JP2020099249A - Seeding implement and automatic travel control system thereof - Google Patents

Abstract

To provide a seeding implement for which automatic travel control can be performed accurately while avoiding contact to an obstruction and an automatic travel control system thereof.SOLUTION: An automatic travel control system comprises: a satellite positioning unit capable of detecting a position of a travel machine body C using a navigation satellite; a work unit capable of performing seeding work of seedlings to a field; a route setting part capable of setting a plurality of target travel routes LM on which the travel machine body C performs the seeding work and travels, in a parallel state on the basis of a field shape; an automatic work control part capable of controlling the work unit on the basis of the position of the travel machine body C; and an automatic travel control part capable of performing automatic reciprocation travel control for controlling travelling of the travel machine body C along the target travel route LM, and turning travel to a next target travel route LM after travelling of the travel machine body C along the target travel route LM, on the basis of the position of the travel machine body C.SELECTED DRAWING: Figure 6

Description

The present invention, based on the position of the traveling body, that the traveling body travels along the target traveling route, and that the traveling body travels along the target traveling route and then turns to the next target traveling route. The present invention relates to a planting and seeding work machine provided with an automatic travel control unit capable of controlling automatic reciprocating travel control, and an automatic travel control system for the planting and seeding work machine.

For example, Patent Document 1 discloses a travel route generation system capable of setting a travel route of a work vehicle in a field. In this travel route generation system, a plurality of target travel routes (“outgoing work route” in the literature) and turning routes are set, and travel is started from the target travel route farthest from the entrance/exit (“entrance/exit route” in the literature). The order of travel of the target travel route is set so that the vehicle body travels back and forth in order from the target travel route toward the entrance.

JP, 2018-117566, A

By the way, since there are many obstacles such as utility poles and water outlets on the edge of the field, the traveling machine automatically turns to the next target traveling route after traveling along the target traveling route. Therefore, the setting of the target travel route must be taken into consideration so as to avoid such contact between the obstacle and the traveling vehicle body. Further, while the tractor and the combine can travel again in the already-worked area, the planting and seeding system working machine is required to run while avoiding the already-worked area so as not to trampler the seedlings. For this reason, in the automatic traveling control of the planting and seeding system working machine, it is necessary to set the target traveling route in consideration of such actual situation.

An object of the present invention is to provide a planting and seeding work machine and an automatic running control system for the planting and seeding work machine, which are capable of accurately and automatically controlling running while avoiding contact with an obstacle.

An automatic traveling control system for a planting and seeding system work machine according to the present invention is a satellite positioning unit capable of detecting the position of a traveling machine body using a navigation satellite, a work device capable of seeding and seeding work for a field, and the traveling machine body. Is a path setting unit capable of setting a plurality of target travel paths traveling while performing the planting and seeding work in parallel with each other based on the field shape, and the working device can be controlled based on the position of the traveling machine body. An automatic work control unit, the traveling machine body traveling along the target traveling route, and turning traveling to the next target traveling route after the traveling body traveling along the target traveling route. An automatic traveling control unit capable of automatic reciprocating traveling control that is controlled based on the position of the traveling machine body is provided, and the automatic traveling control unit is preset from the outer periphery of the field based on the field shape to the inside of the field. It is characterized in that the turning traveling is possible based on the automatic reciprocating traveling control at a position separated by a set distance or more.

Further, the technical features of the automatic traveling control system according to the present invention can be applied to the planting work machine itself, and therefore, the present invention covers such planting work machine as a target of the right. be able to. In that case, the planting and seeding system working machine is a satellite positioning unit capable of detecting the position of the traveling body using a navigation satellite, a working device capable of planting and seeding work on a field, and the traveling body is the planting and seeding work. A plurality of target travel routes that travel while performing the setting of a route setting unit that can be set in parallel with each other based on the field shape, and an automatic work control unit that can control the work device based on the position of the traveling machine body. , Traveling of the traveling machine body along the target traveling route based on the position of the traveling machine body, and turning traveling to the next target traveling route after the traveling machine body traveling along the target traveling route And an automatic traveling control unit capable of automatic reciprocating traveling control for controlling the automatic traveling control unit, and the automatic traveling control unit has a preset distance from the outer periphery of the field based on the field shape to the inside of the field or more. It is characterized in that the turning traveling based on the automatic reciprocating traveling control is possible at a distant position.

According to the present invention, since the turning traveling is performed at a position more than the set distance from the edge of the field, at the edge of the field, even when there are obstacles such as utility poles and water spouts, these It is possible to perform turning traveling based on automatic reciprocating traveling control without touching an obstacle. Further, according to the present invention, since the automatic reciprocating traveling control is performed in the range inside the field that is more than the set distance from the edge of the field, unworked in the outer peripheral area of the field after the automatic reciprocating traveling control is performed. It becomes possible to leave an area. Therefore, the seedlings that have been planted and seeded are not trampled inside the field, and the remaining planting and seeding work is smoothly performed in the outer peripheral region of the field. Further, when an obstacle exists on the edge of the field, the automatic reciprocating traveling control is performed within the field inside the field, so that it is possible to perform the planting work by manual operation only in the outer peripheral area of the field. As a result, a planting and seeding work machine and an automatic running control system for the planting and seeding work machine that can perform automatic running control with high accuracy while avoiding contact with obstacles are realized.

The "planting work" in the present invention means a general term for the work of sowing seeds before germination in a field or transplanting seedlings after germination in a field. Further, the "planting work machine" in the present invention means the generic name of the above-mentioned work machine capable of sowing and the work machine capable of transplanting seedlings. The “seedling” in the present invention includes seeds before germination and seedlings after germination. Further, the "automatic reciprocating traveling control" in the present invention is included in one form of the automatic traveling control.

In the present invention, a storage unit capable of storing the working width of a harvester that harvests a harvested crop is provided, and the field outside the inner working area in which the planting work is performed based on the automatic reciprocating traveling control in the field, The traveling machine body is an outer peripheral area in which the traveling operation is possible, and the automatic work control unit is configured such that the total actual working width of the working device when the planting work is performed by the traveling operation in the outer peripheral area is the harvesting area. It is preferable that the working width of the working device is controlled so that the working width of the working device is an integral multiple of the working width of the machine. Further, in this configuration, the route setting unit, the total of the actual working width of the working device when the planting work is performed by the traveling in the outer peripheral region is an integral multiple of the working width of the harvester As described above, a configuration in which the target traveling route can be set is also suitable.

When the harvester harvests harvested crops, the harvester first performs the harvesting work while rotating along the outer circumference of the field, and then the traveling inside the field where the harvester moves forward and reverses the traveling direction of the machine. The harvesting work is carried out by repeating and alternately. At this time, in many cases, the interval between the seedling planting work is shifted at the boundary between the inner working area and the outer peripheral area. Therefore, if the harvesting work is performed by the harvester while straddling the boundary, it is possible that the divider of the self-removing combine, which is an example of the harvester, pushes down the harvested crop and a harvest loss occurs. With this configuration, since the planting and sowing work is performed in the outer peripheral area so as to be an integral multiple of the working width of the harvester, it is possible to reduce the possibility that the above-described inconvenience occurs when the harvester harvests the harvested crop. It The configuration for controlling the working width of the working width of the working apparatus includes the case where all the working width of the working apparatus operates.

In the present invention, the working device includes a leveling rotor capable of leveling unevenness of a field, and the automatic work control unit, when the seeding work is performed at a place where the turning traveling is performed, It is preferable that the leveling rotor be controllable so as to level the unevenness.

It is conceivable that at the place where the turning traveling is performed, the leveled condition of the field is rough due to the ruts that the traveling vehicle has traveled. If transplanting work is performed in this state, floating seedlings may occur. Therefore, with this configuration, the transplanting work is performed while the unevenness of the field surface is leveled, and the risk of inconvenience such as floating seedlings is reduced.

In the present invention, the route setting unit is configured to be able to set a circular traveling route for at least two laps outside the field rather than an inner working area where the planting work is performed based on the automatic reciprocating traveling control in the field, It is preferable that the automatic traveling control unit is configured to be capable of automatic traveling control for controlling the traveling machine body to travel along the orbiting traveling path for at least one round.

With this configuration, a necessary and sufficient space for turning travel that is wider than the working width of the work device is secured, and automatic reciprocating travel control is efficiently performed without the traveling machine body contacting an obstacle on the edge of the field. Further, according to this configuration, even if the planting and seeding work by the manual operation is required, the artificially operated area is narrowed down to the area of the peripheral traveling route on the outer peripheral side. As a result, the planting and seeding work by the automatic traveling control is utilized as far as possible to the outer circumference side of the field, and the contact with the obstacle at the edge of the field is surely avoided.

In the present invention, a field shape calculation unit capable of calculating the field shape based on a traveling locus of the traveling machine acquired by detecting the position of the traveling machine over time is provided, and the field shape calculation unit is the work. The apparatus is configured to be able to calculate the field shape by traveling around the outer circumference of the field while performing the planting work, and at the set distance, the rotation for calculating the field shape. It is preferable that the work width of the outer peripheral already-worked region formed by the planting work during traveling is included.

With this configuration, the traveling vehicle body first travels along the outer circumference of the field to calculate the field shape, and the planting work is performed during this traveling. Therefore, the planting and sowing work is performed more efficiently than the configuration in which the planting and sowing work is not performed when the traveling machine body first travels along the outer circumference of the field. In addition, when the set distance includes the work area on the outer circumference, when the field supervisor or the passenger on the traveling machine monitors the automatic operation of the planting and planting work machine, the supervisor or the passenger can perform the work on the outer circumference. The area is visible as a guide for the set distance.

In the present invention, when the replenishment position capable of providing the replenishment material is adjacent to the field outer side than at least one of the sides forming the outer periphery of the field shape, the automatic work control unit is adjacent to the replenishment position. In the planting work on the side, it is preferable that the working device be controllable so that the working device operates within a working width of the working device outside the field.

