaches the second vehicle speed V2.

At time t8, the body 1 reaches the position P8. At this time, as described above, the first clutch C1 and the second clutch C2 are switched from the off state to the on state by the control of the control unit 30. That is, at this time, the control unit 30 performs switching control.

Here, as described above, the deceleration control has been executed during the period from the time t6 to the time t 7. That is, the control unit 30 has already executed the deceleration control before switching the on and off states of the respective line clutches EC.

Further, the position P8 is a switching point. Therefore, after the body 1 passes through the position P8, the control unit 30 performs the speed increasing control from time t9 to time t 10.

Thus, when the machine body 1 reaches the position P10, the speed of the rice planting machine reaches the first speed V1. Thereafter, the speed of the rice transplanter is maintained at the first speed V1.

In the above-described example, the control unit 30 executes the speed increase control after the machine body 1 passes through the position P3.

However, in the present embodiment, the first point as the switching point and the second point as the switching point are located on the travel path of the machine body 1, and it is predetermined that the machine body 1 passes the second point after passing the first point, and in a case where the distance between the first point and the second point is equal to or less than a predetermined reference distance, the control unit 30 does not perform the speed increasing control until the machine body 1 reaches the second point after passing the first point.

For example, in the example shown in fig. 16, the position P3 as the switching point and the position P8 as the switching point are located on the inner circumferential route IRL as the travel route of the body 1. Further, it is predetermined to pass through the position P8 after the body 1 passes through the position P3.

Therefore, if the distance between the position P3 and the position P8 is equal to or less than the predetermined reference distance, the control unit 30 does not perform the speed-increasing control until the position P8 is reached after the machine body 1 passes through the position P3, unlike the above-described example. In this case, the deceleration control may or may not be executed until the machine body 1 reaches the position P8 after passing through the position P3. In the case where the deceleration control is performed, the speed of the rice transplanter may be lower than the second vehicle speed V2. When the deceleration control is executed, the vehicle may be configured to continue deceleration from the position P1 to the position P5, and continue acceleration from the position P5 to the position P10, and return to the first vehicle speed V1, which is a normal working speed.

In the above example, the on and off states of the respective row clutches EC are switched while the rice transplanter is traveling along the inner circumferential path IRL. However, the present invention is not limited to this, and the on/off state of the transplanting clutch C5 may be switched in the middle of the travel of the transplanting machine along the inner circumferential path IRL. Further, in the case where the control unit 30 executes the switching control as the control for switching the on and off states of the insertion clutch C5, the control unit 30 may execute the deceleration control as the control for reducing the vehicle speed before switching the on and off states of the insertion clutch C5.

In the above example, when the machine body 1 reaches the position P3, the first clutch C1 and the second clutch C2 are simultaneously switched from the on state to the off state. However, the invention is not limited to this, and the first clutch C1 may be first switched from the on state to the off state, and then the second clutch C2 may be switched from the on state to the off state.

In the above example, when the machine body 1 reaches the position P8, the first clutch C1 and the second clutch C2 are simultaneously switched from the off state to the on state. However, the invention is not limited to this, and the second clutch C2 may be first switched from the off state to the on state, and then the first clutch C1 may be switched from the off state to the on state.

In the above example, when the rice transplanter travels along the inner circumferential path IRL, the on/off states of the first clutch C1 and the second clutch C2 are switched, and the third clutch C3 and the fourth clutch C4 are maintained in the on state. However, the present invention is not limited to this, and the on/off state of any one of the clutches EC may be switched when the rice transplanter travels along the inside loop path IRL.

[ controlling the lifting of the seedling transplanting device ]

The internal round-trip path IPL is a repeated path of a straight path and a turning path, and the transplanting clutch C5 is switched from the on state to the off state by the control unit 30 at the end position of the straight path, after which the seedling transplanting device 3 is raised. Here, in the present embodiment, the seedling planting device 3 is configured to be maintained in a lowered state while the machine body 1 travels the predetermined distance D1 from the machine body position at the switching time point of the on and off states of the planting clutch C5. According to this configuration, it is possible to prevent the seedling planting device 3 from rising to generate floating seedlings while the planting claws of the respective planting mechanisms 22 hold the seedlings.

That is, the control unit 30 is configured to maintain the seedling planting device 3 in a lowered state while the machine body 1 travels the predetermined distance D1 from the machine body position at the time point when the control unit 30 switches the planting clutch C5 from the on state to the off state.

As another embodiment, the insertion clutch C5 may be switched from the on state to the off state at a position located a predetermined distance D1 before the end position of the straight path.

The predetermined distance D1 is equal to or greater than the interval between seedlings planted along the traveling direction of the machine body 1. That is, the predetermined distance D1 is not less than the plant spacing.

Next, the control of raising and lowering the seedling planting device 3 when the planting clutch C5 is switched from the on state to the off state will be described by taking the automatic travel shown in fig. 18 as an example.

In the example shown in fig. 18, the rice transplanter performs a rice seedling transplanting operation while traveling along the internal reciprocating path IPL in the internal area IA. Then, the body 1 reaches the position P11. Position P11 is located at the boundary between inner area IA and outer area OA.

When the machine body 1 reaches the position P11, the control unit 30 switches the insertion clutch C5 from the on state to the off state. That is, the position P11 is the body position when the control unit 30 switches the insertion clutch C5 from the on state to the off state.

Thereafter, the body 1 enters the outer peripheral area OA and reaches the position P12. The travel distance of the machine body 1 from the position P11 to the position P12 is a predetermined distance D1. Therefore, the control unit 30 maintains the seedling planting device 3 in a lowered state until the machine body 1 reaches the position P12.

Then, after the body 1 passes the position P12, the control unit 30 raises the seedling planting device 3.

The control unit 30 may be configured in a function-divided state. For example, a functional portion that controls each line of the clutch EC and a functional portion that controls the running device 1D may be provided separately, and the control unit 30 is constituted by these functional portions.

Further, as described above, the control unit 30 controls the driving state of the seedling planting device 3, the vehicle speed, and the lifting of the seedling planting device 3 based on the position of the machine body 1. Here, the position of any part of the rice transplanter can be regarded as the position of the machine body 1 under the control of the control unit 30. That is, the control unit 30 can be controlled based on the position of any part of the rice planting machine. For example, the vehicle speed control of the control unit 30 may be performed based on the position of the positioning unit 8, or the vehicle speed control of the control unit 30 may be performed based on the position of the seedling planting device 3.

[ fertilization Start and end timings ]

The fertilizer application device 4 (supply device) includes: a hopper 25 (storage section) for storing fertilizer (chemicals, other agricultural materials), a feeding mechanism 26 for feeding the fertilizer from the hopper 25, and a fertilizer application hose 28 (hose) for transporting the fertilizer fed by the feeding mechanism 26 and discharging the fertilizer to a field. The fertilizer contained in the hopper 25 is fed out by a predetermined amount at a time by the feeding mechanism 26 to the fertilizer hose 28, is transported in the fertilizer hose 28 by the air flow of the blower 27, and is discharged from the furrow opener 29 to the field. In this way, the fertilizer application device 4 supplies fertilizer to the field. The hopper 25 and the delivery mechanism 26 are mounted on and supported by the machine frame 1E, and the furrow opener 29 is provided at the lower end of the seedling planting device 3. The fertilizer hose 28 extends over the feeding mechanism 26 and the furrow opener 29, and when fertilizer is supplied from the hopper 25 to a field, the fertilizer passes through the fertilizer hose 28.

The fertilizing operation by the fertilizing apparatus 4 is performed in conjunction with the transplanting operation. For example, as shown in fig. 4, an inner round-trip path IPL is set in the inner area IA, and a turning path is set in the outer area OA. The inner round-trip paths IPL are parallel paths, and the turn paths are paths connecting adjacent inner round-trip paths IPL to each other. The transplanting work by the seedling transplanting device 3 is performed along the internal reciprocating path IPL, and the fertilizing work by the fertilizing device 4 is also performed along the internal reciprocating path IPL. On the other hand, the transplanting work is not performed on the turning path of the outer peripheral area OA, and the fertilizing work by the fertilizing apparatus 4 is not performed on the turning path of the outer peripheral area OA.

When the rice transplanter travels while performing transplanting work in the inner area IA along the inner reciprocating path IPL, the rice transplanter reaches the boundary area between the inner area IA and the outer area OA. This boundary region in the inner area IA is the "end position" at which the transplanting mechanism 22 is stopped and the seedling transplanting device 3 is raised. Generally, the feeding mechanism 26 is stopped and the fertilizing operation by the fertilizing apparatus 4 is stopped at the same time as the transplanting mechanism 22 is stopped or the seedling transplanting apparatus 3 is raised. Thereby, the transplanting operation and the fertilizing operation along one internal reciprocating path IPL in the internal area IA are completed. Then, the rice transplanter moves to the outer peripheral area OA and turns around the outer peripheral area OA to shift to the adjacent inner round trip path IPL.

When the turning travel is completed in the outer area OA, the rice transplanter moves to the inner area IA again, and starts the planting work and the fertilizing work along the adjacent inner round-trip path IPL. The boundary area between the inner area IA and the outer area OA in the inner area IA is a "starting position" at which the seedling planting device 3 is lowered and the planting mechanism 22 is operated again. Generally, the feeding mechanism 26 starts to operate and the fertilizing operation by the fertilizing apparatus 4 starts at the same time as the seedling planting device 3 descends and the planting mechanism 22 starts to operate.

However, a delay occurs in accordance with the length of the fertilization hose 28 from the time when the fertilizer is fed out from the hopper 25 by the fertilizer feeding mechanism 26 to the time when the fertilizer actually arrives at the field. Therefore, the start timing of actual fertilizer supply to the field at the start position is delayed from the start timing of the transplanting operation, and there is a fear that sufficient fertilizer application cannot be performed at the start position. Further, at the end position, the timing of stopping the actual supply of fertilizer to the field may be delayed from the timing of stopping the planting operation. When the rice transplanter is stopped at the end position, the fertilizer remaining in the fertilizer application hose 28 may be discharged directly to the end position, and the fertilizer may be excessively supplied to the end position. In order to eliminate such a problem, the fertilizer application device 4 is controlled as follows in the present embodiment.

The control unit 30, which is the core of the rice transplanter control system, controls the running of the rice transplanter and the operation of the various working devices 1C. A part of the working device 1C includes a fertilizer application device 4. The positioning unit 8 acquires the position information of the body 1, that is, the vehicle position, based on the positioning signal of the navigation satellite. The control unit 30 can control the fertilizer application device 4 based on the vehicle position calculated by the positioning unit 8 while the machine body 1 is traveling. The control unit 30 is configured to operate the fertilizer application devices 4 before the start of the work travel when the work travel is started from a preset start position, and to stop the fertilizer application devices 4 before the end of the work travel when the work travel is ended at a preset end position.

The time required from the fertilizer feeding mechanism 26 to the actual discharge from the hopper 25 to the field (hereinafter referred to as "fertilizer feeding required time") varies depending on the wind speed of the air to be fed and the length of the fertilizer hose 28. Therefore, the operator may set the time required for fertilizer delivery while operating the information terminal 5. Further, the operator may automatically calculate the time required for fertilizer delivery by the control unit 30 by setting the length of the fertilization hose 28 and the wind speed of the air through the information terminal 5. The control unit 30 may calculate a distance traveled by the rice transplanter from the time the fertilizer is fed from the hopper 25 to the time the fertilizer is actually discharged to the field by the fertilizer feeding mechanism 26 (hereinafter, referred to as "required fertilizer conveyance distance").

In this case, the fertilizer feeding required distance is calculated by multiplying the fertilizer feeding required time by the traveling speed of the rice transplanter.

The starting position after the turning travel is known, and the position of the rice transplanter is calculated by the positioning unit 8. Further, the travel speed is calculated from the amount of change in the vehicle position per unit time. That is, the positioning means 8 corresponds to a "speed detection unit" capable of detecting a traveling vehicle speed (speed) of the machine body 1. The speed detection unit may be a rotation speed sensor (not shown) provided at the wheel 12 or a rotation speed sensor (not shown) provided at the continuously variable transmission 9. The time (hereinafter referred to as "first time") until the position of the furrow opener 29 of the machine body 1 reaches the start position is calculated by dividing the distance between the start position and the position of the vehicle by the running vehicle speed. The first time is periodically calculated during a turning travel of the rice transplanter from the outer peripheral area OA to the next inner round-trip path IPL and during a movement of the rice transplanter from the outer peripheral area OA to the inner area IA after the turning travel is completed. The first distance is calculated by multiplying the first time by the travel vehicle speed. The first distance is a distance from the position of the furrow opener 29 of the machine body 1 to the start position (see fig. 19 and 20).

Since the end position is known, the time (hereinafter referred to as "second time") until the position of the furrow opener 29 of the machine body 1 reaches the end position is calculated by dividing the distance between the end position and the vehicle position by the running vehicle speed. While the rice transplanter travels along the inner round-trip path IPL while performing transplanting work in the inner area IA, the second time is periodically calculated. The second distance is calculated by multiplying the second time by the travel vehicle speed. The second distance is a distance from the position where the furrow opener 29 of the machine body 1 is located to the end position (see fig. 21 and 22).

As shown in fig. 19 and 20, the first time is periodically calculated when the rice transplanter turns the next inner round-trip route IPL in the outer circumferential area OA or when the rice transplanter finishes the turning travel and moves from the outer circumferential area OA to the inner area IA. When the first time is equal to or shorter than the time required for fertilizer delivery, the control unit 30 operates the discharge mechanism 26. When the fertilizer fed along the fertilizer hose 28 starts to be discharged, the furrow opener 29 is located at the start position. That is, the fertilizing operation by the fertilizing apparatus 4 is started at the start position with high accuracy. That is, the control unit 30 is configured to calculate a first time period, which is a time period until the furrow opener 29 of the machine body 1 is located at the start position, based on the vehicle position (position information), and to operate the fertilizer application device 4 when the first time period is equal to or shorter than a fertilizer conveyance required time (a preset threshold). Furthermore, the control unit 30 actuates the fertilizing apparatus 4 so that the fertilizer transported along the fertilizing hose 28 starts to be discharged at the starting position. Alternatively, the control unit 30 may calculate a first distance, which is a distance from the position of the furrow opener 29 of the machine body 1 to the start position after the turning travel of the machine body 1, based on the vehicle position, and operate the fertilizer application device 4 when the first distance is equal to or less than a required fertilizer conveyance distance (a predetermined threshold value).

As shown in fig. 21 and 22, the second time is periodically calculated when the rice transplanter travels in the inner area IA while performing transplanting work. When the second time is equal to or shorter than the time required for fertilizer delivery, the control unit 30 stops the feeding mechanism 26. When the fertilizer fed along the fertilizing hose 28 is discharged, the furrow opener 29 is located at the end position. That is, the fertilizing operation by the fertilizing apparatus 4 is accurately ended at the ending position. That is, the control unit 30 is configured to calculate a second time, which is a time until the position of the furrow opener 29 of the machine body 1 reaches the end position, based on the vehicle position, and to stop the fertilizer application device 4 when the second time is equal to or less than a fertilizer conveyance required time (a preset threshold value). Furthermore, the control unit 30 stops the fertilizing device 4 so that the fertilizer transported along the fertilizing hose 28 is discharged at the end position. Alternatively, the control unit 30 may calculate a second distance, which is a distance from the position of the furrow opener 29 of the machine body 1 to the end position, based on the vehicle position, and stop the fertilizer application device 4 when the second distance is equal to or less than a required fertilizer conveying distance (a preset threshold).

The field shown in fig. 4 has a rectangular shape, but the field does not always have a rectangular shape, and for example, a trapezoidal shape or a scalene shape is also considered. For example, as shown in fig. 23, it is also conceivable that the boundary line between the outer area OA and the inner area IA is inclined with respect to the inner reciprocation path IPL. When the transplanting work is performed on the inner area IA, it is not preferable to transplant seedlings in a state of being exposed to the outer area OA. Therefore, in a state where the seedling planting device 3 crosses the boundary between the outer peripheral area OA and the inner area IA, only the inner area IA is planted by using the planting clutches provided in rows of the seedling planting device 3.

The seedling planting device 3 as a working device is configured to be capable of planting seedlings in rows in a field. Further, the feeding mechanism 26 is provided for each 2 rows of the fertilizer application device 4, but may be provided for each row, or may be provided for 3 or more rows.

In the embodiment shown in fig. 23, the right side of the seedling planting device 3 is located in the inner area IA, and the more the body 1 advances, the greater the proportion of the position of the seedling planting device 3 in the inner area IA. Therefore, when the right end of the seedling planting device 3 enters the inside of the internal area IA, only the planting clutch at the right end of the seedling planting device 3 is in the transmission state, and as the machine body 1 moves forward, the left planting clutches are sequentially switched to the transmission state.

In the example shown in fig. 23, the starting position of the transplanting operation differs by row. Therefore, the control unit 30 calculates the first time, which is the time until reaching the start position, for each row of cuttings, and operates each of the feeding mechanisms 26 of the fertilizer application device 4 for each row of cuttings when the first time for each row of cuttings is equal to or less than the time required for fertilizer delivery. Further, a case where the end position of the insertion work differs from row to row is also considered. In this case, the control unit 30 calculates a second time, which is a time until the end position is reached, for each of the transplanting rows, and stops the respective delivery mechanisms 26 of the fertilizer application device 4 for each of the transplanting rows when the second time for each of the transplanting rows is equal to or less than the time required for fertilizer conveyance. That is, the control unit 30 is configured to operate or stop the fertilizer application device 4 in accordance with the movement in conjunction with the row in which the seedling is planted by the seedling planting device 3.

In the above embodiment, the start timing and the end timing of the fertilizing operation are described based on the end position of the transplanting operation performed by the rice transplanter along the internal round-trip path IPL and the start position of the transplanting operation performed by the rice transplanter after the turning travel performed by the rice transplanter to the next internal round-trip path IPL in the outer peripheral area OA, but the present invention is not limited to this embodiment. For example, the end position may be the end portion of one inner circumferential path IRL of the outer circumferential area OA (the end portion of the rice planting machine before turning to the next inner circumferential path IRL) or the end portion of the outer circumferential path ORL (the end portion of the rice planting machine before turning to the next outer circumferential path ORL). The second time is periodically calculated when the rice transplanter travels while performing transplanting along the inner circumferential path IRL (or the outer circumferential path ORL). Further, the control unit 30 may stop the feeding mechanism 26 when the rice transplanter approaches the end position of the inner round route IRL (or the outer round route ORL) and the second time is equal to or less than the time required for fertilizer feeding. Further, the start position may be a start end portion of the next inner circumferential route IRL, and the first time may be periodically calculated when the rice planting machine turns to the next inner circumferential route IRL (or the outer circumferential route ORL) in the outer circumferential area OA. Further, the control unit 30 may operate the feeding mechanism 26 when the rice transplanter approaches the start position of the next inner round route IRL (or the outer round route ORL) and the second time is equal to or less than the time required for fertilizer feeding.

