Field working machine

Abstract

The field working machine performs a prescribed operation in the operation area of a field having an operation area and a non-operation area. The field working machine includes: a traveling body that travels successively on a first linear path having a terminal at the boundary between the operation area and the non-operation area, the non-operation area, and a second linear path having a start end at the boundary between the operation area and the non-operation area; a positioning unit that outputs the position of the field working machine as positioning information based on a positioning signal from a positioning satellite; a steering mode switching control unit that switches the steering mode of the traveling body between an automatic steering mode in which the traveling body automatically steers and a manual steering mode in which the user manually steers the traveling body according to an operation by the user; and a notification control unit that, when the steering mode of the traveling body is the automatic steering mode, notifies the user that the traveling body has entered a terminal side area between a reference position set on the first linear path and the terminal of the first linear path.

Description

Technical Field

[0001] The present invention relates to a field working machine. Background Art

[0002] The field working machine described in the following Patent Document 1 includes a traveling body and a field working device that performs agricultural work on a field. After the field working machine automatically travels on a linear work traveling path, it enters a headland area (non-working area). Moreover, the field working machine turns in the non-working area by the operation of the driver and automatically travels again on the linear work traveling path.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2015-112069 Summary of the Invention

[0006] In the field working machine described in Patent Document 1, when the non-working travel determination unit determines that the field working machine is traveling in the non-working area, the automatic travel prohibition unit interrupts the automatic travel and entrusts the operation of the traveling body to the driver. Therefore, there may be a time lag after the field working machine enters the non-working area until the driver can operate the traveling body. Therefore, the field working machine starts to turn shortly after entering the non-working area. When the width of the non-working area is not sufficient, it is necessary to make the field working machine reverse in the non-working area and then turn. In this way, the field working machine cannot turn smoothly, and thus it is necessary to sufficiently expand the non-working area.

[0007] However, when the non-working area is expanded in order to make the field working machine travel smoothly, on the contrary, the working area becomes narrower. That is, the area where the field working machine performs work in the field becomes narrower. In this way, it may lead to a reduction in the working efficiency of the field working machine.

[0008] Therefore, the main object of the present invention is to provide a field working machine that can narrow the non-working area and can turn smoothly in the non-working area.

[0009] The present invention provides a field working machine that performs a prescribed operation in a working area of a field having a working area and a non-working area. The field working machine includes: a traveling body that travels successively on a first linear path having a terminal at a boundary between the working area and the non-working area, the non-working area, and a second linear path having a start end at the boundary between the working area and the non-working area; a positioning unit that outputs the position of the field working machine as positioning information based on a positioning signal from a positioning satellite; a steering mode switching control unit that switches the steering mode of the traveling body between an automatic steering mode in which the traveling body automatically steers and a manual steering mode in which a user manually steers the traveling body according to an operation of the user; and a notification control unit that, when the steering mode of the traveling body is the automatic steering mode, notifies the user that the traveling body has entered a terminal side area between a reference position set on the first linear path and the terminal of the first linear path.

[0010] According to this configuration, when the steering mode of the traveling body traveling on the first linear path is the automatic steering mode, the notification control unit notifies the user that the traveling body has entered the terminal side area. Accordingly, the user can know the timing at which the steering mode should be switched to the manual steering mode. Therefore, before the traveling body enters the non-working area, it is easy for the user to perform the operation of switching the steering mode to the manual steering mode. Therefore, the user can turn the traveling body shortly after the traveling body enters the non-working area. Accordingly, if a non-working area having a width required for turning is set, the traveling body can turn smoothly in the non-working area. As a result, the non-working area can be made narrower.

[0011] In an embodiment of the present invention, the field working machine further includes a stop instruction output unit that outputs a stop instruction for stopping the traveling body in the terminal side area when the steering mode of the traveling body is the automatic steering mode when the traveling body reaches a prescribed instruction position set in the terminal side area after the notification control unit makes the notification.

[0012] According to this configuration, even when the user does not notice the notification of the notification control unit or ignores the notification of the notification control unit, the traveling body stops in the terminal side area before the traveling body enters the non-working area. Accordingly, the user has to switch the steering mode to the manual steering mode. Therefore, the user can manually steer the traveling body at least near the terminal of the linear path. Accordingly, the user can turn the traveling body shortly after the traveling body enters the non-working area.

[0013] In one embodiment of the present invention, a field working machine is provided that performs a prescribed operation in the working area of a field having a working area and a non-working area. The field working machine includes: a traveling body that travels successively on a first linear path having a terminal at the boundary between the working area and the non-working area, the non-working area, and a second linear path having a start end at the boundary between the working area and the non-working area; a positioning unit that outputs the position of the field working machine as positioning information based on a positioning signal from a positioning satellite; a steering mode switching control unit that switches the steering mode of the traveling body between an automatic steering mode in which the traveling body automatically steers and a manual steering mode in which the user manually steers the traveling body according to the user's operation; and a stop instruction output unit that outputs a stop instruction for gradually reducing the vehicle speed of the traveling body and stopping the traveling body within the terminal side area when the steering mode of the traveling body when it enters the terminal side area between a reference position set on the first linear path and the terminal of the first linear path is the automatic steering mode.

