JP2021151272A - Field work machine - Google Patents

Abstract

To provide a field work machine capable of efficiently continuing automatic travel control.SOLUTION: A field work machine comprises: a path setting part for setting a target movement path LM where a travel machine body C travels; an automatic travel control part for performing automatic travel control so that the travel machine body C travels along the target movement path LM; and an operation tool for outputting an operation signal when being operated manually. The automatic travel control part finishes the automatic travel control when at least any of switching to a non-work state of a work unit based on manual operation to a work operation tool, and revolving at a ridge based on manual operation to a steering operation tool, when no operation signal is output, and executes the automatic travel control even when any of switching to the non-work state of the work unit and revolving at the ridge is detected, when the operation signal is output.SELECTED DRAWING: Figure 7

Description

The present invention relates to a field work machine that automatically travels along a target movement path in a field.

For example, in Patent Document 1, a traveling machine (reference numeral "C" in the document) that works and travels in a field, a steering operating tool that can steer the traveling machine ("steering handle 43" in the document), and a traveling machine. A detection means for detecting the ridges of the field in front of the aircraft (“ridge detection module 81” in the literature) and a route setting unit (“travel route calculation unit 85” in the literature) for setting a route for the traveling aircraft to travel. A field work vehicle provided with an automatic traveling control unit (“automatic steering unit 82” in the literature) that automatically controls traveling so that the traveling machine travels along the route is disclosed. The distance between the traveling aircraft and the ridge area is detected based on the detection means, and based on the detection, the approach of the ridge area and the arrival of the ridge area are notified, and commands such as deceleration and stop of the traveling aircraft can be output. It is configured as follows.

JP-A-2017-123829

In the field work vehicle of Patent Document 1, when a command for deceleration or stop of the traveling machine is output based on the detection of the ridge area, the traveling machine is subsequently moved by human operation. However, in the configuration in which the automatic traveling control is terminated and the operation is switched to the artificial operation during the working traveling of the field work vehicle, the working locus may be disturbed at the place where the traveling vehicle approaches the ridge of the field. From this, if the passenger can confirm the intention to stop at the ridge in front, it is desirable that the automatic driving control is continued without ending even when the traveling aircraft approaches the ridge in the field.

In view of the above circumstances, the present invention is to provide a field work machine capable of efficiently continuing automatic traveling control.

The field work machine of the present invention
A traveling machine that works in the field and
A work device that performs work on the field and
Steering operation tools that can steer the traveling aircraft and
A work operating tool capable of switching the work device between a working state and a non-working state, and
A route setting unit that sets a target movement route for the traveling aircraft to travel, and a route setting unit.
An automatic traveling control unit that automatically controls traveling so that the traveling vehicle travels along the target movement route.
An operation tool that outputs an operation signal when it is artificially operated,
Is provided,
When the operation signal is not output, the automatic traveling control unit switches the work device to the non-working state based on the artificial operation on the work operation tool, and the ridge based on the artificial operation on the steering operation tool. When the automatic traveling control is terminated by detecting at least one of the turning turns and the operation signal is output, the working device is switched to the non-working state, and the turning at the edge is turned. Even when at least one of the above is detected, the automatic driving control is executed.
In addition, the traveling machine that works in the field and
Steering operation tools that can steer the traveling aircraft and
A detection means for detecting the ridges of the field in front of the traveling machine, and
A distance calculation means capable of calculating the distance between the ridge and the traveling machine based on the detection of the ridge of the field by the detection means.
A route setting unit that sets a target movement route for the traveling aircraft to travel, and a route setting unit.
An automatic traveling control unit that automatically controls traveling so that the traveling vehicle travels along the target movement route.
It is equipped with an operation tool that can output operation signals by artificial operation.
The automatic driving control unit is characterized in that when the operation signal is output, the automatic driving control is executed.

According to the present invention, the operation signal is configured to be output by the artificial operation of the operating tool, and the automatic driving control is executed based on the operation signal. Therefore, the automatic driving control is executed according to the intention of the passenger. It is possible to detect the intention of the passenger to stop at the ridge by the operation signal.
Further, since the operation tool is configured to be able to output an operation signal, it is possible to make a configuration in which the operation signal is not uniquely output even when the operation tool is artificially operated, for example. Therefore, it becomes easy to prevent the continuation of the automatic driving control due to the erroneous operation of the passenger. As a result, a means for detecting the intention of the passenger to stop at the ridge is provided, and even when the traveling aircraft approaches the ridge of the field, the automatic traveling control is not terminated and the field work machine can be continued. It will be realized.

In this configuration
If the operation signal is not output, the automatic driving control unit ends the automatic driving control based on the ridge detection by the detecting means, and if the operation signal is output, the detecting means causes the ridge. It is preferable to execute the automatic driving control even when an edge is detected.

According to this configuration, even when the approach of the ridge is detected by the detecting means, the automatic traveling control can be continued by the passenger artificially operating the operating tool. Therefore, the passenger can continue the automatic driving control until the ridge while checking the ridge of the field.

In this configuration
When the operation signal is not output, the automatic driving control unit at least reduces the vehicle speed of the traveling vehicle based on the ridge detection by the detection means, and when the operation signal is output, the detection means causes the automatic driving control unit to reduce the vehicle speed at least. Even when the ridge is detected, it is preferable to execute the automatic driving control.

With this configuration, when the approach of the ridge is detected by the detecting means, at least the vehicle speed of the traveling aircraft is decelerated, so that the possibility that the traveling aircraft comes into contact with the ridge can be reduced. Therefore, the traveling machine is more suitable for traveling on the ridge of the field, and it becomes easier for the passenger to confirm the ridge of the field. Further, even when the approaching edge of the ridge is detected by the detecting means, the automatic traveling control can be continued until the ridge while the vehicle speed of the traveling machine is decelerated.

In this configuration
Even when the ridge is detected by the detection means, the automatic driving control unit executes the automatic driving control while the operation signal is being output, and when the operation signal is stopped. It is preferable to end the automatic driving control.

With this configuration, for example, when the level of the operation signal is equal to or higher than a certain value, the automatic traveling control can be continued, and the continuation and termination of the dynamic traveling control can be performed with a simple circuit configuration.

In this configuration
If the operation signal is not output, the automatic driving control unit ends the automatic driving control when the distance to the ridge detected by the detecting means reaches the first set distance, and outputs the operation signal. If this is the case, the automatic traveling control is executed even if the distance to the ridge detected by the detection means reaches the first set distance, and the distance to the ridge is shorter than the first set distance. It is preferable to end the automatic traveling control when the second set distance is reached.