As described above, a delay occurs in accordance with the length of the fertilization hose 28 from the time when the fertilizer is fed out from the hopper 25 by the fertilizer feeding mechanism 26 to the time when the fertilizer actually reaches the field. This is considered to be a case where the fertilization cannot be started or ended at an appropriate position when the traveling speed is too high. In order to perform the fertilizing operation appropriately, the control unit 30 decelerates the machine body 1 before operating or stopping the fertilizing apparatus 4 when the traveling vehicle speed is faster than a preset speed. At this time, the control unit 30 may decelerate to the set speed or may decelerate to less than the set speed. In addition, when the traveling vehicle speed is slower than the set speed, the control unit 30 may cause the machine body 1 to travel at the traveling vehicle speed until the fertilizer application device 4 starts to operate or stops. In addition, when the traveling vehicle speed is equal to or lower than the set speed, the control unit 30 may increase the speed of the machine body 1 to an arbitrary speed that easily matches the stop timing of the fertilizer application device 4 before the fertilizer application device 4 is operated or stopped.

In the above embodiment, the configuration in which the operator sets the time required for fertilizer feeding by operating the information terminal 5 is shown, but the present invention is not limited to this embodiment. For example, the driving rotational speed of the feeding mechanism 26 and the driving rotational speed of the blower 27 may be changed in conjunction with the traveling vehicle speed, or in this case, the control unit 30 may periodically calculate the time required for fertilizer conveyance. In this case, as the traveling vehicle speed becomes faster, the driving rotation speed of the delivery mechanism 26 and the driving rotation speed of the blower 27 become faster, and the time required for fertilizer conveyance may become shorter. The control unit 30 may start the operation of the delivery mechanism 26 at a position closer to the start position as the traveling vehicle speed increases, or may stop the delivery mechanism 26 at a position closer to the end position as the traveling vehicle speed increases in order to supply a slightly larger amount of fertilizer near the end position.

That is, the control unit 30 may be configured to be able to change the timing of operating or stopping the fertilizer application device 4 based on the traveling vehicle speed.

In the above-described embodiment, the fertilizer is shown as the agricultural material, but the agricultural material may be a liquid or granular chemical, or a liquid or granular fertilizer. In the above-described embodiment, the fertilizer application device 4 is shown as the supply device, but the supply device may be a chemical application device that applies a chemical to a field. Further, in the above-described embodiment, the seedling planting device 3 is shown as a working device, but the working device may be, for example, a sowing device (including also direct seeding to a field accurately). That is, the working device may be any device that can insert seedlings into a field row by row. "seedling" includes pre-germinated seeds and post-germinated seedlings. "transplanting" refers to a general term for operations of sowing seeds before germination into a field or transplanting seedlings after germination into a field. In an embodiment different from the above-described configuration, a receiving portion for temporarily receiving fertilizer may be provided in a portion of the fertilizer application hose 28 near the field, and fertilizer may be intermittently supplied based on the positional information of the machine body 1.

[ neutral return control of swash plate of continuously variable transmission and starting control of engine ]

As shown in fig. 24, the control unit 30 is connected with a brake detection unit 80, a key switch 81, a neutral sensor 82, a notification device 83, and the like.

The brake detection unit 80 detects that the brake pedal 84 is depressed. The brake pedal 84 performs a braking operation of a brake device 85 that brakes the wheel 12. The brake pedal 84 is provided in the driver section 14. The brake pedal 84 is configured to be capable of being depressed from an initial position Pini to a maximum depression position Pmax, and is connected to a brake device 85 via a link mechanism (not shown).

The brake device 85 is provided in a transmission 86 incorporating a sub-transmission (not shown), a pitch transmission (not shown), and the like. The brake device 85 includes a brake pad (not shown) and a swing-type operating arm 85a that presses the brake pad.

The brake detection unit 80 includes a step start sensor 80a, a step end sensor 80b, and a step sensor 80c.

The depression start sensor 80a detects depression of the brake pedal 84 from the initial position Pini. In the present embodiment, the step start sensor 80a is constituted by a magnet sensor. The stepping start sensor 80a may be configured by a sensor other than a magnetic sensor.

The depression end sensor 80b detects that the brake pedal 84 is depressed to the maximum depression position Pmax. In the present embodiment, the stepping end sensor 80b is constituted by a limit switch. The stepping end sensor 80b may be configured by a sensor other than a limit switch.

The depression sensor 80c detects that the brake pedal 84 is depressed to a halfway position Pmid between the initial position Pini and the maximum depression position Pmax. In the present embodiment, the step sensor 80c is a magnet sensor. The step sensor 80c may be configured by a sensor other than a magnetic sensor.

Here, as described above, the halfway position Pmid is located between the initial position Pini and the maximum tread position Pmax, but is not limited to the central position between the initial position Pini and the maximum tread position Pmax. For example, the halfway position Pmid may be set to a position where a predetermined stepping stroke is secured from the initial position Pini.

The key switch 81 starts the engine 2. The key switch 81 is provided in the driver unit 14.

The neutral sensor 82 detects that the shift position of the continuously variable transmission 9 is the neutral position. The neutral sensor 82 can detect, for example, that the main shift lever 7A is in the neutral position or that the swash plate 9a of the continuously variable transmission device 9 is in the neutral position.

When the brake detection unit 80 detects that the brake pedal 84 is depressed, the control unit 30 starts to return the swash plate 9a of the continuously variable transmission 9 to the neutral position at a stage before the brake pedal 84 reaches the maximum depression position Pmax. In the present embodiment, when the step-on sensor 80c detects that the brake pedal 84 is stepped on to the halfway position Pmid, the control unit 30 starts to return the swash plate 9a of the continuously variable transmission device 9 to the neutral position, and when the step-on end sensor 80b detects that the brake pedal 84 is stepped on to the maximum step-on position Pmax, the control unit 30 ends to return the swash plate 9a of the continuously variable transmission device 9 to the neutral position.

In place of the above-described configuration, the control unit 30 may start returning the swash plate 9a of the continuously variable transmission device 9 to the neutral position when the depression start sensor 80a detects depression of the brake pedal 84 from the initial position Pini, and the control unit 30 may end returning the swash plate 9a of the continuously variable transmission device 9 to the neutral position when the depression sensor 80c detects depression of the brake pedal 84 to the halfway position Pmid.

Alternatively, instead of the above configuration, the brake detection unit 80 may include a step-on amount sensor (not shown) that detects the step-on amount of the brake pedal 84, and the control unit 30 may return the swash plate 9a of the continuously variable transmission 9 to the neutral position side in response to an increase in the step-on amount of the brake pedal 84 detected by the step-on amount sensor. In this case, the step amount sensor may be constituted by a potentiometer.

Alternatively, instead of the above configuration, a swing angle sensor for detecting the swing angle of the operating arm 85a may be provided, and the control unit 30 may return the swash plate 9a of the continuously variable transmission 9 to the neutral position side in response to the increase in the swing angle of the operating arm 85a detected by the swing angle sensor.

Alternatively, in place of the above-described configuration, when the brake detector 80 detects that the brake pedal 84 is depressed, the control unit 30 may return the main shift lever 7A to the neutral position, and based on this, return the swash plate 9a of the continuously variable transmission 9 to the neutral position side.

When the engine 2 is started and operated by the key switch 81, the control unit 30 starts the engine 2 based on the starting operation of the key switch 81 when the depression end sensor 80b detects that the brake pedal 84 is depressed to the maximum depression position Pmax and the neutral sensor 82 detects that the shift position of the continuously variable transmission 9 is the neutral position.

The notification device 83 notifies that the engine 2 is not started. Here, when the key switch 81 starts the operation of the engine 2, if the depression end sensor 80b does not detect that the brake pedal 84 is depressed to the maximum depression position Pmax or the neutral sensor 82 does not detect that the shift position of the continuously variable transmission 9 is the neutral position, the engine 2 is not started even if the key switch 81 starts the operation of the engine 2. Therefore, when the engine 2 is not started, the notification device 83 notifies that the engine 2 is not started, and a method of eliminating the situation that the engine 2 is not started is provided. The notification by the notification device 83 is performed by voice, image (image display of the information terminal 5 or the like), or a combination thereof.

The control unit 30 estimates the amount of wear of the brake device 85 (the brake pads) based on the travel information when the brake device 85 brakes the wheel 12. Here, the travel information includes, for example, the rotation speed of the rear wheel 12B, the position information of the positioning unit 8, and the rotation speed of the output shaft of the continuously variable transmission 9.

In the present rice transplanter, the engine 2 may be started and operated by a remote controller.

By starting and operating the engine 2 with the remote controller, preparation for operation of the positioning unit 8 and the like and charging of the battery 73 can be performed. In the rice transplanter, a direct connection circuit or a mode (control mode) may be provided which enables only the engine 2 to be started even if an abnormality occurs in the electrical system.

As shown in fig. 1, 2, and 3, a prime mover 2A is provided in a front region of a body 1 having front wheels 12A and rear wheels 12B so as to be drivable, the prime mover 2A has an engine 2 and an engine cover 2B covering the engine 2, and a driver 14 is provided in a rear region of the body 1, thereby constituting a self-propelled vehicle. The self-propelled vehicle includes preliminary seedling storage devices 17A provided on both lateral sides of the driving portion 2A, and further includes a hopper 25 and a delivery mechanism 26 provided on the rear side of the driver seat 16 and constituting the fertilizer applying device 4.

The left and right preliminary seedling housing devices 17A are supported by a preliminary seedling support frame 17 as a support frame that stands on an engine frame 1F provided in the machine body frame 1E. Specifically, the left and right preliminary seedling storage devices 17A include four upper and lower preliminary seedling stages 70 and a storage device frame 70a provided on the side of the preliminary seedling support frame 17 so as to extend in the vertical direction of the vehicle body with respect to the preliminary seedling stages 70 and supporting the four upper and lower preliminary seedling stages 70. As shown in fig. 1, the preliminary seedling support frame 17 includes left and right lower end side portions 17a extending upward from both lateral side portions of the engine frame 1F and an upper end side portion 17b bridging an upper portion of the left and right lower end side portions 17 a. The left and right lower end side portions 17a are located lower than the upper end side portions 17b. The storage device frame 70a of the left preliminary seedling storage device 17A is supported by the left lower end side portion 17A. The storage device frame 70a of the right preliminary seedling storage device 17A is supported by the right lower end side portion 17A. The upper and lower four-stage preliminary seedling stages 70 in the left and right preliminary seedling storage devices 17A are supported by the preliminary seedling support frame 17 via the storage device frame 70a.

In the present embodiment, the left and right preliminary seedling accommodation devices 17A include the upper and lower four-stage preliminary seedling platforms 70, but the present invention is not limited thereto. For example, the seedling table 70 may have three or more layers or five or more layers.

[ Sonar control device, stacked lamp, receiving device, battery ]

As shown in fig. 2 and 3, front sonar ECU64A as a sonar control device, a laminated lamp 71 for displaying a control pattern of control unit 30 on the outside of the autonomous vehicle, and a receiving device 72 for receiving a wireless command signal from a remote controller 90 (remote control device), converting the received wireless command signal into an electric signal, and transmitting the electric signal to control unit 30 are provided on the right lateral side portion of both lateral side portions of the autonomous vehicle. The battery 73 for supplying power to the sonar ECU64, the laminated lamp 71, and the receiver 72 is provided on the front sonar ECU64A, the laminated lamp 71, and the receiver 72, which are provided on both lateral sides of the autonomous vehicle, that is, the right lateral side. In the present embodiment, the front sonar ECU64A, the laminated lamp 71, the receiver 72, and the battery 73 are provided on the right lateral side portion of the autonomous vehicle, but may be provided on the left lateral side portion of the autonomous vehicle.

To explain in detail, as shown in fig. 2 and 3, the front sonar ECU64A and the stack lamp 71 are provided at a position above the right preliminary seedling housing device 17A. As shown in fig. 2 and 3, the receiver 72 is provided near the right end of the vehicle body in the front upper region of the cab 14. The battery 73 is provided below the right preliminary seedling housing device 17A.

[ constitution of laminated Lamp ]

As shown in fig. 2 and 3, the laminated lamp 71 is provided at a position on the vehicle body lateral direction inner side in an upper region of the right preliminary seedling housing device 17A which is an outer peripheral portion of the autonomous vehicle. The lamination lamp 71 is provided at a position higher than the uppermost preliminary seedling stage 70 among the four preliminary seedling stages 70 on the upper and lower sides of the right preliminary seedling housing device 17A. The laminated lamp 71 is provided at a position lower than the antenna 8p of the positioning unit 8 so as not to interfere with reception by the positioning unit 8, and is provided at a position lower than the antenna 72p of the receiving device 72 so as not to interfere with reception by the receiving device 72.

The laminated lamp 71 is supported so as to be capable of changing its posture between a use posture, as shown by a solid line in fig. 1, in which the longitudinal direction is along the vehicle body vertical direction, and a storage posture, as shown by a two-dot chain line in fig. 1, in which the laminated lamp is inclined with respect to the use posture in a vehicle body side view and the upper part is lower than the use posture.

Specifically, as shown in fig. 1 and 28, the laminated lamp support member 74 is supported on the upper portion of the right lower end side portion 17a of the preliminary seedling support frame 17. As shown in fig. 28, a connection portion 71a formed at a lower portion of the laminated lamp 71 includes a support shaft 71b and a posture determining arm 71c. The support shaft 71b is attached to the support hole 74a of the laminated lamp support member 74 from the lateral outer side of the laminated lamp support member 74, whereby the laminated lamp 71 is supported by the laminated lamp support member 74 via the support shaft 71 b. As shown by solid lines in fig. 1 and 29, the laminated lamp 71 is operated to swing about the support shaft 71b as a swing fulcrum to be in a state of standing up with respect to the laminated lamp support member 74, whereby the laminated lamp 71 is in a use posture. As shown by the two-dot chain line in fig. 1 and 29, the stack lamp 71 is operated to swing about the support shaft 71b as a swing fulcrum so as to be inclined toward the vehicle body front side with respect to the use posture, whereby the stack lamp 71 is set in the storage posture. When the stack lamp 71 is in the use posture, the fixing bolt 74b is inserted through the bolt hole 74c of the stack lamp support member 74 from the laterally inner side of the stack lamp support member 74 and attached to the bolt hole of the posture determining arm 71c, whereby the stack lamp 71 is held in the use posture by the fixing bolt 74 b. When the stacked lamp 71 is in the accommodated posture, the receiving portion 75a formed in the cover 75 supported by the stacked lamp support member 74 receives and supports the free end side portion of the stacked lamp 71 from below, and the stacked lamp 71 is held in the accommodated posture by the cover 75. The cover 75 is supported by the laminated lamp support member 74, and covers the support portion of the laminated lamp 71, the front sonar ECU64A, from the lateral outside.

The laminated lamp 71 is provided on the outer periphery of the right preliminary seedling housing device 17A which is the outer periphery of the self-propelled vehicle, but is not limited thereto. For example, the fertilizer distributor 4 may be provided above the hopper 25. Further, the side rails may be provided on both lateral outer sides of the cab 14 and supported by rails 76 (see fig. 1 and 2) located on the outer peripheral portion of the rear portion of the self-propelled vehicle via pillars. In this case, the rails may be supported by the left and right balustrades 76. In the present embodiment, the laminated lamp 71 is supported by the preliminary seedling support frame 17, but the present invention is not limited thereto, and a dedicated support frame for supporting the laminated lamp 71 may be provided. It is preferable to have a configuration capable of changing the mounting height of the laminated lamp 71.

In the present embodiment, as shown in fig. 3, 28, and 29, the display lamp sections of pink 71P, green 71G, and blue 71B are laminated on the laminated lamp 71. The display lamp portions of pink 71P, green 71G, and blue 71B are stacked in this order, with green 71G being located below pink 71P and blue 71B being located below green 71G, but not limited thereto. The layers may be stacked in any order, for example, pink 71P between green 71G and blue 71B, and so on. Further, the display lamp unit may be provided with not only three colors but also two colors or four or more colors.

As shown in fig. 1, 2, and 3, a center mark 20 is provided in front of the driver section 14. A display lamp unit 20A for displaying the control mode of the control unit 30 is formed on the upper portion of the center mark 20 that is easy to see from the driver unit 14. In the present embodiment, the display lamp unit 20A includes red, green, amber right, and amber left display lamps, which are not shown. In the present embodiment, the display lamp portion 20A is formed in the center mark 20, but the display lamp portion 20A may not be formed.

In the present embodiment, the display lamp section 20A of the stack lamp 71 and the center mark 20 is controlled by the control unit 30 to have the display state shown in fig. 30. "\9679" "-" indicates turning on of the laminated lamp 71 and the display lamp portion 20A, "-" indicates turning off of the laminated lamp 71 and the display lamp portion 20A, "\9679" "(blinking)" indicates blinking of the laminated lamp 71, as shown in fig. 30.

Next, a part of the display state of the display lamp unit 20A shown in fig. 30 will be described.

When the control unit 30 can start the automatic driving in a state where the person automatic mode is selected and when the control unit 30 can resume the automatic driving in a state where the person automatic mode is selected, all of red, green, amber right, and amber left in the display lamp portion 20A are turned on.

When the automatic driving start condition is not satisfied in a state where the unmanned automatic mode is selected by the control unit 30, all of red, green, amber right, and amber left in the display lamp unit 20A are turned off.

Next, a part of the display state of the multilayer lamp 71 shown in fig. 30 will be described.

When the automated driving can be started in a state where the manned automatic mode is selected by the control unit 30 and when the automated driving can be resumed in a state where the manned automatic mode is selected by the control unit 30, all of the display lamp sections of pink 71P, green 71G, and blue 71B in the stack lamp 71 are turned off.

