JP7235686B2 - agricultural machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to an agricultural work machine that automatically travels for work on a work site.

2. Description of the Related Art As disclosed in Patent Document 1, some work machines (agricultural work machines) that work in a field, which is a work site, perform work while automatically traveling along a preset travel route.

Furthermore, some of such work machines limit the travel speed during automatic travel. For example, the traveling speed may be reduced during turning travel, or the farm implement may be temporarily stopped in the edge region of the work site.

JP 2015-112071 A

However, there is a demand for further improvement in work efficiency in automatic travel of agricultural machinery.

In order to achieve the above object, an agricultural work machine according to one embodiment of the present invention is an agricultural work machine that performs work while automatically traveling along a set travel route in a work area, and has a driver on board. an automatic driving control unit that controls the automatic driving in a manned driving mode that is a driving mode when the driver is on board or an unmanned driving mode that is a driving mode when the driver is not on board, the automatic driving control unit The traveling speed is controlled to be faster when the unmanned traveling mode is set than when the manned traveling mode is set.

In automatic driving, the automatic driving control unit slows down the driving speed during cornering and suppresses sudden starts and stops in consideration of the driver's comfort. However, there is no need to perform such control when the driver is not on board. Therefore, with the configuration as described above, it is possible to improve work efficiency by increasing the traveling speed in the unmanned mode while ensuring the comfort of the driver in the manned traveling mode.

Further, the driving unit includes a driving unit on which the driver rides, and a boarding detection unit that detects whether the driver is on board the driving unit. When the boarding detection unit detects that the driver is boarding the vehicle, the automatic driving is set to the manned driving mode, and when the boarding detection unit detects that the driver is not boarding the driving unit, the automatic driving may be set to the unmanned driving mode.

With such a configuration, it is possible to accurately confirm that the driver is on the driving unit, appropriately set the manned driving mode or the unmanned driving mode, and improve work efficiency more appropriately. can be done.

Further, a driver's seat is provided in the driving unit and on which the driver sits, and the boarding detection unit detects that the driver is seated in the driver's seat. It may be determined that the driver is on board.

If there is a driver's seat, the driver who gets on board often sits in the driver's seat. Therefore, according to the above configuration, it is possible to accurately confirm that the driver is on the driving unit, and the manned driving mode or the unmanned driving mode can be appropriately set, and the work efficiency can be improved more appropriately. be able to.

Further, an operation tool for operating the automatic driving is provided, and the boarding detection unit detects that the driver is touching the operation tool, so that the driver is on the driving unit. You can judge.

The driver often touches the operation tool during work travel. Therefore, according to the above configuration, it is possible to accurately confirm that the driver is on the driving unit, and the manned driving mode or the unmanned driving mode can be appropriately set, and the work efficiency can be improved more appropriately. be able to.

Further, a speed setting unit that selects a maximum speed in the automatic driving from a plurality of candidate speeds is provided, and when the manned driving mode is set, the automatic driving control unit sets the selected candidate speed to the above The automatic driving control unit controls the automatic driving so that the maximum speed is reached, and when the unmanned driving mode is set, the automatic driving control unit controls the automatic driving so that the fastest candidate speed becomes the maximum speed. can be controlled.

With such a configuration, while the traveling speeds in the manned traveling mode and the unmanned traveling mode are appropriately set, the traveling speed in the unmanned traveling mode is controlled to be appropriately faster than the traveling speed in the manned traveling mode, thereby improving work efficiency. can be improved to

Also, even in the unmanned travel mode, the automatic travel control unit may reduce the travel speed when changing direction and turning at the edge of the work site.

Such a configuration prevents the work area from being damaged. In addition, there may be people on the edge of the ridge, and changing direction or turning at a high running speed may make that person feel uneasy. In particular, by decelerating the travel speed when changing direction or turning at the edge of a ridge, it is possible to reduce the anxiety felt by people on the edge of the ridge.

