Control system and field work machine

Abstract

To suppress the arrival of a machine body at a footpath by accurately performing footpath control.SOLUTION: The system includes a furrow opening setting section for setting a furrow opening position in front of the machine body in a traveling direction (#81), a position acquisition section for acquiring a position of the machine body, a vehicle speed detection section for acquiring a traveling vehicle speed (#82), a furrow opening distance calculation section for calculating a furrow opening distance from the machine body position to the furrow opening position based on the furrow opening position and the machine body position (#83), an arrival time calculation section for calculating an arrival time until the machine body reaches the furrow opening position based on the traveling vehicle speed and the furrow opening distance (#84), a notification section for making a predetermined notification, and a furrow opening control section for causing the notification section to issue a furrow opening alarm when the arrival time becomes equal to or less than a predetermined time (#86).SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a ridge-edge control system that controls the ridge of a field work machine traveling through a field (work area) for work, and to a field work machine that controls the ridge. [Background technology]

[0002] A field work machine travels within a field (work area) to perform work. It is appropriate for the field work machine to travel within the perimeter of the field without going beyond the perimeter of the field. For this reason, the work vehicle (field work machine) disclosed in Patent Document 1 issues a ridge-edge warning when the machine approaches within a predetermined distance of the ridge edge (ridge position) set on the perimeter of the field. Furthermore, the field work machine may be controlled to stop when it reaches the ridge-edge area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-173320 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a ridge-edge warning is issued when the distance to the ridge position (ridge edge) falls below a predetermined distance, depending on the vehicle speed, it may not be possible to slow down or stop the machine in time, and the machine may go beyond the perimeter of the field or come into contact with the ridge on the perimeter of the field. In other words, if the vehicle speed is sufficiently slow, there is enough time left for the machine to avoid reaching the ridge edge after the ridge-edge warning is issued, but if the vehicle speed is fast, there is not enough time left for the machine to avoid reaching the ridge edge when the ridge-edge warning is issued, and the machine may end up reaching the ridge edge (going beyond the perimeter of the field or coming into contact with the ridge on the perimeter of the field).

[0005] The present invention aims to perform accurate ridge-edge control and prevent the aircraft from reaching the ridge-edge. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a ridge-edge control system according to one embodiment of the present invention is a ridge-edge control system for a field work machine that has a work device and a traveling device on its body and travels to work in a field, and is equipped with a ridge setting unit that sets the ridge position ahead in the direction of travel of the machine, a position acquisition unit that acquires the position of the machine, a vehicle speed detection unit that acquires the traveling vehicle speed, a ridge distance calculation unit that calculates the ridge distance, which is the distance from the position of the machine to the ridge position, based on the ridge position and the position of the machine, an arrival time calculation unit that calculates the arrival time, which is the time it takes for the machine to reach the ridge position, based on the traveling vehicle speed and the ridge distance, an alarm unit that issues a predetermined alarm, and a ridge-edge control unit that causes the alarm unit to issue a ridge-edge warning when the arrival time becomes less than a predetermined time.

[0007] With this configuration, if the vehicle continues traveling at its current speed and the arrival time it would take to reach the ridge position falls below a predetermined time, a ridge-edge warning is issued. Therefore, regardless of the vehicle speed, the time (arrival time) from when the ridge-edge warning is issued until the vehicle reaches the ridge is constant, and by setting the arrival time to a sufficient length, it is possible to ensure sufficient time to take measures to prevent the vehicle from reaching the ridge after the ridge-edge warning is issued. As a result, ridge-edge control can be performed with high precision, and the vehicle can be prevented from reaching the ridge with high precision.

[0008] In addition, the field work machine travels back and forth across the field by working, and is equipped with a reference orientation setting unit that sets a reference orientation, and a travel control unit that controls the travel device so that the machine travels in a direction along the reference orientation based on the position of the machine, and the ridge-edge control unit may cause the alarm unit to issue the ridge-edge warning when the arrival time becomes less than or equal to the time while the machine is traveling in a direction along the reference orientation.