When the automatic driving start condition is not satisfied in a state where the unmanned automatic mode is selected by the control unit 30, all of the display lamp portions of the stacked lamps 71, i.e., pink 71P, green 71G, and blue 71B, are turned off. When the automatic driving can be started in a state where the unmanned automatic mode is selected by the control unit 30 and when the automatic driving can be resumed in a state where the unmanned automatic mode is selected by the control unit 30, all the display lamp portions of pink 71P, green 71G, and blue 71B are turned on. When an obstacle is sensed in a state where the control unit 30 selects the unmanned automatic mode and when GPS positioning is impossible in a state where the control unit 30 selects the unmanned automatic mode, only the display lamp portion of pink 71P is turned on.

The stacked lamp 71 is used only in the unmanned automatic mode. During the period of adjusting the conditions for starting automatic driving, the display lamp part is not turned on. In the automatic driving, only the lowermost display lamp portion is turned on, and if the automatic driving permission state is established (the state of temporary stop during automatic driving and the state before starting point guide), the three-color display lamp portions are turned on, and if the automatic driving incapability state is established (obstacle sensing, mechanical error), only the uppermost display lamp portion is turned on. Since the information that the automatic driving is impossible is most important, the display lamp portion located at the highest position is turned on when the automatic driving is impossible. The stacked lamp 71 may be turned on in a state where the manned automatic mode is selected by the control unit 30. In the laminated lamp 71, the combination of the display lamp portions turned on in accordance with the control mode and the combination of the display lamp portions turned off in accordance with the control mode may be changed to a combination other than that shown in fig. 30. In a mode other than the automatic driving mode, the display may be performed without using the stack lamp 71. Various displays using the laminated lamp 71 may be performed together with audio notification, virtual screen notification, and the like. The laminated lamp 71 can sense an abnormality of the laminated lamp 71 by sensing a current (voltage) of the laminated lamp 71.

[ support for positioning unit, antenna, and receiver ]

The receiving device 72 is connected to an antenna 72p for receiving a wireless command signal from a remote controller 90 (remote control device). The reception device 72 receives the radio command signal via the antenna 72p. As shown in fig. 1, 2, and 3, the positioning unit 8, the antenna 72p, and the receiver 72 are supported by the upper end side portion 17b of the preliminary seedling support frame 17.

Specifically, as shown in fig. 1, 2, and 3, the upper end side portion 17b includes a frame portion 17y extending in the vehicle width direction at a position above and in front of the cab portion 14, and arm portions 17t extending from both lateral end portions of the frame portion 17y toward the lower end side portion 17a of the preliminary seedling support frame 17 and supported on the upper portion of the lower end side portion 17 a. As shown in fig. 25, the frame portion 17y supports a mounting table 77, and the positioning unit 8 and the receiving device 72 are mounted on the mounting table 77 in a state of being aligned in the vehicle width direction, and fastened to the mounting table 77 by a coupling bolt. As shown in fig. 2 and 3, the fixed positioning means 8 and the receiving device 72 are mounted so that the receiving device 72 is positioned in a lateral row on the vehicle body lateral outer side of the positioning means 8. As shown in fig. 25, the antenna 72p of the receiver 72 is supported by an antenna support portion 77a provided on the mounting table 77 in a state of being positioned in front of the receiver 72. The antenna 72p is detachably supported by the antenna support portion 77a by attraction of a magnet (not shown) provided at the base of the antenna 72p. In the present embodiment, a magnet is used, but the present invention is not limited thereto. For example, a suction cup can be employed. When the antenna 72p extends from the receiving device 72, the antenna 72p can be attached and detached by configuring the receiving device 72 to be attachable and detachable.

As shown in fig. 25, 26, and 28, the extended end portion of the right arm portion 17t in the upper end side portion 17b of the preliminary seedling support frame 17 is supported by a support portion 78 formed in the right lower end side portion 17a of the preliminary seedling support frame 17 via a pivot support shaft 78 a. The left arm portion 17t of the upper end side portion 17b is supported by the lower end side portion 17a with the same configuration as the configuration in which the right arm portion 17t is supported by the right lower end side portion 17a.

The upper end side portion 17b is configured to be supported by the left and right lower end side portions 17a in a state of being swingable about the pivot support shaft 78a as a swing fulcrum. The posture of the upper end side portion 17b is changed to an ascending posture as shown by a solid line in fig. 1, in which the frame portion 17y is positioned above the lower end side portion 17a, and a descending posture as shown by a two-dot chain line in fig. 1, in which the frame portion 17y is positioned rearward of the lower end side portion 17a, by swinging the upper end side portion 17b about the pivot support shaft 78a as a swing fulcrum. When the upper end side portion 17b is operated to swing while holding the right arm portion 17t, the right arm portion 17t passes the vehicle transverse direction inner side of the laminated lamp 71, and the laminated lamp 71 does not constitute an obstacle.

As shown by the solid lines in fig. 1 and 3, by changing the posture of the upper end side portion 17b to the ascending posture, the antenna 72p, the receiver device 72, and the positioning means 8 are positioned at the ascending use position and at a position higher than the lower end side portion 17a. As shown by the two-dot chain line in fig. 1 and 3, by changing the posture of the upper end side portion 17b to the descending posture, the receiver 72 and the positioning unit 8 are positioned at the descending accommodation position, and at a position lower than the upper end portion of the lower end side portion 17a and lower than the ascending use position. When the receiving device 72 and the positioning unit 8 are located at the lowered accommodating position, the up-down direction of the receiving device 72 and the positioning unit 8 is opposite to the up-down direction when located at the raised use position. When the receiver 72 and the positioning unit 8 are lowered to the lowered use position, the antenna 72p can be detached from the antenna support portion 77a so that the antenna 72p does not hit a peripheral member and become an obstacle to the lowering and swinging of the upper end side portion 17 b. When the antenna 72p, the receiver 72, and the positioning unit 8 are positioned at the lifted use position, as shown in fig. 26, the fixing bolt 79 is attached to the arm 17t and the first bolt hole 78b of the support portion 78, so that the upper end side portion 17b can be held in the lifted posture by the fixing bolt 79, and the antenna 72p, the receiver 72, and the positioning unit 8 can be held at the lifted use position. In the case where the receiver 72 and the positioning unit 8 are located at the descent accommodation position, as shown in fig. 27, by attaching the fixing bolts 79 to the arm portions 17t and the second bolt holes 78c of the support portions 78, the upper end side portions 17b can be held in the descent attitude by the fixing bolts 79, and the receiver 72 and the positioning unit 8 are held at the descent accommodation position.

[ Notification device ]

As shown in fig. 1, 3, and 31, the sound alarm generating device 100 as a notification device for notifying the control performed by the control unit 30 is provided at a position above and in front of the driver's part 14 in a state where the sound emitting part 100a faces the driver's part 14. The lower end of the audio alarm generating device 100 is located above the upper end of the driver seat 16, the upper end of the steering wheel 10, and the upper end of the engine cover 2B. In the present embodiment, the voice alarm generating device 100 is used as the notification device, but is not limited thereto. For example, various notification devices such as a device that performs notification by sound or light, or a device that performs notification by images or characters may be used.

As shown in fig. 1, 3, and 31, the audio alarm generating device 100 is provided below the positioning unit 8 in a state in which the positioning unit 8 is covered from above. The positioning unit 8 prevents rainwater, car wash water, and the like from splashing on the audio alarm generating apparatus 100 from above.

As shown in fig. 1, the voice alarm generating device 100 is supported by the preliminary seedling support frame 17.

Specifically, as shown in fig. 1 and 31, a table 77 is provided on the upper end side portion 17b of the preliminary seedling support frame 17, and the positioning unit 8 is supported and fixed by a frame portion 17y in the upper end side portion 17b of the table 77. The support member 101 extends downward from the stage 77. The audio alert generating device 100 is supported inside a box portion 101a formed at a lower portion of the support member 101. The sound alarm generating device 100 is supported by the upper end side portion 17b of the preliminary seedling support frame 17 via the support member 101 and the table 77.

In the present embodiment, the audio alarm generating device 100 is controlled by the control unit 30 to generate an audio alarm shown in fig. 32. In the present embodiment, as shown in fig. 32, the voice alarm generating device 100 generates a voice alarm for notifying the control performed by the control unit 30, and also generates a voice alarm for notification about the traveling of the self-propelled vehicle and a voice alarm for notification about the seedling planting device 3. Note that [ CH ] shown in fig. 32 is a channel.

In the automatic control during turning, reverse, and unmanned operation, a warning is continuously given by a voice through a main gear lever (operation to neutral, forward and reverse operation), and lowering of an insertion portion (when an operator ascends during automatic driving, the leading end portion of each outermost periphery). When the person is automatic, a voice alarm is played back to operate the shift lever in the traveling direction relative to the traveling direction of the route. When the forward and reverse are temporarily switched (back) according to the flow (return, etc.) between the start of automatic driving and the start of the next automatic driving, the operation of the main gear lever corresponding to the request is not requested by a voice alarm. When the main shift lever is accidentally operated to a position other than the neutral position without automatic operation, the operation of the main shift lever to the neutral position is urged by a voice alarm. When there are insufficient seedlings and insufficient fertilizer (insufficient material), the vehicle cannot be driven automatically. At this time, the voice alarm generating apparatus 100 notifies this situation. Urging the operator to respond. With the voice alarm generating device 100, when the automatic driving start switch is turned on, it is checked whether there is no abnormality. When there is an abnormality, the vehicle is restricted to enter automatic driving, and a method of eliminating or avoiding the abnormality is notified (manual work is urged). In automatic driving, the vehicle is informed by voice alarm before starting action. After that, the notification is stopped and the operation is started. Or act in conjunction with the notification. As the notification means, in addition to the audio alert generating device 100, the laminated lamp 71, and the center mark 20, a remote controller, a smartphone, a mobile device, a virtual device (virtual), a work machine lamp, a notification sound, and a vibration may be used.

The voice alarm generating device 100 may be provided above the hopper 25, above the seedling table 21, on the balustrade 76, or the like, behind the cab 14, and the voice alarm generating device 100 may be operated forward when the vehicle is moving forward and the voice alarm generating device 100 may be operated backward when the vehicle is moving backward. The audio alarm generating device 100 may be provided in four directions of the front, rear, left, and right of the driver section 14. The voice alarm generating device 100 may be provided in the housing of the positioning unit 8. In addition, the voice alarm generating device 100 may be surrounded by a dedicated box, and in this case, a hollow portion may be provided in the dedicated box so that sound is sufficiently transmitted to the surroundings. Further, the audio alert generating device 100 may be provided between the battery sides in the left and right directions of the body in consideration of ease of wiring. Preferably, when the audio alarm generating device 100 fails, it notifies the remote controller.

[ remote controller ]

The rice transplanter is provided with a remote controller 90 shown in FIG. 33, and the rice transplanter can be remotely operated by using the remote controller 90. The remote controller 90 is provided with seven buttons and two indicators. In the present specification, the button is to be interpreted broadly, and includes various operation bodies such as a switch and a key, and also includes a software button and a hardware button. The first button 90a is a power on/off button. The second button 90b temporarily stops the machine body 1 in a state where the automatic travel mode is maintained by the one-touch operation. The second button 90b is pressed simultaneously with the function button 90g to stop the machine body 1, and the automatic travel mode is ended. At this time, the engine is not stopped. The third button 90c accelerates the body 1 by a single-press operation, and advances the body 1 at a very low speed by a press operation simultaneously with the function button 90 g. The fourth button 90d decelerates the body 1 by a single-press operation, and retracts the body 1 at a very low speed by pressing the function button 90g at the same time. The fifth button 90e starts automatic travel by being pressed simultaneously with the function button 90 g. The sixth button 90f starts the insertion work by being pressed simultaneously with the function button 90 g. The first indicator 90x indicates the remaining amount of battery, and if the remaining amount of battery decreases, the display color changes from green to red. The second indicator 90y indicates on/off of communication. That is, the second indicator 90y indicates that the remote controller 90 is operated. The second indicator 90y may also display that the operation of the remote controller 90 is accepted by the control system of the rice planting machine.

The function of each button realized by the pressing operation at the same time as the function button 90g may be realized by long pressing or double pressing of each button. Further, the body 1 may be configured to be stopped by the first button 90a as a power button. When the machine body 1 is temporarily stopped while the automatic travel mode is maintained, the second button 90b is operated by one-touch operation. The automatic travel mode may be ended by stopping the machine body 1 by a long press or double press of the second button 90b. In the case where the engine stop for the idling stop is performed, the restart of the engine can be achieved by the button operation of the remote controller 90. Note that the function realized by the simultaneous pressing operation of the function button 90g and each button, the function of each button, and the function of each button realized by the single pressing operation of each button may be replaced. In this embodiment, the remote controller 90 includes seven buttons and two pointers, but the number of each may be changed arbitrarily.

When the driver section 14 is provided with a cradle of the remote controller 90 or a connector capable of data communication with the remote controller 90, the remote controller 90 can exchange data with the information terminal 5 and the control unit 30. In the case where the battery of the remote controller 90 can be charged, it can be charged via the cradle.

In this case, when the holder is provided with a cover that can prevent water when the remote controller 90 is attached or not attached, there is no risk of flood during the washing of the rice transplanter. By exchanging data between the remote controller 90 and the information terminal 5, operation guidance and operation results of the remote controller 90 can be displayed on the touch panel 50. Further, at least one of the information terminal 5, the control unit 30, and the remote controller 90 may be provided with a function of managing a distance between the remote controller 90 and the main body 1 and notifying attention when the distance exceeds a predetermined value. Similarly, at least one of the information terminal 5, the control unit 30, and the remote controller 90 has a function of notifying attention when a communication failure occurs between the information terminal 5, the control unit 30, and the remote controller 90. Further, the following configuration may be adopted: the rice transplanter autonomously performs a predetermined continuous operation by a specific operation (an actual exercise mode operation or the like) to the remote controller 90.

The remote controller 90 may be constructed in various ways. For example, a mobile phone or a tablet computer can be used as the remote controller 90 by installing a corresponding program.

[ information terminal ]

The information terminal 5 is provided in the driver section 14 so as to be manually operable, visually recognizable, and audibly recognizable by an operator (including a driver, a monitor, and the like) seated in the driver seat 16. The information terminal 5 has a network computer function. As shown in fig. 34, a hardware button group 5A including a touch panel 50 and a plurality of operation keys is incorporated in the housing 5A. Substantially the same operation keys are also displayed as a software button group 50a on the touch panel 50. When the display content of the touch panel 50, for example, a map screen or a route screen is enlarged by an operation of an enlargement key or the like, the software button group 50a disappears, but the operation of the software button group 50a can be replaced by the hardware button group 5a. Therefore, the positions of the operation keys in the software button group 50a and the hardware button group 5a correspond to each other. When the operator is required to perform a key operation, the corresponding operation key in the software button group 50a is blinked or lighted to call attention. At this time, when the operation key of the hardware button group 5a is also valid, the operation key corresponding to the hardware button group 5a blinks or lights up. Since the rice transplanter is used basically outdoors, the characters displayed on the touch panel 50 are displayed as black characters on a white background as much as possible.

[ graphic interface of information terminal ]

The rice transplanter can perform rice seedling transplanting operation in a field by automatic driving. Information necessary for this is displayed on the touch panel 50 of the information terminal 5. The information terminal 5 includes a graphical interface for displaying information to the operator and for allowing the operator to perform operation input via the touch panel 50. At this time, an icon imitating the rice transplanter to show the running state of the rice transplanter is displayed on the touch panel 50. The rice transplanter can automatically travel with or without a person, and therefore, the shape or color or both of the rice transplanter icon is changed in each case. The operator inputs various instructions while being guided by information displayed on the screen of the touch panel 50. During automatic operation traveling, the following processing is performed: the information processing device includes (1) a sensor/remote controller checking process, (2) a preparation process, (3) a map making process, (4) a route making process, (5) a job traveling setting process, (6) a traveling support process, and the like, and displays information necessary for each process on the information terminal 5.

[ sensor/remote controller checking process ]

This rice transplanter includes four front sonars 61, two rear sonars 62, and two horizontal sonars 63 (only sonar SU is a generic term for them) as object detection sensors. And (6) timely checking whether the sonar SU has poor action. In the sensor inspection, the operator walks around the rice transplanter while holding a reflector serving as a pseudo obstacle. In the sonar inspection, the operator can remove foreign matter attached to the sonar SU if the sonar SU has a malfunction by finding a malfunction caused by the foreign matter such as soil and water droplets attached to the sonar SU.

The object detection sensor includes a laser sensor, an electromagnetic wave sensor, a camera sensor, and the like in addition to the sonar SU. Alternatively, two kinds of object detection sensors may be combined. In addition, in the object detection using these object detection sensors, particularly using camera sensors, it is appropriate to utilize machine learning as an object detection algorithm. Therefore, the following description is not limited to sonar SU, and can be applied to other object detection sensors.

Fig. 35 shows a sensor inspection control system that performs control of this sensor inspection. The functional elements used for this sensor inspection are a body position calculating section 311 incorporated in the control unit 30, an obstacle sensing section 641 incorporated in the sonar ECU64, a touch panel 50 of the information terminal 5 as a graphic display, and a sonar management section 51 incorporated in the information terminal 5 as a sensor management section.

The body position calculating unit 311 positions the body position using the satellites. The obstacle sensing section 641 senses an obstacle based on a detection signal from the sonar SU. The sonar management unit 51 manages the operation check of sonar. The sonar management unit 51 includes a sonar inspection execution unit 51a as a sensor inspection execution unit and a validity determination unit 51b. The sonar inspection execution unit 51a executes sonar inspection processing when a predetermined condition is satisfied. The validity determination unit 51b records (validates) an operation confirmation flag indicating that the operations of all sonar SUs are confirmed by the sonar check process. The validity determination unit 51b determines (determines validity) whether the recorded operation check flag is maintained (validated) or cancelled (invalidated).

Fig. 36 shows an example of a control flow of sonar inspection. In this flow, the rice transplanter travels to the field by manual travel, performs rice seedling transplanting work by automatic travel in the field, and leaves the field by manual travel when the work is completed.

First, to start the rice transplanter, the main switch is turned on (# S01). Thus, the validity determination unit 51b sets "0" to the operation confirmation flag (simply referred to as a flag in fig. 36) in the initial process of the control system (# S02). The sonar management unit 51 outputs an initial sonar inspection request command (initial sensor inspection request command) (# S03), and inquires of the operator whether or not to perform a sonar inspection through the screen of the touch panel 50 (# S04). When the operator instructs the sonar inspection (# S04, yes branch), the sonar inspection process is executed (# S05).