If the planting work is performed on the outer circumference of the field shape adjacent to the refill position over the working width of the work device, the traveling machine body will be difficult to approach the refill position during refill, which will hinder the refill work. May affect. According to this configuration, at the location where the replenishment position is adjacent, the field inside part of the work device does not operate and the seeding work is not performed, so that the traveling body easily approaches the replenishment position during the replenishment work. Is carried out smoothly.

In the present invention, the route setting unit, the work device performs the planting and seeding work between the outer peripheral work area and an inner working area in which the planting and seeding work is performed based on the automatic reciprocating traveling control. It is configured so that the target traveling route can be set so as to secure a circular traveling route in which the traveling machine circulates in the field while performing over the working width of the device, and the automatic traveling control unit is configured to follow the circular traveling route. It is preferable that the automatic traveling control for controlling the traveling machine body to travel is enabled.

With this configuration, since the ridge of the field is the area where the planting work has already been completed as the outer peripheral already-worked area, the automatic traveling control is performed without the traveling body contacting the obstacle at the ridge of the field. ..

In the present invention, the route setting unit is located within a preset range from an entrance where the traveling machine can enter and leave the field when the automatic traveling control in the traveling course is completed, and the traveling machine It is preferable that the traveling route can be set such that the traveling direction is along the inclination direction of the doorway.

With this configuration, if the traveling machine body advances when the automatic traveling control is completed, the traveling machine body can be directly exited from the field through the doorway.

It is a side view which shows the rice transplanter which is a planting work machine. It is a block diagram showing composition of an automatic run control system of a planting work machine. It is a functional block diagram which shows the function of automatic travel control, and the flow of data. It is a top view of the field showing the round trip for acquiring the field shape. FIG. 6 is a plan view of a field showing a state in which planting and sowing work is performed along with traveling around. It is a top view of a field showing setting of a target run course and a turning course. It is a top view of a field showing setting of a target run course and a turning course. It is a top view of the field which shows setting of a circular traveling route. It is a top view which shows the planting work in the last target travel route. It is a top view which shows the planting work in the first and last target travel route. It is a top view of a field showing setting of a target run course and a turning course. It is a top view of the field which shows setting of a circular traveling route. It is a top view of the field which shows the state where the planting work was performed along the circuit route of the 1st round. It is explanatory drawing explaining the flow of the harvesting work by a combine. It is a top view which shows the transplantation state of the seedling in each of an inner side work area and an outer peripheral area. It is a top view of a field showing setting of a target run course and a turning course in another embodiment. FIG. 6 is a plan view of a field showing a state in which a planting operation is performed in a state in which the seedling planting device straddles the boundary between the outer peripheral region and the inner working region.

[Basic configuration of planting work machine]
An embodiment of the present invention will be described with reference to the drawings. The “planting work” in the present invention means a general term for the work of sowing seeds before germination in a field or transplanting seedlings after germination in a field. Further, the “planting work machine” in the present invention means the generic name of the above-mentioned work machine capable of sowing and the work machine capable of transplanting seedlings. The “seedling” in the present invention includes seeds before germination and seedlings after germination. Here, a riding type rice transplanter will be described as an example of the planting and seeding system working machine. In FIG. 1, an arrow “F” indicates a front side of the traveling body C, and an arrow “B” indicates a rear side of the traveling body C.

As shown in FIG. 1, the riding rice transplanter includes a traveling machine body C having a pair of left and right steering wheels 10 and 10 and a pair of left and right rear wheels 11 and 11. In addition, a seedling planting device W as a working device is vertically movable in the rear part of the traveling machine body C, and the seedling planting device W is capable of transplanting seedlings (seedlings) to a field (one form of planting work). Is configured. The pair of left and right steered wheels 10 are provided on the front part of the machine body of the traveling machine body C so that the direction of the traveling machine body C can be changed, and the pair of left and right rear wheels 11 are provided on the rear body part of the traveling machine body C. Has been. The seedling planting device W is movably connected to the rear end of the traveling machine body C via a link mechanism 21. The link mechanism 21 is moved up and down by the expansion and contraction of the lifting hydraulic cylinder 20. Accordingly, the seedling planting device W is configured to be switchable between a working state in which the transplanting work is performed by descending on the rice field in the field, and a non-working state in which the transplanting work is performed by raising above the rice field in the field. ing.

An openable hood 12 is provided at the front of the traveling body C. An engine 13 is provided in the hood 12. Although not described in detail, a known HST (Hydraulic Static Transmission, not shown) is provided as a speed change mechanism for transmitting power of the engine 13 to the steered wheels 10, the rear wheels 11, or both. The power of the engine 13 is transmitted to the steered wheels 10 and the rear wheels 11 via a speed change mechanism provided in the airframe, and the power after the speed change is planted with seedlings through an electric motor drive type planting clutch (not shown). It is transmitted to the device W. The traveling machine body C is provided with a machine body frame 15 extending along the front-rear direction, and a support column frame 16 is provided upright on the front portion of the machine body frame 15.

A plurality of (for example, four) normal spare seedling stands 28 and spare seedling stands 29 are provided on the left and right sides of the hood 12 of the traveling machine body C. Usually, the spare seedling stand 28 and the spare seedling stand 29 are configured so that spare seedlings to be supplied to the seedling planting device W can be placed. A pair of left and right spare seedling frames 30 are provided on the left and right sides of the hood 12 of the traveling machine body C, and upper portions of the left and right spare seedling frames 30 are connected by a connecting frame 31. The spare seedling frame 30 supports each normal spare seedling stand 28 and the spare seedling stand 29. The satellite positioning unit 80A is attached to the upper part of the connecting frame 31.

The satellite positioning unit 80A is configured to be able to detect the position of the traveling body C by receiving radio waves transmitted from a plurality of navigation satellites that orbit the earth. That is, the position of the satellite positioning unit 80A is measured by using a well-known GPS (Global Positioning System) as an example of a satellite positioning system (GNSS: Global Navigation Satellite System). .. In the present embodiment, the satellite positioning unit 80A uses RTK-GPS (Real Time Kinetic GPS: interferometric positioning method), but it is also possible to use DGPS (Differential GPS: relative positioning method). The satellite positioning unit 80A may be configured to be attachable to and detachable from the connecting frame 31.

In addition to the satellite positioning unit 80A, an inertial measurement unit 80B (see FIGS. 2 and 3) having, for example, an IMU (Internal Measurement Unit) as azimuth detecting means for detecting the azimuth of the traveling body C is provided in the traveling body C. ing. Although not shown, the inertial measurement unit 80B is provided, for example, at a low position in the center in the lateral width direction of the traveling machine body C, and has an angular velocity of a turning angle of the traveling machine body C, an angular velocity of a left and right inclination angle of the traveling machine body C, and a traveling machine body C. It is possible to measure the angular velocity of the front-back inclination angle, etc. The azimuth change angle of the airframe can be calculated by integrating this angular velocity. The inertial measurement unit 80B may have a configuration including a gyro sensor and an acceleration sensor. In the present embodiment, the satellite position detection module 80 includes a satellite positioning unit 80A and an inertial measurement unit 80B.

At the center of the traveling machine body C, a riding section 40 for performing various driving operations is provided. The riding section 40 includes a driver's seat 41, a steering handle 43, and various operation tools such as a main shift lever 44. The driver's seat 41 is provided in the center of the traveling machine body C, and is configured so that a passenger can take a seat. The steering wheel 43 is configured so that the steering wheel 10 can be steered by a manual operation. The forward/backward traveling switching operation and the traveling speed changing operation of the traveling machine body C can be performed, for example, by operating the main transmission lever 44, and the raising/lowering operation of the seedling planting device W can be performed by various operation tools of the riding section 40. is there.

Although not shown, the riding section 40 is provided with a tablet computer that can be attached to and detached from the traveling machine body C. This tablet computer has a touch panel type liquid crystal screen and is configured to be able to display various information. Note that at least a part of the configuration of the control unit 5 described later may be mounted on the tablet computer. In this case, the satellite positioning unit 80A and the tablet computer may be connected to each other so as to be capable of data communication with each other in a state where they are detached from the traveling body C. Then, for example, a field monitor or a field work machine passenger may walk the edge while carrying the satellite positioning unit 80A and the tablet computer, and position information may be measured.

The seedling planting device W is provided with a plurality (for example, four) of transmission cases 22, a plurality of (for example, eight) rotating cases 23, a leveling float 25, a seedling placing table 26, and a leveling rotor 27. ing. The rotating case 23 is rotatably supported on the left side and the right side of the rear part of each transmission case 22, respectively. A pair of rotary type planting arms 24 are provided at both ends of each rotating case 23. The ground leveling float 25 is for leveling the rice field in the field, and is provided in plural in the seedling planting device W. A mat-like seedling for planting is placed on the seedling placing table 26. The leveling rotor 27 is configured to level the unevenness of the field.

The seedling planting device W drives the rotary table 23 by the power transmitted from the transmission case 22 while driving the laterally reciprocating lateral movement of the seedling table 26, so that the seedling table 26 is planted from the lower part of the seedling table 26. The seedlings are alternately taken out by the arms 24 and planted on the rice field in the field. Although not shown, the seedling planting device W is configured to plant seedlings by the planting arms 24 provided in the plurality of rotating cases 23. If there are four rotating cases 23, it is a four-row planting type, if there are six rotating cases 23, it is a six-row planting type, and if there are eight rotating cases 23, it is a eight-row planting type. In the case of an individual, it is a 10-row planting type.