According to this configuration, the detection of the ridge by the detecting means is composed of two stages, the first set distance and the second set distance. When the traveling aircraft is located between the first set distance and the second set distance, the passenger can operate the operating tool to continue the automatic traveling control while checking the ridges of the field. Further, when the traveling aircraft is located closer to the ridge than the second set distance, the automatic traveling control is forcibly terminated, so that the traveling aircraft can operate even if the passenger erroneously operates the operating tool. The risk of contact with the ridges is avoided.

In this configuration
In a state where the distance between the ridge and the traveling machine is shorter than the first set distance, the automatic traveling control unit executes the automatic traveling control while the operation signal is being output, and the automatic traveling control is executed. It is preferable to end the automatic driving control when the operation signal is stopped.

With this configuration, for example, when the level of the operation signal is equal to or higher than a certain value, the automatic traveling control can be continued, and the continuation and termination of the dynamic traveling control can be performed with a simple circuit configuration.

In this configuration
A notification unit for notifying various states of the traveling aircraft is further provided.
The notification unit is configured to notify a state in which the distance between the ridge and the traveling aircraft is shorter than the first set distance.
It is preferable that the automatic traveling control is executed by starting the artificial operation of the operating tool after the start of the notification of the notification unit.

According to this configuration, the passenger is notified of the state in which the traveling aircraft is located between the first set distance and the second set distance. Therefore, after the notification, the passenger recognizes the approach of the ridge of the field before operating. By operating the tool, automatic driving control can be continued. That is, with this configuration, it is possible to detect the intention of the passenger to stop at the ridge.

In this configuration
It is preferable that the operation tool is configured so that the operation signal is output while the artificial operation on the operation tool is continued, and the output of the operation signal is stopped when the artificial operation is stopped. be.

With this configuration, for example, when the operation of the operating tool is continued, an operation signal having a level of a certain value or higher is output, and when the level of the operating signal is a certain value or higher, the automatic driving control can be continued. This makes it possible to easily configure the output of the operation signal linked to the operation of the operation tool.

In this configuration
It is preferable that the vehicle speed of the traveling machine body is decelerated by the operation of the operating tool, and the deceleration state of the vehicle speed of the traveling machine body is continued while the output of the operation signal is continued.

With this configuration, even if the traveling aircraft is in a state of approaching the ridge, the passenger can continue the automatic traveling control while checking the ridge of the field, and it becomes easy to measure the end timing of the automatic traveling control.

In this configuration
When the operating tool is operated once when the traveling machine travels by alternately repeating the work traveling along the preset movement path and the turning traveling turning toward the next target movement path. Immediately after the traveling machine has made the turning and then started the working running, it is preferable that the automatic running control is started when the traveling machine is parallel to the moving path.

With this configuration, after the automatic travel control along one target movement route is completed, the automatic travel control along the next target movement route can be performed with one operation, so that the frequency of operation of the operating tool by the passenger is high. Is reduced, and the annoyance that passengers receive is reduced.

In this configuration
The steering wheel is a steering wheel.
It is preferable that the automatic traveling control is started after the steering angle of the steering wheel is in a preset angle range and the traveling aircraft has traveled a preset distance after the start of the work traveling.

With this configuration, after the traveling aircraft turns at the ridge, the automatic traveling control can be started only by adjusting the traveling aircraft by the passenger operating the steering wheel. As a result, the annoyance that the passenger receives is further reduced.

It is an overall side view of a rice transplanter. It is an overall plan view of a rice transplanter. It is a front view of a rice transplanter. It is a block diagram which shows the control structure. It is explanatory drawing of the plan view of the whole field surface which shows the operation of the automatic driving control. It is explanatory drawing of the plan view which shows the operation of the automatic traveling control in a plurality of fields. It is explanatory drawing of the plan view about the automatic traveling control along the target movement path. It is a graph which shows the logic graph of the switching of the traveling mode at the time of determining the ridge approaching state. It is a graph which shows the logic graph of the switching of a running mode in a state of approaching a ridge. It is a graph which shows the logic graph of the switching of a running mode in a state of approaching a ridge. It is a graph which shows the logic graph of the switching of a running mode in a state of approaching a ridge. It is a graph which shows the logic graph of the switching of a running mode in a state of approaching a ridge. It is a graph which shows the logic graph of the switching of a running mode in a state of approaching a ridge.

[Basic configuration of field work machine]
Embodiments of the present invention will be described with reference to the drawings. Here, a passenger-type rice transplanter will be described as an example of the field work machine of the present invention. As shown in FIG. 2, in the present embodiment, the arrow F is the front side of the traveling body C, the arrow B is the rear side of the traveling body C, and the arrow L is the left side of the traveling body C. The arrow R is on the right side of the traveling aircraft C.

As shown in FIGS. 1 to 3, the passenger-type rice transplanter can plant seedlings in a field and a traveling machine C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11. A seedling planting device W as a working device is provided. The pair of left and right steering wheels 10 are provided on the front side of the traveling machine C so that the direction of the traveling machine C can be changed and operated, and the pair of left and right rear wheels 11 are provided on the rear side of the running body C. Has been done. The seedling planting device W is vertically connected to the rear end of the traveling machine body C via a link mechanism 21 that moves up and down by expanding and contracting the lifting hydraulic cylinder 20.

An openable and closable bonnet 12 is provided at the front portion of the traveling machine body C. At the tip position of the bonnet 12, a rod-shaped center mascot 14 is provided as a guide for traveling along an index line (not shown) drawn on the field by the marker device 33. The traveling machine body C is provided with a body frame 15 extending in the front-rear direction, and a support support column frame 16 is erected at the front portion of the body frame 15.

An engine 13 is provided in the bonnet 12. Although not described in detail, the power of the engine 13 is transmitted to the steering wheels 10 and the rear wheels 11 via a transmission provided in the airframe, and the power after the shift is an electric motor-driven planted clutch (not shown). It is transmitted to the seedling planting device W via.

As shown in FIGS. 1 and 2, the seedling planting device W has four transmission cases 22, eight rotating cases 23, a ground leveling float 25, a seedling stand 26, and a marker device 33. And are provided. The rotary case 23 is rotatably supported on the left side portion and the right side portion of the rear portion of each transmission case 22, respectively. A pair of rotary planting arms 24 are provided at both ends of each of the rotating cases 23. The ground leveling float 25 is for leveling the rice field surface of the field, and is provided in a plurality of seedling planting devices W. A mat-shaped seedling for planting is placed on the seedling stand 26. The marker device 33 is provided on the left and right sides of the seedling planting device W, and forms an index line (not shown) on the field surface of the field.