[0014] According to this configuration, when the steering mode of the traveling body when it enters the terminal side area is the automatic steering mode, the stop instruction output unit outputs a stop instruction for gradually reducing the vehicle speed of the traveling body and stopping the traveling body within the terminal side area. The user can know the moment when the steering mode should be switched to the manual steering mode based on the change in vehicle speed (gradual reduction). Therefore, it is easy for the user to perform the operation of switching the steering mode to the manual steering mode before the traveling body enters the non-working area. Therefore, the user can turn the traveling body soon after the traveling body enters the non-working area. Accordingly, if a non-working area with a width required for turning is set, the traveling body can turn smoothly in the non-working area. As a result, the non-working area can be made narrower.

[0015] Even if the user does not notice the change in vehicle speed or ignores the change in vehicle speed, the traveling body will stop within the terminal side area before the traveling body enters the non-working area. Accordingly, the user has to switch the steering mode to the manual steering mode.

[0016] In one embodiment of the present invention, the steering mode switching control unit is configured to invalidate the user's operation input for switching the steering mode of the traveling body from the manual steering mode to the automatic steering mode during the period until the start end of the second linear path is reached after the traveling body enters the terminal side area.

[0017] According to this structure, it is possible to prevent the steering mode from being erroneously switched to the automatic steering mode after the traveling machine body enters the terminal side area. Therefore, it is possible to reliably prevent the traveling machine body from entering the non-working area in a state where the steering mode is the automatic steering mode.

[0018] The above or other objects, features, and effects of the present invention will become clear from the description of the embodiments described below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a side view of a rice transplanter according to an embodiment of the present invention.

[0020] Figure 2 is Figure 1 a top view of the rice transplanter.

[0021] Figure 3 is for explaining Figure 1 the situation where the rice transplanter travels in the field.

[0022] Figure 4 is showing Figure 1 the electrical structure of the rice transplanter.

[0023] Figure 5 is for explaining Figure 4 an example of the mode switching process performed by the steering mode switching control unit included in the control unit.

[0024] Figure 6 is for explaining Figure 4 an example of the switching time recognition promotion process performed by the switching time recognition promotion unit included in the control unit.

[0025] Figure 7 is a block diagram showing the configuration of the control unit according to the first modification.

[0026] Figure 8 is a flowchart for explaining an example of the switching time recognition promotion process performed by the switching time recognition promotion unit of the control unit according to the first modification.

[0027] Figure 9 is a block diagram showing the configuration of the control unit according to the second modification.

[0028] Figure 10 is a flowchart for explaining an example of the switching time recognition promotion process performed by the switching time recognition promotion unit of the control unit according to the second modification.

[0029] Figure 11It is a flowchart for explaining another example of the mode switching process performed by the steering mode switching control unit. Detailed implementation mode

[0030] In the following implementation mode, a rice transplanter is taken as an example of a field working machine. In addition to the rice transplanter, the field working machine may also be a tractor equipped with a tiller, a combine harvester, a civil engineering / construction work vehicle, a snow removal vehicle, etc.

[0031] Figure 1 It is a side view of the rice transplanter 1 according to the first implementation mode of the present invention. Figure 2 It is a top view of the rice transplanter 1.

[0032] Refer to Figure 1 and Figure 2 , while the rice transplanter 1 travels in the field F, it performs a planting operation of planting seedlings on the ground of the field F. The rice transplanter 1 includes: a traveling body 2, and a planting unit 3 disposed behind the traveling body 2. The traveling body 2 includes a pair of left and right front wheels 5 and a pair of left and right rear wheels 6, and can travel by the driving force of the engine 10.

[0033] The traveling body 2 includes: a transmission 27, a front axle 28, and a rear axle 29. The transmission 27 changes the power from the engine 10 and transmits it to the front axle 28 and the rear axle 29. The front axle 28 transmits the power input from the transmission 27 to the front wheels 5. The rear axle 29 transmits the power input from the transmission 27 to the rear wheels 6.

[0034] The traveling body 2 includes: a driver's seat 7 for the user to ride; a steering wheel 8 for steering the traveling body 2; and a speed change pedal 9 for adjusting the traveling speed of the traveling body 2.

[0035] Near the steering wheel 8, there are provided: an operation unit 11 for the user to perform various operations (refer to the following Figure 4 ), and a notification unit 12 for notifying the user of the state of the rice transplanter 1 (refer to the following Figure 4 ).

[0036] The notification unit 12 includes an alarm buzzer that emits an alarm sound, etc. The notification unit 12 may include an alarm lamp that lights up or flashes. The notification unit 12 may also include both the alarm buzzer and the alarm lamp.

[0037] As the operation unit 11, a changeover switch, a speed setting knob, etc. can be cited. The changeover switch is a switch for the user to operate so as to switch the steering mode of the traveling machine body 2 between the automatic steering mode and the manual steering mode according to the user's operation. The user's operation for switching from the automatic steering mode to the manual steering mode is called an automatic steering release operation. The user's operation for switching from the manual steering mode to the automatic steering mode is called an automatic steering start operation.

[0038] The automatic steering mode means: a steering mode in which the traveling machine body 2 automatically steers (by the control unit 4 described later). The manual steering mode means: a steering mode in which the traveling machine body 2 is steered according to the user's manual operation of the steering wheel 8.

[0039] The speed setting dial is a dial operated to adjust the upper limit of the traveling speed. The traveling speed of the transplanter 1 can be adjusted within the range not exceeding the upper limit of the traveling speed according to the amount of depression of the speed change pedal 9.