A fertilizer application device 34 is provided as part of the seedling planting device W, and the fertilizer application device 34 supplies fertilizer to the seedlings planted in the field. The fertilizer application device 34 is provided with a hopper 34A, a feeding portion 34B, a hose 34C, a grooving device 34D, and a blower 34E. The hopper 34A stores fertilizer. The fertilizer stored in the hopper 34A is delivered by the delivery unit 34B, and is delivered to the groove making device 34D via the hose 34C by the blower 34E. A groove is formed on the rice field in the field by the grooving device 34D, and the fertilizer sent to the grooving device 34D is supplied to the ditch on the rice field.

Behind the seedling placing table 26, a chemical spraying device 35 is provided as a part of the seedling planting device W. The chemical spraying device 35 is provided with a main body case 35A and a chemical hopper 35B that is connected to an upper portion of the main body case 35A and stores a chemical such as a herbicide. The main body case 35A of the chemical spraying device 35 is supported by the seedling planting device W. Inside the main body case 35A, a medicine feeding mechanism 35C for feeding the medicine stored in the medicine hopper 35B, and a medicine sprayed by the medicine fed by the medicine feeding mechanism 35C are diffused in the left and right directions diagonally downward and rearward. And a diffusion mechanism 35D.

The feeding mechanism 35C and the diffusion mechanism 35D are driven by an electric motor (not shown). The delivery mechanism 35C is configured to deliver a set amount of medicine for each operation. The diffusion mechanism 35D includes a diffusion plate. The chemical spraying device 35 is controlled to drive the feeding mechanism 35C and the diffusion mechanism 35D for a preset time to spray the chemicals every time the seedling planting device W planted a preset number of stocks.

[Configuration of automatic driving control]
Next, a configuration for performing automatic traveling control will be described based on FIGS. 1 to 3. 2 and 3 show a control system of a field working machine using the automatic traveling control system according to the present invention. The control system of the field work machine includes a control unit 5 and various input/output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. The control unit 5 is a core element of this control system, and is shown as an assembly of a large number of electronic control units called ECUs (electronic control units). The signals from the satellite positioning unit 80A and the inertial measurement unit 80B are input to the control unit 5 through the vehicle-mounted LAN.

The control unit 5 is connected to the communication unit 66. The communication unit 66 is used for exchanging data between the control unit 5 and the management computer 6. The communication unit 66 and the management computer 6 are connected by a network such as the Internet. The management computer 6 is, for example, the above-mentioned tablet computer, a mobile terminal such as a smartphone carried by an observer or a work plan deciding person, or is installed in the home or a management office of the supervisor or the work plan deciding person. It is a computer that is running. The management computer 6 is a remote operation terminal having remote operation means for the traveling machine body C and the seedling planting device W as a working device. The remote operation means may be a touch panel, a computer keyboard or mouse, or a dedicated panel switch, rotary switch, or sheet key switch.

The control unit 5 includes an output processing unit 58 and an input processing unit 57 as input/output interfaces. The output processing unit 58 is connected to various operating devices 70 via a device driver 65. The operating device 70 includes a traveling device group 71 that is a traveling-related device and a working device group 72 that is a work-related device. The traveling device group 71 includes, for example, a steering motor (not shown) for the steered wheels 10, 10, a control device for the engine 13, the above-described HST control device, a braking device (not shown), and the like. The working equipment group 72 includes a seedling planting device W (including each row clutch (not shown)), a fertilizer application device 34, and a control device for the chemical spraying device 35 as shown in FIG. 1.

To the input processing unit 57, a traveling state sensor group 63, a work state sensor group 64, a traveling operation unit 90 operable by a monitor, and the like are connected. The traveling state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, etc. in addition to the vehicle speed sensor 63A, the obstacle detection unit 63B, and the steering angle sensor 63C. .. The vehicle speed sensor 63A is configured to detect the vehicle speed, for example, by the rotation speed of the transmission shaft in the transmission mechanism for the rear wheel 11. The obstacle detection unit 63B is provided on the front portion and the left and right side portions of the traveling body C, and can detect, for example, the edge of a field by using a distance measuring type distance sensor or an image sensor. It is configured like this. The work state sensor group 64 includes sensors for detecting drive states of the seedling planting device W, the fertilizer application device 34, and the chemical spraying device 35 as shown in FIG.

The traveling operation unit 90 is a general term for operating tools that are manually operated by a passenger. An operation signal based on a manual operation of the traveling operation unit 90 is input to the control unit 5. The traveling operation unit 90 includes a steering handle 43, a main shift lever 44, a mode operation tool 90A, an automatic start operation tool 90B, and the like. The mode operation tool 90A has a function of outputting to the control unit 5 a signal for switching the traveling mode of the control unit 5 between an automatic traveling mode in which automatic driving is performed and a manual traveling mode in which manual driving is performed. The automatic start operation tool 90B has a function of giving the control unit 5 a final automatic start command for starting automatic traveling. Although only one automatic start operation tool 90B is shown in FIG. 2, a plurality of automatic start operation tools 90B are provided and a plurality of automatic start operation tools 90B are operated simultaneously in order to prevent erroneous operation. As a result, a final automatic start command may be output. In some cases, the software may automatically switch from the automatic travel mode to the manual travel mode regardless of the operation by the mode operation tool 90A. For example, when a situation in which automatic driving is impossible occurs, the control unit 5 forcibly executes the shift from the automatic driving mode to the manual driving mode.

The control unit 5 includes a traveling control unit 51, a work control unit 52, a traveling mode management unit 53, a route setting unit 54, an own machine position calculation unit 55, a notification unit 56, a storage unit 59, and the like.

The own machine position calculation unit 55 calculates the own machine position, which is the map coordinates (or the field coordinates) of the specific location of the traveling machine body C set in advance, based on the positioning data, the azimuth data, and the vehicle speed data. The positioning data is acquired by the satellite positioning unit 80A over time. The azimuth data is acquired over time by the inertial measurement unit 80B. The vehicle speed data is acquired over time by the vehicle speed sensor 63A. The position of the reference point of the traveling machine body C (for example, the center of the vehicle body or the center of the seedling planting device W shown in FIG. 1) can be set as the own machine position.

The own machine position calculation unit 55 stores the own machine position over time in a storage unit 59 configured by, for example, a RAM (random access memory). The storage unit 59 is configured to be able to store the own position as position information over time. A traveling locus acquisition unit 55A and a field shape calculation unit 55B are provided as one configuration of the own-machine position calculation unit 55. The traveling locus acquisition unit 55A is configured so that the traveling locus can be acquired based on the set of the own-machine positions stored in the storage unit 59. In short, the traveling locus acquisition unit 55A is configured to be able to acquire the traveling locus of the traveling body C based on the detection of the position of the own vehicle over time. Further, the farm field shape calculation unit 55B is configured to be able to calculate the farm field shape based on the traveling locus of the traveling machine body C.

The traveling locus acquired by the traveling locus acquisition unit 55A and the farm field shape calculated by the farm field shape calculation unit 55B are configured to be stored in the storage unit 59. Further, the traveling locus and the field shape stored in the storage unit 59 can be transferred to the management computer 6 via the communication unit 66.

The notification unit 56 generates notification data based on a command from each functional unit of the control unit 5 and gives the notification data to the notification device 62. Examples of the notification device 62 include a buzzer, a speaker, a lamp, a measuring instrument, and the like. In addition to the notification device 62, the notification unit 56 may be configured to transmit notification data to the management computer 6 via the communication unit 66.

The traveling control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and gives a control signal to the traveling device group 71. The work control unit 52 gives a control signal to the work equipment group 72 in order to control the movements of the seedling planting device W, the fertilizer application device 34, and the chemical spraying device 35 shown in FIG. 1.

The rice transplanter according to the present embodiment is capable of traveling in a field both by an automatic operation for performing transplanting work by automatic traveling and a manual operation for performing transplanting work by manual traveling. Therefore, the traveling control unit 51 includes the manual traveling control unit 51A and the automatic traveling control unit 51B. The work control unit 52 includes a manual work control unit 52A and an automatic work control unit 52B. It should be noted that the automatic traveling mode is set when performing the automatic driving, and the manual traveling mode is set when performing the manual driving. The switching of the driving mode is managed by the driving mode management unit 53. That is, the traveling mode management unit 53 is configured to be able to switch the traveling mode of the control unit 5 between the automatic traveling mode for executing the automatic traveling and the manual traveling mode for executing the manual traveling. As a result, the control unit 5 is configured to be switchable between an automatic traveling mode in which the automatic traveling control is executed and a manual traveling mode in which the automatic traveling control is not executed.

The automatic traveling control unit 51B generates a control signal for changing the vehicle speed including automatic steering and stopping, and controls the traveling device group 71. Although details will be described later, the route setting unit 54 sets a plurality of target traveling routes LM in the inner working area CA and sets the end portions of the target traveling routes LM in the outer peripheral area SA, as shown in FIG. 6, for example. The turning traveling route TM to be connected is set. The own position is calculated by the own position calculation unit 55. Then, the automatic travel control unit 51B outputs a control signal so that the positional deviation between the vehicle position and the target travel route LM and the heading deviation are eliminated. That is, the automatic traveling control unit 51B is configured to perform automatic traveling control that controls the traveling machine body C to travel along the target traveling route LM based on the position of the traveling machine body C. As a control method for outputting the control signal, for example, known PID control is used.

The automatic work control unit 52B is configured to be able to control the seedling planting device W in conjunction with the automatic travel control based on the automatic travel control unit 51B. In other words, the automatic work control unit 52B is configured to control the seedling planting device W based on the position of the traveling machine body C. For example, when the traveling machine body C travels in the field without transplanting work (hereinafter referred to as “non-working travel”), the automatic work control unit 52B outputs a control signal for raising the seedling planting device W. The automatic work control unit 52B is also configured to be able to output a control signal to the fertilizer application device 34 and the chemical spraying device 35. For example, when the traveling machine body C travels in the field in a non-working manner, the automatic work control unit 52B outputs a control signal for stopping the fertilizer application device 34 and the chemical spraying device 35, which may cause the fertilizer and the chemical drug to be redundantly sprayed. To be prevented.

