JP2023091609A - Farm field work machine - Google Patents

Abstract

To execute operation confirmation for a detector with a high degree of precision.SOLUTION: A farm field work machine includes: a machine body; a work device 3 for executing work for a farm field, which can change its posture between a work posture and a non-work posture; a detector 30 for detecting an obstacle around the machine body; an operation confirmation execution unit 47 for executing operation confirmation for the detector 30; and a posture detection unit 3S for detecting that the work device 3 is in the work posture. The operation confirmation execution unit 47 executes the operation confirmation in a state that the posture detection unit 3S detects that the work device 3 is in the work posture.SELECTED DRAWING: Figure 6

Description

TECHNICAL FIELD The present invention relates to a field working machine having a working device for performing field work on a field.

As disclosed in Patent Literature 1, a rice transplanter, which is one of field working machines, performs seedling planting work while traveling in a field. In addition, the rice transplanter capable of automatically traveling performs automatic work traveling for planting seedlings while automatically traveling. A rice transplanter that can automatically travel calculates a travel route and automatically travels along the travel route based on the position of the machine body calculated using a GNSS (Global Navigation Satellite System) or the like.

Automated driving may include not only manned automated driving but also unmanned automated driving. At least the unmanned automatic traveling rice transplanter is equipped with a detector (obstacle detection device) that detects an obstacle in order to avoid collision with an obstacle in a field. Then, at the start of automatic driving, confirmation work is performed to confirm that the detectors are operating normally.

On the other hand, a rice transplanter capable of planting many rows of seedlings at one time, such as 10 rows, has a large width of the seedling planting device, which increases the width of the machine body and is inconvenient when moving and transporting. be. Therefore, there are also rice transplanters that can change the attitude of the seedling planting device and narrow the width of the machine body.

Japanese Patent Application Laid-Open No. 2021-108611

The seedling planting device is heavy, and the impact is great when the seedling planting device is changed from a non-working posture in which the width of the seedling planting device is narrowed to a working posture for seedling planting work. It is preferable to take into consideration that the detection range of the detector may be shifted or the detector may be damaged due to the impact accompanying the attitude change.

In particular, if the seedling planting device is changed from a non-working posture to a working posture after the operation of the detector has been confirmed, the detector will not be able to function normally due to the impact of the posture change. Detection may not be possible.

SUMMARY OF THE INVENTION An object of the present invention is to check the operation of a detector with high accuracy.

In order to achieve the above object, an agricultural field work machine according to one embodiment of the present invention is a machine body, a work device that performs work on a field and is capable of changing its posture between a working posture and a non-working posture, and the machine body. a detector that detects obstacles around the device, an operation confirmation execution unit that performs operation confirmation of the detector, and a posture detection unit that detects that the work device is in the working posture; The execution unit executes the operation check in a state in which the posture detection unit has detected that the working device is in the working posture.

With such a configuration, it is not necessary to change the posture of the working device from the non-working posture to the working posture while the worker travels for work after confirming the operation of the detector. Therefore, the impact generated when the working device is changed from the non-working posture to the working posture does not affect the detector after the operation is confirmed, and the detector is prevented from functioning normally during work travel. be. Therefore, it is possible to check the operation of the detector with high accuracy, and the detector can detect an obstacle with high accuracy while the vehicle is running.

The working device may be a seedling planting device having a seedling platform and a planting mechanism.

With such a configuration, in the rice transplanter equipped with the seedling planting device, it is possible to accurately check the operation of the detector, and the detector can accurately detect obstacles during travel.

Further, the seedling planting device has a right planting part and a left planting part separable from each other, and the working posture is set in a horizontal direction when the right planting part and the left planting part are connected. in the non-working posture, wherein the lateral width across the separated right planting portion and the left planting portion is the same as the right planting portion and the left planting portion in the working posture. The posture may be narrower than the lateral width of the attached portion.

With such a configuration, the seedling planting device can be changed from the working posture to the non-working posture after separating the right planting portion and the left planting portion. In addition, the posture of the seedling planting device can be changed so that the width of the machine body is narrowed. Therefore, the posture of the seedling planting device can be easily changed. Also in such a configuration, by performing operation confirmation after the attitude of the seedling planting device is changed to the working posture, the impact generated when the seedling planting device is changed from the non-working posture to the working posture after the operation is confirmed. does not reach the detector, and it is possible to check the operation of the detector with high accuracy.

