JP7034056B2 - Paddy field planting work machine and automatic running control system for paddy field planting work machine - Google Patents

Description

The present invention is a paddy field planting system work machine and water provided with an automatic running control unit capable of automatic running control for controlling the running machine to run along a target running path based on the position of the running machine. Regarding the automatic running control system of the rice planting system work machine.

For example, in the work vehicle disclosed in Patent Document 1, the automatic driving control unit (“working vehicle control unit” in the document) automatically controls the vehicle based on the processing of the traveling state sensor (“obstacle sensor processing unit” in the document). Is configured to be cancelable. When the automatic driving control is stopped, the work vehicle stops in the middle, and at the same time, the content of the command to the automatic driving control unit is notified to the operator and the like from the traveling state sensor through the notification unit (“notification device group” in the literature). ..

Japanese Unexamined Patent Publication No. 2018-116612

By the way, in a paddy field planting work machine such as a rice transplanter, when the automatic running control of the paddy field planting work machine is stopped in the paddy field, the traveling machine stops in the paddy field. In such a case, for example, after the worker in the field receives the content of the cancellation of the automatic traveling control, he / she may move to the traveling machine stopped in the paddy field and investigate the defect of the paddy field planting system working machine. Such work has to be carried out by the worker by stepping on the mud of the paddy field and moving to the traveling machine, which is a burden on the worker.
Further, even when the passenger is on board the traveling aircraft, it is possible that the passenger is not familiar with the procedure for resuming the automatic traveling control and the procedure for manually operating the paddy planting system work machine. In this case, the passenger must contact the other worker by telephone or call the other worker to the traveling aircraft stopped in the paddy field. As described above, the work of traveling the traveling aircraft from the state in which the automatic traveling control is stopped may be a burdensome work for the passengers and workers.

In view of the above-mentioned circumstances, an object of the present invention is automatic traveling control of a paddy field planting system work machine and a paddy field planting system work machine capable of easily traveling a traveling machine from a state where automatic traveling control is stopped. It is to provide the system.

The automatic traveling control system of the paddy field planting system work machine according to the present invention includes a satellite positioning unit capable of detecting the position of the traveling aircraft using a navigation satellite, a working device capable of planting seedlings in a field, and the traveling. An automatic running control unit capable of automatic running control for controlling the running machine to run along a target running path based on the position of the machine, a running state sensor capable of detecting the running state of the running machine, and a running state sensor. The work state sensor capable of detecting the work state of the work device, the determination of the stop factor for stopping the automatic running control based on the running state and the work state, and the automatic running based on the determination of the stop factor. When the automatic running control is stopped based on the judgment of the determination unit configured to enable the control unit to stop the automatic running control and the judgment of the judgment unit, the stop factor is notified as notification information. A possible notification unit and a display device capable of displaying a procedure guide for driving the traveling machine based on the notification information are provided , and the determination unit determines the importance of the plurality of stop factors. It is configured to be categorable into error levels, and the procedure guide includes a return procedure guide for resuming the automatic travel control and a travel procedure guide for enabling the traveling aircraft to travel based on an artificial operation, and the display thereof. The device is configured to be able to display the return procedure guide and the travel procedure guide according to the plurality of error levels, and the determination of the discontinuation factor is one of at least one of a plurality of conditions relating to the discontinuation of the automatic travel control. In the determination of whether or not the condition is applicable, the determination unit raises the error level regarding the discontinuation factor when the same condition is continuously applied for a preset number of times or more among the plurality of conditions. It is characterized in that it is configured to be changed to give an instruction to stop the automatic traveling control .

Further, the technical features of the automatic traveling control system according to the present invention can be applied to the paddy field planting system working machine itself, and therefore, the present invention is also subject to the rights of such paddy field planting system working machines. Can be. In that case, the paddy planting system work machine is based on a satellite positioning unit capable of detecting the position of the traveling machine using a navigation satellite, a working device capable of planting seedlings in a field, and the position of the traveling machine. The work of the automatic driving control unit capable of automatic driving control for controlling the traveling vehicle to travel along the target traveling route, the traveling state sensor capable of detecting the traveling state of the traveling vehicle, and the work of the working device. The work state sensor capable of detecting the state, the determination of the stop factor for stopping the automatic driving control based on the running state and the working state, and the automatic operation for the automatic driving control unit based on the determination of the stop factor. A determination unit that is configured to be able to give an instruction to stop driving control, and a notification unit that can notify the cause of cancellation when the automatic driving control is stopped based on the determination of the determination unit. The notification unit is configured to be able to notify the procedure guidance for driving the traveling vehicle, and the determination unit is configured to be able to classify the importance of the plurality of stop factors into a plurality of error levels. The procedure guide includes a return procedure guide for resuming the automatic driving control and a travel procedure guide for enabling the traveling machine to travel based on an artificial operation. The traveling procedure guide is configured to be able to be notified according to the plurality of error levels, and the determination of the cancellation factor is a determination as to whether or not at least one of the plurality of conditions relating to the termination of the automatic driving control is satisfied. Therefore, when the same condition among the plurality of conditions is continuously applied for a preset number of times or more, the determination unit changes the error level related to the discontinuation factor to a high value and controls the automatic driving. It is characterized in that it is configured to give an instruction to cancel .

According to the present invention, the cause for discontinuing the automatic driving control is notified, and the procedure guidance for driving the traveling machine is displayed or notified, so that the worker in the field can grasp the reason for discontinuing the automatic driving control. Will be. For this reason, it becomes easier for field workers and observers, passengers of the traveling aircraft, work plan deciders, etc. to take appropriate measures based on the grasped reasons for cancellation, and it is easier to restore the traveling aircraft to a state in which it can travel. Become. As a result, an automatic traveling control system for a paddy field planting system work machine and a paddy field planting system work machine that can easily drive a traveling machine from a state in which automatic traveling control is stopped is realized.

The "planting work" in the present invention means a general term for the work of sowing seeds before germination in a field and transplanting seedlings after germination to a field. Further, the "paddy field planting system working machine" in the present invention means a general term for a working machine capable of sowing seeds in a paddy field and a working machine capable of transplanting seedlings to a paddy field. Further, the "seedling" in the present invention includes seeds before germination and seedlings after germination.

In addition, with this configuration, even if the passenger of the traveling aircraft is not familiar with the procedure for restarting the automatic traveling control and the procedure for manually operating the paddy planting system work machine, the passenger can check the procedure guide. It becomes possible to carry out the work of running the traveling machine. Therefore, the work load on the occupant and the worker is reduced as compared with the case where the occupant makes a telephone contact with another worker or calls another worker for the restoration work.
In addition, with this configuration, field workers and passengers can identify the importance of the discontinuation factor by checking the error level, so workers and passengers should restart automatic driving control. It can be easily determined whether or not. In addition, since the procedure guidance is switched between the return procedure guidance and the driving procedure guidance according to the error level, the worker and the passenger can smoothly perform the restoration work of the paddy planting system work machine and its system. ..