The seedling planting device W rotationally drives each rotary case 23 by the power transmitted from the transmission case 22 while driving the seedling stand 26 back and forth laterally, and planting each from the lower part of the seedling stand 26. Seedlings are alternately taken out by the arm 24 and planted on the surface of the field. The seedling planting device W is configured in an eight-row planting type in which seedlings are planted by a planting arm 24 provided in eight rotating cases 23. The seedling planting device W may be a four-row planting type, a six-row planting type, a seven-row planting type, or a ten-row planting type.

Although not described in detail, the marker device 33 is configured to be switchable between an operating posture and a retracted posture. In the state of the working posture, the marker device 33 touches the field surface of the field as the traveling machine C travels, and forms an index line (not shown) on the field surface corresponding to the next work stroke. In the retracted position, the marker device 33 moves upward from the field surface of the field. The attitude of the marker device 33 is switched by an electric motor (not shown).

As shown in FIGS. 1 to 3, 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 bonnet 12 in the traveling machine C. There is. Normally, the spare seedling stand 28 is configured so that spare seedlings for replenishing the seedling planting device W can be placed. The spare seedling stand 29 is configured as a rail type on which spare seedlings for replenishing the seedling planting device W can be placed. On the left and right sides of the bonnet 12 in the traveling machine C, a pair of left and right spare seedling frames 30 are provided as tall frame members that support each of the normal spare seedling stands 28 and the spare seedling stands 29, and the left and right spare seedlings are provided. The upper parts of the frames 30 are connected to each other by the connecting frame 31.

As shown in FIGS. 1 to 3, a boarding unit 40 for performing various driving operations is provided in the central portion of the traveling machine body C. The boarding unit 40 is provided with a driver's seat 41, a steering handle 43 as a steering operating tool provided on the steering steering unit U, a main speed change lever 44, and an operation lever 45. The driver's seat 41 is provided in the central portion of the traveling aircraft C and is configured so that the passenger can take a seat. The steering handle 43 is configured so that the steering wheel 10 can be steered by an artificial operation. The main speed change lever 44 is configured so that a forward / backward forward switching operation and a traveling speed changing operation can be performed. The operation lever 45 switches the raising and lowering operation of the seedling planting device W and the switching between the left and right marker devices 33. The steering handle 43, the main speed change lever 44, the operation lever 45, and the like are provided on the upper part of the control tower 42 located on the front side of the driver's seat 41. A boarding step 46 is provided at the foot portion of the boarding section 40. The boarding step 46 extends to both the left and right sides of the bonnet 12.

When the operating lever 45 is operated to the ascending position, the planting clutch (not shown) is disengaged to cut off the transmission to the seedling planting device W, and the lifting hydraulic cylinder 20 is operated to raise the seedling planting device W. , The left and right marker devices 33 (see FIG. 1) are operated in the retracted posture. When the operating lever 45 is operated to the lowered position, the seedling planting device W is lowered to touch the surface of the rice field and is in a stopped state. When the operating lever 45 is operated to the right marker position in this lowered state, the right marker device 33 changes from the retracted posture to the working posture. When the operating lever 45 is operated to the left marker position, the left marker device 33 changes from the retracted posture to the working posture.

When starting the rice planting work, the passenger operates the operation lever 45 to lower the seedling planting device W and starts the transmission to the seedling planting device W to start the rice planting work. Then, when the rice planting work is stopped, the operation lever 45 is operated to raise the seedling planting device W and block the transmission to the seedling planting device W.

The operation panel 47 above the control tower 42 of the boarding unit 40 is provided with a display unit 48 capable of displaying various information. The display unit 48 may be, for example, a touch panel type liquid crystal display. Further, a push-operated start point setting switch 49A is provided on the right side of the display unit 48, and a push-operated end point setting switch 49B is provided on the left side of the display unit 48. The functions of the start point setting switch 49A and the end point setting switch 49B will be described later.

The grip portion of the main shift lever 44 is provided with a push-operated automatic traveling switch 50 (operator). The automatic traveling switch 50 is provided in an automatic return type, and when a passenger presses and operates the automatic traveling switch 50, an operation signal is output to command switching on / off of automatic traveling control. The automatic traveling switch 50 is arranged at a position where it can be pushed by, for example, a thumb while holding the grip portion of the main speed change lever 44 by hand.

When the steering steering unit U is automatically steered, the steering handle 43 is rotated by driving the steering motor 57 (see FIG. 4) to change the steering angle of the steering wheel 10. It has become. When the automatic steering is not performed, the steering steering unit U can be rotated by the artificial operation of the steering handle 43.

[Configuration of automatic driving control]
Next, a configuration for performing automatic driving control will be described.
As an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from satellites and detects the position of the aircraft, the traveling aircraft C uses GPS (Global Positioning System), which is a well-known technology. , A satellite positioning unit 70 for determining the position of the aircraft is provided. In the present embodiment, the satellite positioning unit 70 uses DGPS (Differential GPS: relative positioning method), but RTK-GPS (Real Time Kinetic GPS: interference positioning method) can also be used.

Specifically, as a position detecting means, the satellite positioning unit 70 is provided on a target (traveling machine C) for positioning. The satellite positioning unit 70 has a receiving device 72 with an antenna 71 that receives radio waves transmitted from a plurality of navigation satellites orbiting the earth. The position of the receiving device 72, that is, the satellite positioning unit 70 is positioned based on the information of the radio wave received from the navigation satellite.

As shown in FIGS. 1 to 3, the satellite positioning unit 70 is attached to the connecting frame 31 via a plate-shaped support plate 73 in a state of being located at the front portion of the traveling machine body C. As shown in FIGS. 1 and 3, the receiving device 72 is supported at a high position by the connecting frame 31 and the spare seedling frame 30. As a result, there is less possibility that reception failure will occur in the receiving device 72, and the reception sensitivity of radio waves in the receiving device 72 can be increased.