Further, in the non-working posture, the right planting portion and the left planting portion may be folded in a state facing each other.

With such a configuration, the attitude of the seedling planting device can be easily changed so that the width of the machine body is narrowed.

Further, the posture detection section may be a switch that is turned on when the right planting portion and the left planting portion are connected.

With such a configuration, the operation confirmation executing section can easily confirm that the seedling planting device is in the working posture by checking that the switch is on. As a result, it becomes easy to check the operation after the seedling planting device is changed to the working posture, and it is possible to check the operation after the seedling planting device is changed to the working posture. It is possible to check the operation of

Further, the apparatus further includes an aircraft position calculation unit that calculates the position of the aircraft, and an automatic travel control unit that controls automatic travel based on the position of the aircraft, and the operation confirmation is performed when the automatic travel is started. It is preferred that

During automatic driving, it is important to detect obstacles existing around the aircraft. By checking the operation of the detector that detects obstacles when starting automatic driving, it is possible to accurately detect obstacles during automatic driving. As described above, by performing this operation check after the work device is changed to the working posture, the impact generated when the work device is changed from the non-working posture to the working posture after the operation check reaches the detector. Therefore, it is possible to prevent the detector from being unable to perform its normal functions during work travel. Therefore, it is possible to check the operation of the detector with high precision, and the detector can detect obstacles with high precision during automatic driving.

The operation confirmation execution unit further includes a notification unit, wherein the operation confirmation execution unit receives an operation for starting execution of the operation confirmation, and confirms that the seedling planting device is in the working posture when the operation is received. If the detecting section does not detect it, the reporting section may issue a warning.

With such a configuration, it is suppressed to check the operation of the detector when the working device is not in the working posture, and it is encouraged to check the operation of the detector when the working device is in the working posture. As a result, it is possible to check the operation of the detector with high accuracy.

It is a side view of the rice transplanter which can run automatically. It is a top view of the rice transplanter which can run automatically. It is a schematic diagram explaining work traveling of a rice transplanter. It is a figure which illustrates the attitude|position change of a seedling planting apparatus. FIG. 4 is a diagram illustrating a detection range of sonar; It is a functional block diagram which shows the control system of a rice transplanter. It is a top view of a remote control.

A rice transplanter will be described below as an example of a field working machine that travels in a field.

Here, for ease of understanding, in the present embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means forward in the longitudinal direction of the aircraft (running direction). "Rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (running direction) of the aircraft. In addition, the left-right direction or the lateral direction means the transverse direction of the fuselage (the width direction of the fuselage) orthogonal to the longitudinal direction of the fuselage, and is defined as “left” (the direction of arrow L shown in FIG. 2) and “right” (the direction of arrow L shown in FIG. 2). R direction) shall mean the left and right directions of the aircraft, respectively.

[Overall structure]
As shown in FIGS. 1 and 2, the rice transplanter includes a ride-on, four-wheel-drive body 1 . The fuselage 1 includes a link mechanism 13 of a parallel quadruple link type connected to the rear part of the fuselage 1 so as to be able to swing up and down, a hydraulic lifting link 13a for swinging the link mechanism 13, and a rear end region of the link mechanism 13. A seedling planting device 3 (working device) that is rollably connected to the , a fertilizing device 4 that extends from the rear end region of the machine body 1 to the seedling planting device 3, and the rear of the seedling planting device 3 A chemical spraying device 18 or the like is provided in the end region. The seedling planting device 3, the fertilizing device 4, and the chemical spraying device 18 are examples of working devices.

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

The seedling planting device 3 is configured in a 10-row planting format, for example. The seedling planting device 3 includes a seedling platform 21, ten planting mechanisms 22, five floats 15, and the like. This seedling planting device 3 can be changed to a form of 2-row planting, 4-row planting, 6-row planting, 8-row planting, etc. by controlling each row clutch (planting clutch) (not shown).

The seedling mounting table 21 is a base on which 10 rows of mat-like seedlings are mounted. The seedling platform 21 reciprocates in the left-right direction with a constant stroke corresponding to the left-right width of the mat-like seedling, and every time the seedling platform 21 reaches the left and right stroke ends, each mat-like seedling on the seedling platform 21 is moved. The seedlings are longitudinally fed toward the lower end of the seedling placing table 21 at a predetermined pitch.