In the present invention, the display device is a remote control terminal having remote control means for the traveling machine body and the work device, and the remote control terminal is artificially operated by the remote control means based on the procedure guidance. Therefore, it is preferable that the traveling machine is configured to be able to be operated for traveling.

With this configuration, a worker in a field located away from the traveling machine can remotely control the traveling machine and the working device. Therefore, the worker in the field can perform the restoration work of the paddy field planting system work machine and its system based on the procedure guide without having to step on the mud of the paddy field and move to the traveling machine.

In the present invention, the plurality of error levels include a resumable level at which the automatic driving control can be restarted and a non-restartable level at which the automatic driving control cannot be restarted. It is possible to display the return procedure guide when the stop factor of the restartable level is determined and the travel procedure guide when the determination unit determines the stop factor of the non-restartable level. It is preferable that it is done.

With this configuration, field workers and passengers can clearly recognize whether or not automatic driving control can be restarted.

It is a side view which shows the rice transplanter which is a paddy field planting system work machine. It is a block diagram which shows the structure of the automatic traveling control system of a paddy planting system work machine. It is a functional block diagram which shows the function of automatic driving control and the flow of data. It is a top view of the field which shows the setting of a target traveling path and a turning path. It is a figure which shows the state transition of the traveling mode in a control unit. It is a figure which shows the condition which shifts to an alarm mode. It is a flowchart which shows the guidance display process after the transition to an alarm mode. It is a flowchart which shows the process based on the detection of a seating sensor. It is a flowchart which shows an example of a notification process. It is a flowchart which shows an example of deceleration processing. It is a logic graph diagram which shows the automatic driving control based on the detection of a seating sensor.

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

As shown in FIG. 1, the passenger-type rice transplanter is provided with a traveling machine C having a pair of left and right steering wheels 10 and 10 and a pair of left and right rear wheels 11 and 11. Further, the seedling planting device W as a working device is connected to the rear part of the traveling machine C so as to be able to move up and down, and the seedling planting device W can transplant seedlings (seedlings) to the field (a form of planting work). It is configured in. The pair of left and right steering wheels 10 are provided at the front portion 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 at the rear portion of the traveling machine C. Has been done.
The seedling planting device W is movably connected to the rear end of the traveling machine body C via a link mechanism 21. The link mechanism 21 moves up and down by the expansion and contraction operation of the lifting hydraulic cylinder 20. As a result, the seedling planting device W can be switched between a working state in which the seedling planting device W descends to the field surface to perform transplanting work and a non-working state in which the seedling planting device W rises above the field surface in the field and does not perform transplanting work. ing.

An openable bonnet 12 is provided at the front portion of the traveling machine body C. The engine 13 is provided in the bonnet 12. Although not described in detail, a known HST (Hydraulic Static Transmission, not shown) is provided on the steering wheel 10, the rear wheel 11, or both as a transmission mechanism for transmitting the power of the engine 13. The power of the engine 13 is transmitted to the steering wheels 10 and the rear wheels 11 via the transmission mechanism provided in the machine, and the power after the shift is planted via an electric motor-driven planting clutch (not shown). It is transmitted to the device W. The traveling machine body C is provided with a machine body frame 15 extending in the front-rear direction, and a support support column frame 16 is erected at the front portion of the machine body frame 15.

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

The satellite positioning unit 80A is configured to be able to detect the position of the traveling aircraft C by receiving radio waves transmitted from a plurality of navigation satellites orbiting the earth. That is, the position of the satellite positioning unit 80A is positioned by using GPS (Global Positioning System), which is a well-known technology, as an example of a satellite positioning system (GNSS: Global Navigation Satellite System). .. In the present embodiment, the satellite positioning unit 80A uses RTK-GPS (Real Time Kinematic GPS: interference positioning method), but DGPS (Differential GPS: relative positioning method) can also be used.

In addition to the satellite positioning unit 80A, an inertial measurement unit 80B (see FIGS. 2 and 3) having, for example, an IMU (Inertial Measurement Unit) is provided in the traveling aircraft C as an orientation detecting means for detecting the orientation of the traveling aircraft C. ing. Although not shown, the inertial measurement unit 80B is provided, for example, at a low position in the center of the traveling machine C in the lateral width direction, and has, for example, the angular velocity of the turning angle of the traveling machine C, the angular velocity of the left-right tilt angle of the traveling machine C, and the traveling machine C. It is possible to measure the angular velocity of the front-back tilt angle, etc. By integrating this angular velocity, it is possible to calculate the directional change angle of the airframe. The inertial measurement unit 80B may be configured to have a gyro sensor or an acceleration sensor. In the present embodiment, the satellite positioning unit 80A and the inertial measurement unit 80B are included as the own machine position detection module 80.

At the center of the traveling machine C, a boarding section 40 for performing various driving operations is provided. The boarding section 40 is provided with a driver's seat 41, a steering wheel 43, and various operating tools such as a main speed change lever 44. The driver's seat 41 is provided in the central portion of the traveling machine 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 forward / backward switching operation of the traveling machine C and the changing operation of the traveling speed can be performed by, for example, the operation of the main speed change lever 44, and the raising / lowering operation of the seedling planting device W can be performed by various operation tools of the boarding unit 40. be.

The seedling planting device W is provided with a plurality of (for example, four) transmission cases 22, a plurality of (for example, eight) rotating cases 23, a leveling float 25, and a seedling loading table 26. 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.
A pair of rotary type planting arms 24 are provided at both ends of each of the rotating cases 23. The ground leveling float 25 is for leveling the 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 seedling planting device W drives each rotary case 23 to rotate by the power transmitted from the transmission case 22 while driving the seedling stand 26 to and from the left and right, 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. Although not shown, the seedling planting device W is configured to plant seedlings by a planting arm 24 provided in a plurality of rotating cases 23. When there are four rotating cases 23, it is a four-row planting type, when there are six rotating cases 23, it is a six-row planting type, when there are eight rotating cases 23, it is an eight-row planting type, and there are ten rotating cases 23. In the case of individual pieces, it is a 10-row planting type.

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

The control unit 5 is connected to the communication unit 66. The communication unit 66 is used for exchanging data between the control unit 5 and the management computer 6. The communication unit 66 and the management computer 6 are connected by a network such as the Internet. The management computer 6 is, for example, an in-vehicle tablet computer detachably mounted on the traveling machine C, a mobile terminal such as a smartphone carried by a monitor or a work plan decider, a monitor or a work plan. It may be a computer installed in the decision-maker's home or management office. The management computer 6 has a monitor capable of displaying various information, and corresponds to the display device of the present invention. Further, the management computer 6 is a remote control terminal having a remote control means for the traveling machine C and the seedling planting device W as a working device. The remote control means may be a touch panel, a keyboard or mouse for a computer, or a dedicated panel switch, rotary switch, or seat key switch.