In addition to the satellite positioning unit 70, the traveling body C is provided with an inertial measurement unit 74 having, for example, an IMU (Inertial Measurement Unit) 74A as a direction detecting means for detecting the direction of the traveling body C. The inertial measurement unit 74 may have a configuration having a gyro sensor or an acceleration sensor instead of the IMU 74A. Although not shown, the inertial measurement unit 74 is provided, for example, at a lower position on the rear side of the driver's seat 41 and at a lower position in the center of the traveling machine body C in the lateral width direction. The inertial measurement unit 74 can detect the angular velocity of the turning angle of the traveling machine body C, and can obtain the directional change angle of the machine body by integrating the angular velocity. Therefore, the measurement information measured by the inertial measurement unit 74 includes the orientation information of the traveling machine body C. Although not described in detail, the inertial measurement unit 74 can measure the angular velocity of the turning angle of the traveling machine body C, the left-right tilt angle of the traveling machine body C, the angular velocity of the front-rear tilt angle of the traveling machine body C, and the like.

As shown in FIG. 4, the traveling machine body C is provided with the control device 75. The control device 75 is configured to be switchable between an automatic driving mode in which automatic driving control is executed and a manual driving mode in which automatic driving control is not executed.

The control device 75 includes a route setting unit 76, a direction calculation unit 77, an automatic traveling control unit 78, and a distance calculation unit 79. The route setting unit 76 sets the target movement route LM (see FIG. 5) to be traveled by the traveling aircraft C. The details of the direction calculation unit 77 will be described later. The automatic traveling control unit 78 targets the traveling aircraft C based on the positioning data of the traveling aircraft C measured by the satellite positioning unit 70 and the orientation information of the traveling aircraft C measured by the inertial measurement unit 74. The steering motor 57 and the speed change motor 58 are controlled so as to travel along the movement path LM. Specifically, the control device 75 includes a microcomputer, and a route setting unit 76, a direction calculation unit 77, an automatic driving control unit 78, and a distance calculation unit 79 are configured by a control program.

A setting switch 49 for setting the target movement path LM used for automatic driving control by the teaching process is provided. The setting switch 49 includes a start point setting switch 49A for setting the start point position Ts and an end point setting switch 49B for setting the end point position Tf. As described above, the start point setting switch 49A is provided on the right side of the display unit 48, and the end point setting switch 49B is provided on the left side of the display unit 48.

The control device 75 includes a satellite positioning unit 70, an inertial measurement unit 74, an automatic traveling switch 50, a start point setting switch 49A, an end point setting switch 49B, a steering angle sensor 60, a vehicle speed sensor 62, an obstacle detection unit 63 (detection means), and the like. Information is entered. The vehicle speed sensor 62 is configured to detect the vehicle speed based on, for example, the rotational speed of the transmission shaft in the transmission mechanism with respect to the rear wheel 11. The obstacle detection unit 63 is provided on the front portion and the left and right side portions of the traveling machine body C, and may be, for example, a light wave distance measuring type distance sensor or an image sensor, and may be used at the ridge of the field or in the field. It is configured to be able to detect steel towers and the like. Further, the detection signal of the obstacle detection unit 63 is input to the distance calculation unit 79 (distance calculation means), and the distance between the traveling machine C and the obstacle is calculated. When an obstacle is detected by the obstacle detection unit 63, for example, a buzzer or a notification unit 59 which is a voice guidance notifies the passenger of the detection state. The control device 75 is connected to the notification unit 59, and the notification unit 59 is configured to notify a state such as a vehicle speed or an engine speed. The notification unit 59 may be configured to be displayed on the display unit 48, or may be configured to change the blinking pattern of the LED illumination provided in the center mascot 14.

By the teaching process based on the operation of the start point setting switch 49A and the end point setting switch 49B, the teaching route corresponding to the target route to be automatically traveled is set by the route setting unit 76.

The direction calculation unit 77 calculates the angle deviation between the detected direction of the traveling aircraft C detected by the inertial measurement unit 74 and the target direction LA in the target movement path LM, that is, the direction deviation. Then, when the control device 75 is set to the automatic traveling mode, the automatic traveling control unit 78 controls the steering motor 57 so that the angle deviation becomes small. That is, the steering motor 57 is operated so that the detection position of the traveling aircraft C detected by the satellite positioning unit 70 and the inertial measurement unit 74 is a position on the target movement path LM.

[Target movement route]
In paddy fields, the rice transplanter alternately repeats a work run involving rice planting work along a straight line planting route and a ridge turning run to move to the next line planting route near the ridge.
FIG. 5 shows a plurality of target movement paths LM parallel to each other along the teaching path LT. In the present embodiment, the respective target movement routes LM (1) to LM (6) are set by the route setting unit 76 in the following procedure.

First, the passenger positions the traveling machine C at the start point position Ts near the ridge in the field, and operates the start point setting switch 49A. At this time, the control device 75 is set to the manual traveling mode. Then, while the passenger manually controls, the traveling aircraft C is driven from the start point position Ts along the linear shape of the ridge on the side side, moved to the end point position Tf near the ridge on the opposite side, and then the end point is set. Operate switch 49B. As a result, the teaching process is executed. That is, the start point position Ts and the end point position Tf are obtained from the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the start point position Ts and the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the end point position Tf. The teaching path LT connecting with and is set.
The direction along the teaching path LT is set as the reference target direction LA. The position coordinates at the end point position Tf are based not only on the positioning data by the satellite positioning unit 70, but also on the distance from the start point position Ts based on the vehicle speed sensor 62 and the directional information of the traveling aircraft C based on the inertial measurement unit 74. The configuration may be calculated by Further, the traveling of the traveling machine C over the start point position Ts and the ending point position Tf may be a work traveling involving rice planting work or a non-working state traveling.

After the setting of the teaching path LT is completed, a ridge turning run is performed to move to the strip planting path adjacent to the teaching path LT, and in the present embodiment, the traveling machine C moves to the starting point position Ls (1). The ridge turning travel may be performed by the passenger manually operating the steering handle 43, or may be performed by automatic turning control by the control device 75. At this time, the control device 75 can determine that the traveling aircraft C has been turned by reversing the detection direction of the traveling aircraft C. The reversal of the detection direction of the traveling body C can be detected by the satellite positioning unit 70 or the inertial measurement unit 74.

The turning of the traveling machine C may be determined by the operation of various devices in addition to the reversal of the detection direction of the traveling machine C. As the operation of various devices, for example, the seedling planting device W, the ground leveling rotor (not shown), the ground leveling float 25, etc. are raised, the side clutch (not shown) is disengaged, or the seedling planting device is used. It may be the interruption of transmission to W. Further, the arrival at the start point position Ls (1) of the traveling machine C may be determined by the satellite positioning unit 70.