The ten planting mechanisms 22 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between planting rows. Each planting mechanism 22 receives a driving force from the engine 2 when a planting clutch (not shown) is shifted to a transmission state, and the lower end of each mat-like seedling placed on the seedling placement table 21 is moved to each planting mechanism 22 . One seedling (also called planting seedling) is cut from the root and planted in the mud part after leveling. As a result, the seedling planting device 3 can take out the seedlings from the mat-shaped seedlings placed on the seedling placing table 21 and plant them in the mud part of the paddy field.

The float 15 levels the field during seedling planting work. Each float 15 is provided in association with two planting mechanisms 22 .

The fertilizing device 4 feeds out the stored granular or powdery fertilizer (medicine or other agricultural material) by a predetermined amount and discharges it to the field to supply the field with the fertilizer.

The fuselage 1 has an operating section 14 in the rear area. The driving unit 14 includes a steering wheel 10 for steering the front wheels, a main gear shift lever 7A that adjusts the vehicle speed by performing a gear shift operation of the continuously variable transmission 9, an auxiliary gear shift lever 7B that enables gear shift operation of the sub transmission, and a seedling. A work operation lever 11 (operating tool) for operating the up-and-down operation of the planting device 3 and on/off (switching between the transmission state and the non-transmission state) of the planting clutch (not shown), and various information are displayed. An information terminal 5 having a touch panel for notifying (outputting) information to the operator and receiving input of various kinds of information, and a driver's seat 16 for the operator (driver/worker) are provided. The sub-transmission lever 7B is used to switch the traveling vehicle speed between a work speed during work and a movement speed during movement. For example, movement between fields is performed at the movement speed, and planting work and the like are performed at the work speed. Further, a preliminary seedling storage device 17A for storing preliminary seedlings is supported by a preliminary seedling support frame 17 in front of the operating section 14. As shown in FIG.

Further, the preliminary seedling support frame 17 is provided with a positioning unit 8 , a stack light 24 and a voice alarm generator 25 .

The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 . The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 .

The multilayer lamp 24 notifies various kinds of information and warnings by lighting patterns. The voice alarm generator 25 notifies various information and warnings by voice.

As will be described later, the rice transplanter of this embodiment can automatically travel. If there is an obstacle in front of the traveling direction or around the machine body 1 at the start of traveling by automatic traveling or during automatic traveling, problems may occur in traveling and work. Therefore, the rice transplanter of this embodiment includes a sonar sensor 30 as an example of a detector that detects obstacles around the machine body 1 . Obstacle detection is basically performed during automatic driving, but it is also possible to adopt a configuration in which obstacle detection is performed during manual driving.

Specifically, for example, the sonar sensors 30 include four front sonars 31 for detecting obstacles in the front region of the aircraft 1, four rear sonars 32 for detecting obstacles in the rear region of the aircraft 1, 1 and a pair of left and right horizontal sonars 33 for detecting obstacles in the front area on the left and right sides.

[Automatic driving]
Working traveling in which a rice transplanter performs rice planting work in a field by automatic traveling will be described using FIG. 3 while referring to FIGS. 1 and 2. FIG.

The rice transplanter in this embodiment can selectively perform manual traveling and automatic traveling. In the manual travel, the driver manually operates work travel operating tools such as the steering wheel 10, the main gear shift lever 7A, the sub gear shift lever 7B, and the work operation lever 11 to perform work travel. In automatic travel, the rice transplanter automatically travels and works along a preset travel route. Automatic driving can be manned automatic driving (manned automatic driving mode) requiring a driver to board, and unmanned automatic driving (unmanned automatic driving mode) not requiring a driver to board. In manned automatic driving, the driver performs some operations according to guidance provided by the rice transplanter, while the rice transplanter automatically controls other operations associated with traveling and work. Unmanned automatic driving does not require a driver to be on board, but a driver may be on board during unmanned automatic driving. In unmanned automatic driving, the driver performs an automatic driving start operation, for example, a start operation using a remote control 34 (see FIG. 7) described later, whereby work driving is started under automatic control, and work driving is set in advance. is automatically controlled. The manned automatic mode in which manned automatic driving is performed and the unmanned automatic mode in which unmanned automatic driving is performed are set using the information terminal 5 .