The control unit 5 includes an output processing unit 58 and an input processing unit 57 as input / output interfaces. The output processing unit 58 is connected to various operating devices 70 via the device driver 65. The operating device 70 includes a traveling device group 71, which is a traveling device, and a working device group 72, which is a work-related device. The traveling equipment group 71 includes, for example, steering motors (not shown) of the steering wheels 10 and 10, control equipment of the engine 13, the above-mentioned HST control equipment, braking equipment (not shown), and the like. The working equipment group 72 includes a control device for the seedling planting device W as shown in FIG.

A running state sensor group 63 (running state sensor), a working state sensor group 64 (working state sensor), a running operation unit 90 that can be operated by a monitor, and the like are connected to the input processing unit 57.

The traveling state sensor group 63 includes a vehicle speed sensor 63A, an obstacle detection unit 63B, a steering angle sensor 63C, an engine rotation speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, and the like. .. The vehicle speed sensor 63A is configured to detect the vehicle speed by, for example, the rotational speed of the transmission shaft in the transmission mechanism with respect to the rear wheel 11. The obstacle detection unit 63B is provided on the front portion and the left and right side portions of the traveling machine C, and can detect the ridges of the field by, for example, a light wave distance measuring type distance sensor or an image sensor. It is configured as follows. As described above, the traveling state sensor group 63 is configured to be able to detect the traveling state of the traveling machine body C.

The working state sensor group 64 includes a sensor for detecting the driving state of the seedling planting device W as shown in FIG. 1, and the working state sensor group 64 indicates the working state of the seedling planting device W as a working device. It is configured to be detectable.

The traveling operation unit 90 is a general term for operating tools manually operated by the passenger. An operation signal based on the manual operation of the traveling operation unit 90 is input to the control unit 5. The traveling operation unit 90 includes a steering handle 43, a main shift lever 44, a mode operation tool 90A, an automatic start operation tool 90B, and the like. The mode operating tool 90A has a function of outputting a signal to the control unit 5 to switch the traveling mode of the control unit 5 into an automatic traveling mode in which automatic operation is performed and a manual traveling mode in which manual operation is performed. The automatic start operation tool 90B has a function of giving a final automatic start command to the control unit 5 for starting automatic running. Although only one automatic start operation tool 90B is shown in FIG. 2, a plurality of automatic start operation tools 90B are provided and a plurality of automatic start operation tools 90B are operated at the same time in order to prevent erroneous operation. By doing so, the configuration may be such that the final automatic start command is output. The transition from the automatic driving mode to the manual driving mode may be automatically performed by software regardless of the operation by the mode operating tool 90A. For example, when a situation occurs in which automatic driving is impossible, the control unit 5 forcibly executes a transition from the automatic driving mode to the manual driving mode or the alarm mode described later.

The control unit 5 is provided with a travel control unit 51, a work control unit 52, a travel mode management unit 53, a route setting unit 54, a self-machine position calculation unit 55, a notification unit 56, a storage unit 59, a determination unit 60, and the like. ing.

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

The own machine position calculation unit 55 stores the own machine position in a storage unit 59 composed of, for example, a RAM (random access memory) over time. The storage unit 59 is configured to be able to store the position of the own machine as position information over time.

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

The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and gives a control signal to the travel equipment group 71. The work control unit 52 gives a control signal to the work equipment group 72 in order to control the movement of the seedling planting device W shown in FIG.

The rice transplanter in the present embodiment can travel in the field in both automatic operation in which the transplanting work is performed by automatic traveling and manual operation in which the transplanting work is performed by manual traveling. Therefore, the travel control unit 51 includes a manual travel control unit 51A and an automatic travel control unit 51B. Further, the work control unit 52 includes a manual work control unit 52A and an automatic work control unit 52B. When performing automatic driving, an automatic driving mode is set, and for manual driving, a manual driving mode is set.
The switching of the traveling mode is managed by the traveling mode management unit 53. That is, the travel mode management unit 53 is configured so that the travel mode of the control unit 5 can be switched between an automatic travel mode for executing automatic travel and a manual travel mode for executing manual travel. As a result, the control unit 5 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 automatic driving control unit 51B controls the traveling equipment group 71 by generating a control signal for changing the vehicle speed including automatic steering and stopping. Although the details will be described later, as shown in FIG. 4, for example, the route setting unit 54 sets a plurality of target travel paths LM in the inner work area CA, and sets the ends of the target travel path LM in the outer peripheral area SA. Set the turning route TM to connect. The own machine position is calculated by the own machine position calculation unit 55. Then, the automatic driving control unit 51B outputs a control signal so that the positional deviation and the directional deviation between the own vehicle position and the target traveling route LM are eliminated. That is, the automatic traveling control unit 51B is configured to enable automatic traveling control for controlling the traveling aircraft C to travel along the target traveling route LM based on the position of the traveling aircraft C. As a control method for outputting a control signal, for example, a known PID control is used.

The automatic work control unit 52B is configured to be able to control the seedling planting device W in conjunction with the automatic travel control based on the automatic travel control unit 51B. For example, when the traveling machine C travels in the field without transplanting work (hereinafter referred to as “non-working traveling”), the automatic work control unit 52B outputs a control signal for raising the seedling planting device W. Further, the automatic work control unit 52B is configured to be able to output control signals for a fertilizer application device and a chemical spraying device (not shown). For example, when the traveling machine C travels non-working in the field, the automatic work control unit 52B outputs a control signal for stopping the fertilizer application device and the chemical spraying device, thereby preventing the possibility of duplicate spraying of fertilizer and chemicals. To.

The route setting unit 54 generates the target travel route LM by itself by the route calculation algorithm.
The route setting unit 54 may not generate the target travel route LM by itself, but may have a configuration in which the route setting unit 54 downloads and uses the target travel route LM generated by the above-mentioned management computer 6 or the like.

When the manual driving mode is selected, the manual driving control unit 51A outputs the steering amount, the shift command, etc. based on the operation by the observer or the passenger, and controls the traveling device group 71 to perform the manual driving. It will be realized. The target travel route LM calculated by the route setting unit 54 can be used for the purpose of guidance for the rice transplanter to travel along the target travel route LM even in manual operation.

Although the details will be described later, the determination unit 60 determines the stopping factor for stopping the automatic driving control based on the traveling state detected by the traveling state sensor group 63 and the working state detected by the working state sensor group 64. Is configured to be possible. Further, the determination unit 60 is configured to be able to instruct the automatic driving control unit 51B to stop the automatic driving control based on the determination of the stopping factor. Further, the notification unit 56 is configured to be able to notify the stop factor as notification information when the automatic driving control is stopped based on the determination of the determination unit 60.