[0040] The planting unit 3 is connected to the rear of the traveling machine body 2 by means of a lifting link mechanism 13. At the rear part of the traveling machine body 2, a PTO shaft 14 for outputting the driving force of the engine 10 to the planting unit 3 and a lifting cylinder 15 for driving the planting unit 3 to lift and lower are arranged. The driving force of the engine 10 is transmitted to the PTO shaft 14 via the transmission.

[0041] The lifting link mechanism 13 is constituted by a parallel link structure including a top link 18 and a lower link 19. The lifting cylinder 15 is connected to the lower link 19. By making the lifting cylinder 15 expand and contract, the whole planting unit 3 can be lifted and lowered vertically.

[0042] The planting unit 3 mainly includes: a plurality of (three in this embodiment) planting units 21 for planting seedlings on the ground; a planting input box 20 for driving the planting units 21; a seedling placing table 22 for placing a seedling mat (not shown); and a plurality of hulls (floats) 23 for leveling the ground before planting the seedlings.

[0043] The lifting link mechanism 13 is connected to the planting input box 20, and a plurality of planting units 21 are installed on the planting input box 20.

[0044] Each planting unit 21 is a rotary planting device, which has a planting transmission box 24, a pair of rotary boxes 25, and two pairs of planting arms 26. Two rotary boxes 25 are installed on the planting transmission box 24 of each planting unit 21, and two planting arms 26 are installed on each rotary box 25.

[0045] The planting input box 20 drives the planting unit 21 by inputting the driving force from the PTO shaft 1. The power is transmitted from the planting input box 20 to the planting transmission box 24. The rotating box 25 is rotationally driven by the power from the planting transmission box 24. Accordingly, the front ends of the two pairs of planting arms 26 depict circular rotation trajectories to perform operations. When the front end of the planting arm 26 moves downward from top to bottom, it rakes the seedlings from the seedling-raising mat (not shown) placed on the seedling table 22 and plants the seedlings on the ground of the field F.

[0046] The hull 23 is provided below the planting unit 3. The hull 23 is configured such that its lower surface can contact the ground of the field F. The ground before planting the seedlings is leveled by the contact of the hull 23 with the ground.

[0047] Figure 3 It is a schematic diagram for explaining the situation where the transplanter 1 travels in the field F. The field F is divided into: an operation area W where planting operations are performed, and a non-operation area N where planting operations are not performed. The operation area W is, for example, rectangular in a top view. On the operation area W, a plurality of linear paths P are preset and arranged at intervals in the long side direction of the operation area W. The linear paths P extend linearly along the short side direction of the operation area W. The start end S and the end E of each linear path P are located at the boundary between the operation area W and the non-operation area N.

[0048] The traveling body 2 travels in a zigzag pattern in the field F. The traveling body 2 travels in sequence on the linear path P from one end side in the long side direction of the operation area W ( Figure 3 the left side of the paper surface of this figure). By the traveling body 2 finishing traveling on the linear path P set at the position on the other end side in the long side direction ( Figure 3 the rightmost side of the paper surface of this figure), the traveling of the traveling body 2 in the operation area W ends.

[0049] The traveling situation of the traveling body 2 when moving from a certain linear path P to an adjacent linear path P is explained. The traveling body 2 travels from the start end S to the end E of a certain linear path P. If the traveling body 2 crosses the end E of this linear path P, it enters the non-operation area N. Then, the traveling body 2 turns in the non-operation area N to perform a 180° direction change and travels from the start end S to the end E on the adjacent linear path P of the previous linear path P.

[0050] The traveling directions of the traveling body 2 are opposite to each other between a certain linear path P and the adjacent linear path P of this linear path P. Hereinafter, the front of the traveling direction of the traveling body 2 is also referred to as the "downstream side of the traveling direction", and the rear of the traveling direction of the traveling body 2 is also referred to as the "upstream side of the traveling direction".

[0051] In addition, hereinafter, the linear path P currently traveled by the traveling body 2 may sometimes be referred to as the first linear path P1, and the linear path P that the traveling body 2 will travel next may be referred to as the second linear path P2. The traveling body 2 travels on the first linear path P1, the non-operation area N, and the second linear path P2 in sequence.

[0052] In the present embodiment, when the traveling body 2 travels on the linear path P, steering control needs to be performed in such a way that the traveling body 2 does not deviate from the linear path P. Therefore, the steering mode is set to the automatic steering mode. When the traveling body 2 travels in the non-operation area N, the traveling body 2 needs to turn by the steering operation of the user. Therefore, the steering mode is set to the manual steering mode.

[0053] Figure 4 It is a block diagram showing the electrical structure of the transplanter 1.

[0054] As Figure 4 shown, the transplanter 1 includes a control unit 4 that controls the operations of the traveling body 2 (such as forward movement, backward movement, stop, and turning) and the operations of the planting unit 3 mounted on the traveling body 2 (such as lifting, driving, and stopping). A plurality of controllers for controlling each part of the transplanter 1 are electrically connected to the control unit 4.

[0055] The plurality of controllers include: an engine controller 31, a vehicle speed controller 32, a steering controller 33, a lift controller 34, and a PTO controller 35.

[0056] The engine controller 31 controls the rotational speed of the engine 10 and the like. The engine controller 31 is electrically connected to a common rail device 41 that is a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, by controlling the opening and closing of the fuel injection valves of the injectors for each cylinder of the engine 10, the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector into each cylinder of the engine 10, thereby accurately controlling the injection pressure, injection timing, and injection cycle (injection amount) of the fuel supplied by each injector. The engine controller 31 controls the rotational speed of the engine 10 by controlling the common rail device 41. The engine controller 31 can also stop supplying fuel to the engine 10 by controlling the common rail device 41, thereby stopping the drive of the engine 10.