The route setting unit 54 itself generates the target travel route LM by the route calculation algorithm. The route setting unit 54 may not generate the target traveling route LM by itself, and the route setting unit 54 may download and use the target traveling route LM generated by the management computer 6 or the like.

When the manual travel mode is selected, the manual travel control unit 51A outputs the steering amount, the gear shift command, and the like based on the operation by the observer or the passenger, and controls the travel device group 71, whereby the manual operation is performed. Will be realized. The target travel route LM calculated by the route setting unit 54 can be used for guidance purposes for the rice transplanter to travel along the target travel route LM even in manual operation.

[Automatic traveling control of planting and seeding system working machine with acquisition of field shape]
Based on FIG. 4 to FIG. 8, the automatic traveling control of the planting and seeding work machine when the field shape is acquired will be described. In the fields shown in FIGS. 4 to 8, the horizontal direction of the paper is the horizontal direction H of the field, and the vertical direction of the paper is the vertical direction V of the field. The field shown in FIGS. 4 to 8 has a length in the vertical direction V longer than the length in the horizontal direction H, and is formed in a so-called vertical length.

The field shape shown in FIGS. 4 to 8 is formed in a quadrangle. The field is a pair of first sides S1 and S3 facing each other, and a pair of second sides S2 and S4 located between the pair of first sides S1 and S3 and shorter than the pair of first sides S1 and S3. Have. Four-sided ridges are formed in the field by the first sides S1 and S3 and the second sides S2 and S4. The farm roads K1 and K2 are adjacent to the pair of upper and lower second sides S2 and S4, respectively, and the farm roads K1 and K2 are respectively along the upper and lower second sides S2 and S4 of the fields shown in FIGS. 4 to 8. And extends in the lateral direction of the paper. An entrance/exit E of the field is provided at the ridge on the lower right side of the paper on the second side S2, and the traveling machine body C can enter and exit the farm road K2 and the field through the entrance/exit E. The ground of the entrance/exit E is inclined along the vertical direction V so that the side closer to the farm road K2 is higher.

FIG. 4 shows a state in which the traveling machine body C performs the transplanting work while circling in the field along the edge of the field. The first round trip in this field is performed manually. In the present embodiment, after the traveling machine C has entered the field from the farm road K2 via the entrance E, the rice transplanter can go straight along the first side S1. When the traveling machine body C is to be traveled from the farm road K2 along the second side S4 in the field via the doorway E, a turning operation of the traveling machine body C is required, but since the doorway E is a slope, Skilled skill is often required for turning the traveling vehicle body C by manual operation. The route that runs along the first side S1 is a route that can be easily entered without being influenced by the driving skill of the passenger. In the present embodiment, the orbital traveling by the manual operation is first performed along the first side S1. Then, in the order of the second side S2, the first side S3, and the second side S4, counterclockwise orbital traveling is performed along the edge of the four sides of the field.

Explaining with reference to FIG. 2 to FIG. 4, the own position is calculated by the own position calculating unit 55 with time while the orbiting traveling by the human operation is performed, and the traveling based on the set of the own positions is performed. The trajectory is acquired. In addition, seedling work is performed at the same time while the orbit is being performed, and seedlings are planted along the edge of the field. Then, the field shape calculation unit 55B is configured to be able to calculate the field shape by the seedling planting device W performing the transplanting work and the traveling machine body C traveling along the outer circumference of the field.

In FIG. 5, the first outer circumference already-worked area SA1, the second outer circumference already-worked area SA2, the third outer circumference already-worked area SA3, the fourth outer circumference already-worked area SA4, as the already-worked areas in the outer circumference area SA, It is shown. The first outer circumference already-worked area SA1 is an already-worked area where seedlings are planted along the first side S1. The second outer circumference already-worked area SA2 is a already-worked area where seedlings are planted along the second side S2. The third outer circumference already-worked area SA3 is a already-worked area where seedlings are planted along the first side S3. The fourth outer circumference already-worked area SA4 is a already-worked area where seedlings are planted along the second side S4.

In the embodiment shown in FIG. 5, among the areas where seedlings have been transplanted along the four sides of the field, the first outer circumference already-worked area SA1 and the third outer circumference already-worked area SA3 along the vertical direction V are planted with seedlings. It has a width that spans the working width of the device W. That is, the first sides S1 and S3 are circular paths corresponding to the ridges of the two sides along the vertical direction V, and seedlings are planted over the working width of the seedling planting device W in this path.

Of the areas where seedlings are planted along the four sides of the field, the second outer circumference already-worked area SA2 and the fourth outer circumference worked area SA4 along the lateral direction H have a width narrower than the working width of the seedling planting device W. Have. That is, the second side S2 and the second side S4 are the circulation paths corresponding to the ridges of the two sides along the lateral direction H, and in this path, the seedlings are planted by only a part of the seedling planting device W. That is, to explain with reference to FIGS. 1 and 5, on the second side S2 and the second side S4, the rotary case 23 of the plurality of rotary cases 23 closer to the inner side of the field by the respective row clutches of the seedling planting device W. Is stopped, and only the rotating case 23 outside the field operates. Therefore, the number of seedlings planted in the second outer circumference already-worked area SA2 and the fourth outer circumference worked area SA4 is smaller than that in the first outer circumference worked area SA1 and the third outer circumference worked area SA3. Few. In the present embodiment, the number of seedlings to be planted in the second outer circumference already-worked area SA2 and the fourth outer circumference already-worked area SA4 is set to two, and the number of planting stripes can be appropriately changed.

The farm road K1 is adjacent to the field outer side than the second outer circumference already-worked area SA2, and the farm road K2 is adjacent to the field outer side than the fourth outer circumference already-worked area SA4. The farm roads K1 and K2 are arranged so that vehicles loaded with supplementary materials such as supplementary seedlings and supplementary fuel can pass through. That is, the farm roads K1 and K2 are adjacent to the field as a supply position where supply materials can be provided. For example, when the worker replenishes the traveling machine body C with the supply material from the farm road K1 or the farm road K2, the traveling machine body C is stopped while being adjacent to the second outer circumference already-worked area SA2 or the fourth outer circumference worked area SA4 from the inside of the field. Thus, it is conceivable that an operator working on the farm road K1 or the farm road K2 hands the supply material to the passenger of the traveling machine C. In such a case, seedlings for two rows instead of eight rows are planted in the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4, which makes it easy to hand these supplementary materials.

For example, even when the field shape has been acquired in advance based on the round trip of the field by a tractor, combine, etc., the traveling machine body C requires the field shape with higher accuracy in the planting and seeding system working machine. It is conceivable to acquire a highly accurate field shape while traveling around the field again. Such a case will be described with reference to FIGS. 2 and 5. It is conceivable that the previously acquired field shape has already been received via the communication unit 66 before the round trip by the above-described manual operation is performed. In this case, the passenger of the traveling machine body C or the farm field observer may be configured to be able to set which region of the outer peripheral region SA to reduce the number of planting threads before the circular traveling. Then, the automatic work control unit 52B outputs a control signal corresponding to the setting of the number of planting rows described above, and the number of planting rows of the seedling planting device W is adjusted via each row clutch. The area where the number of planted rows is reduced may be set, for example, by operating the management computer 6 described above, or may be set by operating a mobile terminal operated by a field monitor or a field work machine occupant. It may be possible.

As described above, when the supply position at which the supply material can be provided is adjacent to the field outer side than at least one of the first side S1, S3 and the second side S2, S4 forming the outer periphery of the field shape, automatic work control is performed. The portion 52B is configured to be able to control the seedling planting device W so that the seedling planting device W operates by the width outside the field in the working width of the seedling planting device W in the transplanting work on the side adjacent to the supply position. ing. Therefore, the widths of the second outer circumference already-worked area SA2 and the fourth outer circumference already-worked area SA4 corresponding to the second sides S2 and S4 adjacent to the farm roads K1 and K2 as the replenishment positions are not adjacent to the farm roads K1 and K2. It is formed narrower than the width of the first outer circumference already-worked area SA1 and the third outer circumference already-worked area SA3 corresponding to the sides S1 and S3.

After the completion of the circular traveling by the manual operation, as shown in FIG. 6, a plurality of target traveling routes LM and a plurality of turning traveling routes TM are set by the route setting unit 54 (see FIGS. 2 and 3). It In the embodiment shown in FIG. 6, the respective longitudinal directions of the target travel route LM are set parallel to each other so as to be along the vertical direction V of the field. In other words, in the inner working area CA, the target travel routes LM are set side by side at equal intervals in the lateral direction H.

The inner working area CA is an area where the transplanting work is performed in the field based on the automatic reciprocating traveling control as one form of the automatic traveling control. The outer peripheral area SA is an area outside the farm field with respect to the inner working area CA, and is an area where the traveling machine body C can travel around.

As shown in FIG. 6, each of the turning travel routes TM is set at a position separated from the outer circumference of the field based on the field shape by a preset distance D set inside the field. The set distance D may be the width of the second outer circumference already-worked area SA2 or the fourth outer circumference already-worked area SA4, or the working width of the seedling planting device W. That is, the set distance D includes the work width of the second outer circumference already-worked area SA2 and the work width of the fourth outer circumference already-worked area SA4 formed by the transplanting work in the round trip for calculating the field shape. The automatic traveling control unit 51B is configured to be capable of turning traveling based on the automatic reciprocating traveling control at a position separated from the outer circumference of the field based on the field shape by a preset distance D inside the field.