[About automatic driving control]
The automatic running control of the paddy planting system work machine will be described. The field shape shown in FIG. 4 is formed into a quadrangle. The field has a pair of first sides S1, S3 facing each other and a pair of second sides S2, S4 located between the pair of first sides S1, S3 and shorter than the pair of first sides S1, S3. Has. The ridges on all four sides are formed in the field by the first side S1 and S3 and the second side S2 and S4. Farm roads K1 and K2 are adjacent to each of the pair of upper and lower second sides S2 and S4, and each of the farm roads K1 and K2 is lateral to the paper along the upper and lower second sides S2 and S4 of the field shown in FIG. Extend in the direction. An entrance / exit E of the field is provided at the ridge on the lower right of the paper surface on the second side S2, and the traveling machine C can enter and exit the farm road K2 and the field by passing through this entrance / exit E. The ground of the entrance / exit E is inclined so as to be higher toward the side where the farm road K2 is located along the vertical direction V.

Based on the shape of the field, a plurality of target travel paths LM and a plurality of turning travel paths TM are set by the route setting unit 54. In the embodiment shown in FIG. 4, the longitudinal directions of the target travel paths LM are set so as to be parallel to each other along the vertical direction V of the field. In other words, in the inner work area CA, the target travel paths LM are set side by side at equal intervals in the lateral direction H. An area for at least two laps is secured outside the inner work area CA. Since this orbiting area exists as a margin for the turning traveling path TM, the possibility that the traveling machine C comes into contact with an obstacle at the ridge of the field (for example, a concrete wall, a utility pole, a steel tower of a power transmission line, etc.) is reduced. ..

Each of the target travel paths LM is set along the longitudinal direction V, which is the longitudinal direction of the field. As a result, the number of the target traveling route LM and the turning traveling route TM is reduced as compared with the configuration in which each of the target traveling routes LM is set to be along the lateral direction H which is the lateral direction of the field, and the traveling aircraft C Turn frequency is reduced. As a result, the possibility that the leveling state of the area between the inner work area CA and the existing work area in the outer peripheral area SA is disturbed is reduced. Further, the farm road K1 or the farm road K2 faces the outside of the field from the turning travel path TM. Therefore, when the replenishment material is replenished to the traveling machine C from the farm roads K1 and K2, the replenishment work can be performed while the traveling machine C is stopped in the middle of turning of the turning traveling path TM. As a result, the time and effort for the traveling machine C to deviate from the target traveling route LM and the turning traveling route TM and move to the dedicated replenishment position is omitted.

The work travel is performed along the target travel route LM, and the turning travel is performed along the turning travel route TM. In the present embodiment, the work traveling means that the traveling machine C travels along the target traveling route LM while the seedling planting device W performs the transplanting work. Further, the turning travel means that the traveling machine C moves to the next target traveling route LM along the turning traveling route TM after the work traveling along one target traveling route LM is completed. In the inner work area CA, the automatic running control alternately repeats working running and turning running.

The travel order of the target travel route LM is set so as to travel in order from the start position ST in the first target travel route LM1 located on the side away from the entrance / exit E. That is, the target travel path LM2 set closest to the entrance / exit E is the target travel path LM to which the traveling machine C last travels among the plurality of target travel paths LM. Further, the target traveling route LM and the turning traveling route TM are set so that the traveling machine C travels on the final target traveling route LM2 toward the side where the entrance / exit E is located. The end position G is set at the end near the entrance / exit E in the final target travel path LM2. The end position G is located within a preset range from the doorway E (for example, within 5 meters from the doorway E). In this way, the target traveling route LM and the turning traveling route TM are set so that the seedling transplanting work to the inner work area CA is completed at the same time when the traveling machine C reaches the end position G.

[About switching the driving mode in the control unit]
The switching of the traveling mode in the control unit 5 will be described with reference to FIGS. 1, 2, and 5. As shown in FIG. 5, the traveling mode management unit 53 shown in FIG. 2 can switch the traveling mode in the control unit 5 by satisfying a predetermined condition. An automatic standby mode intervenes between the manual driving mode and the automatic driving mode. The switching from the manual driving mode to the automatic driving mode is not performed directly, but is performed via the automatic standby mode. Further, an alarm mode is provided as one mode in the driving mode, and when the determination unit 60 determines that the automatic driving control is stopped during the automatic driving control, the driving mode of the control unit 5 is automatically set to an alarm from the automatic driving mode. Switch to mode.

First, the transition from the manual driving mode to the automatic standby mode becomes possible when [Condition 01] shown in FIG. 5 is satisfied. As [Condition 01], the following [Condition 01-1] to [Condition 01-11] are exemplified.
[Condition 01-1]: The mode operation tool 90A was artificially switched to the automatic driving mode. That is, a mode switching request to the automatic driving mode was output to the control unit 5.
[Condition 01-2]: The position of the main speed change lever 44 is a neutral position (a position where the traveling machine C does not move forward or backward).
[Condition 01-3]: The steering handle 43 is adjusted to a neutral position (a position where the steering wheel 10 faces a straight-ahead direction or a substantially straight-ahead direction).
[Condition 01-4]: The automatic travel control unit 51B specifies the target travel route LM to be traveled, and the automatic travel control unit 51B can calculate the positional deviation between the target travel route LM and the position of the own machine.
[Condition 01-5]: The seedling planting device W is in a non-working state.
[Condition 01-6]: The own machine position detection module 80 is operating normally. That is, appropriate positioning data is output from the satellite positioning unit 80A, and appropriate position vector data is output from the inertial measurement unit 80B.
[Condition 01-7]: A sufficient amount of mat-shaped seedlings are placed on the seedling stand 26.
[Condition 01-8]: There is a margin in the remaining amount of fuel.
[Condition 01-9]: An unworked area in which the transplanting work has not been performed is left in the inner work area CA.
[Condition 01-10]: The passenger seated in the driver's seat 41 is detected by the seating sensor 63D.
[Condition 01-11]: In the error determination by the determination unit 60, no error of medium level (see FIG. 6) or higher is determined.
It should be noted that these conditions are examples, and some of these conditions may be omitted, or other conditions other than these conditions may be added.

When the traveling equipment group 71 and the working equipment group 72 required for automatic operation are ready, all (or substantially all) of [Condition 01-1] to [Condition 01-11] are satisfied. When [Condition 01] is satisfied, the travel mode management unit 53 switches the travel mode of the control unit 5 from the manual travel mode to the automatic standby mode. It is conceivable that the observer or the passenger wants to shift the traveling mode of the control unit 5 from the automatic standby mode to the manual traveling mode. In this case, when the observer or the passenger artificially turns off the mode operation tool 90A, the travel mode management unit 53 switches the travel mode of the control unit 5 from the automatic standby mode to the manual travel mode.