[0057] The vehicle speed controller 32 controls the vehicle speed of the traveling body 2 (which is also the vehicle speed of the transplanter 1). Specifically, on the transmission 27 (refer to Figure 1 )), a transmission device 42, which is a hydraulic continuously variable transmission device such as a movable swash plate type, is provided.

[0058] The vehicle speed controller 32 changes the gear ratio of the transmission 27 by changing the angle of the swash plate of the transmission device 42 using an actuator (not shown). Accordingly, the traveling body 2 can be decelerated (accelerated) until the desired vehicle speed is reached, or the traveling body can be stopped. By adjusting the speed of change of the angle of the swash plate of the transmission device 42, the deceleration degree of the traveling body 2 can be adjusted. By adjusting the deceleration degree of the traveling body 2, the distance from when the traveling body 2 starts to decelerate until it stops can be adjusted.

[0059] The steering controller 33 is used to control the steering angle of the front wheels 5 when the steering mode is the automatic steering mode. Specifically, a steering actuator 43 is provided in the middle part of the rotation shaft (steering shaft) of the steering wheel 8. The steering controller 33 controls the steering actuator 43 so that the rotation angle of the steering wheel 8 becomes the target steering angle. Accordingly, the steering angle of the front wheels 5 of the traveling body 2 can be controlled.

[0060] The lifting controller 34 is used to control the lifting of the planting unit 3. The lifting controller 34 opens and closes a solenoid valve (not shown) based on a control signal input from the control unit 4, thereby driving the lifting cylinder 15 and appropriately driving the lifting of the planting unit 3. The lifting controller 34 can support the planting unit 3 at a desired height such as a non-operation height at which planting operation is not performed and an operation height at which planting operation is performed.

[0061] The PTO controller 35 is used to control the rotation of the PTO shaft 14. Specifically, the transplanter 1 includes a PTO clutch 45 for switching the transmission / cutoff of power toward the PTO shaft 14. With this structure, the PTO controller 35 switches the PTO clutch 45 based on a control signal input from the control unit 4, thereby enabling the planting input box 20 of the planting unit 3 to be rotationally driven by the PTO shaft 14 or stopping the rotational drive.

[0062] A position information calculation unit 49 (positioning unit) is electrically connected to the control unit 4. A positioning signal received by the satellite signal receiving antenna 46 is input to the position information calculation unit 49. The satellite signal receiving antenna 46 receives signals from positioning satellites constituting the Global Navigation Satellite System (GNSS). The position information calculation unit 49 calculates the position information of the traveling body 2 or the planting unit 3 (strictly speaking, the satellite signal receiving antenna 46) as, for example, latitude / longitude information.

[0063] The control unit 4 includes a microcomputer. The microcomputer has a CPU, a storage unit (ROM, RAM, non-volatile memory, hard disk, etc.) 60. Programs and various data are stored in the storage unit 60. The microcomputer functions as a plurality of functional processing units by executing a prescribed program stored in the storage unit 60.

[0064] The plurality of functional processing units include: a steering mode switching control unit 50, a switching time recognition promotion unit 51, etc. The steering mode switching control unit 50 switches the steering mode of the traveling body 2 between an automatic steering mode and a manual steering mode according to the user's operations (automatic steering start operation and automatic steering release operation).

[0065] The switching time recognition promotion unit 51 enables the user to recognize the time when the steering mode is switched from the automatic steering mode to the manual steering mode, so that the transplanter 1 (at least the planting unit 3) does not enter the non-operation area N when the steering mode of the traveling body 2 is in the automatic steering mode. The switching time recognition promotion unit 51 is composed of a notification control unit 52.

[0066] A prescribed reference position CP is set in a portion on the terminal E side in each linear path P (refer to Figure 3 ). The reference position CP is a position 10 m, for example, on the upstream side in the traveling direction from the terminal E. The area between the reference position CP and the terminal E is called the terminal side area EA.

[0067] If the traveling body 2 enters the terminal side area EA when the steering mode of the traveling body 2 is in the automatic steering mode, the notification control unit 52 notifies the user via the notification unit 12 that the traveling body 2 has entered the terminal side area EA. The so-called "the traveling body enters the terminal side area EA" may, for example, mean that the front end of the traveling body 2 reaches a position on the downstream side in the traveling direction from the reference position CP, or may mean that the satellite signal receiving antenna 46 reaches a position on the downstream side in the traveling direction from the reference position CP.

[0068] The storage unit 60 includes: a region storage unit 61, a linear path storage unit 62, and a reference position storage unit 63. Information on the preset operation area W (specifically, information related to the position and shape of the operation area W) and information on the non-operation area N as the remaining area are stored in the region storage unit 61. The positions of the plurality of linear paths P set in the operation area W and the positions of the start end S and the terminal E of each linear path P are stored in the linear path storage unit 62. The reference positions CP set on each linear path P are stored in the reference position storage unit 63.

[0069] Hereinafter, the steering mode switching control unit 50 and the switching time recognition promotion unit 51 will be described in detail.