When the rice transplanter performs the planting work, first, the driver manually operates the rice transplanter to travel along the outer circumference of the field without performing the work. By this outer circumference traveling, the outer circumference shape (farm field map) of the farm field is generated, and the farm field is divided into the outer circumference area OA and the inner area IA. At this time, an entrance E through which the rice transplanter enters the field is set, and one side or a plurality of specified sides of the outer periphery of the field is used to feed the rice transplanter with mat-like seedlings, fertilizers, chemicals, fuel, and the like. It is set as a replenishment side SL for replenishment.

After the field map is generated, a travel route along which the rice transplanter travels for work is set. In the internal area IA, an internal reciprocating route IPL is generated that connects a plurality of routes substantially parallel to one side of the field with a turning route. The internal round-trip route IPL is a travel route that travels throughout the entire internal area IA.

In the outer peripheral area OA, two travel routes, an inner peripheral route IRL and an outer peripheral route ORL, are generated that circulate within the outer peripheral region OA along the outer periphery of the farm field. By traveling for work on the inner loop route IRL and the outer loop route ORL, the entire outer peripheral area OA is traveled for work. It should be noted that the number of travel routes that circle the outer peripheral area OA is not limited to two, i.e., the inner loop route IRL and the outer loop route ORL, and may be one or more. In this case, the outermost traveling route is the outer circular route ORL.

Although the inner round-trip route IPL and the inner loop route IRL are performed by unmanned automatic travel, work travel may be performed by manned automatic travel or manual travel. In addition, the outer loop route ORL is automatically manned, but may be manually traveled for work, or may be unmanned automatically traveled for work.

Manned automatic driving is started when at least a driver is on board and the main shift lever 7A is in the neutral position. When the starting condition is satisfied and the main shift lever 7A is moved in the direction of travel, automatic travel is started. In the travel route of the agricultural field, manned automatic travel is performed during work travel on the outer loop route ORL, but may be performed on other travel routes. Moreover, in the manned automatic traveling, the raising and lowering of the seedling planting device 3 is performed by automatic control. For example, in work travel in unmanned automatic travel on the inner round trip route IPL and the inner loop route IRL, the raising and lowering of the seedling planting device 3 is automatically controlled. However, during work traveling on the outer loop route ORL, the seedling planting device 3 is manually lowered. Specifically, when the machine body 1 reaches the turning position of the outer loop path ORL, the seedling planting device 3 is raised by automatic control. When the turning is completed in that state, the machine body 1 stops and the seedling planting device 3 is lowered by manual operation to continue the work travel by automatic travel. The outer loop route ORL has a higher possibility of having obstacles around it than other travel routes. In order to perform smooth work travel, the seedling planting device 3 is manually lowered after confirming that there are no obstacles or the like in the work travel on the outer loop route ORL. Also in unmanned automatic traveling and manned automatic traveling other than the outer loop route ORL, the seedling planting device 3 may be lowered by manual operation.

[Change the attitude of the seedling planting device]
As shown in FIG. 4, the seedling planting device 3 is composed of a right planting part 3R and a left planting part 3L, and the right planting part 3R and the left planting part 3L are separable from each other. The seedling planting device 3 can change its posture between a working posture and a non-working posture.

The working posture is a posture when the seedling planting work is performed, and is a posture in which the right planting portion 3R and the left planting portion 3L are connected and arranged along the left-right direction (state shown in FIG. 4A). ).

The non-working posture is a posture in which the lateral width of the separated right planted portion 3R and left planted portion 3L is narrower than the lateral width of the right planted portion 3R and left planted portion 3L in the working posture. be. For example, when the posture is changed from the working posture to the non-working posture, first, the connected right planted portion 3R and left planted portion 3L are separated. Next, the right planted portion 3R and the left planted portion 3L rotate around the axis facing the up-down direction (vertical direction) of the body 1 and are brought closer to each other so that their front surfaces face each other. The posture is changed (the state of FIG. 4(b)).

Thereby, in the non-working posture, the width of the machine body 1 in the lateral direction of the seedling planting device 3 is narrower than in the working posture, and as a result, the width of the rice transplanter in the lateral direction is narrowed. As a result, the rice transplanter can be easily moved and transported in the non-working posture.