The route setting unit 54 shown in FIGS. 2 and 3 includes a first outer circumference already-worked area SA1 to a fourth outer circumference already-worked area SA4, and an inner work area CA in which a transplant work is performed based on automatic reciprocating traveling control. In the meantime, the seedling planting device W can perform the transplanting work over the working width of the seedling planting device W, and the traveling route C can set the target traveling route LM so as to secure the orbiting traveling route LML for traveling around the field. It is configured. Both ends of the target travel route LM are set at positions separated from each of the second outer circumference already-worked area SA2 and the fourth outer circumference already-worked area SA4 by a distance corresponding to the working width of the seedling planting device W. The first target travel route LM1 on which the traveling machine body C first travels and the third outer circumference already-worked area SA3 are excessively separated by a distance corresponding to the working width of the seedling planting device W. The final target travel route LM2 on which the traveling machine body C first travels and the first outer circumference already-worked area SA1 are excessively separated by a distance corresponding to the working width of the seedling planting device W. From this, the final traveling area SA5 is secured as an area in which the traveling vehicle C can travel between the target traveling path LM and the already-worked area in the outer peripheral area SA, and the final traveling area SA5, which will be described later, is a traveling area. LML is set. That is, the route setting unit 54 secures the orbiting traveling route LML inside the first outer circumference already-worked area SA1 to the fourth outer circumference already-worked area SA4 formed by the transplanting work in the orbital travel for calculating the field shape. Thus, the target travel route LM can be set.

Further, since the second outer circumference already-worked area SA2 and the fourth outer circumference already-worked area SA4, which are the already-worked areas, exist outside the turning field TM than the turning travel route TM, the turning machine C makes the turning work in this outer circumference area SA during the turning travel. It is performed inside the existing work area. In other words, the area where the work traveling and the turning traveling are performed is limited to the inner area of the field apart from the ridge. Therefore, for example, even when an obstacle such as a concrete wall, an electric pole, or a steel tower of a transmission line exists on the edge of the field, the second outer circumference already-worked area SA2 and the fourth outer circumference worked area SA4 are turned. Since it exists as an allowance, the risk that the traveling vehicle body C will come into contact with this obstacle or the like is reduced.

In the present embodiment, the work traveling means that the transplanting work is performed by the seedling planting device W while the traveling machine body C travels along the target traveling route LM. In addition, turning traveling means that the traveling machine body C moves to the next target traveling route LM along the turning traveling route TM after the completion of the work traveling along the one target traveling route LM.

Each of the turning travel routes TM is set as a turning travel route TM that connects adjacent end portions of the adjacent target travel routes LM, LM. The turning travel route TM shown in FIG. 6 is set so as to be adjacent to each of the second outer circumference already-worked area SA2 and the fourth outer circumference already-worked area SA4. The farm road K1 is adjacent to the field outer side than the second outer circumference already-worked area SA2, and the farm road K2 is adjacent to the field outer side than the fourth outer circumference already-worked area SA4. For this reason, when supplying the replenishment material to the traveling machine body C from the farm roads K1 and K2, the replenishment work can be performed in a state where the traveling machine body C is stopped during the turning of the turning traveling route TM. As a result, the time and effort required for the traveling machine body C to deviate from the target traveling route LM or the turning traveling route TM to move to the dedicated replenishment position are omitted.

Each of the target travel routes LM is set so as to be along the vertical direction V that is the longitudinal direction of the field. As a result, the number of the target traveling routes LM and the turning traveling routes TM is reduced as compared with the configuration in which each of the target traveling routes LM is set along the lateral direction H which is the lateral direction of the field, and the traveling machine body is reduced. The turn frequency of C is reduced. As a result, it is possible to reduce the risk that the ground leveling state in the area between the inner working area CA and the already worked area in the outer peripheral area SA will be roughened.

The traveling order of the target traveling route LM is set such that the vehicle travels sequentially from the start position ST on the first target traveling route LM1 located on the side away from the entrance/exit E. That is, the target travel route LM2 set closest to the entrance/exit E is the target travel route LM that the travel aircraft C travels last among the plurality of target travel routes LM. Further, the target traveling route LM and the turning traveling route TM are set so that the traveling machine body C travels on the last target traveling route LM2 toward the side where the doorway E is located. From this, the end of the final target travel route LM2 on the side opposite to the side where the doorway E is located is connected to the turning travel route TM, and the end of the final target travel route LM2 on the side where the doorway E is located. The turning traveling route TM is not provided. As shown in FIGS. 6 and 7, the end position G is set at the end of the final target travel route LM2 on the side where the doorway E is located. The end position G is located within a preset range from the doorway E (for example, within 5 meters from the doorway E). That is, when the automatic traveling control on the inside of the field with respect to the circular traveling route LML is completed, the route setting unit 54 sets the traveling vehicle C within the preset range from the entrance E through which the traveling vehicle C can enter and exit the field. The target travel route LM can be set so as to be located.

In this way, the target traveling route LM and the turning traveling route TM are set such that the seedlings are planted in the inner working area CA at the same time when the traveling machine body C reaches the end position G. Therefore, the start position ST at which the automatic travel control is started is set as shown in FIGS. 6 and 7. In the embodiment shown in FIG. 6, since the number of target travel routes LM is an even number, the start position ST is set at the end of the first target travel route LM1 on the side where the end position G is located. In the embodiment shown in FIG. 7, since the number of target travel routes LM is an odd number, the start position ST is set to the end of the first target travel route LM1 on the side opposite to the end position G. It

As described based on FIG. 4, after traveling counterclockwise along the ridges of the four sides of the field in the order of the first side S1 to the second side S4, the traveling machine body C is connected to the entrance E. Located in the vicinity. In this state, an occupant or a field monitor operates the automatic start operation tool 90B (see FIG. 2) to start the automatic traveling control. Describing based on FIGS. 6 and 7, first, the traveling machine body C moves to the start position ST. When the traveling machine body C moves within the area of the inner working area CA before the transplanting work when moving to the start position ST, the traveling locus of the traveling machine body C remains as a rut on the surface of the field, and the seedling is placed at this rut area. If the seedlings are planted, floating seedlings may occur at those locations. In order to avoid this inconvenience, the automatic traveling control unit 51B (see FIGS. 2 and 3) outputs a control signal so that the traveling machine body C moves to the start position ST while detouring the outside of the inner working area CA. .. Therefore, the traveling machine body C moves from the vicinity of the doorway E to the start position ST via the final circulation area SA5. At this time, the seedling planting device W is in a raised state, that is, in a non-working state. Further, while the seedling planting device W is rising, the fertilizer application device 34 and the chemical spray device 35 are also stopped, and fertilization work and chemical spray work are not performed. This avoids duplication of fertilization and chemical spraying on the final circulation area SA5.

In the embodiment shown in FIG. 6, the traveling machine body C moves to the start position ST while traveling in the area between the fourth outer circumference already-worked area SA4 and the inner work area CA in the final circulation area SA5. At the time when the circular traveling described based on FIG. 4 is completed, the front part of the traveling machine body C faces the side where the doorway E is located. The traveling body C may move to the start position ST after the traveling body C makes a 180 degree turn at this location, or the traveling body C may move backward from this location to the start position ST. It may be a moving method.

The traveling machine body C moves to the start position ST while traveling in the final circulation area SA5, but since the transplant work is performed in a later step in the final circulation area SA5, the traveling machine body C later travels again in the final circulation area SA5. The traveling locus after the traveling body C travels once remains as a rut on the surface of the field. Therefore, when the traveling vehicle body C travels on the rut again when the traveling vehicle body C travels along the circular traveling route LML described later in the later step, the steered wheels 10 and the rear wheels 11 are fitted in the muddy portion of the rut. It is considered that slip is likely to occur. In order to avoid such an inconvenience, the automatic traveling control unit 51B starts the traveling machine body C so that the traveling machine body C is displaced to the left or right of the route along which the traveling machine body C travels along the circular traveling route LML. A control signal for moving to the position ST is output. At this time, the amount of displacement of the traveling machine body C with respect to either the left or right is set in consideration that seedlings will not be planted on the ruts in the transplanting work in the subsequent process.

After the traveling body C has reached the start position ST, while the automatic reciprocating traveling control as one form of the automatic traveling control is being performed, the traveling body C is inside the field shown in FIG. 6 (or FIG. 7) in the field. Work traveling is performed in the work area CA, and turning traveling is performed in an area between the inner work area CA and the second outer circumference already-worked area SA2. In the inner working area CA, the automatic reciprocating traveling control alternately repeats working traveling and turning traveling.

When the work running in the inner working area CA and the turning running outside the inner working area CA are completed, seedlings are planted in the inner working area CA as shown in FIG. When the traveling machine body C travels in the inner working area CA with the seedlings planted in the inner working area CA, the seedlings are stepped down. Therefore, in traveling after seedlings have been planted in the inner working area CA, the automatic traveling control unit 51B outputs a control signal so that the traveling machine body C does not travel in the inner working area CA. The final working area SA5 as an unworking area is left between the inner working area CA and the already worked area in the outer circumferential area SA, and the final working area SA5 has a width corresponding to the working width of the seedling planting device W. Have. Therefore, the route setting unit 54 sets the one-round traveling route LML along the final circulation region SA5 outside the inner working region CA and inside the existing work region in the outer peripheral region SA. Then, the automatic travel control unit 51B outputs a control signal so that the traveling machine body C travels along the circuit travel route LML. As a result, automatic traveling control is performed in which the traveling machine body C travels along the circulating traveling route LML. As described above, the automatic traveling control unit 51B is configured to enable automatic traveling control for controlling the traveling machine body C to travel along the circular traveling route LML.