[0070] Figure 5 This is a flowchart for explaining an example of the mode switching process performed by the steering mode switching control unit 50 of the control unit 4. The mode switching process starts when the steering mode switching control unit 50 is activated. By operating the steering wheel 8 by the user, the traveling body 2 is positioned at the start end S of the linear path P on the side closest to one end in the long side direction of the work area W ( Figure 3 the leftmost side of the paper surface), and the changeover switch of the operation unit 11 is lit, enabling the user to switch the steering mode by operation.

[0071] Refer to Figure 5 , the steering mode switching control unit 50 monitors whether there is an automatic steering start operation performed by the user (step S1) and whether there is an automatic steering release operation performed by the user (step S2). When there is an automatic steering start operation (step S1: YES), the steering mode switching control unit 50 determines the current steering mode of the traveling body 2 (step S3). When the current steering mode is the manual steering mode (step S3: YES), the steering mode switching control unit 50 switches the steering mode to the automatic steering mode (step S4). Then, the steering mode switching control unit 50 returns to step S1. When the current steering mode is the automatic steering mode (step S3: NO), the steering mode switching control unit 50 returns to step S1.

[0072] In step S2, when there is an automatic steering release operation (step S2: YES), the steering mode switching control unit 50 determines the current steering mode of the traveling body 2 (step S5). When the current steering mode is the automatic steering mode (step S5: YES), the steering mode switching control unit 50 switches the steering mode to the manual steering mode (step S6). Then, the steering mode switching control unit 50 returns to step S1. In step S5, when the current steering mode is the manual steering mode (step S5: NO), the steering mode switching control unit 50 returns to step S1.

[0073] The mode switching process continues until the travel ends on the linear path P on the side closest to the other end in the long side direction of the work area W ( Figure 3 the rightmost side of the paper surface).

[0074] Figure 6 This is a flowchart showing the sequence of the switching time recognition promotion process performed by the switching time recognition promotion unit 51 of the control unit 4. The switching time recognition promotion process starts when the switching time recognition promotion unit 51 is activated.

[0075] Refer to Figure 6, the notification control unit 52 of the switching time recognition promotion unit 51 determines whether the traveling body 2 has reached the start point S of the linear path P (the first linear path P1) (step S11). When the traveling body 2 has reached the start point S of the linear path P (step S11: YES), the notification control unit 52 determines whether the traveling body 2 has entered the terminal side area EA (step S12). When the traveling body 2 has not reached the start point S of the linear path P (step S11: NO), the notification control unit 52 returns to step S11.

[0076] When the traveling body 2 has entered the terminal side area EA (step S12: YES), the notification control unit 52 discriminates the turning mode of the traveling body 2 (step S13). When the traveling body 2 has not entered the terminal side area EA (step S12: NO), the notification control unit 52 returns to step S12.

[0077] When the turning mode of the traveling body 2 is the automatic turning mode (step S13: YES), the notification control unit 52 notifies the user via the notification unit 12 that the traveling body 2 has entered the terminal side area EA (step S14). Specifically, when the notification unit 12 is an alarm buzzer, when the traveling body 2 has entered the terminal side area EA, the notification control unit 52 causes the notification unit 12 to emit an alarm sound. When the notification unit 12 is an alarm lamp, when the traveling body 2 has entered the terminal side area EA, the notification control unit 52 causes the notification unit 12 to light up or flash. Then, the notification control unit 52 returns to step S11 and determines whether the traveling body 2 has reached the start point S of the next linear path P (the second linear path P2).

[0078] In step S13, when the turning mode of the traveling body 2 is the manual turning mode (step S13: NO), the notification control unit 52 does not notify the user that the traveling body 2 has entered the terminal side area EA, but returns to step S11 and determines whether the traveling body 2 has reached the start point S of the next linear path P (the second linear path P2).

[0079] The switching time recognition promotion process is continuously performed until the traveling ends on the linear path P at the other end side in the long side direction of the work area W ( Figure 3 the rightmost side of the paper surface in the figure).

[0080] As described above, the transplanter 1 includes a traveling body 2, a position information calculation unit 49 (positioning unit), a steering mode switching control unit 50, and a notification control unit 52. With this configuration, when the steering mode of the traveling body 2 traveling on a linear path P (the first linear path P1) is the automatic steering mode, the notification control unit 52 notifies the user that the traveling body 2 has entered the terminal side area EA. Accordingly, the user can know the time when the steering mode should be switched to the manual steering mode. Therefore, before the traveling body 2 enters the non-working area N, the user can easily perform an operation of switching the steering mode to the manual steering mode (automatic steering release operation). Therefore, the user can turn the traveling body 2 shortly after the traveling body 2 enters the non-working area N. "Shortly after the traveling body 2 enters the non-working area N" means, for example, when the rear end of the planting unit 3 reaches the terminal E. Accordingly, if a non-working area N with a width required for turning is set, the traveling body 2 can turn smoothly in the non-working area N. As a result, the non-working area N can be made narrower.

[0081] Next, the switching time recognition promotion unit 51P of the control unit 4P according to the first modification will be described. Figure 7 It is a block diagram showing the configuration of the control unit 4P.

[0082] Refer to Figure 7 , the control unit 4P includes a steering mode switching control unit 50 and a switching time recognition promotion unit 51P. The switching time recognition promotion unit 51P of the first modification is different from Figure 4 The switching time recognition promotion unit 51 shown, and in addition to the notification control unit 52, further includes a first stop command output unit 53.

[0083] When the steering mode of the traveling body 2 when the traveling body 2 reaches a specified command position OP (refer to the double-dot chain line in Figure 3 ) set in the terminal side area EA after the notification control unit 52 makes a notification is the automatic steering mode, the first stop command output unit 53 outputs a first stop command for stopping the traveling of the traveling body 2.