Fig. 37 shows a flow of sonar inspection processing. First, the sonar management unit 51 displays a screen shown in fig. 38 on the screen of the touch panel 50, and the operator requests that the dummy reflectors be sequentially arranged within the detection range of each sonar SU (# C1). In this screen, the mounting position of each sonar and the detection range of each sonar are shown according to actual conditions, so the operator can easily grasp the mounting position of each sonar and the detection range of each sonar. The operator starts positioning of the analog reflectors so that the ultrasonic waves are reflected from the analog reflectors for the sonar SUs and the reflected waves are received by the sonar SU (# C2). When an inspection screen showing a sonar inspection state shown in fig. 39 is displayed, sonar SU receives (confirms) a reflected wave from a simulated reflector (# C3 is branched), and a small inspection symbol CI1 as a first visual symbol is displayed at the sonar position of the operation target in the inspection screen (# C4). Meanwhile, the action confirmation may be notified by a notification device using sound, light, or vibration. In this case, when sound is used, it is preferable to assign different tones to each sonar SU. When light is used, a laminated lamp or the information terminal 5 may be used. When the operation of the sonar check is performed by the remote controller 90 or the mobile phone, the operation confirmation can be notified by using the vibration function of the remote controller or the mobile phone. This operation checking operation is sequentially performed for each sonar SU.

When the operation of all sonars SU is confirmed (# C5 branch), a large inspection symbol CI2 as a second visual symbol is displayed in an illustration showing the body on the inspection screen (# C6). By displaying the examination mark CI2, the operator grasps that the sonar examination process is completed. The completion of the sonar inspection process may be notified by sound, light, or vibration. When the operation of all sonar SUs is confirmed, the validity determination unit 51b sets "1" to an operation confirmation flag (simply referred to as a flag in fig. 37) (# C7).

The notification of the action confirmation may be performed when the actions of all the sonar SUs are confirmed, instead of performing the notification every time the actions of the sonar SUs are confirmed one by one.

The positioning operation of the dummy reflector may be performed by the operator by holding the dummy reflector around the rice transplanter and winding the dummy reflector around the operator by operating an operating rod such as a fishing rod on which the dummy reflector is mounted in the operator's cab 14. In addition, the simulation reflector can be arranged on the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly, so that the simulation reflector winds around the transplanter for one circle.

Returning to the flow of fig. 36, if the rice planting machine manually travels to the entrance/exit of the field, it is checked whether the rice planting machine has reached the vicinity of the field based on the body position calculated by the body position calculating unit 311 (# S06). When the operator cancels the execution of the sonar check in step # S04 (no branch of S04), the process proceeds to step # S06 without performing the sonar check process. If the body position reaches the vicinity of the field (# C6 is a branch), a pre-work sonar check request command (pre-work sensor check request command) is issued, and therefore, it is first checked whether or not the operation confirmation flag is invalid, that is, whether or not "0" is set to the operation confirmation flag (# S07). If "0" is set to the operation confirmation flag (branch of # S07), the sonar check needs to be completed before the automatic travel is performed, and therefore, here, the sonar management section 51 again asks the operator whether or not the sonar check is to be performed through the screen of the touch panel 50 (# S08). When the operator instructs the sonar inspection (# S08 is branched), the sonar inspection process is executed (# S09). When the sonar check processing is finished, the waiting travel mode is switched from the manual travel mode to the automatic travel mode (# S10). If "1" is set to the operation check flag in the check of step # S07 or if the operator cancels the execution of the sonar check this time in step # S08 (no branch of S08), the sonar check process is not performed, and the process proceeds to step # S10.

When the running mode is switched to the automatic running mode (# S10 yes branch), it is checked whether "0" is set to the operation confirmation flag or not (# S11). If "0" is set to the operation check flag (branch of # S11), the sonar check process is forcibly performed (# S12). When the sonar inspection process is completed, automatic work traveling is possible (# S13). In the period from the time when the rice transplanter is started up to the time, sonar check processing is executed, and if "1" is set to the operation confirmation flag (# S11 no branch), automatic operation traveling can be immediately performed (# S13).

When the automatic running is started, it is checked whether the running mode is switched from the automatic running mode to the manual running mode (# S14). When the travel mode is switched to the manual travel mode (# S14 branch), the operator is asked whether to temporarily interrupt the automatic travel or to end the automatic travel with the end of the field work (# S15). If the vehicle is automatically traveling (S15 end branch), the operation confirmation flag is set to "0" (# S16), and the vehicle shifts to manual traveling (# S17). If the vehicle is an automatic travel stop (# S15 stop branch), the operation confirmation flag is directly shifted to manual travel without setting "0" ("S17").

When the travel mode is shifted to manual travel, a check is made as to whether the travel mode is switched to automatic travel mode (# S18), and a check is made as to whether the rice planting machine is separated from the field (# S19). When the mode is switched to the automatic travel mode (# yes branch of S18), the process jumps to step # S11, and the state of the operation check flag is checked. When the rice planting machine leaves the field (# S19 branch), the operation confirmation flag is set to "0" (# S20). When the main switch of the rice planting machine is turned off (# S21 is branched), the routine is ended.

The reset (invalidation) of the operation confirmation flag in which the content of the operation confirmation flag set (validated) to "1" is replaced with the operation confirmation flag of "0" may be performed due to the expiration of the set validity period, in addition to the above. Alternatively, the operation confirmation flag may be invalidated at a timing (timing of date change) when the date of validation of the operation confirmation flag is advanced, other than during automatic driving at night. Further, it is preferable to further prepare: the operation check flag is not set to be invalidated when one field is automatically traveled or when a plurality of predetermined fields are automatically traveled, as long as the field is not separated.

Although not shown in fig. 36, the operation confirmation flag is canceled (invalidated) when a job end command for ending a job is given, and the operation confirmation flag is maintained when a job interrupt command for interrupting a job is given.

At the same time as the sonar inspection, the operation inspection of the remote controller 90 is also performed. Note that when the remote controller 90 is selected not to be used, the remote controller check may be omitted. In an example of the remote controller check, buttons to be operated by the remote controller 90 are sequentially displayed on the touch panel 50 of the information terminal 5. Accordingly, the operation check is performed by operating the corresponding button. When the actions of all the buttons are confirmed, the action check ends. In this case, as in the sonar inspection, it is preferable that the visual symbol indicating that the operation of each button is completed and the visual symbols indicating that the operation of all the buttons is completed are displayed on the touch panel 50. The invalidation of the operation check flag indicating that the operation check of the remote controller 90 is completed may be carried out by the invalidation of the operation check flag in the sonar check described above.

The inspection processing (sonar inspection, remote controller inspection, laminated lamp inspection, voice alarm inspection, and the like) performed before the start of automatic traveling may be cancelled after the intention of the operator is confirmed. The cancellation of such an inspection process may be limited to automatic driving with a person.

[ preparation treatment ]

In the preparation process, four caution screens shown in fig. 40 are sequentially displayed (reference numerals (a), (b), (c), and (d) are given, respectively). (a) The screen (2) is a warning screen for prohibiting the machine body 1 from automatically traveling along a cliff or a waterway in a posture inclined to an extent not less than an allowable range. (b) The screen (2) is a warning screen for asking the operator to sit in the driving part 14 to automatically drive the operator when the operator automatically drives the machine during the seedling planting operation along the outermost periphery of the field. (c) The screen (2) is a warning screen for requesting to newly create a map without using the previous map. (d) The screen (2) is a warning screen for prohibiting automatic traveling in a field where deformation is allowable to a degree greater than or equal to the allowable range, or in a case where a traveling obstacle exists in the field. A "confirm" button is arranged on each screen, and the next screen is displayed by pressing the "confirm" button.

The caution notice screen as a preparation before the automatic traveling is displayed every time the automatic traveling mode is selected, but may be displayed every predetermined time or every time the date is changed.

In addition, when the same operator performs automatic travel, the warning screen may be continuously displayed in animation without pressing the "confirm" button. Fig. 40 shows four reminder notice screens individually displayed on the touch panel 50, but these reminder notice screens may be arbitrarily combined. For example, the screen of (a) and the screen of (b) may be combined into one attention-calling screen.

In general, various processes performed together with information display on the touch panel 50 are shifted to the next process by pressing the "next" button, but in the process of displaying the reminder notice screen, until all of the reminder notice screen is displayed and the "confirm" button is pressed, screen transition by the "next" button is invalidated. Therefore, the process cannot be shifted to the next process unless the operator confirms all the warning notice screens. However, when the operator is the same operator or the same job is found to be a job on the same day or a job in a short time, control may be performed so that the "confirmation" operation can be omitted.

[ map selection processing ]

The map selection process in the transplanter will be described. Fig. 41 is a functional block diagram showing a functional unit in the map selection process. As shown in fig. 41, in the map selection process in the present embodiment, the control unit 30 and the information terminal 5 mutually transmit and receive information and data. In the present embodiment, the control unit 30 includes a body position calculating unit 311, and the information terminal 5 includes a display device 551 (touch panel 50), a map information storage unit 552, a map information display unit 553, an input region determining unit 554, an input position information calculating unit 555, a thumbnail display unit 556, an operation determining unit 557, an area calculating unit 558, and a notifying unit 559. Each functional unit is configured by hardware or software or both, with a CPU as a core member, in order to perform map selection processing.

The body position calculating unit 311 calculates the body position using satellite positioning. The positioning unit 8 is used for satellite positioning, and GPS information including latitude information, longitude information, and altitude information, for example, is transmitted from the positioning unit 8 to the body position calculation unit 311. In the present embodiment, the height information corresponds to the height of the body 1 (the height of the positioning means 8) obtained by adding the ground level height and the elevation. The body position is a position of the body 1 in the real space, and is represented by latitude information, longitude information, and altitude information. The body position calculating section 311 calculates the position of the body 1 in the real space based on such GPS information.

The map information storage unit 552 stores map information indicating the shape of the work place based on position information indicating the position of the work place and time information indicating the time at which the map information is created. The shape of the work area is the shape of the field where the transplanting work is performed by the rice transplanter, and corresponds to the shape of the field.

In the present embodiment, such information indicating the shape of the field outline is regarded as map information. The location of the working site is the location of the field, and may be the location of the outer periphery of the field, or the location of the entrance/exit of the field into/from which the rice transplanter advances/retracts. Further, the position may be a central portion of the field. The time information indicating the time at which the map information is created may be a time stamp indicating the time at which the above-described position information is acquired, or may be a time stamp indicating the time at which the map information is stored in the map information storage unit 552. The map information includes position information defining the position of the above-mentioned field, such as latitude information, longitude information, and altitude information, and time information defining the time at which the map information is created.

The display device 551 has a display screen. In the present embodiment, the display device 551 corresponds to the touch panel 50 of the information terminal 5. In the present embodiment, the touch panel 50 doubles as a display screen. Therefore, the display screen will be described as the touch panel 50 without any particular distinction.

The map information display unit 553 displays, on the touch panel 50, map information extracted based on the body position, the position information, and the time information among the map information stored in the map information storage unit 552. As described above, the map information storage unit 552 stores map information including position information and time information. The body position is the position of the body 1 in the physical space calculated by the body position calculating section 311, specifically, the current position of the rice transplanter.

The map information display unit 553 extracts map information indicating the shape of the field including the current position of the rice planting machine, that is, map information having the latest time stamp based on the time information, from the map information stored in the map information storage unit 552, and displays the extracted map information on the touch panel 50. Thus, when the rice transplanter is present in a field, the latest map information indicating the shape of the field can be automatically displayed on the touch panel 50.

Fig. 42 shows map information of a field where the rice transplanter is currently located, which is displayed on the touch panel 50. For ease of understanding, in fig. 42, the map information displayed by the map information display unit 553 is displayed as map information 5531. In fig. 42, the image 560 of the rice transplanter is also shown at a position corresponding to the current position of the rice transplanter in the map information 5531. Further, fig. 42 also shows map information 5532 indicating the shape of a field within a predetermined distance from the field corresponding to the map information 5531. Preferably, the map information display unit 553 also extracts the map information 5532 from the map information storage unit 552 and displays the map information on the touch panel 50.

In the case where the rice planting machine is not present in the field or the map information corresponding to the current position of the rice planting machine is not present, it is preferable that the map information indicating the shape of the field adjacent to or near the current position of the rice planting machine is displayed on the touch panel 50.

In fig. 42, the map information 5531 is displayed on the lower layer (back surface) of the image 560. That is, the rice planting machine exists in a field corresponding to the map information 5531. In this case, the index 5533 may be set so as to surround the map information 5531 along the outer edge portion. Although not shown in fig. 42, information indicating the date and time at which the map information 5531 was created and the area of the field corresponding to the map information 5531 may be displayed on the touch panel 50.

Returning to fig. 41, the input area determination unit 554 determines an input area for the user to input an operation, among the map information displayed on the display screen. As described above, in the present embodiment, the map information is displayed on the touch panel 50. The user is an operator. In the present embodiment, the operation input corresponds to an input performed by the operator touching the touch panel 50 with a finger. Therefore, the input region corresponds to a region of the touch panel 50 that is touched by the finger of the operator. Therefore, the input area determination unit 554 determines an area in the touch panel 50 which the operator's finger has touched when the operator touches the touch panel 50 to perform an input, among the map information displayed on the touch panel 50.

The input position information calculation unit 555 calculates position information in the map information corresponding to the input area determined by the input area determination unit 554, as input position information. The input area determined by the input area determination unit 554 is an area that the operator's finger touches on the touch panel 50 on which the map information is displayed when the operator touches the touch panel 50 with the finger to perform an input. On the other hand, the map information is information indicating the shape of the field, and coordinates on the map information and position information of the field are correlated with each other. Therefore, the input position information calculation unit 555 calculates the position of the field corresponding to the region touched by the finger of the operator in the map information displayed on the touch panel 50. Position information, which is information indicating the position, corresponds to input position information.

The thumbnail display section 556 extracts the map information stored in the map information storage section 552 based on the input position information, and displays it on the touch panel 50 as a thumbnail. The input position information is calculated and transmitted by the input position information calculation unit 555. The thumbnail display unit 556 extracts the map information of the field including the position indicated by the passed input position information from the map information stored in the map information storage unit 552. The thumbnail image displayed on the touch panel 50 means that the thumbnail image is displayed on the touch panel 50 in a reduced size. Here, the map information is displayed in a smaller size than the map information displayed by the map information display unit 553. Therefore, the thumbnail display unit 556 displays the map information extracted from the map information storage unit 552 on the touch panel 50 in a smaller size than the map information displayed by the map information display unit 553. At this time, the map information displayed by the map information display unit 553 and a plurality of pieces of map information extracted by the thumbnail display unit 556 and having different time information are displayed on the touch panel 50.

In other words, a plurality of pieces of map information are stored (layer-stored) in a stacked state by time information in the map information storage unit 552, and the thumbnail display unit 556 displays the pieces of map information (a plurality of pieces of map information) stored in the layer in thumbnails based on the input position information calculated by the input position information calculation unit 555.

In this case, the map information at least partially overlapping (having a layered portion) with the selected field (the field based on the input position information calculated by the input position information calculation unit 555) may be displayed in its entirety.

Fig. 43 shows an example in which the operator selects map information 5532 indicating the shape of a field different from the field in which the seedling planting machine is located. In this case, the outer peripheral portion of the selected map information 5532 is surrounded by the indicator 5533, clearly indicating that the map information 5532 is selected. Further, the

map information

5534, 5535, 5536 stored in the layer is displayed as thumbnails on the map information 5532.

In this case, it is preferable that the thumbnail display unit 556 also displays the job information indicating the job performed in the job site based on the map information displayed as thumbnails. The information of the work performed in the work area based on the map information is information indicating the content of the planting work performed by the rice planting machine in the past in the field corresponding to the map information displayed on the touch panel 50. Specifically, the time corresponds to the date and time when the transplanting operation is performed, the operation conditions, and the like. Therefore, thumbnail image display unit 556 displays map information displayed in a reduced size on touch panel 50, and the date and time of the past transplanting work performed in the field corresponding to the map information, the work conditions, and the like. Thus, for example, when the operator is interested in the map information displayed as the thumbnail, the map information extracted from the map information storage unit 552 can be replaced with the map information touched by the operator by touching the map information, and the map information can be enlarged and displayed.

Fig. 43 also shows an example of job information displaying such map information displayed in thumbnail images. That is, when the cursor 5537 is operated in a state where the map information is displayed as a thumbnail image and the map information 5534 is selected, information indicating the date and time at which the map information 5534 was created and the area of the field corresponding to the map information 5534 are displayed on the touch panel 50 (not shown in fig. 43). Of course, instead of the operation with the cursor 5537, the operation may be performed by directly touching the map information 5534 with a finger.

Further, thumbnail display unit 556 may display map information displayed in a reduced size on touch panel 50, and images of a field name, a field area (unit unique to each country such as a measure system), and a field periphery. Further, the name of the operator who performed the previous work, the work time, and the like may be displayed.

Here, when the operator makes an operation input to the touch panel 50, as shown in fig. 44, the operator may touch a plurality of

map information

5538 and 5539 with his or her finger.

In this case, the present embodiment is configured to be able to appropriately determine which map information has been selected and displayed on the touch panel 50. This will be explained below.

Returning to fig. 41, the operation determination unit 557 determines whether the input area relates to at least two or more pieces of map information in a state where a plurality of pieces of map information are displayed on the touch panel 50. The case where a plurality of pieces of map information are displayed on the touch panel 50 is, for example, fig. 44. The input area is an area determined by the input area determination unit 554 and input by an operator on the touch panel 50. The operation determination unit 557 determines whether or not such operation input relates to at least two or more pieces of map information, that is, whether or not the area of the touch panel 50 touched by the operator overlaps with a plurality of pieces of map information.

When the input region includes at least two or more pieces of map information, the area calculation unit 558 calculates the area of the input region in each piece of map information. By transmitting the determination result of the operation determination unit 557 to the area calculation unit 558, it is possible to specify that the input area relates to at least two or more pieces of map information. When the area of the touch panel 50 touched by the operator overlaps a plurality of pieces of map information, the input area in each piece of map information corresponds to the area touched by the operator for each piece of map information. Therefore, when the area touched by the operator on the touch panel 50 overlaps with a plurality of pieces of map information, the area calculation unit 558 calculates the area of the area touched by the operator for each piece of map information.

Specifically, as shown in fig. 44, the area of the area 5541 where the input area 5540 inputted by the operator and the map information 5538 positioned on the lower side (back side) of the input area 5540 overlap each other is calculated, and the area of the area 5542 where the input area 5540 inputted by the operator and the map information 5539 positioned on the lower side (back side) of the input area 5540 overlap each other is calculated.