In the final circulation area SA5, the traveling body described above is located between the second outer circumference already-worked area SA2 and the inner work area CA and between the fourth outer circumference already-worked area SA4 and the inner work area CA. The non-working traveling to the start position ST of C and the above-described turning traveling were performed. Therefore, it is conceivable that the land in the final field SA5 is rough in these fields. This case will be described with reference to FIGS. 1, 2, 3, and 8. When the transplanting operation is performed in the final circulation area SA5, the leveling rotor 27 is operated based on the control signal of the automatic operation control unit 52B, and the transplanting operation is performed while the unevenness of the field surface is leveled. That is, the automatic work control unit 52B outputs a control signal for operating the leveling rotor 27 at a position where non-work traveling or turning traveling is performed, based on the own position calculated by the own position calculating unit 55. To do. The operation of the leveling rotor 27 based on the control signal of the automatic work control unit 52B may be performed over the entire final revolution area SA5, or at a position where the above-described non-work traveling and turning traveling are performed. The configuration may be limited to the above. In this way, the automatic work control unit 52B is configured to control the leveling rotor 27 so as to level the unevenness of the field when the transplanting work is performed at the place where the turning traveling is performed.

In the final circulation area SA5, the traveling machine body C performs the transplanting work while traveling around, and after the transplanting work is completed, the traveling machine body C exits the field through the entrance/exit E of the field and the transplanting work in the field is completed.

When the traveling body C goes out of the field through the entrance/exit E of the field, the traveling body C advances without turning, or the turning angle of the steering wheel 10 is slight (for example, above 0 degree and below 15 degrees). It is preferable that the traveling body C can be moved out of the field through the entrance/exit E of the field only by moving the traveling body C forward. Therefore, in the present embodiment, the traveling vehicle body C is located within a preset range from the doorway E (for example, within 4 meters from the doorway E) at the time of completion of the orbiting traveling in the final orbiting area SA5, and The traveling route LML in the final circulation area SA5 is set such that the traveling direction of C is along the inclination direction of the entrance E. Therefore, the circular traveling route LML shown in FIG. 8 is set clockwise. In the present embodiment, the orbiting traveling route LML is set in the orbiting direction opposite to the orbiting direction of the first orbiting traveling by manual operation (see FIG. 4).

In this way, the route setting unit 54 is located within a preset range from the entrance E through which the traveling machine body C can enter and leave the field and the traveling machine body C of the traveling machine body C when the automatic traveling control on the circular traveling route LML is completed. The traveling route LML can be set such that the traveling direction is along the inclination direction of the doorway E.

[Planting control using target clutches and setting of target travel route]
The automatic work control unit 52B is configured to be able to control the working width of the working width of the seedling planting device W that operates. In a normal transplanting operation, the automatic work control unit 52B operates the plurality of rotating cases 23 and the plurality of planting arms 24 over the entire working width of the seedling planting device W.

When the work travel is performed in the inner work area CA, the work travel is performed so that the work width of the seedling planting device W is ensured in the final circulation area SA5. Therefore, it is ideal that the width of the inner working area CA in the lateral direction H is equal to an integral multiple of the working width of the seedling planting device W. When the width in the lateral direction H in the inner working area CA does not have a width that is equal to an integer multiple of the working width of the seedling planting device W, each row clutch (not shown; Same) is used.

FIG. 9 shows a state in which the transplant work is performed on the final target travel route LM2 in the inner working area CA. In FIG. 9, a boundary line BL is shown as a boundary between the transplant work area based on the target travel route LM2 and the final circuit area SA5. While the automatic traveling control of the traveling machine body C is being performed along the target traveling route LM2, among the working widths of the seedling planting device W, the working width based on the traveling traveling route LML, that is, the width overlapping with the final traveling area SA5. Exists. This width is referred to as “overlap width OW”. When the transplanting work is performed along the working width of the seedling planting device W along the target travel route LM2, the seedlings are planted over the overlapping width OW outside the inner working area CA as well, and the final circumference area is obtained. The working width of the seedling planting device W cannot be secured in SA5. Therefore, in the seedling planting device W, each row clutch corresponding to the rotating case 23 and the planting arm 24 (see FIG. 1, the same applies below) at a location located outside the inner working area CA is disengaged. Then, the rotating case 23 and the planting arm 24 corresponding to this position are stopped. In the seedling planting device W, only the rotating case 23 and the planting arm 24 located within the inner working area CA operate.

In the embodiment shown in FIG. 9, the seedling planting device W has a working width of eight rows. In the embodiment shown in FIG. 9, the first target travel route LM1 is set so that the working width of the seedling planting device W falls within the inner working area CA. Therefore, in the work traveling based on the first target travel route LM1, the transplanting work covering eight rows was performed, and the transplanting work covering the eight rows was performed up to before the final target traveling path LM2. Then, in the work traveling based on the final target travel route LM2, the state where the seedling planting device W operates by the width of four rows of the work width of eight rows in the seedling planting device W is shown. In the work traveling along the final target travel route LM2, the transplanting work is not performed on the area of the overlapping width OW in the final circulation area SA5, and the work width of eight rows is secured in the final circulation area SA5. Then, during the traveling along the final circulation area SA5, the transplanting work for eight rows, which is the working width of the seedling planting device W, is performed.

In this way, the automatic travel control is performed along the target travel route LM that is inside the circuit travel route LML, and the work width of the seedling planting device W overlaps the work width based on the circuit travel route LML. When the width OW exists, the automatic work control unit 52B can control the seedling planting device W so as to stop the operation of the seedling planting device W by the overlapping width OW of the working width of the seedling planting device W. It is configured.

Regarding the spraying work of the fertilizer application device 34 and the chemical spraying device 35 shown in FIG. 1 as well, in the work travel along the final target travel route LM2, based on the control by the automatic work control unit 52B (see FIGS. 2 and 3). The fertilization work and the spraying work are not performed on the area having the overlapping width OW in the final circulation area SA5. Therefore, the fertilization work of the fertilizer application device 34 and the spraying work of the chemical spraying device 35 are performed only on the inner working area CA. Then, the fertilization work and the spraying work for eight rows, which is the working width of the seedling planting device W, are performed during the round traveling along the final circulation area SA5. As a result, duplication of fertilization work and spraying work in the area of the overlapping width OW is avoided.

When the transplanting operation is performed along the final target travel route LM2, the steering wheel 10 on one of the left and right sides of the traveling machine body C (the left side in the traveling direction of the traveling machine body C in FIG. 9, that is, the right side of the paper plane of the traveling machine body C) and The rear wheel 11 is located outside the inner working area CA. Therefore, the traveling loci of the steered wheels 10 and the rear wheels 11 located outside the inner working area CA are left as the rut RT. The region of the rut RT is more likely to be muddy than the left and right regions thereof. When the steered wheels 10 and the rear wheels 11 on the other left and right sides of the traveling body C travel on the rut RT in the orbital traveling along the final revolution area SA5, the steered wheels 10 and the rear wheels 11 cause the rut RT. It is conceivable that the slip will easily occur due to fitting in the muddy water. In order to avoid such an inconvenience, the target travel route LM is set as shown in FIG.

FIG. 10 shows a state in which the transplant work is performed on the first target travel route LM1 and a state in which the transplant work is performed on the final target travel route LM2 in the inner work area CA. The first target travel route LM1 is set such that the working width of two lines of the working width of the seedling planting device W is located outside the inner working area CA. The traveling machine body C travels along the first target traveling route LM1, and the transplanting work is performed within the working width of six rows of the working width of the seedling planting device W. From this, as compared with the configuration in which the first target travel route LM1 is set so that the working width of the seedling planting device W falls within the area of the inner working area CA, the target travel route LM is In the whole, the position shifts to the right by two lines. Then, in the final target travel route LM2, the transplanting work is performed with a working width of six articles, which is two articles more than in the case shown in FIG.

In the embodiment shown in FIG. 10, of the steered wheels 10 and 10 and the rear wheels 11 and 11, the rut RT of the steered wheel 10 and the rear wheel 11 on the side where the final revolution area SA5 is located is the inner working area CA. It is located substantially at the boundary with the final circulation area SA5. Therefore, it is possible to perform the transplanting work while avoiding the rut RT by traveling around the final circulation area SA5. In this way, the route setting unit 54 prevents the wheels from traveling again on the rut RT formed by the traveling of the traveling vehicle body C based on the previously set traveling route when the traveling route of the field has an overlapping portion. In addition, the traveling route of the subsequent process, which is displaced in the lateral direction of the machine body with respect to the traveling direction of the traveling machine body C, is set. If seedlings are planted on the rut RT in the transplanting operation in the subsequent step, the seedlings may become floating seedlings. Therefore, the amount of displacement of the traveling machine body C with respect to the lateral direction of the machine body is set in consideration of preventing seedlings from being planted on the rut RT in the transplanting work in the subsequent process.

[Automatic traveling control of planting and seeding system work machine without acquisition of field shape]
For example, when the field shape has been acquired based on the round trip of the field by the rice transplanter before the previous year and the shape of the field has not changed (or has hardly changed) compared to the previous year, FIG. Also, there is no need to acquire the field shape as described with reference to FIG. That is, when the field shape map information used in the transplanting work before the previous year is diverted as it is, the inner working area CA is set first and the target is set for the inner working area CA, as shown in FIG. The traveling routes LM are set in parallel.

When there are a plurality of fields around the traveling machine C that directly use the map information of the field shape used in the transplanting work before the previous year, the nearest field from the traveling machine C is automatically selected. The configuration may be used, or the configuration may be such that the passenger of the traveling machine C or the person monitoring the field can select the target field. The method in which the monitor or the passenger selects the target field may be, for example, the operation of the management computer 6 described above, or the method of moving the traveling machine C to the field of the selection target. In this case, a map screen including a plurality of fields may be displayed on the display screen of the monitor of the management computer 6, and the observer or the passenger may select one field from the map screen.