Moreover, the seedling planting apparatus 3 is provided with a posture detection unit that detects that it is in a working posture. For example, the posture detector is the switch 3S. The switch 3S is provided at the connecting portion of the right planted portion 3R and the left planted portion 3L, and is turned on when the right planted portion 3R and the left planted portion 3L are connected. Thereby, the switch 3S can detect that the seedling planting device 3 is in the working posture. In addition, the attitude|position detection part may be a sensor etc. which detect that the seedling planting apparatus 3 is a working attitude|position.

[Checking the operation of the sonar sensor]
As described above, the sonar sensors 30 detect obstacles around the aircraft 1 . Since obstacle detection is important in automatic driving, the operation of the sonar sensor 30 is checked before starting automatic driving.

In the operation confirmation, it is confirmed whether or not all the sonar sensors 30 detect obstacles while the aircraft 1 is stopped. As shown in FIG. 5, each sonar sensor 30 has an individual sensing range 30A. Therefore, operation confirmation is performed by placing a pseudo obstacle in the detection range 30A of each sonar sensor 30 and confirming that each sonar sensor 30 detects the obstacle. For example, the operator walks around the machine body 1 and confirms that all the sonar sensors 30 detect the operator as an obstacle.

[Configuration of control system]
Next, with reference to FIGS. 1, 2, and 5, and using FIG. 6, automatic work traveling of the rice transplanter and control related to operation confirmation of the sonar sensor 30 will be described.

<Configuration of functional blocks>
As shown in FIG. 6 , the control unit 40 controls the automatic work traveling of the rice transplanter and the operation check of the sonar sensor 30 .

The control unit 40 includes a positioning unit 8, a sonar sensor 30, a seedling planting device 3, a switch 3S that is an attitude detector, a wheel 12 that is a traveling device, an information terminal 5, a laminated light 24, a voice alarm generator 25, and the like. Communicatively connected. The information terminal 5, the multilayer lamp 24, and the voice alarm generator 25 have a function as a notification unit that notifies information and warnings.

The control unit 40 includes a body position calculator 42 , a travel controller 43 , a work controller 45 , and an operation check execution unit 47 .

The airframe position calculation unit 42 acquires positioning data from the positioning unit 8, and intermittently calculates the position of the airframe 1 and the running direction of the airframe 1 at the position of the airframe 1 based on the positioning data at predetermined time intervals. .

The travel control unit 43 performs steering control and drive control in automatic travel and manual travel. In manual travel, the travel control unit 43 controls the motion of the wheels 12 according to the operation of the operator (driver).

The travel control unit 43 includes an automatic travel control unit 44, and the automatic travel control unit 44 performs steering control and drive control for automatic travel. The automatic travel control unit 44 automatically controls the motion of the wheels 12 based on the position of the machine body 1 and the traveling direction of the machine body 1 so that the work travels along a preset target travel route.

The work control unit 45 controls the operation of the work device such as the seedling planting device 3 according to the operation of the worker (driver) or a preset program.

The operation confirmation execution unit 47 controls operation confirmation of the sonar sensor 30 . The operation check of the sonar sensor 30 is performed before the start of automatic driving.

<Checking the operation of the sonar sensor>

Operation confirmation of the sonar sensor 30 by the operation confirmation execution unit 47 will be described in detail below.

When performing automatic driving, various settings related to automatic driving are performed by the information terminal 5 . After or before such setting, the operation of the sonar sensor 30 is checked. Operation of the sonar sensor 30 can also be checked by operating the information terminal 5 .

When the information terminal 5 or the like is operated and operation confirmation of the sonar sensor 30 is started, the operation confirmation executing section 47 first confirms whether or not the seedling planting device 3 is in the working posture. For example, confirmation that the seedling planting device 3 is in the working posture can be performed by confirming that the switch 3S, which is the posture detection section, is in the ON state. That is, when the right planting portion 3R and the left planting portion 3L (see FIG. 2) of the seedling planting device 3 are connected in the working posture, the switch 3S is turned on. Therefore, the operation confirmation executing section 47 can determine that the seedling planting device 3 is in the working posture by confirming that the switch 3S is on. For example, when the switch 3S is turned on, it outputs a working posture signal. Then, the operation confirmation execution unit 47 confirms that the seedling planting device 3 is in the working posture by receiving the working posture signal output by the switch 3S.