In this case, the input region determining unit 554 sets the map information of the input region having the largest area among the at least two or more map information as the map information that has been input by the operation. That is, it is determined that the operator has performed the operation input with respect to the map information having the largest area among the areas of the plurality of map information calculated by the area calculation unit 558. In the example of fig. 44, the area of the region 5541 and the area of the region 5542 are compared, and it is determined that an operation input has been performed on the map information 5538 of the region 5541 having a larger area. Thus, even when the operator erroneously performs an operation input on a plurality of pieces of map information, the operation input by the operator can be appropriately detected.

Here, as described above, the map information displayed on map information display unit 553 and the reduced map information displayed on thumbnail display unit 556 may be displayed on touch panel 50. As shown in fig. 44, a plurality of pieces of map information displayed by the map information display unit 553 may be displayed. In this case, if there is a large amount of map information that is created earlier than the current time, when the operator refers to such map information during the insertion work, there is a possibility that the information is too old and a failure occurs.

Therefore, it is preferable that the notification unit 559 calculates the time elapsed since the map information is created based on the time information on the map information displayed on the touch panel 50, and notifies the creation of the map information based on the elapsed time. The time information related to the map information is a time stamp indicating the date and time at which the map information was created. The time elapsed since the map information was created is the time from the time of creating the map information to the present time. The reproduction of the map information is to reproduce the map information. Therefore, the notification unit 559 refers to a time stamp indicating the date and time at which the map information displayed on the touch panel 50 was created, and calculates the time from the creation of the map information to the present. When the calculated time is longer than a predetermined time (for example, 3 months), the notification unit 559 preferably notifies that the re-map information is to be urged. The notification may be displayed on the touch panel 50 or may be performed by voice. This makes it possible to notify the risk of a change in the field. Further, when a time (for example, 1 year) longer than a predetermined time (for example, 3 months) has elapsed, it is preferable to notify (warn) the risk of a field change more strongly than in the case of a predetermined time (for example, 3 months) and to urge the reconstruction of the map information more strongly.

Further, the notification unit 559 may be configured to acquire disaster information indicating a disaster occurred at a work place, and based on the disaster information and time information on map information displayed on the touch panel 50, notify the user of the reproduction of the map information when it is determined that the work place based on the map information is a disaster after the map information is generated. Disasters that have occurred in the work place so far, particularly disasters that have occurred after previous work, for example, correspond to earthquakes, typhoons, wind disasters, flood disasters, and the like. As for the occurrence status of such a disaster, disaster information including the type of the disaster and information on the occurrence date and time can be acquired through, for example, a management server, WEB, or the like. The notification unit 559 refers to disaster information and a time stamp indicating the date and time at which the map information displayed on the touch panel 50 was created, and determines whether or not a disaster has occurred at the work site indicated by the map information during the period from the creation of the map information to the present, that is, whether or not the work site has suffered a disaster. When a disaster occurs at a work site during a period from creation of map information to the present, the notification unit 559 preferably notifies that the creation of new map information is to be urged. The notification may be displayed on the touch panel 50 or may be performed by sound.

For example, the notification unit 559 may be configured to notify the user of the guidance to prompt the user to create the new map information even when the manager of the map information, the manager of the work place, or the manager of the operator changes during the period from the creation of the map information to the present time. In this case, it is preferable that the map information includes information that can identify a manager of the map information, a manager of the work place, a manager of the operator, and the like.

In the above embodiment, the display screen is the touch panel 50, but the display screen may not be the touch panel 50. In this case, the operation input of the operator can be input by operating a cursor using a touch panel or the like, for example.

In the above-described embodiment, when there are a plurality of input regions for the operator, the input region determination unit 554 sets the map information of the input region having the largest area as the map information to be input by the operator. However, regardless of the area, the map information of the area (position) that is first touched may be set as the map information that is input by the operator, or the latest map information among the plurality of map information may be set as the map information that is input by the operator. Further, the operator may be configured to select, as selection candidates, all of the work areas located within a predetermined range centered on the input area. Further, the map information may include frequency-of-use information indicating the frequency of use of the map information, and the map information with a high frequency of use may be displayed as being positioned at the uppermost layer in the map information displayed as thumbnails.

In the above embodiment, the thumbnail display unit 556 has been described as displaying the job information indicating the job performed in the job place based on the map information displayed as thumbnails, but the job information may not be displayed.

In the above embodiment, the notification unit 559 has been described as notifying the reproduction of the map information based on the elapsed time from the generation of the map information, but the notification unit 559 may be configured not to notify the reproduction of the map information. Note that the elapsed time may be calculated by a functional unit different from the notification unit 559.

In the above embodiment, the notification unit 559 has been described as notifying the re-production of the map information when it is determined that the work area based on the map information is damaged, but the notification unit 559 may be configured not to notify the re-production of the map information even when the work area is damaged.

The map information displayed on the touch panel 50 may be added with field information. However, the field information may be added by, for example, a smartphone, the information terminal 5, a management server, a remote controller, or voice input. It is preferable that the map information be sorted for each item of the field information (date and time, field area, field name, user key, and the like).

In the above embodiment, the description has been given of the map information storage unit 552 storing the map information, but the map information may be configured so that the operator can delete the map information via the touch panel 50. In this case, it is possible to cope with a case where the detection accuracy (GPS sensitivity) of the body position is poor when map information is created, or a case where the field shape is changed by performing division arrangement or the like.

Further, it is preferable that a plurality of pieces of map information stored in the map information storage unit 552 be integrated into one piece of map information. This allows the processing to be easily performed by combining the overlapping map information. Further, even when the field shape is changed by division arrangement or the like, it is not necessary to newly acquire the map information. Moreover, even when the replenishment position of the material used for the work is limited, it can be easily handled in a case where it is substantially necessary to manage the material as one field.

[ treatment of field shape ]

The field shape acquisition process in the transplanter will be described. Fig. 45 is a block diagram showing a functional unit in the field shape acquisition process. As shown in fig. 45, in the field shape acquisition process in the present embodiment, information and data are transmitted and received between the control unit 30 and the information terminal 5. In the present embodiment, the control unit 30 includes a body position calculation unit 311, and the information terminal 5 includes a display device 551 (touch panel 50), a position information calculation unit 571, a map information creation unit 572, and a travel route generation unit 573. Each functional unit is configured by hardware, software, or both, with a CPU as a core member, in order to perform field shape acquisition processing.

The body position calculating unit 311 calculates the body position using satellite positioning. The positioning unit 8 is used for satellite positioning, and GPS information including latitude information, longitude information, and altitude information, for example, is transmitted from the positioning unit 8 to the body position calculation unit 311. In the present embodiment, the height information corresponds to the height of the body 1 (the height of the positioning means 8) obtained by adding the ground level height and the elevation. The body position is a position of the body 1 in the actual space, and is represented by latitude information, longitude information, and altitude information. The body position calculating section 311 calculates the position of the body 1 in the real space based on such GPS information.

When traveling along a plurality of areas divided along the outer periphery of the work place, the positional information calculation unit 571 calculates positional information based on the body position and the position of the rear side end portion on the outer periphery side of the body 1 at the time of starting traveling in one area. The outer periphery of the work area is the outer periphery of the field where the rice transplanter performs planting work, and corresponds to the inner periphery of the ridge dividing the field. For example, when the field has a polygonal outer shape, a plurality of regions divided along the outer periphery of the work site correspond to the sides of the polygon. When the field has at least an arc-shaped portion, the arc-shaped portion may be divided into a plurality of regions as one region. Of course, when the outer shape is a polygon, one side may be divided into a plurality of regions.

For the sake of easy understanding, the field shown in fig. 46 will be described below as having a quadrangular outline, with each side constituting one region. Therefore, the plurality of regions divided along the outer periphery of the work site correspond to the four sides of the field having the quadrangular outer shape. Hereinafter, the four sides will be described as outer peripheral portions 591-594, respectively.

The travel start time in one area is the time when the rice transplanter starts traveling at the outer peripheral portions 591-594, respectively. The body position is the position of the rice transplanter and is calculated by the body position calculating unit 311. In the case of counterclockwise travel of the outer peripheral portions 591-594 of the field in fig. 46, the position of the rear side end portion on the outer peripheral side of the machine body 1 corresponds to the right sliding panel 3B, and in the case of clockwise travel, the position of the rear side end portion on the outer peripheral side of the machine body 1 corresponds to the left sliding panel 3B. Therefore, when the outer circumferential portions 591-594 of the field start to travel, the position information calculation unit 571 calculates position information based on the position of the rice transplanter calculated by the body position calculation unit 311 and the position of the sliding plate cover 3B.

Specifically, the positional information calculation section 571 stores in advance the deviation between the position of the positioning means 8 and the position of the slide plate guards 3B, and preferably calculates the positional information by adding or subtracting the deviation between the positioning means 8 and the slide plate guards 3B corresponding to the direction of travel of the rice transplanter from the direction of travel (counterclockwise or clockwise) of the machine body in the field.

Further, at the travel end time in one area, the position information calculation unit 571 calculates position information based on the body position and the position of the front side end portion on the outer peripheral side of the body 1. The travel end time in one area is the time when the rice transplanter ends traveling at the outer peripheral portions 591-594, respectively. When the outer peripheral portions 591-594 of the field in fig. 46 travel in the counterclockwise direction, the front end on the outer peripheral side of the machine body 1 corresponds to the right preliminary seedling housing device 17A (the right end of the right preliminary seedling housing device 17A), and when the machine body 1 travels in the clockwise direction, the front end on the outer peripheral side corresponds to the left preliminary seedling housing device 17A (the left end of the left preliminary seedling housing device 17A). Therefore, when the travel of each of the outer peripheral portions 591-594 of the field is finished, the position information calculation unit 571 calculates the position information based on the position of the seedling planting machine calculated by the body position calculation unit 311 and the position of the preliminary seedling housing device 17A.

Specifically, the positional information calculation unit 571 preferably stores in advance the deviation between the position of the positioning means 8 and the position of the preliminary seedling container 17A, and calculates the positional information by adding or subtracting the deviation between the positioning means 8 and the preliminary seedling container 17A corresponding to the direction of travel of the rice transplanter from the direction of travel of the rice transplanter (counterclockwise direction or clockwise direction).

Here, the rice transplanter is provided with a working unit that performs a ground operation so as to be able to ascend and descend with respect to the machine body 1. The working unit for performing the ground working is a seedling planting device 3. In this case, the position information calculating part 571 preferably sets the time point when the seedling planting device 3 in the raised position is in the lowered state as the driving start time, and sets the time point when the seedling planting device 3 in the lowered state returns to the raised position as the driving end time. The time point at which the seedling planting device 3 in the raised position becomes the lowered state is the time point at which the planting mechanism 22 of the seedling planting device 3 approaches the planting surface to enable seedling planting on the planting surface (field surface) of the field and the ground preparation floating plate 15 is grounded. A sensor may be provided on the land preparation float 15 to detect the lowering of the seedling planting device 3, and the lowering of the seedling planting device 3 may be performed by detecting the position of the operation lever 11 for performing the lifting operation of the seedling planting device 3.

Further, the time point at which the seedling planting device 3 in the lowered state returns to the raised position is a time point at which the planting mechanism 22 of the seedling planting device 3 is away from the planting surface of the field and the land preparation float 15 is away from the planting surface. The rice seedling planting device 3 may be lifted by providing a sensor on the land preparation floating plate 15, and the rice seedling planting device 3 may be lifted by detecting the position of the operation lever 11 for lifting the rice seedling planting device 3.

In this way, the position information calculation unit 571 can appropriately calculate the position information by setting the time point at which the transplanting mechanism 22 of the seedling transplanting device 3 approaches the transplanting surface so that the transplanting surface of the field can be transplanted and the land preparation floating plate 15 is grounded as the travel start time, and setting the time point at which the transplanting mechanism 22 of the seedling transplanting device 3 is away from the transplanting surface of the field and the land preparation floating plate 15 is away from the transplanting surface as the travel end time.

Note that, if the insertion mechanism 22 does not descend (the land preparation floating plate 15 is not grounded), the position information calculation unit 571 may be configured so as not to calculate the position information. In addition to the grounding of the land leveling plate 15, the start and end of the calculation by the position information calculation unit 571 may be determined by combining other conditions or a plurality of conditions (for example, on/off of the insertion clutch, a marker operation position, a link sensor (link sensor), on/off of the rotor, and the like).

Here, for example, when the outer periphery portion 591 travels counterclockwise and reaches the vicinity of the intersection of the outer periphery portion 591 and the outer periphery portion 592, the machine body 1 may travel while repeating the travel and the stop (travel while finely adjusting the machine body position). In this case, the raising and lowering of the transplanting mechanism 22 of the seedling transplanting device 3 can be repeated. As described above, the position information calculating part 571 sets the time point at which the seedling planting device 3 in the raised position is in the lowered state as the driving start time, and sets the time point at which the seedling planting device 3 in the lowered state returns to the raised position as the driving end time. However, when the vehicle travels while performing fine adjustment as described above, for example, a plurality of unexpected travel start time positions and a plurality of unexpected travel end time positions may be detected during travel of the outer peripheral portion 591.

Therefore, when the moving distance of the machine body 1 from the position of the previous travel start time to the position of the next travel start time is equal to or less than the preset distance, the position information calculation unit 571 preferably invalidates the position of the previous travel start time. That is, when the moving distance of the rice transplanter traveling during the period from when the seedling planting device 3 at the raised position is lowered to when it returns to the raised position and when the seedling planting device 3 at the raised position is lowered again is a predetermined distance (for example, several tens of cm) or less, the possibility of traveling while performing fine adjustment is high, and therefore, it is preferable to invalidate the position at the previous traveling start time. In this case, it is also preferable that the position of the travel end time caused by returning the seedling planting device 3 to the raised position is invalidated before the previous travel start time.

Specifically, as shown in fig. 47, when the rice transplanter is driven during the period from when the seedling planting device 3 at the raised position at T =1 is in the lowered state to when it returns to the raised position at T =2, and when the seedling planting device 3 at the raised position at T =3 is again in the lowered state, the movement distance 5991 is longer than a predetermined distance (for example, several tens of cm), and therefore, the position at the time of the previous start of driving at T =1 is not invalidated. On the other hand, when the seedling planting device 3 in the raised position at T =3 returns to the raised position when it is lowered to T =4, and the seedling planting device 3 in the raised position travels until it is lowered again when the outer peripheral portion 592 travels T =5, the travel distance 5992 is equal to or less than a predetermined distance (for example, several tens of cm), and therefore the position at the previous travel start time at T =3 is invalidated. In this case, even when T =2 is set before T =3, which is invalid, the position at the end of travel, which is caused by returning the seedling planting device 3 to the raised position, is preferably invalidated.

In addition, during the period from the start to the end of travel in one area, the position information calculation unit 571 preferably calculates position information based on the position where the first line 596 and the second line 597 intersect, the first line 596 virtually extending in the width direction of the machine body 1 from the center of gravity position 595 of the machine body 1, and the second line 597 virtually extending in the longitudinal direction of the machine body 1 from the most protruding portion of the machine body 1 in the width direction of the machine body 1. The period from the start to the end of travel in one region is a period from the start to the end of travel for each of the peripheral portions 591-594 of the field. In fig. 48, a first line 596 virtually extending from the center of gravity position 595 of the body 1 in the width direction of the body 1 corresponds to a line extending in parallel in the left-right direction, which is the width direction of the body 1, from the position (center of gravity position 595) which is the center of gravity of the body 1. The most protruding portion in the width direction of the machine body 1 in the machine body 1 corresponds to the most protruding portion in the left-right direction, which is the width direction of the machine body 1, in the machine body 1. In the present embodiment, as shown in fig. 48, it corresponds to the slide plate cover 3B. Therefore, in fig. 48, a second line 597 virtually extending in the longitudinal direction of the machine body 1 from the most protruding portion of the machine body 1 in the width direction of the machine body 1 corresponds to a line extending in parallel in the front-rear direction, which is the longitudinal direction of the machine body 1, from the slide plate cover 3B.

Therefore, when the rice transplanter travels counterclockwise on the outer periphery of the field, the position information calculating part 571 calculates the position information based on the position of the intersection point 598R of the first line 596 and the second line 597 set with reference to the right slide plate fence 3B, and when the rice transplanter travels clockwise on the outer periphery of the field, the position information calculating part 571 calculates the position information based on the position of the intersection point 598L of the first line 596 and the second line 597 set with reference to the left slide plate fence 3B. In the present embodiment, the second line 597 is set with reference to the slide plate cover 3B, but may be set with reference to the left and right ends of the GPS antenna instead of the slide plate cover 3B, or may be set with reference to the front and rear wheels.

Returning to fig. 45, the map information creating unit 572 creates map information indicating the shape of the work place based on the position information. The positional information is calculated by the positional information calculation unit 571 and transmitted to the map information creation unit 572. The map information indicating the shape of the work place corresponds to a map indicating the shape of the field in which coordinates including latitude information and longitude information indicated by position information acquired by the rice planting machine traveling on the outer periphery of the field are continuously connected. Therefore, the map information creating unit 572 creates a map indicating the shape of the field in which the coordinates including the latitude information and the longitude information indicated by the position information calculated by the position information calculating unit 571 are continuously connected. Since such map information can be created by a known method, the description thereof is omitted. Here, the map information during the production will be described as map information only.

Here, when the map information creating unit 572 creates map information, the touch panel 50 may be configured to display the creation status. For example, the touch panel 50 may be configured to explicitly indicate the shape of the field indicated by the map information using a plurality of indicators. The index is a mark displayed on the display screen. Therefore, the map information creating unit 572 may be configured to add a mark to the touch panel 50 so as to correspond to the coordinates indicated by the position information calculated by the position information calculating unit 571.

In this case, it is preferable that the position of the travel start time and the position of the travel end time are displayed on the display screen by an index different from an index indicating a position other than the position of the travel start time and the position of the travel end time. This enables an operator viewing the display screen to intuitively grasp both the position of the travel start time and the position of the travel end time, and the position of the period from the start of travel to the end of travel.

Further, the position of the travel start time and the position of the travel end time may be displayed on the display screen by different indices. This enables an operator viewing the display screen to intuitively grasp the position of the travel start time and the position of the travel end time.