[0009] With this configuration, even during straight-ahead keep driving, which is driving parallel to the reference heading (in a direction along the reference heading), it is possible to issue a ridge-edge warning (ridge-edge control) with sufficient time left to take action. As a result, ridge-edge control can be performed with high accuracy, and the vehicle can be prevented from reaching the ridge with high accuracy.

[0010] The ridge setting unit may also set the ridge position in accordance with at least one of the operating status of the work implement and the operating status of the traveling device in a work run that has already been carried out.

[0011] The ridge position can be set based on the perimeter of the field. In addition, the ridge position is a position where the machine can be controlled so that it does not go beyond the perimeter of the field or come into contact with the ridges provided on the perimeter of the field, so it can be set with reference to past driving conditions.

[0012] For example, in a rice transplanter that travels back and forth while turning, turning is performed so that the machine does not go beyond the perimeter of the field or come into contact with the ridges on the perimeter of the field. Also, before and after turning, the planting section of the seedling planting device, which is a working device, is raised and lowered.

[0013] Therefore, with the above configuration, the ridge position can be set according to the operating status of the work device, for example, the elevation of the planting unit, which allows the ridge position to be set easily and accurately, and the ridge edge can be controlled accurately, thereby preventing the machine from reaching the ridge edge with precision.

[0014] The ridge edge control unit may also stop the machine when the ridge distance becomes equal to or less than a predetermined distance.

[0015] Once the machine approaches the ridge position or the periphery of the field to a certain extent, no matter what measures are taken, it will be impossible to prevent the machine from reaching the edge of the ridge (the machine going beyond the periphery of the field or coming into contact with the ridge on the periphery of the field).

[0016] According to the above configuration, the machine is stopped when it approaches the ridge position to a certain extent, so that the machine can be prevented from reaching the edge of the ridge with greater precision.

[0017] The position acquisition unit may also have a satellite antenna that receives satellite signals from satellites and a positioning unit that outputs positioning data based on the satellite signals, and calculate the position of the aircraft based on the positioning data.

[0018] This configuration allows the position of the aircraft to be acquired with high accuracy. As a result, the distance to the ridge and the arrival time can be calculated with high accuracy based on the more accurate aircraft position, which allows for high-accuracy ridge-edge control and high-accuracy prevention of the aircraft from reaching the ridge.

[0019] Furthermore, the ridge setting unit may set the ridge position to a position inside the field by a predetermined retreat distance when the reception accuracy of the satellite signal deteriorates below a predetermined accuracy.

[0020] When calculating position information using satellite signals, if the reception accuracy of the satellite signals decreases, the positioning accuracy (positioning status) will deteriorate. If the positioning accuracy of the aircraft's position decreases, the distance to the ridge and the arrival time cannot be determined accurately, and even if ridge-edge control is performed based on the set ridge position, if the actual aircraft position is closer to the perimeter of the field than the calculated position, it may not be possible to prevent the aircraft from reaching the ridge.

[0021] According to the above configuration, if the reception accuracy of the satellite signal decreases, the ridge position is set to a position closer to the center (inside) of the field than the position where it would normally be set, so that even if the position of the aircraft is miscalculated, the aircraft can be prevented from reaching the edge of the ridge.

[0022] The vehicle speed detection unit may calculate the traveling vehicle speed based on the position of the vehicle acquired by the position acquisition unit.

[0023] With this configuration, the traveling vehicle speed can be calculated with high accuracy. The calculated traveling vehicle speed can be used to perform ridge-edge control with high accuracy, so that the vehicle can be prevented from reaching the ridge-edge with high accuracy.

[0024] In addition, the traveling device may have an axle and further include a rotation sensor that measures the rotation speed of the axle, and the vehicle speed detection unit may calculate the traveling vehicle speed based on the rotation speed of the axle measured by the rotation sensor.

[0025] With this configuration, the vehicle speed can be calculated with a simple structure, and the calculated vehicle speed can be used to easily perform edge control, thereby preventing the vehicle from reaching the edge of the ridge.

[0026] Furthermore, a field work machine according to one embodiment of the present invention comprises the above-mentioned ridge-edge control system, the above-mentioned work device, and the above-mentioned traveling device.