After the completion of turning of the traveling machine C is determined, the manual traveling mode of the control device 75 continues, and the traveling by human operation continues. During this time, the control device 75 confirms the determination conditions such as the directional deviation of the detection azimuth of the traveling aircraft C calculated by the directional calculation unit 77, the direction of the steering wheel 10, the steering angle of the steering handle 43, and the like, and the automatic traveling mode. It is determined whether or not the state can be switched to.
Then, if it is possible to switch to the automatic driving mode, the target movement route LM (1) is set by the route setting unit 76 by human operation or automatically, and the control device 75 automatically travels from the manual driving mode. Switch to mode. Then, automatic traveling control along the target movement path LM (1) is started. The target movement path LM (1) is a target movement path LM that is set along the direction of the target direction LA in a state adjacent to the teaching path LT, and the traveling machine C first performs a work run after the teaching process.

The automatic driving control continues until the vicinity of the end point position Lf (1) on the opposite side of the start point position Ls (1) of the target movement path LM (1), and the obstacle detection unit 63 detects the ridge. The automatic traveling control is terminated based on the above, but the automatic traveling control may be terminated when the raising of the seedling planting device W or the turning of the ridge of the traveling machine C is detected.

When the traveling machine C reaches the end point position Lf (1) of the target movement path LM (1), the target movement path LM (2) adjacent to the unworked area side of the target movement path LM (1) is set. Then, the passenger operates the steering handle 43 toward the unworked area side of the target movement path LM (1) to perform a ridge turning run, and the traveling machine C moves to the starting point position Ls (2). The ridge turning run may be performed by automatic turning control by the control device 75.

After that, as in the previous target movement route LM (1), after the discrimination condition is satisfied after turning, automatic travel control is started along the target movement route LM (2) by human operation or automatically. Then, the traveling machine C travels while working. After the traveling aircraft C reaches the end point position Lf (2) of the target movement path LM (2), the ridges are in the order of the target movement path LM (3), LM (4), LM (5), LM (6). The setting of the target movement path LM after the turning run and the work run are repeated.
That is, each target movement path LM is set one by one. Further, when the work running along all the target movement paths LM is completed, the rice planting work is performed while traveling around the ridges of the field, and the rice planting work in one field is completed.

[Setting a target movement route without teaching]
As shown in FIG. 6, when a plurality of fields are lined up continuously in a state where the plots are arranged across the ridge road, the routes of work travel in each field may be substantially the same. When the teaching run is performed in the field F1 shown in FIG. 6 and the teaching path LT as shown in FIG. 5 is set, the target azimuth LA calculated based on the teaching path LT can be used as it is in other fields. In many cases it can be done.

The teaching route LT shown by the broken line in the field F2 is on the route where the traveling machine C finally orbits along the ridge of the field in the field F2 to perform the rice planting work, and the target movement route LM is the teaching. It is set adjacent to the inside of the field from the route LT and the route of the circuit. When the rice transplanter completes the rice planting work in one field F1 and the traveling machine C moves to the other field F2, the passenger first moves the traveling machine to the starting position of the teaching path LT near the ridge of the field F2. Position C. When the teaching run is performed in one field F1, the passenger only needs to move the traveling machine C to the start position of the teaching path LT in the other field F2, and the teaching run in the field F2 is not necessary. Further, the traveling machine C may be slightly displaced from the teaching path LT of the field F2. Then, when the passenger operates, for example, the end point setting switch 49B, the position coordinates at the start position of the teaching path LT are positioned using the satellite positioning unit 70, and the target movement path LM in the field F2 is set. As the origin ZP, the position coordinates at the start position of the teaching path LT are preset.

Since the target direction LA is stored in the route setting unit 76 during the work run of the field F1, the target movement path LM along the direction of the target direction LA is also set in the field F2. At this time, the target movement path LM of the field F2 is set so as to be displaced from the start position of the teaching path LT in a direction perpendicular to the direction of the target direction LA. That is, after the origin ZP is preset at the start position of the teaching path LT, the target movement path LM (1) parallel to the teaching path LT for the traveling machine C to first work in the field F2 is planted. It is set apart by the working width of the device W.

In general, DGPS is inferior in positioning accuracy to RTK-GPS, and the error range of DGPS may extend to several meters. However, it is known that when positioning between two points is performed by DGPS in a short time of, for example, about 10 seconds, the relative error of the position between the two points is extremely small. That is, when calculating the relative distance between two points in a short time, even the positioning by DGPS can obtain the accuracy comparable to the positioning by RTK-GPS. In the present embodiment, the first target movement path LM (1) is set after the origin ZP is preset at the start position of the teaching path LT by utilizing such characteristics of DGPS. Then, the traveling machine body C moves to the start point position Ls of the first target movement path LM (1). The movement of the traveling aircraft C to the starting point position Ls may be performed by the passenger manually operating the steering handle 43, or may be performed by automatic turning control by the control device 75. Is also good.

After the traveling machine C moves to the starting point position Ls (1), the traveling machine C travels along the target movement path LM (1) while the control device 75 is in the manual traveling mode, and the traveling position (own aircraft). Position NM) is positioned over time by the satellite positioning unit 70. The control device 75 calculates the position deviation width between the position coordinates when the origin ZP is preset and the own machine position NM. Then, when the misalignment width matches or substantially matches the working width of the seedling planting device W, and the detection direction of the traveling machine C matches or substantially matches the target direction LA, the control device 75 enters the automatic traveling mode. It is determined that the switchable state is possible. Then, the control device 75 is switched from the manual driving mode to the automatic driving mode by human operation or automatically, and the automatic driving control along the target movement path LM (1) is started.

After that, in the same manner as the rice planting work described above based on FIG. 5, the rice planting work is repeated while turning around the ridge and running along the target movement route LM after that, and finally circling along the ridge of the field. Is performed, and the rice planting work in the field F2 is completed. In some cases, the traveling direction of the traveling machine C in the target moving paths LM (1) to LM (3) of the field F2 and the traveling direction of the traveling machine C in the target moving path LM of the field F1 may be reversed. However, there is no problem as long as the target movement paths LM (1) to LM (3) of the field F2 are along the target direction LA.