Here, as described above, the map information creating unit 572 creates map information using the position information calculated by the position information calculating unit 571, and the position information calculating unit 571 calculates the position information based on the body position calculated by the body position calculating unit 311. The body position is transmitted from the body position calculation unit 311 to the map information generation unit 572 and the position information calculation unit 571, but when the map information generation unit 572 and the position information calculation unit 571 use all the body positions to generate map information and position information, respectively, the data amount may increase.

Therefore, the map information generating unit 572 preferably generates the map information using only the position information transmitted to the map information generating unit 572, of the position information calculated by the position information calculating unit 571. Thus, the positional information calculation unit 571 can calculate positional information by thinning out the body position from the body position calculation unit 311, and can create map information from the thinned out positional information, thereby suppressing an increase in the data amount.

Preferably, when the data amount of the map information is equal to or larger than a preset value, the map information creating unit 572 deletes data corresponding to a portion where the amount of change in the shape of the work place is small, and clearly instructs an index corresponding to the deleted data on the display screen so as to be distinguishable from other indexes. The map information generation unit 572 generates the map information having the data amount equal to or larger than the predetermined value. The portion where the change amount of the shape of the working place is small is a portion which is linear in the outline shape of the field, an arc-shaped portion having a constant curvature, or a portion which changes at a constant change rate. Therefore, when the data amount of the map information created by the map information creating unit 572 is equal to or larger than a predetermined value, the map information creating unit 572 deletes data indicating a portion of the field contour shape that is linear, an arc-shaped portion having a constant curvature, or a portion that changes at a constant rate of change. This can suppress an increase in the data amount. Even when data is deleted, it is preferable that the shape is indicated by an index different from the index for data that is not deleted, without deleting the index indicating the outline of the field displayed on the touch panel 50. Thus, when the operator views the shape of the field on the touch panel 50, the operator can intuitively grasp whether or not the data is erased. In addition, when data is deleted, the data may be deleted in order from the data having the smallest change in distance or angle among the acquired data.

According to the above configuration, the rice transplanter can travel on the outer periphery of the field to create map information. The rice transplanter performs rice seedling planting operation based on the map information, and at this time, generates a travel route by the travel route generation part 573. In this case, when the vehicle travels along the outer periphery in the field, the travel route generation unit 573 preferably generates the travel route when performing the seedling transplanting operation with reference to a position shifted toward the center side of the field with respect to the outer periphery of the field indicated by the map information.

That is, it is preferable that the rice seedling transplanting operation is performed with a position shifted from the outer shape defined by the map information to the center side by a predetermined distance as the outer shape on the travel route on which the rice seedling transplanter travels when performing the rice seedling transplanting operation in the field. The travel route generation part 573 includes a round route creation part 522 and a round route creation part 524, which will be described later.

Preferably, when the seedling planting work is performed in the outer peripheral region of the field, the rice transplanter travels at the same speed as the machine body speed at the time of creating the map information. Therefore, when map information is created, it is preferable to previously store the body speed at the time of creation. Thus, by setting the body speed to the same speed at the time of map information creation (idle running) and at the time of seedling planting operation in the outer peripheral portion of the field (for example, at the time of peripheral planting of the field performed at the final stage), it is possible to appropriately perform seedling planting operation without departing from a desired position (path).

Next, an image displayed on the touch panel 50 will be described. When obtaining the field shape, first, it is preferable to display the items of confirmation (notice) to the operator as shown in fig. 49. Specifically, it is preferable to display the notice concerning the setting of the start point and the end point in the field as shown in fig. 49 (a), the notice concerning the traveling as shown in fig. 49 (B), and the notice concerning the traveling direction in the field as shown in fig. 49 (C). Further, for each display, a "confirm" button may be displayed together with the notice, and the next display may be performed after the operator presses it.

When the confirmation of the notice is completed and the rice transplanter finishes moving to the starting point, it is preferable to display a state of waiting for the operator to press the "start" button as shown in fig. 50. In this case, it is preferable that a sub-image 581 indicating that the right side of the rice transplanter is the reference or the left side is the reference is displayed to the operator. FIG. 50 shows a diagram in which a pointer 5811 is added to the left end of the rear part of the rice transplanter shown in a sub-image 581, with the left side of the rice transplanter as a reference.

When the travel is started, map information is created along with the travel as shown in fig. 51.

In this case, it is preferable to display a "positioning completion" button to be pressed by the operator when the production is completed and an "interruption" button to interrupt the production. In addition, a sub-image 581 and an index 5811 indicating the right side of the rice transplanter as a reference may be displayed.

As shown in fig. 52, an index is added based on the intersection 598L of the first line 596 and the second line 597 during travel, and when the positioning of one side of the field is completed, an index is added based on the position of the left preliminary seedling housing device 17A (left end of the left preliminary seedling housing device 17A). When the next outer peripheral portion is traveling, as shown in fig. 53, an index is added with the rear left end portion as a reference. As shown in fig. 53, an index different from the other indexes may be added to each of the position at the end of the outer periphery of the preceding run and the position at the start of the outer periphery of the following run. Fig. 54 shows a display in the case where the index is added while the running is further continued. The indexes are continuously connected to create map information representing the shape of the field.

In the above-described embodiment, the map information is created by traveling in the outer periphery of the field, but the map information may be created while inserting the map information in the outer periphery of the field. In this case, although there is a possibility that some rice seedlings are stepped on, the rice seedling transplanting operation and the map information creation can be performed efficiently.

In the above embodiment, the positional information calculation unit 571 has been described as calculating positional information by traveling in each of a plurality of areas divided along the outer periphery of a field, but, for example, during turning of a rice transplanter, only positional information of the center of turning may be calculated, and the intersection of the positional information before the start of virtual continuous turning and after the end of turning may be regarded as the corner of the field. This makes it possible to easily create map information.

In addition, in the calculation of the positional information, it may be possible to perform calculation for both the left and right sides of the machine body 1 and to switch which of the left and right positional information is used. Further, the positional information with the least deviation (the smallest error) among the positional information calculated based on the plurality of positions of the body 1 (the GPS antenna, the front and rear wheels, the left and right ends of the center of gravity, and the like) may be used.

Further, the position information may be calculated even during so-called profile traveling, and profile control may be performed even when a transition is made from one area to another area (during turning back).

Even when there is an area that is not closed in the created map information, the map information can be completed by connecting the end points to each other. Further, when there is an unclosed area, the shape of the field may be estimated from the information (size, position, orientation, etc.) of the machine body 1 to complete the field map, or the shape of the completed field may be supplemented between the position at the time of starting the travel and the position at the time of ending the travel in the map information.

[ route creation processing ]

The travel route (route) that is a target of the automatic travel includes: an internal reciprocating path IPL for performing seedling transplanting work in an internal area IA of a field, a circulating path for performing seedling transplanting work in a peripheral area OA of the field, and a starting point guide path for moving from a starting point (work starting point) S of the internal reciprocating path IPL to a starting point guide area GA set near an entrance E. The outer peripheral area OA of the field is an area where seedling transplanting work is performed by traveling along a circumferential path, and the inner area IA is an area remaining inside the outer peripheral area OA. The route creation process here includes a round-trip route creation process, a seedling supply route creation process, a round route creation process, and a starting point guide route creation process.

As shown in fig. 55, functional units necessary for various processes related to route creation are constructed in the information terminal 5. The information terminal 5 is connected to the control unit 30 that constructs functional units such as the machine body position calculation unit 311, the travel control unit 312, and the work control unit 313 via communication lines such as a vehicle Local Area Network (LAN). The control unit 30 is also connected to the traveling device 1D and the working device 1C. The functional units constructed in the information terminal 5 are a reference side setting unit 521, a round trip route creation unit 522, a travel direction specifying unit 523, a replenishment side setting unit 531, a replenishment control management unit 532, a round route creation unit 524, a driving style management unit 525, a start point setting unit 541, and a start point guide route creation unit 542.

The reference edge setting unit 521 sets one side of the outer shape of a farm (such as a field) as a working place of the working machine as a reference edge. The round-trip-path creating unit 522 creates an internal round-trip path IPL including a plurality of straight paths extending in a predetermined direction with respect to a reference side. The traveling direction determination unit 523 sets the traveling direction of the internal traverse IPL. The replenishment-side setting unit 531 sets a specific side of the outer shape of the farm as a material replenishment side of the material consumed by the working machine. The replenishment control management unit 532 manages, in association with the travel control unit 312, replenishment travel control for bringing the work implement closer to the material replenishment side from the end region of the straight travel path of the internal reciprocating path IPL on which the work implement is traveling while being replenished with material, from the start region of the straight travel path to be traveled next, or from both regions. The circular route creating unit 524 calculates a travel path during travel based on the contour of the farm by traveling along the boundary line of the field, and creates at least one circular route in the outer peripheral region of the farm. The driving method management unit 525 can select a driving method for the route around from among manned automatic driving, unmanned automatic driving, and manual driving. The start point setting unit 541 sets the start point S of the work travel using the internal traverse route IPL. The starting point guide route creating unit 542 creates a starting point guide route SGL for automatically guiding the work machine satisfying the guide condition to the starting point S.

As described above, the program for realizing the functional unit related to route creation is installed in the information terminal 5. Various processes are performed by the contents displayed on the screen of the touch panel 50 of the information terminal 5 and the operation on the touch panel 50.

As shown in fig. 56, in the route creation in the internal area IA, selection of a reference side for interpolation and selection of an interpolation direction are performed. In this example, the field obtained by the mapping process has a square shape, and each side thereof and the entrance and exit side of the doorway E are candidates for the insertion reference side. The sides that become candidates for the interpolation reference side are given numerical values. The operator selects a desired side as a reference side, and further selects whether the transplanting direction is parallel or perpendicular with respect to the reference side. The insertion direction is a direction of a straight path during reciprocating travel in the internal area IA. In the reciprocating travel, a path in which a straight path and a curved path are combined is used, but the straight path is not limited to a straight line, and may be a largely curved or meandering path.

[ shuttle procedure ]

The selection of the insertion direction may be configured such that, when the reference side is selected, the insertion direction in which the number of round trips during automatic round trip travel is reduced is automatically selected. In addition, in the first selection in the same field or a similar field, the insertion direction parallel to the longest side of the field may be set as a default, and in the subsequent selection of the insertion direction, the last selection result may be set as a default.

The field shape is not limited to a rectangle, and may be a quadrangle such as a trapezoid or a rhombus, or a polygon such as a triangle or a pentagon. Therefore, the reference side is not limited to the four sides of the rectangle, and a side whose opposing sides are not parallel may be selected. In the case where a curved side is selected as the reference side, a travel path along the side may be set, or a path gradually following a straight line may be set. On the other hand, in this case, since the error increases, the reference edge may not be selected.

[ seedling supply ]

In the operation during the reciprocating travel in the internal area IA, seedling replenishment is required in the middle of the operation. It should be noted that the seedling supply herein may be replaced with other material supplies (chemicals, fertilizers, fuels, etc.). FIG. 57 shows a selection screen related to the seedling replenishment. In the seedling supply, the rice transplanter must interrupt the reciprocating travel to approach the ridge, and the rice transplanter can automatically stop at a position where the ridge for supplying the seedlings can approach the travel. Whether to perform automatic stop for the ridge approaching to the running (automatic stop for seedling supply) can be selected through the picture. The side for supplying seedlings is the field side crossing the straight path in the reciprocating travel, and the side can be selected on the screen. The optional edge may be one edge or two edges. In addition, in a deformed field, two adjacent edges may become candidates for a supplemental edge.

In a field-specific case, it is necessary to be able to select a candidate for a material replenishment edge from all fields. Therefore, when considering such a special field, it is configured to be able to select a material supply edge from all fields.

In the working travel (peripheral transplanting travel) along the circumferential path in the peripheral region, seedling replenishment is sometimes also required. In this case, the machine body 1 is also automatically stopped at the field side. At this time, when the machine body 1 is separated from the field side by a predetermined distance or more, the machine body 1 is automatically stopped after being laterally moved close to the field side. When the automatic stop is performed, a notification prompting replenishment is performed.

The selection of the seedling supply side may be configured such that the reference side is selected to automatically determine the seedling supply side during the peripheral transplanting travel, or the reference side is selected to automatically determine the reference side.

In seedling supply, generally, the front portion of the machine body 1 needs to be close to a ridge (supply edge), and therefore, the machine body moves forward to the ridge before or in the middle of turning. After replenishment, the vehicle enters the next straight path by backing and turning. In the turning control performed when entering the next straight path, a control in which the turning radius is fixed is suitable. In this case, the machine body 1 returns to the position where the normal turning travel is performed on the original straight travel path by the backward movement, and enters the next straight travel path from there by the normal turning travel. In the chemical supply or the like, since the rear part of the machine body 1 needs to be close to the ridge, the turning backward ridge approaching travel is adopted as the ridge approaching travel. After replenishment, the next straight path is entered by advancing. The series of seedling supply travels can also be remotely controlled using the remote controller 90 or the like.

In the case where the seedling is replenished near the deformed ridge, the machine body 1 may approach the ridge during the turning travel when returning to the next straight path after the seedling is replenished. In such turning traveling, the turning start position is set at a position farther from the ridge than in a normal turning operation, or the turning radius is changed.

When the material replenishment path includes a straight path, a reference line may be created from a travel trajectory obtained during straight travel performed in advance, and the straight path may be automatically traveled based on the reference line.

In the case where the material replenishment place is not a replenishment side but a limited replenishment point, the ridge approach travel for material replenishment is performed by automatic travel with the replenishment point as a target point.

When automatic stop for seedling supply is selected, the machine travels straight to the peripheral area (also referred to as uncultivated area on the field) OA on the supply side by automatic travel. For this automatic travel, an extended route generated by extending the straight route of the internal round-trip route IPL is used. During the travel along the extended route, the machine body 1 is automatically stopped at a processing position near the ridge without performing operations such as planting, sowing, fertilizing, and the like.

When the seedling planting device 3 is raised before or during turning when replenishment is performed without selecting automatic stop, ridge approaching travel can be performed by manual operation or interrupt control using the remote controller 90. In this case, the automatic driving cannot be resumed unless the machine body 1 is manually moved to the next starting point after the replenishment. Of course, in the case where replenishment is not required, automatic stopping need not be selected. Examples of the case where replenishment is not required are the case where dense seedlings, long (rolled) bedding seedlings are used, the case where a direct seeding device is equipped instead of the seedling planting device 3, and the like. Regardless of the replenishment, the machine body 1 may be set to stop before or during the turning by an operation using the remote controller 90.

In addition, whether or not it is necessary to select automatic stop for replenishment, there may be a control mode in which automatic temporary stop and running resumption are performed in order to provide the operator with a time to determine whether or not material replenishment is performed during temporary stop. By this stop, the remaining amount of the replenishing material can be visually checked.

In the case of remote control by the remote controller 90 or the like, the inspection of the remaining amount of the replenishing material may be performed by a configuration in which the detection result or the shortage of the material is transmitted to the remote controller 90 by a visual observation by a remaining amount sensor other than the operator, and the surrounding is notified by sound. In the case where the material shortage (material shortage) is detected by the remaining amount sensor, the automatic stop may be performed. Such automatic stop and notification of shortage of material (shortage of material) can be performed not only during the work traveling in the inner area IA but also during the work traveling in the outer area OA. In this case, the material supply path to the material supply position may be formed.

The remaining amount sensor may be constituted by a machine learning model that takes a captured image taken by a camera as input and outputs the remaining amount of the material such as the seedling. In addition, when the remaining amount of the material can be estimated, the position at which the material is automatically stopped for replenishment can be estimated. An automatic stop for material replenishment can be reserved based on the estimated position. The reservation can be made automatically or manually, and the cancellation of the reservation can be made manually.

When the remaining amount of the material can be estimated, it is determined whether or not the vehicle can travel to a position where the material can be supplied next, based on the estimated remaining amount. Based on the determination result, the machine body 1 stops to replenish the material, and notifies the expected position to start the material replenishment travel.

[ peripheral insertion stroke ]

In this embodiment, as the circumferential route, the work traveling (the peripheral cutting traveling) in the outer peripheral area OA is performed along the inner circumferential route IRL located inside the outer peripheral area (the uncultivated area) OA and the outer circumferential route ORL located outside the outer peripheral area OA. The travel along the inner loop path IRL is referred to as inner loop travel or inner loop travel, and the travel along the outer loop path ORL is outer loop travel or outer loop travel. In the map creation, the map is created so as to substantially coincide with a travel locus on which the machine body 1 travels. The inner round-trip path IRL is a path between the inner round-trip path IPL and the outer round-trip path ORL. The inside-surround running and the outside-surround running may be performed automatically by a person, automatically without a person, or manually.

Fig. 58 is a screen for selecting which of the automatic and manual operations is used to perform the inside-surround running and the outside-surround running. The right side of the screen displays an automatic/manual selection area, and the left side of the screen displays a schematic travel route. Although only one turn of the loop path is shown, in this embodiment, as the loop path, an inner loop path IRL and an outer loop path ORL are shown.

During actual work travel, an inner loop path IRL and an outer loop path ORL similar to those in fig. 58 are also displayed. However, the round route selected for manual travel is eliminated from the screen. And filling the operation width of the region with the completed operation as an implantation mark. Alternatively, when the manual travel is selected, the corresponding circling path may be eliminated from the screen, and the insertion mark may not be displayed. Further, the display modes of the manually-operated circling path and the insertion trace thereof and the automatically-operated circling path and the insertion trace thereof may be changed and both may be displayed so as to be recognizable. The display modes of the path and the insertion trace on the screen include a display color, a display line type, and the like. The paths and the insertion traces with different attribute values can be identified by changing the display colors and the display line types. Therefore, in the present invention, the expression of changing the color on the screen includes changing the line type, and conversely, changing the line type on the screen also includes changing the color.

When the inner loop path IRL is set to the manual travel, the outer loop path ORL is also switched to the manual travel, and the travel path is not displayed. However, since the travel route can play a role of guidance during manual travel, at least the outer round route ORL can be kept displayed as guidance even during manual travel.

In this embodiment, the outer round route ORL is defined as the travel locus of the manned automatic travel even if the automatic travel is performed, and the outer round route ORL is based on the teaching travel locus of the map-created teaching travel, and the travel is performed in a state where the seedling planting device 3 is lowered, and therefore, there is little possibility that trouble occurs in the unmanned automatic travel. Thus, the unmanned automatic travel can be selected for the outside round route ORL. Further, since the inner loop path IRL and the outer loop path ORL are set to different paths, respectively, the algorithm is easily complicated, but a connection path of the two paths may be set from the beginning. Alternatively, a route leading from the end point to the start position of the inside loop route ORL at the end time point of the inside loop route IRL may be provided.