After the target travel routes LM are set parallel to the inner work area CA, the above-described automatic reciprocating travel control is executed in the inner work area CA. That is, the work traveling in which the transplanting work is performed along the target traveling route LM and the turning traveling in which the traveling machine body C moves to the next target traveling route LM while making a turn in the area outside the inner working area CA are alternated. Repeated. After the completion of the transplanting work for the inner working area CA, as shown in FIG. 12, the traveling path LM11, LM12 capable of traveling in the outer circumferential area SA is set by the path setting unit 54. The traveling vehicle body C can travel in the outer peripheral area SA for two rounds by the circulating travel routes LM11 and LM12. That is, the route setting unit 54 is configured to be able to set the orbiting traveling routes LM11 and LM12 for at least two laps outside the field rather than the inside work area CA where the transplanting work is performed based on the automatic reciprocating traveling control in the field. .. Therefore, at least two orbital traveling routes LM11 and LM12 are set.

Of the two orbiting traveling routes LM11 and LM12, the transplanting work based on automatic traveling is performed along the outer periphery of the inner working area CA in the first orbiting traveling route LM11, and the farm field in the second orbiting traveling route LM12. The transplanting work is carried out by artificial operation of the rice transplanter along the ridge. That is, the automatic traveling control by the automatic traveling control unit 51B includes controlling the traveling machine body C to travel along the traveling route LM11 for at least one round. In other words, the automatic travel control unit 51B is configured to enable automatic travel control for controlling the traveling machine body C to travel along the traveling path LM11 for at least one round.

In the transplanting work performed on the second cycle, the transplanting work is performed over the working width of the seedling planting device W. Therefore, as shown in FIG. 13, the outer peripheral area SA11 is formed as an already-worked area by the transplanting work based on the automatic traveling control along the first traveling circuit LM11, and the number of planting threads using each clutch is changed. Adjustments are made. As a result, the peripheral area SA12 is left with a peripheral area that extends over the working width of the seedling planting device W. Here, in the transplanting work during the two rounds of traveling, the number of threads that the combine harvester can harvest at one time is considered.

In the actual combine harvesting work in the field, as shown in FIG. 14, when the combine enters the field (#a), two or three rounds of mowing traveling are performed by manual steering, and the outer circumference of the field is The planted grain culm in the area SA is cut (#b).

As an example shown in FIG. 15, seedlings planted by working running in the inner working area CA (inner working areas CA1, CA2, CA3) and round running in the outer circumferential area SA (outer circumferential area SA11, outer circumferential area SA12) are planted. The planting intervals of the seedlings are shifted near the boundary between the inner working area CA and the outer peripheral area SA. If harvesting work is performed without taking this into consideration, it is possible that the planted culms pierce the combiner's dividers at locations where the planting intervals are offset, resulting in loss of harvest. For this reason, when the seedlings planted by the rice transplanter are mowed by the combine as planted culms (harvest crops), the traveling direction when the rice transplanter performs the transplanting work and the traveling direction when the combine harvester performs the cutting work And are preferably the same.

In FIG. 15, since the traveling machine body C has advanced along the lateral direction H in the outer peripheral area SA11 and the outer peripheral area SA12, it is desirable that the traveling direction of the combine in the outer peripheral area SA11 and the outer peripheral area SA12 is also the lateral direction H. .. Further, in the inner working area CA1 to the inner working area CA3, since the traveling machine body C has advanced along the vertical direction V, the traveling direction of the combine in the inner working area CA1 to the inner working area CA3 is also the direction along the vertical direction V. Is desirable.

From this, the number of rows of seedlings to be planted in the outer peripheral area SA is set to an integer multiple of the number of rows that the combine can cut at one time. The number of threads that the combine can harvest at one time may be set by, for example, the operation of the management computer 6 described above, or by the operation of a mobile terminal operated by a field monitor or a field work machine passenger. The configuration may be set.

In the transplanting work performed on the second round, the transplanting work is performed over the working width of the seedling planting device W. Therefore, in the transplanting work performed on the first circumference in the outer peripheral area SA, the number of planting threads is adjusted using each thread clutch. Specifically, seedlings should be planted so that the total of the number of rows planted on the first lap and the number of rows planted on the second lap coincides with the number of rows that is an integral multiple of the number of rows that the combine can harvest at one time. The number of planting lines in the device W is adjusted. In the embodiment shown in FIG. 15, the working width that the combine can mow at one time is six rows, and the working width of the seedling planting device W is defined as eight rows. In this case, four rows of seedlings are planted in the first round (outer peripheral area SA11), and eight rows of seedlings are planted in the working width of the seedling planting device W in the second round (outer peripheral area SA12). Therefore, a total of the first and second laps, 12 rows of seedlings corresponding to twice the working width of the combine are planted. In addition, for example, when the working width that the combine can harvest at one time is five rows, and the working width of the seedling planting device W is eight rows, two rows of seedlings are planted in the first lap and the second lap is planted. The seedlings for Hachijo are planted here. As a result, 10 rows of seedlings corresponding to twice the working width of the combine are planted in the first and second rounds in total. Further, when the working width that the combine can harvest at one time is six rows and the working width of the seedling planting device W is six rows, six rows of seedlings are planted on each of the first and second laps. ..

As described above, the automatic work control unit 52B causes the total of the actual working widths of the seedling planting device W when the transplanting work is performed by the traveling in the outer peripheral area SA to be an integral multiple of the working width of the harvester. The working width of the working width of the seedling planting device W is controllable. The meaning of "controlling the working width of the working width of the seedling planting device W" does not exclude that all of the working width of the seedling planting device W is working.

[Another embodiment]
The present invention is not limited to the configurations illustrated in the above-described embodiments, and representative representative embodiments of the present invention will be illustrated below.

(1) In the above-described embodiment, the farm field has a rectangular shape, but the present invention is not limited to this embodiment. For example, the field may have a square shape or a trapezoidal shape as shown in FIG. In FIG. 16, each target travel route LM is set in the direction along the first side S1, but each target travel route LM is set in the direction along the first side S3 opposite to the first side S1. Is also good. That is, the route setting unit 54 sets a plurality of target traveling routes LM extending along at least one of the pair of first sides S1 and S3, and a pair of turning traveling routes TM connecting the respective target traveling routes LM. It is configured such that it can be set in the region of the traveling routes LML, L11 (see FIGS. 8 and 12) on the second sides S2, S4 of the above. Further, the field shape may be a triangle, or may be a pentagon or more polygon.

The part surrounded by the chain double-dashed line in FIG. 16 is shown in FIG. FIG. 17 is a plan view of a field showing a state in which the planting operation is performed in a state where the seedling planting device W straddles the boundary between the outer peripheral area SA and the inner working area CA. Due to the shape of the farm field shown in FIG. 16, a boundary line BL indicating the boundary between the inner working area CA and the final circulation area SA5 (outer peripheral area SA) is inclined leftward with respect to the traveling direction of the traveling machine body C. .. Even in such a case, it is preferable that a width across the working width of the seedling planting device W is left in the final circulation area SA5. Therefore, in a state in which the seedling planting device W straddles the boundary between the outer peripheral area SA and the inner working area CA, by using each row clutch of the seedling planting apparatus W, the transplanting work can be performed only on the inner working area CA. It may be configured to be performed.

In the embodiment shown in FIG. 17, the right side portion of the seedling planting device W is located in the inner working area CA, and as the traveling body C advances, the inner working area CA of the seedling planting device W is located. The proportion of places to do increases. Therefore, at the time when the right end of the seedling planting device W enters the inside of the inner working area CA, only the respective line clutches at the right end of the seedling planting device W are in the transmission state, and the traveling machine body C moves forward. The left clutches may be switched to the transmission state in order. As a result, even when the boundary between the inner working area CA and the outer peripheral area SA (the portion indicated by the boundary line BL) is inclined with respect to the traveling direction of the traveling machine body C, the transplanting work is performed without a gap.

(2) When the field shape has an elongated shape, such as a terraced rice field, it is conceivable that one of the first sides S1 and S3 and the second sides S2 and S4 is too short. In such a case, the field shape calculation unit 55B may be configured not to calculate the field shape. In this case, the fact that the field shape cannot be calculated may be transmitted to the management computer 6 via the notification unit 56.

(3) In the above-described embodiment, the longitudinal direction of the target travel route LM is set to be along the vertical direction V of the field, that is, the longitudinal direction of the vertically long field, but the present invention is not limited to this embodiment. For example, the target travel routes LM may be set in parallel so that the longitudinal direction of the target travel route LM is along the lateral direction of the field. This configuration is particularly useful when the farm roads K1 and K2 are located adjacent to the first sides S1 and S3.

(4) In the embodiment described above, the control unit 5 is provided with the farm field shape calculation unit 55B, and the travel field C is first circulated to calculate the farm field shape, but the present invention is not limited to this embodiment. For example, the farm field shape calculation unit 55B may be configured to calculate the farm field shape based on the map information acquired from the management computer 6 or the network site.

(5) In the above-described embodiment, the planting and sowing work is performed on the orbiting traveling route LM12 based on human operation, but the planting and seeding work is performed while automatic traveling control is performed along the orbiting traveling route LM12. Is also good. In this case, the route setting unit 54 is located within a preset range from the entrance E through which the traveling body C can enter and exit the field and the traveling body C travels when the automatic traveling control on the circular traveling route LM12 is completed. The circular traveling route LM12 may be configured such that the direction is along the inclination direction of the doorway E.

(6) In the above-described embodiment, the orbiting traveling route LM11 and the orbiting traveling route LM12 are set, but such a orbiting traveling route may be provided three or more times. Further, the traveling route LML shown in FIG. 8 may be a traveling route in which the traveling machine body C can make two or more revolutions. Based on such a configuration, for example, the route setting unit 54 determines that the total actual working width of the seedling planting device W when the transplanting work is performed by the circular traveling in the outer peripheral area SA is the harvester (for example, the self-removing type). The target travel route LM may be set so as to be an integral multiple of the work width of the combine.