[About automatic driving control along the target movement route]
As shown in FIG. 7, the rice planting work in the field is carried out by repeating a work run along each target movement path LM and a ridge turning run when moving to the adjacent target movement path LM. The start point position Ls and the end point position Lf are separated from the ridge of the field by a distance L1 (second set distance), and the rice planting work in the target movement path LM is completed. The area located inside the field from the start point position Ls and the end point position Lf is the work travel area A1, a plurality of target movement paths LM are set, and the traveling machine C performs the work travel along each target movement path LM. This is the area to do. The area located on the ridge side of the start point position Ls and the end point position Lf is the headland area A2 where the rice planting work is performed in the last lap run, and when moving to the next target movement path LM (2), A turning run is performed in the headland area A2.

As shown in the target movement path LM (n) of FIG. 7, each target movement path LM is composed of routes lm1, lm2, lm3. The route lm1 is a route on which the traveling machine C travels before the control device 75 is switched from the manual traveling mode to the automatic traveling mode, and is a position separated from the starting point position Ls by a distance R1 from the starting point position Ls to the inside of the field. , And are set. The route lm2 is a route on which automatic traveling control is performed in a state where the control device 75 is switched to the automatic traveling mode. The route lm3 is a traveling path of the traveling aircraft C in a state where the traveling aircraft C is close to the ridge of the field, and extends over a position separated by a distance L2 from the ridge near the end point position Lf and the end point position Lf. Set. The other target movement paths LM (n-1) and LM (n + 1) shown in FIG. 7 have the same configuration.

The ridge turning of the field is basically performed by the driver operating the steering handle 43, and the ridge turning determination process is performed by the control device 75. At this time, if it is determined that the direction of the traveling machine C is reversed, the traveling machine C has reached the start point position Ls of the next target movement path LM (n), or the like, the seedling planting device W is lowered. The rice planting work may be started.

After the traveling machine C makes a ridge turn and moves from the target moving path LM (n-1) to the starting point position Ls of the next target moving path LM (n), the automatic traveling control is performed when the conditions for the automatic traveling control are satisfied. Is started. When the control device 75 is manually switched from the manual driving mode to the automatic driving mode, the notification unit 59 notifies whether the control device 75 is in a state where it can be switched to the automatic driving mode. Then, the automatic traveling control is started when the passenger operates the automatic traveling switch 50 in the state of being notified by the notification unit 59. The conditions for starting automatic driving control are as follows.

First, it is the first condition that the traveling machine C is manually operated over a preset distance from the starting point position Ls of the next target moving path LM (n). That is, in FIG. 7, the control device 75 is manually operated along the path lm1 from the start point position Ls of the target movement path LM (n) to the position P1 separated from the inside of the field by the distance R1. It has become. In this state, the forward direction of the aircraft matches or substantially coincides with the target direction LA of the target movement path LM, and the steering angle of the steering handle 43 is within a preset range (including the straight-ahead position). Is the second condition. The conditions for starting automatic driving control require the above-mentioned first and second conditions, and in this state, the own position NM calculated based on the positioning data of the satellite positioning unit 70 and the ridge turning. It may be included in the condition that the relative distance in the working width direction of the position coordinates measured immediately before is substantially the same as the working width of the seedling planting apparatus W.

In this state, when the passenger operates the automatic traveling switch 50, the control device 75 is switched from the manual traveling mode to the automatic traveling mode. Further, the operation is not limited to the operation of the automatic traveling switch 50, for example, the operation of the start point setting switch 49A and the end point setting switch 49B, the operation of engaging the planting clutch (not shown), the leveling of the ground leveling float 25, and the side clutch (not shown). The mode may be switched by the operation of entering the seedlings, the operation of lowering the seedling planting device W, the operation of the marker device 33, the operation of the pumper lever (not shown), and the like.

However, in order to satisfy the condition for starting such automatic driving control, there are many factors that depend on the skill level of the driver, which imposes a burden on an unfamiliar driver. In particular, even if the condition is momentarily satisfied, if the condition is not met at the timing when the passenger operates the automatic traveling switch 50, the automatic traveling control may not be started as the passenger intended. Further, as described above, when the relative distance between two points is calculated in a short time based on the positioning of DGPS, the accuracy of the relative distance between the two points deteriorates as the time difference in the positioning between the two points increases. From this, in the configuration in which the misalignment error between the next target movement path LM (n) and the traveling aircraft C is calculated based on the relative distance to the position coordinates measured immediately before the ridge turn, the automatic steering control is performed. It is desirable that the start condition of is satisfied within a certain period of time. Therefore, in the present embodiment, the automatic traveling control along the target movement route LM can be automatically started.

In addition to the automatic traveling switch 50, an automatic start switch 51 is provided. Although not shown, the automatic start switch 51 is composed of, for example, a toggle switch or a seesaw switch. For this reason, the automatic start switch 51 has an automatic start mode in which automatic travel control is automatically started even if the automatic travel switch 50 is not operated, and a manual start mode in which automatic travel control is started by operating the automatic travel switch 50. It is configured so that it can be switched to and. When the passenger has set the automatic start switch 51 to the automatic start mode once, and after the ridge turning of the traveling machine C is determined and the above-mentioned conditions for starting the automatic traveling control are satisfied, the control device 75 is manually operated. The driving mode can be switched to the automatic driving mode. As a result, automatic traveling control is started along the next target movement path LM (n). The automatic start switch 51 is not limited to the toggle switch and the seesaw switch, and may be a push button type switch.

After the control device 75 is switched to the automatic traveling mode, the seedling planting device W performs the rice planting work along the route lm2, and the traveling machine C travels forward to perform the work traveling by the automatic traveling control. The obstacle in front of the traveling machine C is detected by the obstacle detection unit 63, and in the present embodiment, the ridge of the field is detected as an obstacle in front of the traveling machine C. The distance between the traveling machine C and the ridge of the field is calculated by the distance calculation unit 79. When the traveling machine C reaches the position P2 separated by the distance L2 (first set distance) from the ridge of the field, the distance calculation unit 79 determines that the ridge of the field is close. The position P2 is set to a distance of about 8 meters, for example, but is configured to be changeable according to the vehicle speed of the traveling machine C. For example, when the vehicle speed of the traveling machine C is low, it is about 5 meters. Is set to.

As shown in FIG. 8, when the ridge approaching state is ON, the distance calculation unit 79 determines that the ridges of the field are close. When the ridge approach state is ON, the traveling aircraft C is in a state of traveling along the route lm3 in FIG. 7, and the notification unit 59 notifies the passenger of the ridge approach. At this time, the notification by the notification unit 59 may be a voice such as a buzzer, may be lighting or blinking of the LED lighting provided in the center mascot 14, or may be displayed on the display unit 48. There may be.