If the operation confirmation execution unit 47 cannot confirm that the seedling planting device 3 is in the working posture even though the operation confirmation has started, the operation confirmation execution unit 47 notifies the operation confirmation. The worker (driver) who received the notification changes the posture of the seedling planting device 3 to the working posture, or removes the cause that prevents the posture from being changed to the working posture and starts the seedling planting device 3. The posture is changed to the working posture, and the operation of confirming the operation of the sonar sensor 30 is performed again.

The notification that the seedling planting device 3 is not in the working posture despite the reception of the operation to start checking the operation of the sonar sensor 30 is the multilayer light 24 or the voice alarm generator 25, or the multilayer light 24 and the voice alarm generator. 25. The laminated lamp 24 gives notification by a lighting pattern. The voice alarm generating device 25 notifies by emitting sound. Alternatively, the notification may be performed by displaying a warning on the touch panel of the information terminal 5 .

After confirming that the seedling planting device 3 is in the working posture, the operation confirmation execution unit 47 confirms whether or not each sonar sensor 30 can detect an obstacle. After activating each sonar sensor 30, the operation confirmation execution unit 47 detects a pseudo obstacle placed around the airframe 1 by the operator walking around the airframe 1 as described above. , the operation is confirmed by confirming that all the sonar sensors 30 detect obstacles.

When the operation check of the sonar sensor 30 is completed satisfactorily, automatic driving can be started on the condition that the conditions for starting automatic driving are satisfied. In this state, by accepting a predetermined operation for starting automatic travel, the automatic travel control unit 44 and the work control unit 45 start automatic travel.

When the attitude of the seedling planting device 3 is changed from the non-working attitude to the working attitude, a large impact may be applied to the sonar sensor 30, and the sonar sensor 30 may not be able to detect the obstacle appropriately. As described above, by checking the operation of the sonar sensor 30 when the seedling planting device 3 is in the working posture, the seedling planting device 3 is not changed to the working posture after the operation is confirmed. Therefore, it is possible to prevent the sonar sensor 30 from being unable to properly detect an obstacle due to the impact caused by the attitude change of the seedling planting device 3 after the operation of the sonar sensor 30 is confirmed. As a result, it is possible to prevent the sonar sensor 30 from being unable to detect an obstacle appropriately during automatic travel after the operation has been confirmed. As described above, the operation of the sonar sensor 30 is appropriately checked, and an obstacle is accurately detected during automatic travel.

[Another embodiment]
(1) In the above embodiment, the sonar sensors 30 are not limited to four front sonars 31, four rear sonars 32, and two lateral sonars 33, and any number of sonar sensors 30 may be provided. In addition, one or a plurality of sonar sensors 30 may be arranged at a position where a required area around the body 1 can be covered as the detection range 30A.

As a result, a required number of sonar sensors 30 are arranged at required positions according to the configuration of the rice transplanter and the working conditions, and obstacles can be detected appropriately.

(2) In each of the above-described embodiments, the configuration may be such that the notification that the seedling planting device 3 is not in the working posture is not performed. As a result, it is possible to simplify the configuration of the multilayer lamp 24, the voice alarm generator 25, and the like for performing notification.

(3) In each of the above embodiments, the confirmation of the operation of the sonar sensor 30 is not limited to the rice transplanter capable of automatically traveling. It may be performed while the device 3 is in the working posture.

(4) In each of the above-described embodiments, part or all of the control unit 40 is not limited to the configuration provided in the machine body 1, but the information terminal 5 or a management computer or the like provided outside the machine body 1 so as to be communicable with the machine body 1. may be provided in

As a result, the function of the rice transplanter body can be minimized, and the structure of the rice transplanter can be simplified.

(5) In each of the above-described embodiments, the control unit 40 is not limited to those configured from the functional blocks described above, and may be configured from arbitrary functional blocks. For example, each functional block of the control unit 40 may be further subdivided, or conversely, part or all of each functional block may be grouped together. Also, the functions of the control unit 40 may be realized by a method executed by any functional block, not limited to the above functional blocks. Also, part or all of the functions of the control unit 40 may be configured by software. A program related to software is stored in an arbitrary storage device and executed by a processor such as a CPU provided in the control unit 40 or a processor provided separately.