(7) In the above-described embodiment, not only eight rows but two rows of seedlings are planted in the second outer circumference worked area SA2 adjacent to the farm road K1 and the fourth outer circumference worked area SA4 adjacent to the farm road K2. However, the present invention is not limited to this embodiment. For example, one row of seedlings may be planted in each of the second outer circumference already-worked area SA2 and the fourth outer circumference already-worked area SA4, or three rows or four rows of seedlings may be planted. For example, when the ridge is a concrete ridge, it may be considered that the number of planting ridges is three or more. Further, for example, when the supply position is either one of the farm road K1 and the farm road K2, two rows of seedlings are planted in only one of the second outer circumference already-worked area SA2 and the fourth outer circumference worked area SA4. May be

(8) In the above-described embodiment, the traveling vehicle body C moves in and out of the farm field in a state of traveling straight or substantially straight in the vicinity of the doorway E, but the present invention is not limited to this embodiment. For example, in addition to the examples illustrated in FIGS. 4 and 5, the traveling body C makes a large left turn immediately after entering the field, and the traveling body C orbits the field clockwise to calculate and plant the field shape. The work may be performed. Further, in addition to the examples illustrated in FIGS. 8, 12, and 13, the circular traveling route LML, the circular traveling route LM11, and the circular traveling route LM12 may be counterclockwise circular routes. In this case, the traveling body C may travel counterclockwise on the orbiting traveling route LML or the orbiting traveling route LM12 and then make a large right turn toward the entrance/exit E and exit the field.

(9) The satellite positioning unit 80A described above is not limited to the configuration that directly receives the radio waves transmitted from the navigation satellite. For example, base stations that receive radio waves transmitted from navigation satellites are provided at a plurality of locations around the work vehicle, and the traveling body C and the seedling planting device W are subjected to network communication processing with the base stations at the plurality of locations. The position information may be specified.

(10) In the embodiment shown in FIGS. 9 and 10, the working width of the working width of the seedling planting device W is controlled by each row clutch, but the present invention is not limited to this embodiment. For example, in the work travel based on the first target travel route LM1, the transplant work may be performed on the area of the overlapping width OW in the final circulation area SA5. Further, in the work travel based on the final target travel route LM2, the transplant work may be performed on the area of the overlapping width OW in the final circulation area SA5. That is, in the embodiment shown in FIGS. 9 and 10, the working width of the working width of the seedling planting device W may be the entire width of the seedling planting device W. In this case, when the work traveling is performed along the circular traveling route LML, the transplanted seedlings are trampled by the traveling of the traveling machine body C in the area of the overlapping width OW, but the entire width of the seedling planting device W is reduced. The transplanting operation may be performed over the entire period to replant the seedlings.

Also in the embodiment shown in FIG. 12, when work traveling is performed along the circulation traveling route LM11, the transplanting operation may be performed over the entire width of the seedling planting device W. In this case, the outer peripheral area SA11 as the already-worked area shown in FIG. 13 spreads to the outside of the field, and the width of the outer peripheral area SA12 is narrowed. Even in this case, when the work traveling is performed along the circular traveling route LM12, the region in which the seedlings are trampled by the traveling of the traveling machine body C is transplanted over the entire width of the seedling planting device W. It may be configured such that the work is replanted.

(11) In the above embodiment, the seedling planting device W is shown as a working device, but the working device may be a seeding device, a fertilizer applying device 34, or a chemical spraying device 35. You can have it. Needless to say, the working device also includes a spraying device for the chemical liquid or the like in the riding type management machine, and in this case, the “planting work” in the present invention also includes the spraying work for the chemical liquid or the like.

(12) Although the target travel route LM described above is linear, the target travel route LM may be set to be curved.

(13) The technical features of the automatic travel control system according to the present invention can be applied to the planting system working machine itself. Therefore, the present invention also targets such planting system working machine. can do. Therefore, the present invention can be applied to a rice transplanter, a seeder, and a passenger management machine, and can also be applied to an automatic traveling control system for a rice transplanter, a seeder, and a passenger management machine. That is, the planting and seeding system work machine includes a riding type rice transplanter, a riding type seeder, a riding type management machine, and the like.

Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, as long as no contradiction occurs. Further, the embodiments disclosed in the present specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within a range not departing from the object of the present invention.

INDUSTRIAL APPLICABILITY The present invention is applicable to a planting and sowing machine that automatically travels in a field and an automatic traveling control system for the planting and sowing machine.

27: Leveling rotor 51B: Automatic traveling control unit 52B: Automatic work control unit 54: Path setting unit 55B: Field shape calculation unit 59: Storage unit 80A: Satellite positioning unit C: Traveling machine body W: Seedling planting device (working device)
CA: inner working area CA1: inner working area CA2: inner working area CA3: inner working area D: set distance E: entrance/exit K1: farm road (supply position)
K2: Farm road (supply position)
LM: Target traveling route LM11: Circulating traveling route LM12: Circulating traveling route LML: Circulating traveling route S1: First side (side)
S2: Second side (side)
S3: First side (side)
S4: Second side (side)
SA: outer peripheral area SA11: outer peripheral area SA12: outer peripheral area SA1: first outer peripheral already-worked area (outer peripheral already-worked area)
SA2: Second outer circumference work area (outer circumference work area)
SA3: third outer circumference already-worked area (outer circumference already-worked area)
SA4: Fourth outer circumference work area (outer circumference work area)
SA5: Final circle area (outer circumference area)

Claims (10)

A satellite positioning unit capable of detecting the position of the traveling body using a navigation satellite,
A work device capable of planting seedlings in a field,
A path setting unit capable of setting a plurality of target travel paths that the traveling machine body travels while performing the planting work in a state of being arranged in parallel with each other based on the field shape,
An automatic work control unit capable of controlling the work device based on the position of the traveling body,
That the traveling machine body travels along the target traveling path, and that the traveling machine body travels along the target traveling path and then turns to the next target traveling path, at the position of the traveling machine body. And an automatic traveling control unit capable of automatic reciprocating traveling control based on
The automatic traveling control unit is configured to be capable of performing the turning traveling based on the automatic reciprocating traveling control at a position separated by a preset distance or more inside the field from the outer circumference of the field based on the field shape. Automatic control system for work machines. A storage unit that can store the working width of a harvester that harvests harvested crops is provided,
In the field, the field outside the inner working area in which the planting work is performed based on the automatic reciprocating traveling control is an outer peripheral area in which the traveling machine body can travel around,
The automatic work control unit is configured such that the total working width of the working device when the planting work is performed by the circular traveling in the outer peripheral region is an integral multiple of the working width of the harvester. 2. The automatic traveling control system for a planting system working machine according to claim 1, wherein the working width of the working width of the plant is controlled. The route setting unit, the target traveling, so that the total of the actual working width of the working device when the planting work is performed by traveling around in the outer peripheral region is an integer multiple of the working width of the harvester The automatic traveling control system for a planting system working machine according to claim 2, wherein the route is settable. The working device includes a leveling rotor capable of leveling unevenness of a field,
The automatic work control unit is configured to be able to control the leveling rotor so as to level the unevenness of the field when the planting and seeding work is performed at the place where the turning traveling is performed. An automatic travel control system for a planting system work machine according to any one of 1. The route setting unit is configured to be able to set a circular traveling route for at least two laps outside the field relative to an inner working area in which the planting work is performed based on the automatic reciprocating traveling control in the field,
The automatic traveling control unit is configured to enable automatic traveling control for controlling the traveling machine body to travel along the orbiting traveling path for at least one round. Automatic traveling control system for planting and seeding work machines. A field shape calculation unit capable of calculating the field shape based on a traveling locus of the traveling machine acquired by detecting the position of the traveling machine over time is provided,
The field shape calculation unit is configured to be able to calculate the field shape by the working apparatus performing the planting and sowing work and the traveling machine body traveling along the outer circumference of the field.
The planting system according to any one of claims 1 to 4, wherein the set distance includes a working width of an outer peripheral already-worked area formed by the planting work in a round trip for calculating the field shape. Automatic traveling control system for work equipment. When the replenishment position at which replenishment materials can be provided is adjacent to the field outer side than at least one side of the sides forming the outer periphery of the field shape, the automatic work control unit is configured to perform the planting on the side adjacent to the replenishment position. 7. The automatic traveling control of the planting system working machine according to claim 6, wherein in the sowing work, the working apparatus is configured to be controlled so that the working apparatus operates only by a width outside a field in a working width of the working apparatus. system. The route setting unit is configured such that the working device performs the planting work between the outer peripheral working region and an inner working region where the planting work is performed based on the automatic reciprocating traveling control. It is configured to be able to set the target travel route so as to secure a circuit travel route in which the traveling machine travels around the field while performing
8. The automatic traveling of the planting system working machine according to claim 6, wherein the automatic traveling control unit is configured to enable automatic traveling control for controlling the traveling machine body to travel along the circuit travel route. Control system. The route setting unit is located within a preset range from an entrance where the traveling machine can enter and leave the field and the traveling direction of the traveling machine is the time when the automatic traveling control in the circular traveling route is completed. The automatic travel control system for a planting and seeding system work machine according to claim 8, wherein the orbiting travel route is set so as to be along the inclination direction of the entrance and exit. A satellite positioning unit capable of detecting the position of the traveling body using a navigation satellite,
A work device capable of planting seedlings in a field,
A path setting unit capable of setting a plurality of target travel paths that the traveling machine body travels while performing the planting work in a state of being arranged in parallel with each other based on the field shape,
An automatic work control unit capable of controlling the work device based on the position of the traveling body,
Based on the position of the traveling vehicle, the traveling vehicle travels along the target traveling route, and after the traveling vehicle travels along the target traveling route, turns to the next target traveling route. And an automatic traveling control unit capable of automatic reciprocating traveling control for controlling
The automatic traveling control unit is configured to be capable of performing the turning traveling based on the automatic reciprocating traveling control at a position separated by a preset distance or more inside the field from the outer circumference of the field based on the field shape. System work machine.

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