In this embodiment, in order to sufficiently obtain a space for the turning travel during the round trip travel, the circumferential route formed in the outer peripheral area OA is defined as a 2-turn circumferential route. However, a 1-cycle loop path is sufficient depending on the model and the number of lines of work. Therefore, the optional circumferential path may be formed of a 1-turn circumferential path. However, when the round route is formed of a 1-turn round route, it is preferable to adopt a return route using a retreat or a joint turn route in which two corner-like turn routes are connected by a straight connecting route exceeding the working width. In this case, during traveling on a straight route, special measures are taken such as performing travel control following a round route and expanding the allowable range for determining a crossing at a predetermined distance from a ridge. Further, a turning retry function is also employed which, when there is a risk of interference with a ridge during turning, uses multiple turns such as retreating to make a turn gradually.

Fig. 59 and 60 illustrate the above-described special turning travel (turning path) by way of example. Fig. 59 shows an example of a tie-up turn. The tie-up turn is for a transfer run that transfers from one straight path not to an adjacent straight path, but to the next straight path next thereto. The joggle turn is constituted by a first turn path (denoted by reference numeral Q1 in fig. 59), a straight path (denoted by reference numeral Q3 in fig. 59), and a second turn path (denoted by reference numeral Q2 in fig. 59) that perform a direction change of substantially 90 degrees. The length of the straight path is calculated from the position of the straight path of the transfer destination. Fig. 60 shows an example of a return curve using the backward movement. The turning-back curve is used when the straight path on which the vehicle is traveling is shifted to the adjacent path by the curve traveling, and the space for the curve traveling (the distance to the ridge: the width of the outer peripheral area OA) is small. The turn-back curve shown in fig. 60 is composed of a first curve path (reference numeral R1 in fig. 60), a reverse curve path (reference numeral R2 in fig. 60), and a second curve path (reference numeral R3 in fig. 60). Traveling called turning is realized by the first turning route and the backward turning route, and by increasing the turning, the space required for turning traveling can be reduced.

When the turn retry function is executed, the turn locus of the machine body 1 is estimated at the time of turning, and it is determined whether or not the work machine can turn in a limited space or at a predetermined interval from a ridge based on the estimated turn locus. If the determination result indicates that the vehicle can be turned, the vehicle can be directly turned, and if the determination result indicates that the vehicle cannot be turned, the vehicle can be turned back by using the reverse running until the determination result indicates that the vehicle can be turned. At this time, if it is determined that the vehicle cannot turn, the operator may be notified of the shift from the automatic travel to the manual travel, or the turning-back travel may be performed automatically.

The peripheral cutting travel is travel near a ridge, and therefore, there is information that the operator should previously recognize. Therefore, at a stage before the start of the peripheral planting travel, the notification reminds the operator of the attention, and the notification is performed when there is a person at least in the case of the outside-surrounding travel. A warning based on the actual outcome in the round trip run performed before the peripheral planting run is appropriate. At this time, it is preferable that the notification for reminding attention is made at least through the screen of the information terminal 5. As another mode, it is also possible to select whether to perform outside-surround travel with or without a person. Note that the notification may be performed by using sound, a laminated lamp, or the like.

In the case where the outside-surround running is performed by the manual running, it is preferable to draw a mark as a target of the outside-surround running at the time of the inside-surround running performed earlier. The marking marks assist the operator in manually performing the outside-surround travel.

The inner loop path IRL and the outer loop path ORL are a combination of a straight path and a direction change path. When the peripheral transplanting travel is performed using these circumferential paths, the inner area is the transplanted area since the seedling transplanting of the inner area IA has been completed. Therefore, by setting the insertion end position in one straight path to a position that coincides with the inserted region, a non-insertion space is created between the insertion end position and the ridge that is the same as between the inserted region and the ridge. This non-insertion space can be used as a space for direction change running (turning around) for running using the next straight path, and therefore the direction change running becomes easy.

In a region where the end position of the straight path during reciprocating travel in the internal region IA is different from the end position of the other straight path, that is, in a region where a concave portion or a convex portion is present in a corner region of the internal region IA, the inner round path IRL is curved in a zigzag shape. Therefore, the seedling planting trajectory formed by traveling on the outer circumferential path ORL extending so as to cover the outer side of the inner circumferential path IRL overhangs (overhang) the seedling planting trajectory traveling along the inner circumferential path IRL. To avoid this, each row clutch control is performed to disconnect each row clutch corresponding to the overhanging planting claw.

Here, the insertion work travel accompanied by the clutch control of each row will be described with reference to fig. 61. In fig. 61 (a), the 8-row transplanting mechanisms (transplanting claws) 22 are all in an operating state (all the row clutches are on), and an 8-row transplanting trajectory is formed. In (b), the left 2-row transplanting mechanism 22 is not operated (each row clutch is off), and a 6-row transplanting trajectory is formed. In (c), the left 4-row transplanting mechanism 22 is not operated (each row clutch is disconnected), and a 4-row transplanting trajectory is formed. By such each row clutch control, various implantation trajectories can be formed. For example, in fig. 61 (d), the insertion mechanism 22 is sequentially deactivated from the left side, thereby forming a triangular insertion trajectory. Then, as shown in fig. 61 (e), the insertion mechanism 22 is sequentially operated after being sequentially deactivated from the left side, thereby forming an insertion trajectory having a curved side surface. Alternatively, although not shown, an implantation trajectory having a stepped, convex, or concave side surface may be formed.

The inner circumferential route IRL is created so as to follow each end position of a straight route during the reciprocating travel, and when the vehicle is automatically traveling, the inner circumferential route IRL is set as a target route, and control is performed so as to minimize a deviation from the target route. On the other hand, the outer round route ORL is created based on a travel locus in the teaching travel for map creation, and the control of the automatic travel using the outer round route ORL is control in accordance with the teaching travel. The outside round path ORL controlled by the profile can reliably prevent contact with the ridge. However, in order to further reduce the contact risk, the vehicle is further moved backward (backed up) from the travel locus during teaching travel. There is a function of selecting to zero or reduce the amount of the back-up. Instead of reducing the amount of backward movement, the control of the outer peripheral travel may be configured not to target the outer circumferential path ORL created based on the travel locus during the taught travel but to target the field contour (the boundary line between the ridge and the field surface).

As described above, the route creation process includes the round trip route creation process, the inner loop route IRL creation process, the outer loop route ORL creation process, and the start point guide route creation process. All of these processes are performed at once, but a configuration in which each process is performed separately may be employed.

When the round trip route creation processing and the inner loop route IRL creation processing are performed without considering the outer loop route ORL, the outer loop route ORL and the inner loop route IRL overlap with each other, and therefore, a problem occurs in that a normal outer loop route ORL cannot be formed.

[ starting point guide ]

Next, the starting point guide will be described with reference to fig. 62. The starting point guide is to guide the rice planting machine to a starting point S which is the starting end of the internal reciprocating path IPL to start the rice seedling planting work in the field. When the teaching travel for field mapping is finished and the route creation processing is also finished, the rice transplanter performs rice seedling planting operation under automatic travel. The transplanting operation under the automatic travel starts from the start point S of the internal reciprocating path IPL. In the route creation process, a starting point guide route SGL is set, which is a travel route for automatically traveling the rice planting machine to the starting point S, and an automatic travel starting enabling condition for permitting automatic travel using the starting point guide route SGL is set. The automatically-drivable condition that the position of the rice transplanter and the orientation thereof are within the allowable range. In short, the entry of the rice transplanter into the startable guide area GA may also be a startable automatic travel condition. The guidance-startable region GA is also displayed on the screen displayed on the touch panel 50.

In the operation for automatic travel start, the display color of the guidance-startable area GA displayed on the touch panel 50 is different in the case where the rice transplanter is located within the guidance-startable area GA (or the case where the position and orientation of the rice transplanter are within the allowable range), and in the case where the rice transplanter is not located within the guidance-startable area GA (or the case where the position and orientation of the rice transplanter are not within the allowable range). Whether or not the rice transplanter is located in the guidance-startable area GA is also notified by lighting a lamp, sound, or the like.

For example, as shown in fig. 62, when the vehicle is not located in the guidance-startable region GA and the automatic travel startable condition is not satisfied, notification is made so that the automatic travel startable condition is satisfied. At this time, the reason (for example, positional deviation, azimuth deviation, and the like) that the condition is not satisfied and the cancellation method (for example, forward/backward movement instruction, left/right steering wheel operation instruction, and the like) are notified. When the condition for starting automatic travel is satisfied as shown in fig. 63, the cancellation method is performed to notify that the condition is satisfied, and start point guidance travel in automatic travel is started. Fig. 63 shows the postures of the two rice planting machines. In one posture of the rice transplanter, the front part of the rice transplanter is abutted against a ridge for seedling supply, and starting from this posture, starting from the catching using a starting point guide path SGL in a predetermined backward turning and forward turning travel FL, starting point guide travel is performed. Since the starting point guide path SGL can be captured in the posture of the other rice planting machine, the rice planting machine enters the farm and then performs the guide travel along the starting point of the starting point guide path SGL as it is.

The following description is additionally made for the determination of the automatic travel starting condition using the guidance starting area GA.

(1) If most of the body 1 enters the guide-startable region GA, it is determined to be within the region even if at least the front portion of the body, for example, the front left and right of the front wheels 12A, is exposed from the guide-startable region GA. Thereby, the guidance-startable region GA may go beyond the field (outside the field boundary line).

(2) Basically, the entrance E, the starting point S of the internal reciprocating path IPL, and the seedling supply edge (seedling supply ridge) have the relationship shown in fig. 63, and therefore the guidance-starting area GA is set near the seedling supply edge and the entrance E of the field. Of course, if automatic travel from the outside of the field to the starting point S through the doorway E is possible, the guidance-startable area GA may be set outside the field.

(3) The starting point guidance route SGL is substantially composed of a turning route connected to the starting point S and a straight route connected to the turning route, and the start-possible guidance area GA does not entirely cover the straight route, as shown in fig. 62 and 63. This is because, as the conditions for starting the automatic traveling (starting point guide conditions), it is desirable to ensure a straight route having a predetermined distance (several meters or more) from the center point of the guidance-startable area GA to the starting point S in order to smoothly capture and enter the starting point guide route SGL. The predetermined condition is based on the turning radius and 1/2 wheel base distance of a common rice transplanter, and the predetermined distance is changed in rice transplanters with different specifications.

(4) At least a part of the straight route of the start guidance route SGL enters the startable guidance area GA. The longer the length of the straight route along the start point guidance route SGL in the start available guidance area GA is, the wider the start area condition for automatic traveling is, which is preferable.

(5) The starting point guide path SGL is set to be parallel to the seedling supply side. When there are a plurality of candidates for seedling supply sides, the seedling supply side near the entrance becomes the first candidate, and the guidance-starting area GA is set at this seedling supply side.

(6) The start point guide path SGL may follow the outer loop path ORL and be generated in parallel with the outer loop path ORL. The start point guide path SGL may be provided across a plurality of ridge sides. In this case, two guidance-startable regions GA may be set corresponding to the plurality of ridge sides, or they may be connected as one region. For example, when the start-possible guide areas GA are formed on the two adjacent ridges, an auxiliary starting point guide route is formed from the start-possible guide area GA distant from the starting point S to the start-possible guide area GA near the starting point S. The working machine that enters the guidance-startable area GA distant from the start point S can move to the guidance-startable area GA near the start point S using the auxiliary start point guide route, and then reach the start point S using the start point guide route SGL. Since the starting point guide path SGL is formed in the outer peripheral area OA, it is preferable to set the starting point guide path SGL at intervals from the outer circumferential path ORL and the inner circumferential path IRL in order to avoid damaging the field by overlapping the ruts generated by the travel using the starting point guide path SGL and the travel using the circumferential path. When the seedling transplanting work using the inner circumferential path IRL is performed with a work width narrower than the work width of the entire row, the starting point guide path SGL of the outer peripheral area OA is preferably set to be closer to the inner area IA. However, in order to reduce the control load, the start point guide route SGL may be set by directly using (concurrently using) the outer loop route ORL or the inner loop route IRL.

(7) In fig. 62 and 63, the starting point guide path SGL is set in the outer peripheral area OA, but when only one loop path is generated and the width of the outer peripheral area OA is narrow, the starting point guide path SGL may enter at least partially the inner area IA.

(8) The outer loop-around path ORL is generated in a full-line interpolation, so that the interpolation trajectory of the inner loop-around path IRL is occupied between the interpolation trajectory of the outer loop-around path ORL and the interpolation trajectory of the inner round-trip path IPL. Therefore, the working width of the working machine in the inner loop path IRL is adjusted. Alternatively, the straight path in the internal reciprocating path IPL may be extended to the outer peripheral area OA to enlarge the insertion trajectory of the straight travel. When the insertion trajectory must be adjusted locally, the travel by the clutch control for each line described with reference to fig. 61 is executed.

[ guidance to guidance-startable area GA ]

When the operator performs an operation to start the automatic travel when the rice transplanter is located outside the guidance-startable area GA, a guidance screen for moving to the guidance-startable area GA is displayed on the touch panel 50. In addition, sound, a laminated lamp, a remote controller, and the like may be notified together. The vehicle may automatically travel to the guidance-startable area GA while being notified.

Fig. 64 and 65 show examples of the guidance screen. Fig. 64 shows that the body position of the rice transplanter is outside the area GA where guidance can be started, and the body orientation is also outside the allowable range.

The recommended body orientation (seedling feeding orientation) is shown by the guide arrow in fig. 64. Note that, a guidance arrow indicating the direction of the body 1 toward the start point S as the direction of the start point guidance route SGL may be illustrated. Fig. 65 shows that the body position of the rice transplanter is within the guide-startable area GA, and the body orientation is also within the allowable range. In this posture, the screen for automatic travel start can be switched. In fig. 64, the guidance-start area GA is drawn in a color indicating that the body position is outside the allowable range, for example, red. In fig. 65, the guidance area GA may start to change to a color indicating that the body position is within the tolerance, for example, blue.

Other examples of the guidance screen are shown in fig. 66, 67, and 68. In this example, a plurality of guidance-startable regions GA are set, as indicated by thick arrows perpendicular to the seedling feeding side.

The orientation of the arrow represents the reference orientation. Fig. 66 shows that the body position of the rice transplanter is outside the guide-startable area GA, and the body orientation is also outside the allowable range. Fig. 67 shows that the body orientation is within the allowable range, but the body position of the rice transplanter is outside the guide-startable area GA. Fig. 68 shows that the body position of the rice transplanter is within the guide-startable area GA, and the body orientation is also within the allowable range. Here, fig. 66 and 67 show a color indicating that the body position is outside the tolerance, for example, red, and fig. 68 shows that the guidance area GA can be changed to a color indicating that the body position is within the tolerance, for example, blue.

When the seedling planting work in automatic traveling from the guidance-startable area GA through the starting point S is requested, a determination is made regarding the machine body equipment. The condition items used for this determination are communication, sensors, motors, and the like. In the determination result, the unsatisfied condition is displayed on the touch panel 50. At this time, a recovery method of the unsatisfied condition may be displayed. In addition, the satisfied condition may be displayed in the determination result.

When all the conditions for performing the seedling transplanting operation during automatic traveling are satisfied, a basic setting confirmation screen (plant spacing, seedling quantity, transverse feeding frequency, fertilizing quantity, chemical application quantity, etc.) in the seedling transplanting operation is displayed.

If it is estimated that the material replenishing work is required at a position away from the seedling replenishing side, a guidance screen is displayed in which automatic travel is recommended when a person is present. The guidance screen is also displayed during actual work travel. Specifically, when there is not enough seedlings to return to the next seedling supply side during the round trip, the guidance screen is displayed, and then a selection screen for selecting whether to automatically travel by a person or not is displayed.

In the case where the means for sensing the amount of material to be replenished, that is, the means for sensing the remaining amount of material is provided for each material to be supplied, it is possible to automatically select whether the vehicle is automatically driven by a person or automatically driven by no person in consideration of the replenishment of the material. The material placement amount sensing unit may be configured by an insufficient seedling sensor (e.g., a push-type insufficient seedling sensor), a weight sensor of a hopper, an optical sensor, a seedling consumption amount sensing encoder (e.g., a seedling consumption amount sensing encoder that senses the amount of movement of a mat by a rotation amount), a camera (e.g., a camera that performs image analysis on whether or not the remaining amount of seedlings is equal to or less than a predetermined value), and the like. When the refueling material is fuel, the operator is notified of a minimum required refueling calculated based on the remaining amount of fuel and the distance to be traveled thereafter.

The fuel consumption amount per travel estimated before the start of the work travel often differs from the fuel consumption amount per travel calculated after the actual start of the work travel. Therefore, it is preferable to sequentially correct the guide timing of refueling.

[ interruption/termination of automatic driving, delay of driving route, and restart after interruption of automatic driving ]

When a situation in which automatic travel is difficult occurs in the middle of automatic travel, automatic travel is interrupted or ended, and travel control is shifted to manual travel. When the automatic travel is completed, the work under the automatic travel cannot be resumed, and when the automatic travel is suspended, the work under the automatic travel can be resumed. During automatic travel, a history of automatic travel (a travel route after running, etc.) is recorded. When the automatic travel is resumed at the same machine body position after the automatic stop interruption or the automatic travel is resumed after the travel by the manual travel, the machine body position at which the automatic travel was interrupted and the ID of the travel route of the machine body position are read from a memory or the like. When the interruption position and the restart position are different from each other, and when the interruption position and the restart position are on the same line, the restart can be instructed by the touch panel while the body is laid over the line. When the interrupt position and the restart position are on different routes, the set travel route is delayed (referred to as route delay) using the travel route displayed on the touch panel 50, and the travel route is matched with the current position of the machine body 1. When such a line delay is performed on the screen of the touch panel 50 having a limited display area, it is difficult to identify each path, particularly in an area where the round paths and the inside traverse paths IPL are dense or overlap. Therefore, it is preferable to recognize each travel path by color, line pattern, or the like.

The following matters are added to the screen display of the travel route on the touch panel 50.

(1) The travel route of the automatic driving suspension is depicted with a characteristic color such as red. In this case, the path section to be changed in color is preferably a straight path unit, but may be a partial section of a straight path including a break point.

(2) When there are a plurality of routes near the point of interruption of the automatic driving, the operator selects a travel route to be processed.