In FIG. 8, when the passenger does not operate the automatic traveling switch 50, the operating state of the operating tool is OFF, and the output state of the operating signal remains OFF. Then, when the state in which the passenger does not operate the automatic driving switch 50 continues for a preset time T1, the control device 75 is switched to the manual driving mode and the automatic driving control ends (automatic driving mode: OFF). .. However, for example, by performing the following artificial operations by the passenger, even if the approach to the ridge of the field is determined by the distance calculation unit 79, it can be continuously executed without ending the automatic driving control. Become.

As shown in FIG. 9, after the ridge approach state is switched from OFF to ON and before the preset time T1 elapses, the passenger operates the automatic traveling switch 50 to operate the operation signal. Is output. That is, in FIG. 9, the operation state of the operating tool is switched from OFF to ON, and the output state of the operation signal is switched from OFF to ON before the time T1 elapses. Then, when the operation signal is input to the control device 75, the automatic traveling mode of the control device 75 continues without ending.

The output of the operation signal is continued by the passenger continuing to operate the automatic traveling switch 50. From this, in a state where the traveling machine C is located closer to the ridge of the field than the position P2, the automatic traveling control is continued while the passenger confirms the ridge of the field. Then, when the passenger stops the operation of the automatic traveling switch 50 at an arbitrary timing, the operation state of the operating tool is switched from ON to OFF, and the output state of the operation signal is switched from ON to OFF. That is, when the passenger stops operating the automatic traveling switch 50, the output of the operation signal is stopped. Then, the control device 75 is switched to the manual driving mode, and the automatic driving control ends (automatic driving mode: OFF). As a result, the automatic traveling control can be continued until the traveling body C reaches the end point position Lf, regardless of the determination of the detection of the ridge. The switching of the operating state of the operating tool is not limited to the operation of the automatic traveling switch 50, and may be, for example, the operation of the start point setting switch 49A or the end point setting switch 49B.

As shown in FIG. 10, when the preset time T1 elapses after the ridge approach state is switched from OFF to ON, the control device 75 is switched to the manual driving mode and the automatic driving control is completed. (Automatic driving mode: OFF). After that, even if the passenger operates the automatic traveling switch 50 (operation state of the operating tool: ON), the operation signal is not output (output state of the operation signal: OFF). Further, as shown in FIG. 11, the passenger operates the automatic traveling switch 50 before the approach of the ridge is detected, that is, in the state where the approach state of the ridge is OFF (operation state of the operating tool). : ON), it is configured so that the operation signal is not output even if the operation is continued as it is (operation signal output state: OFF). In this case, the passenger needs to repeat the operation of the automatic traveling switch 50 after the ridge approach state is switched from OFF to ON and before the preset time T1 elapses. In this way, the control device 75 is configured so that an operation signal is output by operating the automatic traveling switch 50 at the will of the passenger when the traveling aircraft C approaches the ridge. Even before the ridge approaching state is switched from OFF to ON, if the traveling machine C is in the state of approaching the position P2, the operation signal is output by the passenger operating the automatic traveling switch 50. , The automatic traveling mode of the control device 75 may be continued without ending.

Even if the automatic traveling control is continued by continuing the operation of the automatic traveling switch 50, the notification unit 59 continuously performs the notification. However, if the passenger feels annoyed by the excessive notification, the notification unit 59 may be configured not to perform the notification while the automatic driving control is being continued. When the traveling vehicle C reaches the headland area A2, the control device 75 is forcibly switched to the manual traveling mode, the automatic traveling control is canceled, and the traveling aircraft C stops. For example, if the automatic running control continues near the ridge of the field and there is no turning running of the traveling machine C, the engine 13 stops and the traveling machine C stops. As a result, even if the passenger erroneously operates the automatic traveling switch 50, the possibility that the traveling aircraft C will come into contact with the ridge of the field can be avoided.

For example, as shown in FIG. 12, the automatic traveling mode may be switched from ON to OFF by a stop signal in addition to the operation signal. After the ridge approach state is switched from OFF to ON and before the preset time T1 elapses, the output state of the operation signal is set from OFF to ON by, for example, operating the automatic traveling switch 50 by the passenger. When this is done, the automatic driving mode is set to ON and is held as it is. At this time, the passenger does not need to continue the operation of the automatic traveling switch 50, nor does it need to keep the output state of the operation signal ON. Then, when the output state of the stop signal is set from OFF to ON, the automatic driving mode is switched from ON to OFF, and the automatic driving control ends. From this, for example, it is detected that the traveling machine C reaches the end point position Lf, the output state of the stop signal is set from OFF to ON, the control device 75 is switched to the manual operation mode, and the automatic traveling control ends. The configuration is possible.

When the output of the stop signal is due to the arrival of the end point position Lf, the arrival of the end point position Lf may be determined based on the positioning of the satellite positioning unit 70, or the vehicle speed sensor 62 and the inertial measurement unit. The configuration may be determined based on the traveling locus calculated by 74 and. Further, as described below, the automatic traveling control may be terminated based on an artificial operation in the vicinity of the end point position Lf.

Other stop signal outputs include operation of the start point setting switch 49A and end point setting switch 49B, disengagement of the planting clutch (not shown), non-leveling of the leveling float 25, and disengagement of the side clutch (not shown). The configuration may be performed by raising the seedling planting device W, non-acting operation of the marker device 33, operating the pumper lever (not shown), or the like. Further, the output of the stop signal may be stopped by stopping the traveling machine C near the end point position Lf. That is, it is sufficient that the automatic traveling control is completed without the traveling machine C coming into contact with the ridge of the field. If the automatic running control continues near the ridge of the field and the stop signal is not output without the traveling machine C turning, the engine 13 stops and the traveling machine C stops.

[Another Embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and the following, typical alternative embodiments of the present invention will be exemplified.

[1] In the above-described embodiment, the operation signal is output when the passenger continues to operate the automatic traveling switch 50 or the like, but the present invention is not limited to the above-described embodiment. For example, when the approach of the ridge of the field is determined by the distance calculation unit 79, the passenger operates the main speed change lever 44 and the vehicle speed of the traveling machine C is decelerated to output an operation signal. You may. In this case, the operating state of the operating tool in FIGS. 8 to 13 is based on the operation of the main speed change lever 44. That is, based on the idea that the passenger performs the deceleration operation after recognizing the approach of the ridge, the control device 75 may continue the automatic driving mode, and the automatic driving control may be continued. Further, when the vehicle speed of the traveling body C is increased from the low speed state, the notification unit 59 notifies, the operation signal is stopped, the control device 75 is switched to the manual traveling mode, and the automatic traveling control ends. It may be configured to be used.