[0027] With this configuration, even in a farm work machine, it is possible to perform accurate ridge-edge control and accurately prevent the machine body from reaching the ridge-edge. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a left side view illustrating the overall configuration of a rice transplanter. [Figure 2] FIG. 2 is a diagram illustrating an example of a main configuration of an operation panel. [Figure 3] FIG. 10 is a diagram illustrating work travel. [Figure 4] FIG. 10 is a diagram illustrating ridge-edge control. [Figure 5] FIG. 2 is a diagram illustrating the configuration of a ridge edge control device. [Figure 6] FIG. 10 is a diagram illustrating a flow of round-trip travel. [Figure 7] FIG. 10 is a diagram illustrating a flow of ridge edge control. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, a rice transplanter that plants seedlings in a field while automatically traveling will be described as an example of the field work machine of the present invention that travels to perform work in a field (working land).

[0030] In the following explanation, with regard to the rice transplanter body 1, the direction of arrow F shown in Figure 1 will be referred to as the "forward direction of the body," the direction of arrow B as the "rearward direction of the body," the direction of arrow U as the "upward direction of the body," the direction of arrow D as the "downward direction of the body," the direction toward the front of the page as the "leftward direction of the body," and the direction toward the back of the page as the "rightward direction of the body."

[0031] As shown in Figure 1, the rice transplanter is equipped with a riding-type four-wheel drive machine body 1. The machine body 1 is equipped with a parallel quadruple linkage mechanism 13 connected to the rear of the machine body 1 so that it can rise and fall and swing. The machine body 1 is equipped with a seedling planting device 3 (corresponding to a working device) connected to the rear end region of the linkage mechanism 13 so that it can roll, a fertilizer applicator 4 installed from the rear end region of the machine body 1 to the seedling planting device 3, and may further be equipped with other working devices such as a chemical sprayer installed in the rear end region of the seedling planting device 3, as necessary.

[0032] The machine body 1 is equipped with wheels 12 as a traveling mechanism, an engine 2, and a hydraulic continuously variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 have left and right front wheels 12A that can be steered and left and right rear wheels 12B that cannot be steered. Power output from the engine 2 is transmitted to the continuously variable transmission 9 via a traveling transmission mechanism, and from the continuously variable transmission 9 to the front wheels 12A, rear wheels 12B, work implements (seedling planting device 3, fertilizer application device 4, chemical spraying device, etc.), etc. The engine 2 and the continuously variable transmission 9 are mounted in the front of the machine body 1.

[0033] As an example, the seedling planting device 3 is configured for eight rows of planting. The seedling planting device 3 (corresponding to the planting unit) is equipped with a seedling loading platform 21, a planting mechanism 22 for eight rows, etc. Note that this seedling planting device 3 can be changed to two-row, four-row, six-row, etc. planting by controlling the row clutches (not shown). The planting mechanism 22 of the seedling planting device 3 removes seedlings from the mat-like seedlings placed on the seedling loading platform 21 and plants them in the muddy part of the paddy field. The fertilizing device 4 supplies fertilizer to the field. The chemical spraying device sprays (supplies) chemicals to the field. Furthermore, the machine body 1 is equipped with a spare seedling storage device 17A that stores spare seedlings. The spare seedling storage device 17A is supported on a spare seedling support frame 17 supported in front of the driving unit 14.

[0034] The machine body 1 is provided with a driving unit 14 in its rear side area. The driving unit 14 is equipped with various operating tools for operating the rice transplanter, a driver's seat 16 for the operator (driver / worker), and the like. The driving unit 14 may also be provided with a detachable information terminal (not shown). As shown in FIG. 2, the driving unit 14 is equipped with, as operating tools, a steering wheel 10 for steering the front wheels, a main speed change lever 7 for adjusting the vehicle speed by changing the speed of the continuously variable transmission 9, and an operation operation lever 11 for operating the raising and lowering of the seedling planting device 3 and the on / off of the planting clutch (switching between a transmission state and a non-transmission state). The steering wheel 10, main speed change lever 7, and operation operation lever 11 are provided on an operation panel 6 in front of the driver's seat 16. The information terminal displays (announces) various information to notify (output) the operator and accepts input of various information.