In addition, a material detection unit that detects the remaining amount of materials used during the automatic traveling is provided, and the automatic traveling includes a round-trip route traveling between two outer peripheries of the work site facing each other, and two round-trip routes. and the replenishment of the materials is carried out at an arbitrary first outer periphery of the outer periphery of the work site, and when the material detection unit detects that the materials do not remain, The automatic travel control unit controls to stop the machine body without performing turning travel in an area close to the first outer periphery, and when the material detection unit detects that the material remains, the The automatic travel control unit may control the aircraft to perform the turning travel without stopping the aircraft.

With such a configuration, the automatic travel control unit continues work travel when material replenishment is not required, and stops the aircraft before turning travel only when material replenishment is required. It can be controlled to wait in a state in which it is possible to perform various operations. As a result, it is possible to suppress unnecessary travel stoppages and improve work efficiency.

Further, when traveling in the outer peripheral area of the work site, the automatic traveling control unit may reduce the traveling speed.

Obstacles often exist in the peripheral area of the work site. Therefore, according to the above configuration, the running speed is reduced in an area with many obstacles, and an operation to avoid the obstacles can be easily performed, thereby improving work efficiency.

Further, an obstacle detection section for detecting an obstacle may be provided, and when the obstacle detection section detects the obstacle, the automatic travel control section may control the aircraft to stop.

With such a configuration, it is possible to avoid colliding with an obstacle, and then to avoid the obstacle by an appropriate operation, so that work efficiency can be improved.

1 is a side view of a rice transplanter, which is an example of an agricultural work machine capable of automatically traveling; FIG. It is explanatory drawing which shows area|region division of the agricultural field by which a driving|running route is set. It is explanatory drawing explaining the lap|rotation driving|running|working path|route and driving|running|working of a rice transplanter which are set to an outer peripheral area|region. It is explanatory drawing explaining the round-trip driving|running|working path|route and driving|running|working of a rice transplanter set to a central area|region. It is a functional block diagram which shows the control system of a rice transplanter.

Hereinafter, as one embodiment of the agricultural work machine of the present invention, a rice transplanter that travels in a field (corresponding to a "work area") for work will be described as an example.

[Overall structure]
As shown in FIG. 1, the rice transplanter is equipped with a riding-type four-wheel-drive traveling body (hereinafter referred to as a body 1). The fuselage 1 includes a parallel quadruple link type link mechanism 11 connected to the rear part of the fuselage 1 so as to be able to swing up and down, a hydraulic lifting cylinder 11a for swinging the link mechanism 11, and a rear end region of the link mechanism 11. and a fertilizing device 4 that extends from the rear end region of the machine body 1 to the seedling planting device 3 and the like. The seedling planting device 3 and the fertilizing device 4 are examples of working devices.

The body 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as mechanisms for traveling. The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The engine 13 and the continuously variable transmission 14 are mounted on the front portion of the airframe 1 . Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B, the working device, etc. via the continuously variable transmission 14 and the like.

The seedling planting device 3 is configured in an eight-row planting format, for example. The seedling planting device 3 includes a seedling platform 31, a planting mechanism 32 for eight rows, and the like. This seedling planting device 3 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).

The seedling mounting table 31 is a pedestal on which 8 rows of mat-like seedlings are mounted. The seedling mounting table 31 reciprocates in the horizontal direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the vertical feeding mechanism 33 moves the seedling mounting table 31 upward each time the seedling mounting table 31 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed at a predetermined pitch toward the lower end of the seedling placement table 31.例文帳に追加The eight planting mechanisms 32 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 32 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling placement table 31 by power from the machine body 1, and plants it in the muddy part after leveling. As a result, when the seedling planting device 3 is in an operating state, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placement table 31 and planted in the mud part of the paddy field.