The condition for shifting from the automatic standby mode to the automatic driving mode (referred to as [condition 02]) is that the automatic start operation tool 90B is artificially turned on. When the automatic start operation tool 90B is artificially turned on in the automatic standby mode, [Condition 02] is satisfied, and the traveling mode management unit 53 switches the traveling mode from the automatic standby mode to the automatic traveling mode.

The transition from the automatic driving mode to the manual driving mode is possible when [Condition 03] shown in FIG. 5 is satisfied. The following conditions [Condition 03-1] and [Condition 03-2] are exemplified as the conditions included in [Condition 03].
[Condition 03-1]: The mode operation tool 90A was artificially switched to the manual driving mode. That is, a mode switching request to the manual driving mode was output to the control unit 5.
[Condition 03-2]: All the transplanting work in the inner work area CA has been completed.
It should be noted that these conditions are examples, and other conditions other than these conditions may be added.

[About alarm mode processing]
The processing of the alarm mode will be described with reference to FIGS. 1, 2, 5, 6, and 7.
An alarm mode is provided as one of the traveling modes managed by the traveling mode management unit 53. When the determination unit 60 determines the stop factor during the automatic driving control, the determination unit 60 outputs an instruction to stop the automatic driving control to the automatic driving control unit 51B based on the determination of the stop factor.
Then, the traveling mode management unit 53 automatically switches the traveling mode of the control unit 5 from the automatic traveling mode to the alarm mode. The determination unit 60 determines the cause for stopping the automatic driving control, and determines that the automatic driving control is stopped when [Condition 04] shown in FIGS. 5 and 6 is satisfied. The following [Condition 04-1] to [Condition 04-16] are exemplified as the [Condition 04] that is the factor for stopping the automatic driving control. If any one of these conditions is met, the determination unit 60 determines that the automatic driving control is stopped.
[Condition 04-1]: A temporary decrease in positioning accuracy occurred in the satellite positioning unit 80A.
[Condition 04-2]: An instantaneous interruption of an electronic control device such as the control unit 5 occurred.
[Condition 04-3]: The remaining amount of seedlings on the seedling stand 26 is small.
[Condition 04-4]: The vehicle speed is abnormal.
[Condition 04-5]: An abnormal load was detected in the engine 13 and the seedling planting device W.
[Condition 04-6]: The traveling machine C is displaced from the allowable range with respect to the target traveling route LM and the turning traveling route TM.
[Condition 04-7]: The remaining amount of fuel that can be supplied to the engine 13 is small.
[Condition 04-8]: The remaining amount of agricultural materials (fertilizer, chemicals, spare seedlings, etc.) is small.
[Condition 04-9]: An obstacle was detected by the obstacle detection unit 63B.
[Condition 04-10]: A failure of the seedling planting device W was detected.
[Condition 04-11]: A communication failure of the in-vehicle LAN was detected.
[Condition 04-12]: The own machine position detection module 80 is in an abnormal state. That is, proper positioning data is not output from the satellite positioning unit 80A, or proper position vector data is not output from the inertial measurement unit 80B.
[Condition 04-13]: The engine 13 has overheated.
[Condition 04-14]: The engine 13 is inoperable (failure, dead battery, etc.).
[Condition 04-15]: A failure of the steering drive system that transmits the steering operation of the steering handle 43 to the steering wheel 10 was detected.
[Condition 04-16]: A failure of the transmission mechanism that transmits the power of the engine 13 to the steering wheel 10 and the rear wheel 11 was detected.
It should be noted that these conditions are examples, and some of these conditions may be omitted, or other conditions other than these conditions may be added.

As shown in FIG. 6, a plurality of error levels are provided in the determination of the discontinuation factor based on the above-mentioned [Condition 04-1] to [Condition 04-16]. That is, the determination unit 60 is configured to be able to classify the importance of the plurality of discontinuing factors into a plurality of error levels. The error level has three levels: a low level (resumable level), a medium level (non-restartable level), and a high level. The low level is an error level at which the automatic driving control unit 51B can restart the automatic driving control. The medium level is an error level at which the automatic traveling control unit 51B cannot restart the automatic traveling control, and is an error level at which the traveling machine C can be traveled by human operation. The high level is an error level at which the traveling machine C cannot travel.

As described above, the plurality of error levels include a low level as a resumable level at which automatic driving control can be restarted and a medium level as a non-restartable level at which automatic driving control cannot be restarted. Further, the non-restartable level may include a high level.

The above-mentioned [Condition 04-1] to [Condition 04-5] are conditions for the determination unit 60 to determine a low-level discontinuation factor. In addition to [Condition 04-1] to [Condition 04-5], the determination of low-level discontinuation factors includes, for example, a momentary detection operation (so-called malfunction) of the obstacle detection unit 63B. Is also good. When [Condition 04-1] to [Condition 04-5] are no longer applicable after the determination of the discontinuation factor is performed, the travel mode management unit 53 manually sets the travel mode of the control unit 5 from the alarm mode. It is possible to switch to the mode. Then, after the traveling mode of the control unit 5 is switched to the manual traveling mode, the automatic traveling control based on the automatic work control unit 52B can be restarted by shifting to the automatic traveling mode of the traveling mode described above.

The above-mentioned [Condition 04-6] to [Condition 04-12] are conditions for the determination unit 60 to determine a medium-level discontinuation factor. When [Condition 04-6] to [Condition 04-12] are no longer applicable after the determination of the discontinuation factor is performed, the travel mode management unit 53 manually sets the travel mode of the control unit 5 from the alarm mode. It is possible to switch to the mode. However, if the above-mentioned traveling mode is attempted to shift to the automatic traveling mode after the traveling mode of the control unit 5 is switched to the manual traveling mode, the above-mentioned [Condition 01-11] is satisfied. In this case, the travel mode management unit 53 cannot switch the travel mode of the control unit 5 from the manual travel mode to the automatic preparation mode. At this time, it is possible to control the traveling of the traveling machine C based on the manual work control unit 52A.
Therefore, the observer and the passenger can move the rice transplanter to the ridge of the field, the farm road K2 (see FIG. 4), etc. by artificially operating the rice transplanter.

Further, as shown in FIG. 6, the determination unit 60 is configured to be able to determine a medium-level discontinuation factor even when [Condition 04-4] and [Condition 04-5] are continuously applicable. .. For example, even if the automatic driving control is stopped according to [Condition 04-4] (or [Condition 04-5]) and then restarted, the automatic driving control is stopped again according to the same conditions. It is conceivable that the phenomenon of doing this may occur multiple times. For example, when [Condition 04-4] is continuously met and the automatic driving control is repeatedly stopped, it is possible that the speed change mechanism is in a state of warning of failure. Further, when [Condition 04-5] is continuously applied and the automatic driving control is repeatedly stopped, the steering conditions and the transplanting conditions are not appropriate, and the engine 13 and the speed change mechanism are likely to be overloaded. It is possible that there is. In such a case, if the same determination condition is applied more than a preset number of times, the determination unit 60 cancels the engine 13 or the seedling planting device W at a low level in order to prevent the failure in advance. It is configured so that the judgment of the factor can be changed to the judgment of the middle level discontinuation factor. The threshold value for setting the number of consecutively applicable determination conditions for the determination unit 60 to change the determination of the low-level discontinuation factor to the determination of the medium-level discontinuation factor can be appropriately changed.