(3) The travel path is color-changed according to the work attribute of the travel path. For example, a path along which the seedling planting work is completed, a path along which the seedling planting work is being performed, a path to be performed next, a path which is called an idle path and which runs without the seedling planting work, and the like are colored so as to be recognizable. In addition, the periphery of the path where the seedling transplanting work is completed can be colored according to the work width (each row unit).

(4) During manual travel, the travel track is also matched to the travel route map, and the work trace traveled by manual travel is also displayed as the already-worked area.

(5) In order to facilitate the delay of the travel route when the automatic travel is interrupted and the automatic travel is resumed via the manual travel along the plurality of travel routes, the travel route fast-forward and fast-reverse functions are prepared.

(6) When the automatic travel is resumed, the resumed travel route needs to be selected. In order to facilitate the selection work, at the time of automatic driving resumption, any one of the interrupted travel route, the travel route next to the interrupted travel route, and the travel route immediately before the interrupted travel route is set as a default resumption travel route.

For the end of the automatic driving, the selection end is determined by selecting the interrupt of the automatic driving or the selection screen of the end. The following matters are added to the end of the automatic travel.

(1) It is impossible to start the automatic driving after pressing the end button. This is because, in general, although the work is not completed, if the outermost periphery is slightly shifted before and after the start of the outer-side circling travel when the completion button is pressed, the vehicle may travel outside the field, and therefore, automatic driving restarting in this portion is impossible. However, the automatic driving may be resumed even if the end button is pressed before entering the outside travel route.

(2) The selection of the travel route at the time of restarting the automatic travel may be performed not only by the travel route unit but also by 1 point in the travel route, further by a plurality of line units, or by the internal round trip route IPL or the surrounding route unit. In the case where a plurality of routes are selected, a travel route for actually restarting the automatic travel can be accurately selected.

(3) The following configuration may be adopted: when the work implement is moved from the point of interruption where the work under automatic travel is interrupted for the purpose of material replenishment or the like, the work implement is moved from the movement location to the point of interruption by the automatic travel, and the work under automatic travel is restarted. In this case, the automatic travel to the point where the automatic travel is resumed can follow the control technique of the start point guide travel.

(4) This notification is performed including the countermeasure thereof when the failure information is sensed at the time of transition from automatic travel to manual travel or transition from manual travel to automatic travel.

(5) The following configurations are possible: even when the automated driving end is selected, an option of interruption of automated driving or new automated driving (regeneration of a travel route) remains.

(6) The structure is as follows: when the automatic travel is interrupted during the automatic travel on the outer route ORL, the automatic travel cannot be resumed and only manual travel by a person is permitted, but a configuration may be adopted in which the automatic travel can be resumed.

[ idle travel control and line spacing adjustment ]

As shown in the basic travel route diagram of fig. 4, in general, the starting point S of the internal round-trip route IPL and the end point G that is the insertion end point of the internal round-trip route IPL are located on the same side, and the end point G of the round-trip travel route and the transition route from the internal round-trip route IPL to the round route are located in the vicinity of the entrance/exit of the field. In order to satisfy this condition, it is preferable that the number of straight paths in the internal round-trip path IPL is even, but if the number of straight paths is odd, the end point G of the internal round-trip path IPL is opposite to the entrance E. To avoid this problem, as shown in fig. 69, the vehicle travels on a straight path other than the final straight path (the reference sign Ln is given in fig. 69), for example, the straight path given the reference sign Ln-1 in fig. 69, in an idle operation (non-seedling planting operation), travels on the next straight path (the final straight path given the reference sign Ln in fig. 69), and then travels on the straight path that is idle traveling while performing the seedling planting operation. Thereby, the final end point G of the straight path is finally inverted toward the entrance side. In the example of fig. 69, the position of the end point G is shifted by the insertion width. In order to avoid this, it is preferable to select the other straight traveling path as the empty traveling straight traveling path. In this way, the traveling on the traveling route (straight route) other than the turning route without the seedling planting operation is referred to as idle traveling.

Of course, when the number of straight paths is odd, the empty travel is not necessary by setting the starting point S of the inside shuttle path IPL to the opposite side of the end point G of the inside shuttle path IPL. In this case, the starting point S of the internal traverse path IPL is distant from the gateway E, and the starting point guide path SGL becomes long. The extension amount of the start point guide path SGL may be regarded as a distance of empty travel.

Similar to the empty running, one of effective methods for avoiding the extension of the start point guide path SGL is to perform the inter-line distance adjustment so that the number of straight paths becomes even. The row spacing adjustment means to reduce the working width (seedling transplanting width). For example, the work completion area generated when traveling on one straight path with the predetermined work width is the same as the work completion area generated when traveling on 2 straight paths with the work width half the predetermined work width. The driving when all the respective clutches are disengaged is different in control from the idle driving in which the seedling planting device 3 is raised to the non-operating position without being accompanied by the control of the respective clutches, but is the same in operation result. By employing the inter-line distance adjustment, the number of straight paths in the inner area IA becomes even. However, since the inter-row distance adjustment (adjustment of the working width) using the inter-row clutch control described with reference to fig. 61 involves a change in the travel route interval, an off control of each row clutch, and the like, a notification (sound, message display, lamp, and the like) indicating the inter-row distance adjustment is performed before entering the travel route to be the travel route and during the travel of the travel route.

In the inter-row distance adjustment, the working width is changed in units of rows by the off control of each of the row clutches, and therefore, adjustment that cannot be performed during idle travel can be performed. That is, when the width of the internal area IA in which the internal traverse path IPL is set is not an integral multiple of the work width, the straight path is set so that the interval between the straight paths is reduced to an integral multiple by using the line pitch adjustment. In this case, the intervals of the straight paths are usually adjusted uniformly, but the adjustment width of each path may be changed so that, for example, the portion close to the doorway E is at an interval close to the standard interval and gradually becomes narrower toward the side away from the doorway. Alternatively, the distance from the doorway E may be adjusted uniformly at an interval close to the standard distance, and the interval may be adjusted uniformly after the predetermined distance and slightly shorter than the doorway E side. In any case, in the inter-line distance adjustment for matching the width of the internal area IA with the integral multiple of the work width, the interval of any one of the straight paths may be adjusted. However, when importance is attached to the yield, the row pitch is preferably adjusted in the close planting direction as much as possible (about 3cm at maximum). On the contrary, when importance is attached to man-hour and material reduction, the row pitch adjustment is preferably adjusted in the thinning direction.

When a route to which the idle travel, the inter-line distance adjustment, and the like are applied is displayed on the touch panel 50 so as to be recognizable, the route becomes an unclear screen in accordance with the screen resolution. Therefore, only the round path and only the inner round trip path IPL can be displayed. When the round trip process is finished later, only the winding route as the traveling route for the next work may be displayed based on the current position determination.

In addition, when the automatic travel is interrupted and resumed, only the travel route that has been already worked may be deleted. It is preferable that, when the restart is interrupted, the previous job history is stored, and when the restart is started, the job is performed based on the same job history, thereby ensuring the continuity of the job.

When an empty travel route or a travel route after the adjustment of the inter-line distance is set, the travel route is displayed on the screen of the touch panel 50 so as to be recognizable by a change in the display color or the like.

Further, when the empty running route or the inter-row distance adjusted running route is approached during running, a message indicating "next running route empty (inter-row distance adjusted running)" is displayed on the screen of the touch panel 50. And smearing the corresponding operation width amount on the empty running path or the running track of the running path with the adjusted line spacing. Of course, in the case of the empty running, only the running route is displayed without painting.

The inter-row distance adjustment and the idle travel may be performed on all the work travel paths, but the inter-row distance adjustment accompanying the control of each of the respective clutches may be limited to only the round path.

In a region where the straight path of the internal round-trip path IPL is shifted to the turning path, a zero-row transplanting path having a length close to the planting distance is set. The zero-row transplanting path is a path for reliably planting the seedling held by the transplanting claw at the time point during the traveling of the short path, thereby suppressing floating of the seedling.

[ Driving route on deformed field ]

In the case of a deformed field having different side lengths, the inner circumferential path IRL may coincide with the outer circumferential path ORL along a path along the field shape. In this case, when the internal area IA is formed in a rectangular shape to form the internal reciprocating path IPL, a non-working area or a repeated working area having a deformation of the inclined side shown in fig. 70 and 71 is formed between a working trace in the case of using the internal reciprocating path IPL (an area where the seedling transplanting work is performed on the straight path of the internal reciprocating path IPL) and a working trace in the case of using the inner circumferential path IRL. To eliminate this problem, there are two approaches. One of them is to generate an internal round-trip path IPL in which the respective ends of the straight path of the internal round-trip path IPL are sequentially lengthened, and the other is to control the respective line clutches while performing straight travel. As described above, by sequentially turning on and off the clutches of the respective rows in accordance with the travel, one or both sides of the operation trace (the implanted region) are inclined. Further, if each row clutch is finely controlled, a curved operation trace can be realized.

Fig. 70 and 71 show examples of the travel method of the straight path in which the length of each terminal is different. Fig. 70 shows an example in which the end of the straight path becomes shorter in sequence, and the illustrated internal round-trip path IPL includes a previous straight path Y1, a turn path Y2, and a next straight path Y3, and the next straight path Y3 is divided into a first path part Y31 and a second path part Y32. The previous straight path Y1 and the second path portion Y32 are the seedling planting travel, and the turning path Y2 and the first path portion Y31 are the non-seedling planting travel. Fig. 71 shows an example in which the end of the straight path gradually lengthens, and the illustrated internal round-trip path IPL includes a previous straight path W1, a turn path W2, and a next straight path W3, and the next straight path W3 includes a first path portion W31 and a second path portion W32.

The first path portion W31 and the second path portion W32 overlap the final portion of the turning path W2. The first path portion W31 is a retreat path. The previous straight path Y1, the second path portion W32 and the next straight path W3 are seedling transplanting travels, and the turning path W2 and the first path portion W31 are non-seedling transplanting travels. In the example of fig. 71, the turning path is a path that is performed at a predetermined turning radius, and therefore, the straight path enters the turning path and needs to retreat, but when a turn or a special turn using a small turning radius is performed, the distance of the turning path becomes short, and therefore, the first path portion W31 and the second path portion W32 are not necessary. The special turning here is a turning back turning, a turning using a speed difference between the left and right wheels, or the like, and can be realized by turning control based on GPS coordinates, a steering angle, a wheel rotation speed, or the like.

In the case of the modified field, since the outer circumferential path ORL is a path along the field shape, the number of connecting points (hereinafter, referred to as plot points) between the straight path and the next straight path increases. When the inner loop path IRL is generated along the outer loop path ORL, the number of plots of the inner loop path IRL is set to be smaller than the number of plots of the outer loop path ORL, but larger than the number of plots of the inner loop path IRL generated along the outline of the generally rectangular inner area IA.

[ other embodiments ]

(1) The travel route is set by performing non-work travel along the outer periphery of the field. The travel path can be generated by the information terminal 5 or the control unit 30. In this case, the following configuration may be adopted: the information terminal 5 or the control unit 30 is provided with a path setting unit as an independent functional block. Further, the following configuration may be adopted: a path setting unit is provided in both the information terminal 5 and the control unit 30, and selectively determines which of the information terminal 5 and the control unit 30 the path setting is performed. Further, the following configuration may be adopted: the travel route is generated by an external server or the like, and the information terminal 5 or the control unit 30 can receive the generated travel route. Various data obtained by the work traveling of the working machine (data created by map shape acquisition processing, route creation processing, and the like, obstacle data related to an obstacle detected during traveling, traveling state data obtained during traveling, work state data, field state data, and the like) can be uploaded to a central computer or a cloud service computer provided outside. Also, such data registered may be downloaded before the job.

(2) The control unit 30 can be subdivided into arbitrary functional blocks. For example, an automatic travel control unit that controls travel during automatic travel, a manual travel control unit that controls travel during manual travel, a work implement control unit that controls various work implements, a communication unit that transmits and receives information between the information terminal 5 and other devices, an obstacle sensing unit that controls the sonar sensor 60 and senses an obstacle, an obstacle control unit that issues instructions to the automatic travel control unit and the manual travel control unit based on the result of sensing an obstacle, a laminated lamp control unit that controls the laminated lamp 71, a transmission operation unit that controls the main gear lever 7A, the motor 45, and the like may be provided separately as functional blocks of the control unit 30.

(3) In the above embodiments, the notification device for performing various notifications by the rice transplanter is not limited to the information terminal 5 and the voice alarm generating device 100, and may be performed by using various notification devices. For example, an LED may be provided in the remote controller 90 to notify various information in a lighting mode, or a monitor may be provided in the remote controller 90 to display various information. Further, the notification may be made by laminating the lighting patterns of the lamp 71, the center mark 20, the lamp, another light emitter, a display on a smartphone, a mobile terminal, a personal computer, or the like held by the operator, vibration of the remote controller 90, or the like. The control unit 30, a notification control unit built in the control unit 30, or a notification control unit provided outside the control unit 30 controls various notifications performed by the notification device according to the traveling state, the working state, the sensing states of various sensors, and the like.

(4) As shown in fig. 72, the travel route is formed based on the corrected outer peripheral contour line LL1 obtained by shifting the outer peripheral contour line LL0 of the field indicated by the map information of the field obtained by the field shape obtaining process toward the center of the field by a predetermined shift amount. The corrected outer peripheral contour line LL1 is substantially the same as the outer circumferential path ORL, which is the outermost circumferential path. An inner loop path IRL and an inner shuttle path IPL are formed inside the outer loop path ORL. At this time, as shown in fig. 72, when the convex portion ZA exists in the field contour, the outer circumferential path ORL and the inner circumferential path IRL also have curved shapes following the shape of the convex portion ZA. However, if the projection amount of the convex portion ZA toward the field is small, at least the inner circumferential path IRL may replace the curved shape with a straight line. In this way, a region to be a target in which a curved shape is replaced with a straight line is referred to herein as a special implantation region SNA. The field shape in which a plurality of special planting regions SNA are present is a complex polygon, but if the curved path portion in the special planting region SNA can be replaced with a straight line, the field shape becomes a simple shape. As a result, the inner loop path IRL may be formed linearly, and the envelope of the inner traverse path IPL may be formed linearly. In this case, when the seedlings are planted in an overlapped manner during the traveling on the outer circumferential route ORL and the inner circumferential route IRL, the traveling on the outer circumferential route ORL may be performed by idle traveling or by overlapped planting. Such a special planting region SNA often occurs in a corner region of a field, particularly at the entrance E, and by making the path in the special planting region SNA straight, the path design becomes simple. However, it is preferable that the straightness of the path in the special insertion region SNA can be selected by the operator.

When the size of the curved shape is equal to or larger than a predetermined value, the above-described linearization is not easily performed. That is, the straight inner loop path IRL enters the outer loop path ORL, and the special insertion region SNA becomes an overlapping special insertion region included in both the outer loop path ORL and the inner loop path IRL. In this case, the insertion work for the overlap special insertion region is performed by traveling on the inner circumferential route IRL. In addition, the travel of the overlap special insertion region on the outer circumferential route ORL travels in the manner of null insertion, passing through the overlap special insertion region. When the overlap special planting region is generated around the doorway E, the planting is performed by traveling using the inner circumferential route IRL, and the outer circumferential route ORL passes through the doorway E directly without passing through the overlap special planting region.

(5) When calculating the position where a shortage of material (shortage of material) such as fuel, battery, seedling, fertilizer, and chemical occurs, or predicting the position where such a shortage occurs, the position where the shortage of material (shortage of material) occurs may be displayed on the touch panel 50, preferably on the travel route, in the notification.

(6) In the above embodiments, a rice transplanter was described as an example, but the present invention can also be applied to various agricultural machines such as a direct seeder typified by a rice transplanter, a management machine (for applying chemicals, fertilizers, and the like), a tractor, a harvester, and various working machines that work and travel in a working place.

Industrial applicability

The present invention can be applied to a travel route management system for agricultural machines such as rice transplanter and other working machines.

Description of the reference numerals

1: a body; 5: an information terminal; 50: a touch panel; 522: a round-trip path creation unit; 524: a circular path creation unit; 525: a driving mode management unit; e: an entrance and an exit; OA: a peripheral region; IA: an interior region; IPL: an internal round-trip path; IRL: an inner circumferential path; ORL: the outer side surrounds the path.

Claims

1. A travel route management system for a work machine capable of automatically traveling on a farm,

the disclosed device is provided with: a circular path creation unit that calculates a travel path during travel based on an outline shape that is calculated to travel along a boundary line of the farm to calculate an outline shape of the farm, and creates at least one circular path in an outer peripheral area of the farm; and

A traverse path creation unit for creating a traverse path including a plurality of straight paths in an inner region inside the outer peripheral region,

the number of the winding paths is determined according to an area required for turning driving from the straight path being driven to the straight path to be driven next.

2. The travel path management system according to claim 1,

the round trip route is created by calculating a travel locus in travel based on an outline of travel along a boundary line of the farm.

3. The travel path management system according to claim 1 or 2,

the disclosed device is provided with: the driving method management unit may select a driving method of the round route from manned autonomous driving and unmanned autonomous driving.

4. The travel path management system according to claim 3,

the surrounding path includes an outer surrounding path matched with a travel track in the contour calculation travel and an inner surrounding path located inside the outer surrounding path, and a driving manner of the outer surrounding path is defined as the manned automatic travel or manual travel.

5. The travel path management system according to claim 4,

The inner circumferential path is formed along end contour lines of a plurality of straight paths formed in an inner region located inside the outer peripheral region and the outer circumferential path.

6. The travel path management system according to claim 5,

when the interval between the end contour line and the outer circumferential path varies, on/off information of each line of clutches for changing the working width in accordance with the variation of the interval is allocated to the inner circumferential path as working control information.

7. The travel path management system according to any one of claims 3 to 6,

the information terminal with a touch panel connected to the in-vehicle LAN of the work machine is configured with the circular route creation unit, the round-trip route creation unit, and the driving method management unit so as to be operable via a graphical user interface, and the circular route is displayed on the screen of the touch panel so as to be recognizable according to the driving method.

8. The travel path management system according to claim 7,

a path portion on which manual travel is performed as the driving manner is eliminated from the screen.

9. The travel path management system according to claim 7,

a route portion on which manual travel is performed as the driving manner is displayed on the screen as a guidance route in an identifiable manner.

10. The travel path management system according to any one of claims 1 to 9,

a part of the round route is used as a part of a turning route for making a turning travel from the straight route being traveled to the straight route to be traveled next.