As shown in FIG. 1, the fertilizing device 4 includes a horizontally long hopper 41, a delivery mechanism 42, an electric blower 43, a plurality of fertilizing hoses 44, and a grooving device 45 provided for each row. The hopper 41 stores granular or powdery fertilizer. The delivery mechanism 42 is operated by the power transmitted from the engine 13 and delivers two rows of fertilizer from the hopper 41 by a predetermined amount.

The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 42 toward the muddy surface of the field. The fertilizing device 4 can be switched between an operating state in which the fertilizer stored in the hopper 41 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 43 or the like.

Each fertilizing hose 44 guides the fertilizer conveyed by the conveying wind to each grooving device 45 . Each grooving device 45 is provided on each leveling float 15 . Each grooving device 45 ascends and descends together with each leveling float 15, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work traveling in which each leveling float 15 touches the ground.

As shown in FIG. 1, the body 1 has an operating section 20 in the rear area. The driving unit 20 includes a steering wheel 21 (corresponding to an "operating tool") for steering the front wheels, a main gear shift lever 22 (corresponding to an "operating tool") for adjusting the vehicle speed by operating the continuously variable transmission 14, A sub-transmission lever 23 (equivalent to an "operating tool") that enables shifting operation of the sub-transmission device, and a work operation lever 25 ("operating tool") that enables up-and-down operation of the seedling planting device 3 and switching of the operating state. ), various information is displayed (notified) and notified (output) to the operator, and a general-purpose terminal 9 having a touch panel that accepts input of various information, and a driver's seat 16 for the operator (driver) etc. It has Furthermore, a preliminary seedling frame 17 for storing preliminary seedlings is provided in front of the operating section 20 .

The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. FIG.

[Travel route]
A travel route used in seedling planting work (an example of field work) by this rice transplanter will be described below. As shown in FIG. 2, a farm field is divided into an outer peripheral area where a round trip route is set and a central area where a round trip route is set. The rice transplanter first carries out seedling planting work on the central region along the reciprocating travel route, and then carries out seedling planting work on the outer peripheral region along the circular travel route.

FIG. 3 shows a circuit route. The circular traveling route consists of a linear circular route extending parallel to the boundary line (bank) of the field, and a turning route incorporating forward and backward movement to connect the linear circular routes. In FIG. 3, the circular straight route is given the reference R1, and the turning route is given the reference R2. FIG. 4 shows a round trip route. The reciprocating travel route consists of a large number of reciprocating routes substantially parallel to each other and turning routes (U-turn routes) connecting the reciprocating routes. In FIG. 4, the reciprocating route is given R3, and the turning route is given R5. In FIGS. 3 and 4, the transition route for transitioning from the round trip route to the round trip route is denoted by R4. In the example here, the transition path is similar to the turning path. Further, in FIGS. 3 and 4, the working width of the rice transplanter is indicated by W, and the entrance/exit GA of the rice transplanter to the field is drawn with oblique lines. FIG. 4 shows a starting guide route (marked with reference numeral R6) from the entrance/exit GA to the travel start position S of the round-trip travel route. Since the rice transplanter travels without working on the turning path, turning path, starting guidance path, and transition path, these paths are indicated by dotted lines. Since the rice transplanter travels on the circular straight route and the round-trip route while performing work, these routes are indicated by solid lines.

[Control system]
Next, the control system of the rice transplanter will be described using FIG. 5 while referring to FIG.

A control unit 6, which forms the core of the control system of the rice transplanter, includes a positioning unit 8, a seating sensor 26 (corresponding to a "boarding detection unit"), an automatic changeover switch 27, a travel sensor group 28, a work sensor group 29, and a speed setting unit 30. A signal from is input. A control signal is output from the control unit 6 to the traveling equipment group 1A, the work equipment group 1B, and the general-purpose terminal 9. FIG.