[0035] As shown in FIG. 2, the operation panel 6 is provided with a start position operation device 18 and an end position operation device 19. The start position operation device 18 is operated when determining a start point PA in teaching travel, which will be described later. The end position operation device 19 is operated when determining an end point PB in teaching travel. The start position operation device 18 and the end position operation device 19 may be any operation device that can perform an input operation, such as a push button. The start point PA and the end point PB may be determined using any operation device, not limited to the start position operation device 18 and the end position operation device 19.

[0036] The aircraft 1 is equipped with a positioning unit 8. 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 equipped with a satellite antenna 8A that receives radio waves (satellite signals) from satellites of a global navigation satellite system (GNSS, such as GPS, GLONASS, Galileo, Michibiki, and BeiDou), and an inertial measurement module 8B that detects the three-axial tilt and acceleration of the aircraft 1. The positioning unit 8 is supported on the top of the spare seedling support frame 17. Based on the positioning data acquired by the positioning unit 8, the position PP of the aircraft 1 (position information (see Figure 5)) is continuously calculated and stored. Furthermore, the aircraft 1 may be equipped with, for example, a sonar sensor (not shown) as an example of an obstacle detection device that detects obstacles around the aircraft 1.

[0037] [Work trip] Next, the travel of the rice transplanter when it performs rice planting work in a field will be described using FIG. 3 with reference to FIGS. 1 and 2.

[0038] The rice transplanter in this embodiment can selectively be driven manually or automatically. In manual driving, the driver manually operates the driving operation tools such as the steering wheel 10, the main shift lever 7, and the operation operation lever 11 to drive the rice transplanter for work. In automatic driving, the rice transplanter drives and works under automatic control.

[0039] When the rice transplanter performs planting work, the field is divided into an outer area OA and an inner area IA, and work travel is carried out in each area accordingly.

[0040] In the inner area IA, work travel is performed to travel back and forth in the field (round trip travel). In the round trip work travel, work travel is performed approximately parallel to one side of the field (in a straight line), with turning travel in between where no work is performed. Work travel approximately parallel to one side of the field is performed by automatic travel based on the position of the machine body 1, and straight-line keeping travel based on a predetermined reference direction RD or travel along a predetermined work travel route is performed.

[0041] After the work run in the inner area IA is completed, the work run in the outer area OA is performed. The work run in the outer area OA is performed by automatic or manual driving. The work run in the outer area OA is one or more laps along the periphery of the field.

[0042] As shown in FIG. 4, when traveling within a field, ridge-edge control is performed to prevent the machine 1 from going beyond the outer perimeter PS of the field (to prevent the machine 1 from crossing the border). In other words, ridge-edge control prevents the machine 1 from going beyond the outer perimeter of the field (perimeter PS) or coming into contact with the ridges on the outer perimeter of the field. For example, when traveling back and forth within an internal area IA, ridge-edge control (crossing control) is performed to prevent the machine 1 from crossing the border. The ridge-edge control is a control that issues a predetermined notification when the machine 1 approaches a ridge edge, or stops the machine 1 when it reaches the ridge edge. The ridge position (PCH) corresponding to the ridge edge may be set to coincide with the outer perimeter PS of the field or the outer perimeter of the internal area IA, or may be set in any manner based on the perimeter PS, or may be set according to the operating status of the work implement, or may be set according to the operating status of the traveling equipment, or may be set in any other manner. For example, the ridge position (PCH) may be set based on at least one of the operating conditions of the work implement and the traveling device. Here, the ridge position (PCH) is calculated (set) based on the operating conditions of the traveling device, such as a change in the orientation of the machine body 1 (see FIG. 1), whether the steering wheel 10 (see FIG. 1) is operated within a predetermined angle, whether the number of rotations of the wheels 12 (see FIG. 1) has reached a number of rotations equivalent to the distance required for turning, and the relationship between the distance traveled after turning and the distance traveled before starting work using the work implement. The ridge position (PCH) is calculated (set) based on the operating conditions of the work implement, such as the elevation status of the planting unit and rotor (seedling planting device 3 (see FIG. 1)), whether the float has touched the ground, the elevation status of the marker, the switching status of the planting / seeding clutch, and the switching status of fertilizer and chemical supply / stop. The ridge position (PCH) may be set when two or more of these conditions are satisfied, or may be set when a single condition is satisfied. These conditions are determined as appropriate based on the type of work and the type of machine 1, and on which position the ridge position (PCH) is best suited for the work. Alternatively, the ridge position (PCH) may be presented as candidates based on the above conditions, allowing the worker to select from the presented candidates as appropriate.