The above-mentioned [Condition 04-13] to [Condition 04-16] are conditions for the determination unit 60 to determine a high-level discontinuation factor. [Condition 04-13] to [Condition 04-16] are conditions under which the traveling machine C cannot self-propell. When the determination of the stop factor is made, the travel mode management unit 53 is configured so that the travel mode of the control unit 5 cannot be switched to other than the alarm mode.

The conditions for shifting the running mode of the control unit 5 from the alarm mode to the manual running mode differ depending on the determination conditions when shifting to the alarm mode, the alarm level, and the like. Therefore, the control unit 5 is configured so that the procedure for canceling the alarm mode can be displayed on the monitor of the management computer 6, for example, by a guidance method.

When the automatic driving control is canceled based on the determination of the determination unit 60, the notification unit 56 notifies the management computer 6 of the cancellation factor as notification information via, for example, the communication unit 66. The management computer 6 as a display device is configured to be able to display a procedure guide for traveling the traveling machine C based on the notification information. In the procedure described with reference to FIG. 7, the procedure guide is displayed on the monitor of the management computer 6, but the procedure guide is displayed on the monitor other than the management computer 6. Is also good.

As shown in FIG. 7, when the traveling mode of the control unit 5 shifts to the alarm mode (step # 01), the traveling machine C and the seedling planting device W are stopped. At this time, the engine 13 may also be stopped. Further, the reason for canceling the automatic driving control is displayed on the monitor of the management computer 6. As a result, the passenger of the traveling machine C, the worker or the observer in the field, or the work plan deciding person who is away from the field can recognize the reason for discontinuing the automatic traveling control. Then, it is determined whether the error level is low level, medium level, or high level (step # 02).

When the error level is low (step # 02: low level), the procedure guide for restarting the automatic driving control is displayed on the monitor of the management computer 6 (step # 03-1).
This procedure guide is a return procedure guide for shifting the running mode of the control unit 5 from the alarm mode to the manual running mode, and then to the automatic running mode. Then, when the observer or the passenger completes the operation of the rice transplanter according to the procedure based on the display of the return procedure guide (step # 03-2: Yes), the traveling mode management unit 53 changes the traveling mode of the control unit 5 from the alarm mode. Switch to the manual driving mode (step # 03-3). As a result, the observer or the passenger can return the driving mode of the control unit 5 to the automatic driving mode, so that the guidance that the automatic driving control can be restarted is displayed on the monitor of the management computer 6 ( Step # 03-4).

When the error level is medium level (step # 02: medium level), the procedure guide for enabling the traveling machine C to travel based on the artificial operation is displayed on the monitor of the management computer 6 (step # 04-1). This procedure guide is a travel procedure guide for shifting the travel mode of the control unit 5 from the alarm mode to the manual travel mode. Then, when the observer or the passenger completes the operation of the rice transplanter according to the procedure based on the display of the traveling procedure guide (step # 04-2: Yes), the traveling mode management unit 53 sets the traveling mode of the control unit 5 from the alarm mode. Switch to the manual driving mode (step # 04-3). As a result, the observer or the passenger can artificially operate the rice transplanter, so that the guidance that the traveling machine C can run is displayed on the monitor of the management computer 6 (step # 04-4).

As described above, the procedure guide includes a return procedure guide for resuming the automatic travel control and a travel procedure guide for enabling the traveling machine C to travel based on the artificial operation. The management computer 6 as a display device is configured to be able to display the return procedure guide and the travel procedure guide according to a plurality of error levels. That is, the management computer 6 displays a return procedure guide when the determination unit 60 determines a low-level stop factor, and a travel procedure guide display when the determination unit 60 determines a medium-level stop factor. It is configured to be possible. The management computer 6 as a remote control terminal is configured to be able to operate the traveling machine C by artificially operating the remote control means (for example, a touch panel, a keyboard, a mouse, etc.) based on the procedure guidance. Has been done.

As a result, the passenger of the traveling machine C, the worker or the observer in the field, or the work plan deciding person who is in a place away from the field can judge whether or not the automatic running control can be restarted, or run the running machine C. It is easy to perform an operation for restarting.

When the error level is high (step # 02: high level), the travel mode management unit 53 is configured so that the travel mode of the control unit 5 cannot be switched to other than the alarm mode, so that the notification display of the abnormal state is managed. It is displayed on the monitor of the computer 6 (step # 05). As a result, the passengers of the traveling machine C, the workers and observers in the field, or the work plan decider who is away from the field, know that the paddy field planting system work machine has a serious failure. It becomes recognizable.

[About the function of the seating sensor]
The function of the seating sensor 63D will be described with reference to FIGS. 1, 2, 8 to 11.
During automatic driving control, if it is assumed that the passenger (observer) on board the boarding unit 40 monitors the automatic driving state, the automatic driving control is performed with the boarding unit 40 unattended. You must avoid being struck. Therefore, the driver's seat 41 of the boarding unit 40 is provided with a seating sensor 63D capable of detecting the seated state of the occupant. It is configured to be able to detect each of the non-seated state that is not detected. The seating sensor 63D may be, for example, a load cell or a limit switch, and may be configured to be provided directly below the driver's seat 41. Further, the driver's seat 41 may be provided with a seat belt and a belt switch for detecting that the seat belt is used, and the non-seat state may be detected based on the signal of the belt switch. Further, the seating sensor 63D may be an optical sensor such as an infrared sensor. Of course, it is also possible to adopt all or some of the configurations for detecting the non-seating state described above at the same time.

The process after determining whether or not the occupant is in the seated state differs depending on the state of the traveling mode of the control unit 5, the traveling state, and the like. FIG. 8 shows an example of the processing after the presence or absence of the seated state of the passenger is determined, and the processing from the start to the end shown in FIG. 8 is repeated at a fixed cycle. First, the state of the traveling mode of the control unit 5 is determined (step # 11).

When the traveling mode of the control unit 5 is the automatic traveling mode (step # 11: automatic traveling mode), whether the state of the automatic traveling control is during the above-mentioned work traveling or turning traveling based on FIG. Is determined (step # 12). When the state of the automatic running control is working running (step # 12: working running), it is determined whether the seating sensor 63D detects a seated state or a non-seat state (step # 13). When the seating sensor 63D detects the non-seat state (step # 13: No), the notification process (step # 20) described later and the deceleration process (step # 30) described later are executed. The notification process is performed by the notification unit 56.