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 seating sensor 26 is a sensor that detects whether or not the driver is seated on the driver's seat 16 . The automatic changeover switch 27 is provided in the driving unit 20 and is a switch for selecting an automatic driving mode in which the machine body 1 is automatically driven and a manual driving mode in which the machine body 1 is manually driven. The traveling sensor group 28 includes various sensors for detecting states such as the steering angle, the operating positions of the main shift lever 22 and the sub shift lever 23, the vehicle speed, the engine speed, etc., and the set values therefor. The work sensor group 29 includes various sensors for detecting the states of the link mechanism 11, the seedling planting device 3, and the fertilizing device 4 and their set values.

The traveling equipment group 1A includes, for example, a front wheel 12A and a continuously variable transmission 14. Based on the control signal from the control unit 6, the steering angle of the front wheels 12A is controlled, and the continuously variable transmission 14 is operated to control the vehicle speed.

The work equipment group 1B includes, for example, an elevating cylinder 11a, a seedling planting device 3, and a fertilizing device 4. As shown in FIG. Based on the control signal from the control unit 6, the amount of seedlings taken by the seedling planting device 3 is adjusted, and the amount of fertilizer applied by the fertilizing device 4 is adjusted.

A speed setting unit 30 is provided in the operation unit 20, and can set a candidate speed selected from a plurality of candidate speeds as the maximum speed during automatic travel. As will be described later, the travel speed in automatic travel is controlled according to the set maximum speed.

The control unit 6 includes a travel control section 61 , a work control section 62 , a vehicle position calculation section 63 , a travel route setting section 64 and a work parameter setting section 65 . The control unit 6 includes a processor such as an ECU and a CPU.

The vehicle position calculator 63 calculates the map coordinates of the body 1 (vehicle position) based on the satellite positioning data sequentially sent from the positioning unit 8 .

This rice transplanter is capable of automatic travel and manual travel. Therefore, the travel control unit 61 performs control in an automatic travel mode in which automatic travel is performed or a manual travel mode in which manual travel is performed, based on a command from the automatic changeover switch 27 . The travel control unit 61 includes an automatic travel control unit 611 and a manual travel control unit 612. The automatic travel control unit 611 operates in the automatic travel mode, and the manual travel control unit 612 operates in the manual travel mode. In the automatic driving mode, the automatic driving control unit 611 adjusts the steering control amount so that the lateral deviation and the azimuth deviation are reduced based on the lateral deviation and the azimuth deviation calculated by comparing the vehicle position and the target travel route. to calculate The steering angle of the front wheels 12A is adjusted based on the steering control amount. Also, the automatic travel control unit 611 controls the travel speed so that the vehicle travels at a speed equal to or lower than the maximum speed selected by the speed setting unit 30 . In the manual travel mode, the manual travel control unit 612 adjusts the steering angle of the front wheels 12A based on the amount of operation of the steering wheel 21 . The manual travel control unit 612 controls the continuously variable transmission 14 and the like so that the vehicle travels at a travel speed corresponding to the operating positions of the main gear shift lever 22 and the sub gear shift lever 23 .

Further, the automatic driving control unit 611 performs different control in automatic driving in the unmanned driving mode and in the manned driving mode. Specifically, as will be described later, the automatic travel control unit 611 performs control so that the travel speed is faster in the unmanned travel mode than in the manned travel mode. Note that the automatic driving control unit 611 sets the manned driving mode when the seating sensor 26 detects that the driver is seated on the driver's seat 16, and the driver is seated on the driver's seat 16. When the seating sensor 26 does not detect the presence of the driver, the unmanned traveling mode is set.

The travel route setting unit 64 sets a travel route, which is a target travel route in automatic travel, and provides the travel route to the automatic travel control unit 611 .

The work parameter setting unit 65 sets the adjustment amount of the planting mechanism 32 and transmits it to the work control unit 62 . The adjustment amount of the planting mechanism 32 is set according to the work performed by the work equipment group 1B set according to the travel position on the target travel route in the automatic travel mode, and is detected by the work sensor group 29 in the manual travel mode. It is set according to the specified setting value. The work control section 62 controls the work equipment group 1B based on the signal received from the work parameter setting section 65 .