[0043] [Ridge Edge Control Device] Next, a ridge-edge control device for controlling the ridge will be described using FIG. 5 with reference to FIGS. 1 to 4. FIG.

[0044] The ridge-edge control device comprises a control unit 25 and a memory unit 26. The ridge-edge control device is connected in a data-communicable manner to the satellite antenna 8A, positioning unit 8, start position operating tool 18, end position operating tool 19, seedling planting device 3, notification unit 28, etc., to form a ridge-edge control system. The notification unit 28 issues predetermined notifications. The memory unit 26 stores various types of information.

[0045] The control unit 25 includes a position acquisition unit 31, a reference direction setting unit 32, a work travel control unit 33, a ridge setting unit 35, a vehicle speed detection unit 37, a ridge distance calculation unit 38, an arrival time calculation unit 39, and a ridge edge control unit 42. The control unit 25 includes a processor such as a CPU, and each of the above functional blocks operates under the control of the processor.

[0046] The positioning unit 8 acquires positioning data based on satellite signals received by the satellite antenna 8A, and the position acquisition unit 31 acquires (calculates) the position PP of the aircraft 1 based on the positioning data acquired by the positioning unit 8. Note that the position PP of the aircraft 1 is not limited to being calculated based on the positioning data acquired by the positioning unit 8, but may also be calculated based on the number of rotations of the wheels 12. In this case, a rotation sensor 29 is provided on the wheels 12 or axles, and the travel distance is calculated from the number of rotations of the wheels 12 or axles. The position PP of the aircraft 1 is then calculated from the travel distance from a reference position.

[0047] The reference direction setting unit 32 sets a reference direction RD for round trip travel in the internal area IA. Specifically, the reference direction setting unit 32 sets the reference direction RD to a direction parallel to a line connecting the start point PA and the end point PB, which is acquired during teaching travel described below.

[0048] The work travel control unit 33 controls the work travel by controlling the travel device and the work device through manual operation or automatic control. The work travel control unit 33 may be configured as separate units: a work control unit and a travel control unit.

[0049] The ridge setting unit 35 sets the ridge position PCH ahead in the traveling direction of the machine body 1. The ridge position PCH is used in ridge edge control that is performed to prevent the machine body 1 from going out of the field. The ridge position PCH is a position that serves as an indicator for recognizing that the machine body 1 is approaching an area (ridge edge) close to the outer periphery (outer periphery PS) of the field.

[0050] The vehicle speed detection unit 37 acquires the traveling vehicle speed 45 of the vehicle 1 based on the change in the position PP of the vehicle 1 over time.

[0051] The ridge distance calculation unit 38 calculates the ridge distance 47, which is the distance from the machine body 1's position PP to the ridge position PCH, based on the ridge position PCH and the machine body 1's position PP. Instead of calculating the ridge distance 47 based on the ridge position PCH and the machine body 1's position PP, the ridge distance calculation unit 38 may calculate an integrated value representing the distance traveled while working (or traveling straight ahead) in the previous process (work travel on the previous travel route), and recognize that the ridge has been reached when the work travel in the next process reaches that distance. With this method, arrival at the ridge is predicted based on how much further (distance and time) the machine has traveled until it has traveled the distance traveled in the previous process, and a notification is issued a predetermined time in advance. Of course, even in this embodiment, if errors accumulate when relying solely on the integrated value, the positioning data may also be partially used for straight ahead travel. In the above configuration, the distance traveled by the aircraft 1 may be calculated based on the position PP of the aircraft 1 calculated based on the positioning data acquired by the positioning unit 8, or may be calculated based on the number of rotations of the wheels 12 or axles.