(6) The chemical spraying device 18 for spraying chemicals in the field is supported by the seedling planting device 3 and moves up and down as the seedling planting device 3 moves up and down.

Further, the drug spraying device 18 replenishes the drug at the replenishment side SL. Therefore, in order to replenish the chemical spraying device 18 with the chemical, the machine body 1 moves in reverse and approaches the replenishment side SL. At this time, the chemical spraying device 18 is raised as the seedling planting device 3 is raised. In particular, during automatic travel, the automatic travel is temporarily stopped in order for the chemical spraying device 18 to replenish the chemical, and along with this, the seedling planting device 3 and the chemical spraying device 18 are raised.

Here, if the chemical spraying device 18 is lifted as the seedling planting device 3 is lifted, the height of the chemical spraying device 18 may be too high for the chemical replenishment work. During manual travel or manned automatic travel, since a worker (driver) is on board the machine body 1, the work operation lever 11 can be operated to lower the seedling planting device 3. However, in unmanned automatic travel, since no operator (driver) is on board the aircraft 1, it is not possible to easily replenish the medicine.

Therefore, in each of the above-described implementations, it is preferable to provide the remote control 34 illustrated in FIG. 7 with a function of lowering the seedling planting device 3 . For example, by pressing the planting button 34a of the remote controller 34 for a long time, the seedling planting device 3 can be lowered only while the button is pressed. Accordingly, by operating the remote control 34, the seedling planting device 3 can be lowered to a required height by operating from the outside of the machine body 1. - 特許庁As a result, the medicine replenishment work can be easily performed. During the descent, the laminated light 24, the voice alarm generator 25, or the like may be used to notify that the descent is in progress.

It should be noted that the lowering of the seedling planting device 3 by the remote control 34 is not limited to unmanned automatic traveling, and may be configured to be possible in at least one of manned automatic traveling and manual traveling.

(7) In each of the above embodiments, the working device is not limited to the seedling planting device 3, but may be various working devices such as a harvesting device or a boom sprayer that work in a field, and is not limited to a rice transplanter. , various field work machines.

INDUSTRIAL APPLICABILITY The present invention can be applied to a field work machine capable of automatically traveling.

1 body 3 seedling planting device (working device)
3L Left planting part 3R Right planting part 3S Switch (posture detection part)
21 Seedling platform 22 Planting mechanism 24 Laminated light (informing unit)
25 voice alarm generator (notification unit)
30 sonar sensor (detector)
42 Body position calculation unit 44 Automatic travel control unit 47 Operation check execution unit

Claims (7)

Airframe and
a working device that performs work on a field and can change its posture between a working posture and a non-working posture;
a detector that detects obstacles around the aircraft;
an operation confirmation execution unit for executing operation confirmation of the detector;
a posture detection unit that detects that the working device is in the working posture;
The operation confirmation execution unit is a field working machine that executes the operation confirmation in a state in which the posture detection unit detects that the work device is in the working posture. The field working machine according to claim 1, wherein the working device is a seedling planting device having a seedling platform and a planting mechanism. The seedling planting device has a right planting part and a left planting part separable from each other,
The working posture is a posture in which the right planting portion and the left planting portion are connected and arranged along the left-right direction,
In the non-working posture, the lateral width of the separated right planting portion and left planting portion is narrower than the lateral width of the right planting portion and the left planting portion in the working posture. 3. The field working machine according to claim 2, which is in a posture. The field working machine according to claim 3, wherein in the non-working posture, the right planting portion and the left planting portion are folded in a state facing each other. The field working machine according to claim 3 or 4, wherein the posture detection unit is a switch that is turned on when the right planting portion and the left planting portion are connected. a body position calculation unit that calculates the position of the body;
Further comprising an automatic traveling control unit that controls automatic traveling based on the position of the aircraft,
The field working machine according to any one of claims 1 to 5, wherein the operation confirmation is performed when the automatic travel is started. further equipped with a notification unit,
The action confirmation execution unit receives an operation for starting execution of the action confirmation, and if the posture detection unit has not detected that the working device is in the working posture when the operation is received, 7. The field working machine according to any one of claims 1 to 6, wherein the notification unit is caused to notify a warning.

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