[Automatic driving]
Next, traveling control in automatic traveling will be described with reference to FIGS. 1, 4, and 5. FIG.

As described above, the automatic travel control unit 611 controls automatic travel. In the manned travel mode, the travel speed is changed according to the travel route. For example, in the circular traveling route, the traveling speed is reduced on the turning route R2 compared to the circular straight route R1. Further, in the round-trip travel route, the traveling speed is reduced in the turning route R5 compared to the round-trip route R3.

Since there is a difference in traveling speed between traveling on the turning route R5 and traveling on the reciprocating route R3, the body 1 accelerates and decelerates. In addition, the machine body 1 may accelerate or decelerate depending on the work travel. Considering the comfort of the driver and the stability of the machine body 1 during traveling, acceleration and deceleration are performed gently in the manned traveling mode.

Also, the automatic travel control unit 611 determines the travel speed in consideration of the maximum speed selected and set by the speed setting unit 30 . For example, the automatic travel control unit 611 controls to travel at the set maximum speed when traveling on the circular straight route R1 and the round-trip route R3, and when traveling on the turning route R2 and the turning route R5 Control to run at a speed slower than the maximum speed.

Furthermore, the automatic travel control unit 611 can make the traveling speed when traveling on the straight circuit route R1' in the outer peripheral area of the field slower than the traveling speed on the other straight circuit routes R1. There may be obstacles in the peripheral area of the field. The body 1 may be damaged if it collides with an obstacle while traveling. By reducing the traveling speed of the circular straight route R1' in the outer peripheral area of the field, it is possible to avoid collisions between the machine body 1 and obstacles, and to reduce damage to the machine body 1.

When the unmanned traveling mode is set according to the detection result of the seating sensor 26, the automatic traveling control unit 611 controls the traveling speed to be faster than in the manned traveling mode. For example, regardless of the candidate speed selected by the speed setting unit 30, the automatic cruise control unit 611 sets the fastest candidate speed among the selectable candidate speeds as the maximum speed. Then, the automatic travel control unit 611 performs control so that the vehicle travels at the set maximum speed when traveling on the circular straight route R1 and the round-trip route R3. Furthermore, the automatic travel control unit 611 may reduce the travel speed when traveling on the turning route R2 and the turning route R5, but the speed is set to be reduced even when traveling on the turning route R2 and the turning route R5. You may control so that it may run at maximum speed. When the traveling speed is reduced, the field is prevented from being damaged by the traces of turning, and when the traveling speed is not reduced, the working efficiency is improved. In addition, there may be people on the edge of the ridge, and changing direction or turning at a high running speed may make that person feel uneasy. In particular, by decelerating the travel speed when changing direction or turning at the edge of a ridge, it is possible to reduce the anxiety felt by people on the edge of the ridge. Further, the automatic travel control unit 611 may make the acceleration/deceleration in the unmanned travel mode steeper than the acceleration/deceleration in the manned travel mode. Acceleration/deceleration in the unmanned travel mode is preferably performed as steeply as possible within a range in which the body 1 can stably travel.

With the above configuration, in the unmanned driving mode, the driving speed can be increased without considering the driver's comfort, etc., so that it is possible to improve the work efficiency.

Furthermore, even when the unmanned traveling mode is set, the automatic traveling control unit 611 sets the traveling speed when traveling on the straight circuit route R1′ in the outer peripheral area of the field to be higher than the traveling speed on the other straight circuit route R1. It's okay to be late. This makes it possible to reduce damage to the airframe 1 .

[Another embodiment]
(1) The sensor used as a trigger for switching between the unmanned traveling mode and the manned traveling mode is not limited to the seating sensor 26, and various boarding detectors (corresponding to "boarding detection unit") may be used. The boarding detector only needs to be able to determine whether or not the driver is boarding the driving unit 20 , and the manned running mode is set when the driver is boarding the driving unit 20 . For example, the boarding detector is a sensor or the like that detects whether or not the driver is touching an operation tool such as the main shift lever 22 or the steering wheel 21 . Even with such a configuration, it is possible to detect that the driver is on the driving unit 20 .