[0052] The arrival time calculation unit 39 calculates an arrival time 48, which is the time it will take for the machine 1 to reach the ridge position PCH if the machine 1 continues traveling, based on the traveling vehicle speed 45 and the ridge distance 47.

[0053] The ridge-edge control unit 42 performs predetermined ridge-edge control based on at least one of the position PP of the machine 1, the ridge position PCH, the traveling vehicle speed 45, the ridge distance 47, and the arrival time 48. For example, the ridge-edge control unit 42 controls the execution of the ridge-edge control based on the arrival time 48. Specifically, when the arrival time 48 becomes equal to or shorter than a predetermined time 49, the ridge-edge control unit 42 causes the alarm unit 28 to issue (issue) a ridge-edge alarm as ridge-edge control.

[0054] [Round-trip run] Next, with reference to FIGS. 1 to 5, and using FIG. 6, a round trip travel in the inner area IA will be described as an example of travel in a farm field.

[0055] When traveling back and forth in the internal area IA, first, teaching travel is performed by manual work travel. Teaching travel is travel to generate the reference direction RD. Teaching travel is travel performed manually for work approximately parallel to one of the outer perimeters PS of the field.

[0056] During teaching travel, the operator first manually lowers the planting unit at the start position of the work travel (step #1 in Figure 6). By lowering the planting unit, work can be performed. The position to which the planting unit is lowered is the lowered position PD, which corresponds to the start position of the work travel and is near the end of the internal area IA. The lowered position PD is stored in the memory unit 26. Then, with the planting unit lowered, travel is manually controlled and manual work travel begins (step #2 in Figure 6).

[0057] During manual travel substantially parallel to one of the outer perimeters PS, the driver operates the start position operating device 18 at any position to determine the start point PA of the teaching travel. The driver then continues to manually perform linear work travel (manual travel) and operates the end position operating device 19 at any position to determine the end point PB of the teaching travel. Note that the start point PA may be the lowering position PD or the start position of the work travel. Similarly, the end point PB may be the end position of the work travel where the planting unit is raised.

[0058] Next, the reference orientation setting unit 32 sets the direction parallel to the line connecting the start point PA and the end point PB as the reference orientation RD (step #3 in FIG. 6). The reference orientation setting unit 32 stores the reference orientation RD in the memory unit 26, and may also store the start point PA and the end point PB in the memory unit 26. After the end point PB is registered, when the work travel reaches the end of the work area in the internal area IA, the driver raises the planting unit (step #4 in FIG. 6), ending the manual work travel. The control unit 25 stores the position to which the planting unit has been raised as the raised position PU in the memory unit 26.

[0059] Next, the work travel control unit 33 controls the turning travel, and moves the machine body 1 by non-work travel to the area where the work travel will be performed next after the inner area IA (step #5 in Figure 6). The turning travel is performed in the outer peripheral area OA, and the machine body 1 is moved by the work width of the travel path on which the teaching travel was performed.

[0060] When the machine body 1 turns and faces approximately the same direction as the reference direction RD (for example, when the difference between the direction of travel of the machine body 1 and the reference direction RD becomes equal to or less than a predetermined angle), or when the machine body 1 is moved to the start position of the next work run, the operator lowers the planting unit (step #6 in FIG. 6). Then, the work travel control unit 33 starts straight-ahead keep travel from the position where the planting unit is lowered (step #7 in FIG. 6). Straight-ahead keep travel is travel in which the machine body 1 automatically travels along the reference direction RD (approximately parallel to the reference direction RD). In other words, the work control unit of the work travel control unit 33 controls the seedling planting device 3, and the travel control unit of the work travel control unit 33 automatically controls the travel device so that the machine body 1 travels in a direction along the reference direction RD. Note that straight-ahead keep travel is not limited to a configuration in which the machine body 1 travels completely parallel to the reference direction RD, and a partial deviation of the travel direction from the reference direction RD within a predetermined range may be permitted. During work travel, a reference heading RD is set based on the start point PA and the end point PB, and a travel heading parallel to the reference heading RD is set. The travel heading is set at any of the following times: when the steering wheel is in the neutral position (straight-ahead position) during a turn; when the machine heading is in the straight-ahead direction (a direction in which the difference from the reference heading RD is less than a predetermined angle); when the GS switching device that controls the start / stop of automatic travel is operated; when the wheel rotation speed reaches a predetermined value (a predetermined number of rotations corresponding to the distance of the turn); or when the lifting / lowering of the work equipment (including the lifting link, ground leveling rotor, float, and marker) or the operation is switched on / off. At this time, the travel line (travel heading) is automatically set except when the GS switching device is operated. Alternatively, not only the travel line is set but also automatic travel may be started automatically by satisfying one or any combination of the above-mentioned predetermined conditions. Furthermore, in order to respect the wishes of the worker, the worker may be notified (including by display on a display device, by voice, or both (notification unit 28)) that the above-mentioned predetermined conditions have been met, and if the worker does not issue a stop command for a certain period of time (or a certain driving distance), the driving line may be set and driving may start automatically.