Even when the automatic driving control state is turning (step # 12: turning), it is determined whether the seating sensor 63D detects a seated state or a non-seat state (step # 14). ). When the seating sensor 63D is in the non-seat state (step # 14: No), the traveling mode management unit 53 automatically switches the traveling mode of the control unit 5 from the automatic traveling mode to the alarm mode (step # 14-). 1). Specifically, in the determination of the stopping factor by the determination unit 60, it is added to the determination condition that the state of the seating sensor 63D is the non-seating state during the turning running. In other words, when the passenger is not seated when the vehicle is turning based on the automatic driving control, the automatic driving control is stopped based on the determination of the stopping factor by the determination unit 60. The traveling machine C stops.

The transition to alarm mode due to the detection of a non-seating state can be considered to correspond to a low error level. Therefore, it is possible to consider that the state after the transition to the alarm mode is a state in which the passenger can return to the automatic driving control by human operation. In such a case, the process of restarting the automatic driving control is shown in steps # 15 to # 16-3 in FIG.

When the traveling mode of the control unit 5 is the manual traveling mode (step # 11: manual traveling mode), it is determined whether the traveling machine C is traveling or stopped (step # 15). When the state of the traveling machine body C is stopped (step # 15: stopped), it is determined whether or not the seating sensor 63D has detected the seated state (step # 16). When the seating sensor 63D detects the seating state (step # 16: Yes), it is determined whether or not the traveling mode of the control unit 5 has changed from the manual traveling mode to the automatic preparation mode (step # 16-1). .. After the traveling mode of the control unit 5 shifts to the automatic preparation mode (step # 16-1: Yes), it is determined whether or not the automatic start operation tool 90B has been artificially operated (step # 16-2). Then, when the operation of the automatic start operation tool 90B is determined (step # 16-2: Yes), the travel mode management unit 53 automatically switches the travel mode of the control unit 5 from the automatic preparation mode to the automatic travel mode (step # 16-2: Yes). Step # 16-3).

An example of the notification process shown in step # 20 of FIG. 8 is shown in FIG. The process shown in FIG. 9 is a process incorporated in step # 20. Therefore, the process shown in FIG. 9 is performed at the timing after the determination of No in step # 13 in the periodic process from the start to the end shown in FIG.

The notification unit 56 is configured to be able to display information on the non-seated state on the monitor of the management computer 6 based on the timer processing. A counter T1 is provided as a timer variable used for this timer processing, and when the seating state is determined based on the detection of the seating sensor 63D, the value of the counter T1 is cleared to a zero value.

In the notification process based on step # 20, it is first determined whether or not the counter T1 is counting (step # 21). If the counter T1 is not counting (step # 21: No), the counting process of the counter T1 is started (step # 22), and the value of the counter T1 is incremented at a preset time interval. When the value of the counter T1 reaches a preset threshold value (count-up of the counter T1, step # 23: Yes), the non-seating state information is displayed on the monitor of the management computer 6 via the notification unit 56 (step). # 24). The notification process shown in FIG. 9 is an example and can be changed as appropriate.

An example of the deceleration process shown in step # 30 of FIG. 8 is shown in FIG. The process shown in FIG. 10 is a process incorporated in step # 30. Therefore, the process shown in FIG. 10 is performed at the timing after the determination of No in step # 13 in the periodic process from the start to the end shown in FIG.

In the deceleration process, the deceleration operation is performed based on the timer process. The deceleration operation is performed, for example, by reducing the number of shift stages of the main shift lever 44 by one step. A counter T2 is provided as a timer variable used for this timer processing, and the value of the counter T2 is cleared to a zero value every time the deceleration processing based on step # 35 described later is completed. Further, even when the seating state is determined based on the detection of the seating sensor 63D, the value of the counter T2 is cleared to a zero value.

In the deceleration process based on step # 30, it is first determined whether or not the vehicle speed of the traveling body C has reached the target speed after deceleration (step # 31). When the vehicle speed of the traveling body C has reached the target speed after deceleration (step # 31: Yes), the deceleration process based on step # 30 ends at the stage of step # 31. When the vehicle speed of the traveling body C has not reached the target speed after deceleration (step # 31: No), it is determined whether or not the counter T2 is counting (step # 32). If the counter T2 is not counting (step # 32: No), the counting process of the counter T2 is started (step # 33), and the value of the counter T2 is incremented at a preset time interval. When the value of the counter T2 reaches a preset threshold value (count-up of the counter T2, step # 34: Yes), a deceleration operation is performed (step # 35). After that, the value of the counter T2 is cleared to a zero value (step # 36). The deceleration process shown in FIG. 10 is an example and can be changed as appropriate.

FIG. 11 shows an example of a change in automatic traveling control based on the state of the seating sensor 63D as a logic graph. First, at the time Ta, the detection of the seating sensor 63D is switched from the seated state to the non-seated state (detection state of the seating sensor 63D: OFF), and when the time Ti elapses thereafter, steps # 30 to step 8 in FIG. The first deceleration operation is performed based on the process of # 36 (deceleration operation: ON). In the embodiment shown in FIG. 11, the count-up setting threshold of the counter T2 is set to the time Ti, and the deceleration operation is performed at the interval of the time Ti. Based on the process of step # 35 in FIG. 10, the number of shift gears of the main shift lever 44 is reduced one step at a time until the number of shift gears of the main shift lever 44 becomes equal to or less than the preset number of shift gears. In FIG. 11, the number of shift gears is reduced over four steps. As a result, the reduction ratio of the speed change mechanism (not shown) is gradually changed, and the vehicle speed of the traveling machine C is gradually reduced.

In the embodiment shown in FIG. 11, the count-up setting threshold of the counter T1 is set to the time Tj. When the time Tj elapses from the time point of the time Ta, the notification unit 56 performs the notification based on the process of step # 24 in FIG.

In the embodiment shown in FIG. 11, at the time of time Tb, the mode of the automatic traveling control shifts from the above-mentioned working traveling to the turning traveling based on FIG. Therefore, at a time after the time Tb, the determination in step # 12 in FIG. 8 is a determination during turning, and the determination in step # 14 in FIG. 8 is a determination of No, and step # 14-1 in FIG. The traveling mode of the control unit 5 shifts from the automatic traveling mode to the alarm mode based on the process of. Therefore, in the logic graph of FIG. 11, the automatic driving control is switched from ON to OFF at the time point of time Tb.

After the automatic driving control is stopped at time Tb, the detection of the seating sensor 63D is switched from the non-seating state to the seated state, and at the time of time Tc, the automatic driving control is restarted by the artificial operation of the automatic start operation tool 90B. It is shown. This is shown as a result of the processing shown in steps # 16 to # 16-3 of FIG. 8 being performed, so that the automatic driving control is restarted.