[0084] The command position OP is a position 4 m, for example, upstream of the terminal E in the traveling direction. Since the command position OP is set in the terminal side area EA, of course, it is located downstream of the reference position CP in the traveling direction. By outputting the first stop command, the traveling of the traveling body 2 is stopped before the traveling body 2 enters the non-working area N. The so-called "the traveling body 2 reaches the command position OP" may mean, for example, that the front end of the traveling body 2 reaches the command position OP, or that the satellite signal receiving antenna 46 reaches the command position OP.

[0085] If the first stop instruction is output, the vehicle speed controller 32 decelerates the travel of the traveling body 2 by changing the angle of the swash plate of the transmission device 42 so that the travel of the traveling body 2 stops before the traveling body 2 enters the non-operation area N. After stopping by the first stop instruction, the traveling body 2 is maintained in a stopped state until the automatic steering release operation is performed. Further, if the automatic steering release operation is performed, the traveling body 2 resumes traveling. When the automatic steering release operation is performed during the deceleration of the traveling body 2, the traveling body 2 does not stop but travels in the manual steering mode.

[0086] The command position OP set for each linear path P is stored in the command position storage unit 64 of the storage unit 60 (see the double-dashed line in Figure 4 ).

[0087] Figure 8 is a flowchart showing the order of the switching time recognition promotion process performed by the switching time recognition promotion unit 51P of the first modification example. The switching time recognition promotion process is started by starting the switching time recognition promotion unit 51P.

[0088] See Figure 8 , the notification control unit 52 of the switching time recognition promotion unit 51P determines whether the traveling body 2 has reached the start end S of the linear path P (the first linear path P1) (step S21). When the traveling body 2 has reached the start end S of the linear path P (step S21: YES), the notification control unit 52 determines whether the traveling body 2 has entered the terminal side area EA (step S22). When the traveling body 2 has not reached the start end S of the linear path P (step S21: NO), the notification control unit 52 returns to step S21.

[0089] When the traveling body 2 has entered the terminal side area EA (step S22: YES), the notification control unit 52 discriminates the steering mode of the traveling body 2 (step S23). When the traveling body 2 has not entered the terminal side area EA (step S22: NO), it returns to step S22.

[0090] When the steering mode of the traveling body 2 is the automatic steering mode (step S23: YES), the notification control unit 52 notifies the user via the notification unit 12 that the traveling body 2 has entered the terminal side area EA (step S24). Specifically, when the notification unit 12 is an alarm buzzer, when the traveling body 2 has entered the terminal side area EA, the notification control unit 52 causes the notification unit 12 to emit an alarm sound. When the notification unit 12 is an alarm lamp, when the traveling body 2 has entered the terminal side area EA, the notification control unit 52 causes the alarm lamp to light up or flash. Then, the switching time recognition promotion unit 51P moves to step S25.

[0091] In step S23, when the steering mode of the traveling body 2 is the manual steering mode (step S23: NO), the notification control unit 52 does not notify the user that the traveling body 2 has entered the terminal side area EA, and the switching time recognition promotion unit 51P moves to step S25.

[0092] In step S25, the first stop command output unit 53 of the switching time recognition promotion unit 51P determines whether the position of the traveling body 2 is at the command position OP. If the position of the traveling body 2 reaches the command position OP (step S25: YES), the first stop command output unit 53 discriminates the current steering mode of the traveling body 2 (step S26).

[0093] When the current steering mode of the traveling body 2 is the automatic steering mode (step S26: YES), the first stop command output unit 53 outputs the first stop command (step S27). Moreover, in step S26, when the current steering mode of the traveling body 2 is the manual steering mode (step S26: NO), the first stop command output unit 53 does not output the first stop command but returns to step S21. When returning to step S21, the notification control unit 52 determines whether the traveling body 2 has reached the start end S of the next linear path P (the second linear path P2).

[0094] The switching time recognition promotion process performed by the switching time recognition promotion unit 51P is continuously performed until the traveling ends on the linear path P at the other end side in the long side direction of the work area W ( Figure 3 the rightmost side of the paper surface).

[0095] According to the first modification example, when the steering mode of the traveling body 2 when the traveling body 2 reaches the command position OP after the notification control unit 52 makes a notification is the automatic steering mode, the first stop command output unit 53 outputs the first stop command.

[0096] Therefore, even when the user does not notice the notification of the notification control unit 52 or ignores the notification of the notification control unit 52, the traveling body 2 stops within the terminal side area EA before the traveling body 2 enters the non-work area N. As a result, the user has to switch the steering mode to the manual steering mode. Therefore, the user can manually steer the traveling body 2 at least near the terminal E of the linear path P (the first linear path P1). Accordingly, the user can turn the traveling body 2 shortly after the traveling body 2 enters the non-work area N.

[0097] Next, the switching time recognition promotion unit 51Q of the control unit 4Q according to the second modification example will be described. Figure 9This is a block diagram showing the configuration of the switching timing recognition promotion unit 51Q. Refer to Figure 9 , the control unit 4Q includes a steering mode switching control unit 50 and a switching timing recognition promotion unit 51Q. The switching timing recognition promotion unit 51Q of the second modification example is different from Figure 4 the switching timing recognition promotion unit 51 shown, does not include a notification control unit 52, but includes a second stop command output unit 54.