[0061] During work travel using automatic travel with straight-line keeping, the ridge-edge control unit 42 executes ridge-edge control (step #8 in Figure 6). When the machine body 1 reaches the edge of the inner area IA (the boundary area between the inner area IA and the outer peripheral area OA) during work travel using straight-line keeping, the driver manually raises the planting unit (step #9 in Figure 6) and ends the work travel. The position to which the planting unit is raised is designated as the raised position PU, and the control unit 25 stores the raised position PU in the memory unit 26. The raised position PU corresponds to the end position of the work travel.

[0062] Next, the work travel control unit 33 performs work travel throughout the inner area IA and determines whether or not round trip travel in the inner area IA has ended (step #10 in FIG. 6). If the work travel control unit 33 determines that round trip travel in the inner area IA has ended (step #10 Yes in FIG. 6), it ends control related to round trip travel. If the work travel control unit 33 determines that round trip travel in the inner area IA has not ended (round trip travel will continue) (step #10 No in FIG. 6), the work travel control unit 33 controls turning travel and moves the machine body 1 to the area after the inner area IA where the next work travel will be performed by non-work travel (step #5 in FIG. 6), and continues round trip travel.

[0063] [Ridge edge control] Next, the ridge-edge control will be described using Fig. 7 while referring to Figs. 1 to 6. Here, the ridge-edge control during work travel in a round trip in the internal area IA will be described as an example, but the ridge-edge control may be performed during any travel in the field, such as manual travel or non-work travel.

[0064] First, when keep-straight traveling starts during round-trip traveling, the ridge setting unit 35 sets the ridge position PCH ahead in the traveling direction of the machine body 1 (step #81 in FIG. 7). Specifically, the ridge setting unit 35 sets the ridge position PCH according to the operating conditions of the planting unit (seedling planting device 3 work device) in the previous work traveling, and sets the ridge position PCH based on the lowered position PD to which the planting unit was lowered in the immediately previous work traveling (the work traveling performed immediately before, with a turning traveling in between).

[0065] As shown in FIG. 4, the ridge setting unit 35 sets the ridge position PCH to the position PP of the machine body 1 when performing straight-ahead keep traveling, where the distance to the outer periphery PS matches the distance DD between the lowered position PD and the outer periphery PS in the immediately preceding work traveling. For example, the ridge setting unit 35 sets the ridge position PCH to the intersection of a ridge line LCH, which is a line that passes through the lowered position PD and is parallel to the outer periphery PS, and the traveling direction during straight-ahead keep traveling (an extension of the traveling trajectory during straight-ahead keep traveling). The ridge setting unit 35 may set the ridge position PCH based on the raised position PU in the second immediately preceding straight-ahead keep traveling. The ridge position PCH may be set not only immediately after straight-ahead keep traveling is started, but also during straight-ahead keep traveling.

[0066] Furthermore, during straight-ahead keep traveling in round-trip traveling, the vehicle speed detection unit 37 continuously acquires the traveling vehicle speed 45 of the vehicle 1 (step #82 in FIG. 7). Specifically, the vehicle speed detection unit 37 continuously calculates the traveling vehicle speed 45 from the time change of the position PP of the vehicle 1, and stores it in the memory unit 26.