Further, a manned/unmanned changeover switch (not shown) may be provided in place of the boarding detector such as the seating sensor 26 or together with the boarding detector. When the driver operates the manned/unmanned changeover switch, switching between the unmanned traveling mode and the manned traveling mode is performed manually. When a manned/unmanned selector switch is provided together with the boarding detector, even if the unmanned traveling mode is selected by the manned/unmanned selector switch, the boarding detector such as the seating sensor 26 detects that the driver has boarded the driving unit 20. When it is detected that the vehicle is in the manned mode, it is automatically set to the manned mode. As described above, switching between the unmanned traveling mode and the manned traveling mode is appropriately performed, and the work efficiency can be improved more reliably.

(2) When replenishing mat-shaped seedlings to the seedling placement table 31, the machine body 1 moves to one outer periphery L (corresponding to the "first outer periphery") of the field where the entrance GA is provided, and With the machine body 1 stopped along L, mat-like seedlings are replenished from the ridge to the seedling placement table 31. - 特許庁At this time, the fuselage 1 travels toward the outer periphery L along the round-trip route R3, and then travels straight toward the outer periphery L without traveling along the turning route R5. During automatic driving in the manned driving mode, near the terminal end of the round-trip route R3 traveling toward the outer periphery L so that the driver or the monitor can determine whether or not to replenish the mat-like seedlings. , the machine body 1 temporarily stops for a predetermined time. While the machine body 1 is temporarily stopped, the driver or the observer determines whether or not to replenish the mat-like seedlings, and if it is determined to replenish the mat-like seedlings, automatically or manually , an operation to move the body 1 to a position along the outer periphery L is performed. The outer perimeter L to which the mat-like seedlings are replenished is not limited to the outer perimeter provided with the entrance/exit GA, but may be any outer perimeter.

Considering such a mat-like seedling supply operation, in each of the above-described embodiments, the rice transplanter according to the present embodiment further detects whether or not a predetermined amount of mat-like seedlings remains on the seedling placement table 31. A seedling detection unit (corresponding to a “material detection unit”) 40 may be provided. In automatic traveling in the unmanned traveling mode, the automatic traveling control unit 611 checks the detection result of the seedling detection unit 40 when the machine body 1 approaches the end region of the round-trip route R3 traveling toward the outer periphery L. . Then, when it is determined that the number of seedlings is less than the predetermined amount and it is necessary to replenish mat-like seedlings, the automatic travel control unit 611 stops the machine body 1 near the end of the reciprocating route R3 traveling toward the outer periphery L. . When sufficient seedlings remain, the automatic travel control unit 611 continues automatic travel as it is without stopping the body 1 at the end of the reciprocating route R3 traveling toward the outer periphery L.

As a result, unnecessary stop periods can be reduced, and work efficiency in automatic driving can be improved.

(3) In each of the above embodiments, the rice transplanter according to this embodiment may further include an obstacle detector 46 . The obstacle detection unit 46 detects whether there is an obstacle in front of the body 1 during travel, and notifies the automatic travel control unit 611 of the detection result. When the automatic travel control unit 611 receives a notification from the obstacle detection unit 46 that there is an obstacle in the traveling direction of the aircraft 1, the automatic travel control unit 611 decelerates the aircraft 1 and then stops it.

With such a configuration, it is possible to prevent the body 1 from colliding with an obstacle during automatic travel. In particular, when the vehicle is automatically traveling in the unmanned traveling mode, the traveling speed is high and there is no driver on board, making it difficult to avoid obstacles. By providing an obstacle detection unit 46 and stopping the machine body 1 when an obstacle is detected, the machine body 1 can be prevented from colliding with obstacles during automatic driving while increasing the traveling speed and improving work efficiency. can do.