[0098] When the steering mode of the traveling body 2 when the traveling body 2 enters the terminal side area EA is the automatic steering mode, the second stop command output unit 54 outputs a second stop command for gradually reducing the vehicle speed of the traveling body 2 so that the traveling body 2 stops within the terminal side area EA.

[0099] If the second stop command is output, the vehicle speed controller 32 changes the angle of the swash plate of the transmission device 42 to gradually reduce the vehicle speed of the traveling body 2 so that the traveling of the traveling body 2 stops before the traveling body 2 enters the non-operation area N. As Figure 3 shown, the reference position CP is set at a position upstream of the command position OP in the traveling direction. Therefore, compared with the first stop command output by the first stop command output unit 53 (refer to Figure 7 ), the second stop command output by the second stop command output unit 54 gradually reduces the vehicle speed of the traveling body 2 more slowly.

[0100] After stopping by the second stop command, the traveling body 2 is maintained in a stopped state until the automatic steering release operation is performed. Moreover, if the automatic steering release operation is performed, the traveling body 2 starts traveling again. When the automatic steering release operation is performed during the deceleration process of the traveling body 2, the traveling body 2 does not stop but travels in the manual steering mode.

[0101] Figure 10 This is a flowchart showing the order of the switching timing recognition promotion process performed by the switching timing recognition promotion unit 51Q of the second modification example. The switching timing recognition promotion process starts when the switching timing recognition promotion unit 51Q is activated.

[0102] Refer to Figure 10, the second stop command output unit 54 of the switching time recognition promotion unit 51 determines whether the traveling body 2 has reached the start point S of the linear path P (the first linear path P1) (step S31). When the traveling body 2 has reached the start point S of the linear path P (step S31: YES), the second stop command output unit 54 determines whether the traveling body 2 has entered the terminal side area EA (step S32). When the traveling body 2 has not reached the start point S of the linear path P (step S31: NO), the second stop command output unit 54 returns to step S31.

[0103] When the traveling body 2 has entered the terminal side area EA (step S32: YES), the second stop command output unit 54 discriminates the turning mode of the traveling body 2 (step S33).

[0104] When the turning mode of the traveling body 2 is the automatic turning mode (step S33: YES), the second stop command output unit 54 outputs the second stop command (step S34). Then, the second stop command output unit 54 returns to step S31 and determines whether the traveling body 2 has reached the start point S of the next linear path P (the second linear path P2). When the current turning mode of the traveling body 2 is the manual turning mode (step S33: NO), instead of outputting the second stop command, it returns to step S31 and determines whether the traveling body 2 has reached the start point S of the next linear path P (the second linear path P2).

[0105] The switching time recognition promotion process performed by the switching time recognition promotion unit 51Q is continuously performed until the traveling on the linear path P at the other end side in the long side direction of the work area W ( Figure 3 the rightmost side of the paper surface) ends.

[0106] According to the second modification example, when the turning mode of the traveling body 2 traveling on the linear path P (the first linear path P1) is the automatic turning mode, the second stop command output unit 54 outputs the second stop command for stopping the traveling body 2 in the terminal side area EA. The user can know the moment when the turning mode should be switched to the manual turning mode according to the change in vehicle speed (gradually decreasing). Therefore, before the traveling body 2 enters the non-operation area N, it is easy for the user to perform the operation of switching the turning mode to the manual turning mode. Therefore, the user can turn the traveling body 2 soon after the traveling body 2 enters the operation area N. Accordingly, if the non-operation area N with the width required for turning is set, the traveling body 2 can turn smoothly in the non-operation area N. As a result, the non-operation area N can be narrowed.

[0107] Even when the user does not notice the change in vehicle speed or ignores the change in vehicle speed, the traveling body 2 stops within the terminal-side area EA before entering the non-operation area N. Accordingly, the user has to switch the steering mode to the manual steering mode.

[0108] Next, another example of the mode switching process performed by the steering mode switching control unit 50 of the control unit 4 will be described. Figure 11 It is a flowchart for explaining another example of the mode switching process performed by the steering mode switching control unit 50. Figure 11 The mode switching process of Figure 5 The mode switching process of also starts by activating the steering mode switching control unit 50. Moreover, by positioning the traveling body 2 at the start S of the linear path P on the end side in the long side direction of the work area W ( Figure 3 the leftmost side of the paper surface of

[0109] Referring to Figure 11 , in this mode switching process, the steering mode switching control unit 50 monitors whether there is an automatic steering start operation performed by the user (step S41) and whether there is an automatic steering release operation performed by the user (step S42). When there is an automatic steering start operation (step S41: YES), the steering mode switching control unit 50 determines the current steering mode of the traveling body 2 (step S43).

[0110] When the current steering mode is the manual steering mode (step S43: YES), the steering mode switching control unit 50 moves to step S44. When the current steering mode is the automatic steering mode (step S43: NO), the steering mode switching control unit 50 returns to step S41.

[0111] In step S44, the steering mode switching control unit 50 determines the position of the traveling body 2. When the traveling body 2 is within the terminal-side area EA or the non-operation area N (step S44: YES), the steering mode switching control unit 50 invalidates the automatic steering start operation (step S45). Then, the steering mode switching control unit 50 returns to step S41.

[0112] The so-called "within the terminal-side area EA" may, for example, mean that the front end of the traveling body 2 has reached a position on the linear path P downstream of the reference position CP in the traveling direction, or that the satellite signal receiving antenna 46 has reached a position on the linear path P downstream of the reference position CP in the traveling direction.