[Another Embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and the following will exemplify another typical embodiment of the present invention.

(1) The technical features of the automatic traveling control system according to the present invention can be applied to the paddy field planting system working machine itself, and therefore, the present invention also has the right to such a paddy field planting system working machine. Can be targeted. Therefore, the present invention can be applied to a rice transplanter, a sowing machine, and a passenger management machine, and can also be applied to an automatic traveling control system for a rice transplanter, a sowing machine, and a passenger management machine. That is, the paddy planting system working machine includes a riding type rice transplanter, a riding type seeding machine, a riding type management machine, and the like.

As the paddy field planting system working machine according to the present invention, for example, the management computer 6 as the above-mentioned display device may not be provided. If the management computer 6 is not provided, or if the automatic driving control is canceled based on the determination of the determination unit 60, the notification unit 56 notifies the stop factor and the procedure guidance for driving the traveling machine C. , May be configured to be possible. Further, the automatic traveling control system of the paddy field planting system work machine according to the present invention is not provided with the management computer 6 as a display device, and for example, the procedure guidance or the like is notified via a notification device 62 other than the management computer 6. It may be configured.

(2) In the above-described embodiment, the error level is set to three levels of low level, medium level, and high level, but the error level may be two levels or four or more levels. good.

(3) The above-mentioned satellite positioning unit 80A is not limited to a configuration in which radio waves transmitted from a navigation satellite are directly received. For example, base stations that receive radio waves transmitted from navigation satellites are provided at a plurality of locations around the work vehicle, and the traveling machine C and the seedling planting device W are provided by network communication processing with the base stations at the plurality of locations. It may be configured to specify the position information of.

(4) The above-mentioned management computer 6 is shown as a remote control terminal having a remote control means for the traveling machine C and the seedling planting device W as a working device, but the present invention is not limited to this embodiment. When the management computer 6 is, for example, a tablet computer or a mobile terminal, the management computer 6 and the control unit 5 may be connected by a communication cable or the like. Further, the remote control means in this case may also be a touch panel or a sheet key switch provided in the management computer 6. That is, the management computer 6 and the remote control means as the remote control terminal do not necessarily have to be used in a place away from the traveling machine C and the seedling planting device W, and are used in a state of being mounted on the paddy field planting system work machine. It may be configured to be.

(5) In the above-described embodiment, the seedling planting device W is shown as the working device, but the working device may be a sowing device, a fertilizer application device, or a chemical spraying device. Is also good. Of course, the working device also includes a spraying device for a chemical solution or the like in a passenger-type management machine, and in this case, the "planting work" in the present invention also includes a spraying operation for the chemical solution or the like.

The configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction.
Moreover, the embodiment disclosed in the present specification is an example, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

INDUSTRIAL APPLICABILITY The present invention can be applied to an automatic traveling control system for a paddy field planting system working machine and a paddy field planting system working machine that automatically travels in a field.

6: Management computer (display device)
51B: Automatic driving control unit 56: Notification unit 60: Judgment unit 63: Driving status sensor group 64: Working status sensor group 80A: Satellite positioning unit C: Traveling machine W: Seedling planting device (working device)

Claims (4)

A satellite positioning unit that can detect the position of a traveling aircraft using a navigation satellite,
A work device that can plant seedlings in the field and
An automatic driving control unit capable of automatic driving control for controlling the traveling vehicle to travel along a target traveling route based on the position of the traveling vehicle.
A running state sensor capable of detecting the running state of the traveling machine and
A work state sensor capable of detecting the work state of the work device and
Based on the traveling state and the working state, it is possible to determine the stopping factor for stopping the automatic driving control, and to instruct the automatic driving control unit to stop the automatic driving control based on the determination of the stopping factor. Judgment unit configured in
When the automatic driving control is stopped based on the judgment of the determination unit, the notification unit capable of notifying the stop factor as notification information, and the notification unit.
A display device capable of displaying a procedure guide for traveling the traveling machine based on the notification information is provided .
The determination unit is configured to be able to classify the importance of the plurality of discontinuing factors into a plurality of error levels.
The procedure guide includes a return procedure guide for resuming the automatic driving control and a traveling procedure guide for enabling the traveling machine to travel based on an artificial operation.
The display device is configured to be able to display the return procedure guide and the travel procedure guide according to the plurality of error levels.
The determination of the discontinuation factor is a determination as to whether or not at least one of the plurality of conditions relating to the discontinuation of the automatic driving control is satisfied.
When the same condition is continuously applied more than a preset number of times among the plurality of conditions, the determination unit changes the error level regarding the stop factor to a high value and gives an instruction to stop the automatic driving control. An automatic running control system for paddy planting work machines that are configured to perform . The display device is a remote control terminal having remote control means for the traveling machine body and the work device.
The paddy field planting system according to claim 1 , wherein the remote control terminal is configured to be able to operate the traveling machine by artificially operating the remote control means based on the procedure guide. Automatic running control system for work equipment. The plurality of error levels include a resumable level at which the automatic driving control can be restarted and a non-restartable level at which the automatic driving control cannot be restarted.
The display device displays the return procedure guide when the determination unit determines the discontinuation factor at the resumable level, and the traveling procedure when the determination unit determines the discontinuation factor at the non-restartable level. The automatic traveling control system for a paddy planting system work machine according to claim 1 or 2 , which is configured to be capable of displaying guidance. A satellite positioning unit that can detect the position of a traveling aircraft using a navigation satellite,
A work device that can plant seedlings in the field and
An automatic driving control unit capable of automatic driving control for controlling the traveling vehicle to travel along a target traveling route based on the position of the traveling vehicle.
A running state sensor capable of detecting the running state of the traveling machine and
A work state sensor capable of detecting the work state of the work device and
Based on the traveling state and the working state, it is possible to determine the stopping factor for stopping the automatic driving control, and to instruct the automatic driving control unit to stop the automatic driving control based on the determination of the stopping factor. Judgment unit configured in
When the automatic driving control is canceled based on the determination of the determination unit, a notification unit capable of notifying the cancellation factor is provided.
The notification unit is configured to be capable of notifying procedure guidance for traveling the traveling aircraft.
The determination unit is configured to be able to classify the importance of the plurality of discontinuing factors into a plurality of error levels.
The procedure guide includes a return procedure guide for resuming the automatic driving control and a traveling procedure guide for enabling the traveling machine to travel based on an artificial operation.
The notification unit is configured to be able to notify the return procedure guide and the travel procedure guide according to the plurality of error levels.
The determination of the discontinuation factor is a determination as to whether or not at least one of the plurality of conditions relating to the discontinuation of the automatic driving control is satisfied.
When the same condition is continuously applied more than a preset number of times among the plurality of conditions, the determination unit changes the error level regarding the stop factor to a high value and gives an instruction to stop the automatic driving control. Paddy planting system working machine configured to do .

Images