The operation signal may be output based on the detection of the operation of the main speed change lever 44, or may be output based on the detection vehicle speed of the vehicle speed sensor 62. That is, if the passenger's intention to stop can be confirmed by the sensors and the vehicle speed, the operation signal output method can be appropriately selected.

[2] In the above-described embodiment, when the automatic start switch 51 is set to the automatic start mode, the automatic driving control is automatically started, but the present invention is not limited to the above-described embodiment. For example, in FIG. 7, after the traveling machine C makes a ridge turn from the end point position Lf of the target moving path LM (n-1) and moves to the vicinity of the starting point position Ls of the next target moving path LM (n), the traveling machine If the misalignment between C and the route lm1 is remarkable, the automatic traveling control may not be started even if the automatic start switch 51 is set to the automatic start mode. In this case, the automatic traveling control may be started along the target direction LA by the passenger operating the automatic traveling switch 50. At this time, the notification unit 59 may be configured to notify the passenger that the automatic driving control cannot be started automatically. The notification by the notification unit 59 may be a voice such as a buzzer, may be lighting or blinking of the LED lighting provided in the center mascot 14, or may be displayed on the display unit 48. good.
Further, the notification by the notification unit 59 may be configured to be temporarily notified or may be constantly notified.

[3] In FIG. 9, the operation signal output is continued by continuing the operation state of the operation tool in the ON state, but as shown in FIG. 13, the operation is continued. The output state of the operation signal may be switched between ON and OFF at the timing when the operation state of the tool is switched from OFF to ON. With this configuration, the output state of the operation signal can be switched at the timing of the operation of the automatic traveling switch 50 without continuing the operation of the automatic traveling switch 50. Further, there may be a configuration in which it is determined whether or not the operation of the automatic traveling switch 50 is continued in a time of, for example, 100 milliseconds, and an operation signal is output after the continuation is determined. This makes it possible to prevent malfunction due to chattering of the automatic traveling switch 50.

[4] Although the target movement path LM in the above-described embodiment is set to be linear, the present invention is also applicable to the target movement path LM set to be curved.

[5] The present invention is applicable not only to the rice transplanter described above, but also to other direct-seeding work machines including direct-seeding machines and the like. Further, the present invention can be applied not only to a direct seeding work machine but also to an agricultural work machine such as a tractor or a combine. Further, in the direct sowing system working machine, the output of the stop signal may be stopped by an operation of disengaging the sowing clutch, an operation of raising the sowing work device, or the like. Further, in the direct sowing system working machine, the control device 75 may be switched between the manual running mode and the automatic running mode by the sowing clutch engaging operation, the sowing work device lowering operation, or the like.

The present invention is applicable to a field work machine in which steering is performed along a target movement path.

43: Steering handle (steering wheel)
59: Notification unit 63: Obstacle detection unit (detection means)
76: Route setting unit 78: Automatic driving control unit 79: Distance calculation unit (distance calculation means)
50: Automatic running switch (operation tool)
L1: Distance (second set distance)
L2: Distance (first set distance)
C: Traveling aircraft LM: Target movement route

Claims (8)

A traveling machine that works in the field and
A work device that performs work on the field and
Steering operation tools that can steer the traveling aircraft and
A work operating tool capable of switching the work device between a working state and a non-working state, and
A route setting unit that sets a target movement route for the traveling aircraft to travel, and a route setting unit.
An automatic traveling control unit that automatically controls traveling so that the traveling vehicle travels along the target movement route.
An operation tool that outputs an operation signal when it is artificially operated,
Is provided,
When the operation signal is not output, the automatic traveling control unit switches the work device to the non-working state based on the artificial operation on the work operation tool, and the ridge based on the artificial operation on the steering operation tool. When the automatic traveling control is terminated by detecting at least one of the turning, and the operation signal is output, the working device is switched to the non-working state, and the turning at the edge is turned. A field work machine that executes the automatic running control even when at least one of the above is detected. A traveling machine that works in the field and
A work device that performs work on the field and
Steering operation tools that can steer the traveling aircraft and
A work operating tool capable of switching the work device between a working state and a non-working state, and
A route setting unit that sets a target movement route for the traveling aircraft to travel, and a route setting unit.
An automatic traveling control unit that automatically controls traveling so that the traveling vehicle travels along the target movement route.
An operation tool that outputs an operation signal when it is artificially operated,
Is provided,
When the operation signal is not output, the automatic traveling control unit switches the work device to the non-working state based on the artificial operation on the work operation tool, and the ridge based on the artificial operation on the steering operation tool. When at least one of the turning turns is detected to reduce the vehicle speed of the traveling machine and the operation signal is output, the working device is switched to the non-working state, and the ridge is used. A field work machine that executes the automatic running control even when at least one of the turning turns is detected. Even when at least one of the switching of the working device to the non-working state and the ridge turning is detected, the automatic traveling control unit is while the operation signal is being output. The field work machine according to claim 1 or 2, wherein the automatic traveling control is executed over a period of time, and when the operation signal is stopped, the automatic traveling control is terminated. A notification unit for notifying various states of the traveling aircraft is further provided.
The notification unit is configured to notify that at least one of the switching of the working device to the non-working state and the ridge turning has been detected.
The field work machine according to any one of claims 1 to 3, wherein the automatic traveling control is executed by starting the artificial operation of the operating tool after the start of the notification of the notification unit. The operation signal is output while the operation tool continues the artificial operation on the operation tool, and the output of the operation signal is stopped when the artificial operation on the operation tool is stopped. The field work machine according to any one of claims 1 to 4. The field according to any one of claims 1 to 5, wherein the vehicle speed of the traveling machine body is decelerated by the operation of the operating tool, and the deceleration state of the vehicle speed of the traveling machine body is continued while the output of the operation signal is continued. Working machine. When the operating tool is operated once when the traveling machine travels by alternately repeating the work traveling along the preset movement path and the turning traveling turning toward the next target movement path. 1. The field work machine described in item 1. The steering wheel is a steering wheel.
The automatic traveling control according to claim 7, wherein the steering angle of the steering wheel is in a preset angle range, and the traveling aircraft is started after traveling a preset distance after the start of the work traveling. Field work machine.

Images