[0113] When the traveling body 2 is not located in either the terminal side area EA or the non-operation area N, that is, when the traveling body 2 is located at a position on the linear path P upstream of the terminal side area EA in the traveling direction (step S44: NO), the steering mode switching control unit 50 switches the steering mode to the automatic steering mode (step S46). Then, the steering mode switching control unit 50 returns to step S41.

[0114] In step S42, when there is an automatic steering release operation (step S42: YES), the steering mode switching control unit 50 determines the current steering mode of the traveling body 2 (step S47).

[0115] When the current steering mode is the automatic steering mode (step S47: YES), the steering mode switching control unit 50 switches the steering mode to the manual steering mode (step S48). Then, the steering mode switching control unit 50 returns to step S41. When the current steering mode is the manual steering mode (step S47: NO), the steering mode switching control unit 50 returns to step S41.

[0116] In this way, it can be configured that after the traveling body 2 enters the terminal side area EA, during the period until reaching the start end S of the next linear path P (the second linear path P2), the operation input (automatic steering start operation) of the user for switching the steering mode of the traveling body 2 from the automatic steering mode to the manual steering mode by the steering mode switching control unit 50 is invalid. According to this structure, it is possible to prevent the steering mode from being accidentally switched to the automatic steering mode after the traveling body 2 enters the terminal side area EA. Therefore, it is possible to reliably prevent the traveling body 2 from entering the non-operation area N in a state where the steering mode is the automatic steering mode.

[0117] The present invention is not limited to the embodiments described above, but can be further implemented in other ways.

[0118] For example, for Figure 11 the mode switching control performed by the steering mode switching control unit 50 shown, it can be performed not only by Figure 4 the steering mode switching control unit 50 of the control unit 4 shown, but also by the steering mode switching control unit 50 of the control unit 4P related to the first modification example or the steering mode switching control unit 50 of the control unit 4Q related to the second modification example.

[0119] In addition, in the above embodiment, in Figure 6 step S11 and Figure 8In step S21, the notification control unit 52 of the switching timing recognition promotion unit 51 determines whether the traveling body 2 has reached the start point S of the linear path P (first linear path P1). However, different from the above-described embodiment, in Figure 6 step S11 and Figure 8 step S21, the notification control unit 52 of the switching timing recognition promotion unit 51 may determine whether the traveling body 2 is located in the region (main linear region) between the start point S and the reference position CP in the linear path P. If so, for example, even when the traveling body 2 starts the Figure 6 , Figure 8 switching timing recognition promotion process shown in, or when the traveling body 2 enters the linear path from an intermediate position in the linear path P, the switching timing recognition promotion process can be executed normally.

[0120] In addition, in the main linear region, in addition to the positions between the start point S and the reference position CP, the start point S and the reference position CP may also be included.

[0121] In addition, in Figure 10 step S31, different from the above-described embodiment, the second stop command output unit 54 of the switching timing recognition promotion unit 51 may determine whether it is located in the main linear region.

[0122] Although the embodiments of the present invention have been described in detail, these are merely specific examples used to clarify the technical content of the present invention, and the present invention should not be construed as being limited to these specific examples. The scope of the present invention is only defined by the appended claims.

[0123] This application corresponds to Japanese Patent Application No. 2017-207321 filed with the Japan Patent Office on October 26, 2017, and the entire disclosure of this application is incorporated herein by reference.

[0124] Description of Reference Numerals

[0125] 1: Transplanter (field working machine)

[0126] 2: Traveling body

[0127] 49: Position information calculation unit (positioning unit)

[0128] 50: Steering mode switching control unit

[0129] 52: Notification control unit

[0130] 53: First stop command output unit

[0131] 54: Second stop command output unit

[0132] CP: Reference position

[0133] E: Terminal

[0134] EA: Terminal side area

[0135] F: Field

[0136] N: Non - working area

[0137] OP: Instruction position

[0138] P1: First linear path

[0139] P2: Second linear path

[0140] S: Starting end

[0141] W: Working area

Claims

1. A field working machine is provided with a plurality of linear paths at the terminal and the start end, which are set at a prescribed interval. The field working machine can automatically steer along each of the linear paths. The field working machine includes: a control unit that executes the automatic steering; a traveling body that travels along the linear path; and a positioning unit that outputs the position of the traveling body as positioning information based on a positioning signal from a positioning satellite. During the execution of the automatic steering, when the current position of the traveling body reaches a prescribed reference position that is on the upstream side of the traveling direction of the traveling body with respect to the terminal, the control unit notifies that the traveling body has reached the reference position. When continuing the automatic steering after the notification, when the traveling body reaches a prescribed command position that is on the downstream side of the traveling direction from the reference position and on the upstream side of the traveling direction from the terminal, the control unit outputs a stop command to stop the traveling of the traveling body.

2. The field working machine according to claim 1, wherein: after outputting the stop command, the control unit decelerates the traveling body while maintaining the state of the automatic steering of the traveling body, and then stops the traveling body. When the automatic steering is released when the traveling body decelerates by outputting the stop command, the control unit does not automatically stop the traveling body.

3. The field working machine according to claim 2, wherein: the position where the traveling body stops is a position on the upstream side of the traveling direction from the terminal.

4. The field working machine according to any one of claims 1 to 3, wherein: the distance from the reference position to the command position is set to be longer than the distance from the command position to the terminal.

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