(4) In each of the above-described embodiments, the circular straight paths R1, R1' and the round-trip path R3 are not limited to straight lines, and may be partially or entirely gently curved, zigzag paths, or meandering paths. can be

(5) The travel control unit 61, the work control unit 62, the vehicle position calculation unit 63, the travel route setting unit 64, and the work parameter setting unit 65 included in the control unit 6 may be divided into such functional blocks. However, functional blocks having one or more of these functions may be grouped together or divided into a plurality of functional blocks. Also, all or part of the functions of the control unit 6 may be realized by software. Software (program) is stored in an arbitrary storage unit (not shown) and executed by a processor included in the control unit 6 or another processor.

The agricultural working machine of the present invention is not limited to a rice transplanter, and may be an agricultural working machine such as a combine harvester or a tractor that performs work while automatically traveling on a work site. It can also be applied to working machines.

16 driver's seat 20 driver's seat 25 work operation lever (manipulator)
26 seat sensor (boarding detection unit)
30 speed setting unit 611 automatic travel control unit L outer periphery (first outer periphery)
R3 Reciprocating route R5 Turning route

Claims (9)

An agricultural work machine that performs work while automatically traveling along a set travel route in a work area,
an automatic driving control unit that controls the automatic driving in a manned driving mode, which is a driving mode when a driver is on board, or an unmanned driving mode, which is a driving mode when the driver is not on board,
The automatic travel control unit controls the travel speed to be faster when the unmanned travel mode is set than when the manned travel mode is set. a driving unit on which the driver rides;
A boarding detection unit that detects whether the driver is on board the driving unit,
When the boarding detection unit detects that the driver is boarding the driving unit, the automatic driving control unit sets the automatic driving to the manned driving mode, and the driver is boarding the driving unit. 2. The agricultural working machine according to claim 1, wherein the automatic traveling is set to the unmanned traveling mode when the boarding detection unit detects that the agricultural working machine is not in operation. A driving seat provided in the driving unit and on which the driver sits,
The agricultural working machine according to claim 2, wherein the boarding detection unit determines that the driver is riding in the driving unit by detecting that the driver is seated in the driver's seat. Equipped with an operation tool for operating the automatic traveling,
The agricultural working machine according to claim 2, wherein the boarding detection unit determines that the driver is boarding the operation unit by detecting that the driver is touching the operating tool. A speed setting unit that selects the maximum speed in the automatic driving from a plurality of candidate speeds,
When the manned driving mode is set, the automatic driving control unit controls the automatic driving so that the selected candidate speed becomes the maximum speed, and the unmanned driving mode is set. The agricultural work machine according to any one of claims 1 to 4, wherein the automatic travel control unit controls the automatic travel such that the fastest candidate speed becomes the maximum speed. 6. The agricultural work machine according to claim 5, wherein even in the unmanned travel mode, the automatic travel control unit reduces the travel speed when changing direction and turning on a ridge of the work site. Equipped with a material detection unit that detects the remaining amount of materials used during the automatic driving,
The automatic traveling travels on a reciprocating route that travels between two outer peripheries of the work site that face each other and a turning route that connects the two reciprocating routes, and replenishment of the material is performed in the outer peripheries of the work site. at any first outer perimeter of
When the material detection unit detects that the material does not remain, the automatic travel control unit controls the machine body to stop without performing turning travel in the area close to the first outer periphery, 7. The vehicle according to any one of claims 1 to 6, wherein when the material detection unit detects that materials remain, the automatic travel control unit controls the vehicle body to perform the turning travel without stopping the aircraft. agricultural machinery. The agricultural work machine according to any one of claims 1 to 7, wherein the automatic travel control unit reduces the travel speed when traveling in the outer peripheral area of the work site. Equipped with an obstacle detection unit that detects obstacles,
The agricultural working machine according to any one of claims 1 to 8, wherein when the obstacle detection section detects the obstacle, the automatic travel control section controls the machine body to stop.

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