[0067] Furthermore, during straight-ahead keep traveling in round trip traveling, the ridge distance calculation unit 38 continuously calculates the ridge distance 47, which is the distance from the position PP of the machine body 1 to the ridge position PCH, based on the ridge position PCH and the position PP of the machine body 1 (step #83 in FIG. 7). Because it is calculated with respect to the position PP of the machine body 1 while it is traveling, the ridge distance 47 becomes shorter as the machine travels.

[0068] Once the ridge distance 47 is calculated, the arrival time calculation unit 39 calculates the arrival time 48, which is the time it takes for the vehicle 1 located at position PP to reach the ridge position CH, based on the traveling vehicle speed 45 and the ridge distance 47 (step #84 in Figure 7).

[0069] Next, the ridge-edge control unit 42 determines whether the calculated arrival time 48 is equal to or less than a time 49 that is set in advance and stored in the storage unit 26 (step #85 in FIG. 7).

[0070] If the arrival time 48 is equal to or shorter than the time 49 (step #85 Yes in FIG. 7), the ridge-edge control unit 42 controls the alarm unit 28 to issue (issue) a ridge-edge alarm indicating that the vehicle is approaching the ridge (step #86 in FIG. 7). In other words, if the vehicle continues traveling and the time until it reaches the ridge becomes equal to or shorter than the predetermined time 49, it is determined that the vehicle is approaching the ridge (ridge position PCH), and a ridge-edge alarm is issued.

[0071] In this way, by being notified by the ridge alarm that the machine is approaching the ridge (ridge position PCH), the driver (operator) can recognize that there is an increasing possibility that the machine 1 will cross the boundary (go out of the field or collide with the ridge), and this can serve as an opportunity to take appropriate action.

[0072] Furthermore, because ridge-edge control is performed based on the estimated arrival time 48 for reaching the ridge edge (ridge position PCH) rather than the distance to the ridge edge (ridge position PCH), it is expected that the time (arrival time 48) from when the ridge-edge warning is issued (alert) until the vehicle 1 reaches the ridge edge will be constant regardless of the traveling vehicle speed 45. Therefore, by setting the arrival time 48 to a sufficient length, it is possible to ensure sufficient time to take measures to prevent the vehicle 1 from reaching the ridge edge (ridge position PCH) after the ridge-edge warning is issued. As a result, ridge-edge control can be performed with high precision, and the vehicle 1 can be prevented from reaching the ridge edge with high precision.

[0073] Then, even after the ridge-edge warning is issued, the machine continues to keep traveling straight, and it is determined whether the ridge distance 47 is equal to or less than the separation distance 51 that has been set in advance and stored in the memory unit 26 (step #87 in FIG. 7). If the ridge distance 47 is equal to or less than the separation distance 51, the ridge-edge control unit 42 determines that continuing to travel this way will unavoidably result in the machine colliding with the ridge or going off the field, and stops the machine 1 via the work travel control unit 33. Then, after appropriate action has been taken, the control unit 25 ends the ridge-edge processing.

[0074] If the machine body 1 continues traveling after approaching within the separation distance 51 from the ridge edge (ridge position PCH), it may become unavoidable for the machine body 1 to collide with the ridge or run off the field. By stopping the machine body 1 when it approaches within the separation distance 51 from the ridge edge, it is possible to more accurately prevent the machine body 1 from reaching the ridge edge.

[0075] If the arrival time 48 is greater than the time 49 (step #85 No in Figure 7), and if the arrival time 48 is greater than the time 49 (step #85 No in Figure 7), the ridge control unit 42 continues the work travel via the work travel control unit 33 and determines whether the end of the work travel (straight-line keeping travel) has been reached (step #89 in Figure 7).

[0076] If the end of the work travel has not been reached (No in step #89 in FIG. 7), the control unit 25 repeats the process from obtaining the travel vehicle speed 45 (step #82 in FIG. 7) and calculating the ridge distance 47 (step #83 in FIG. 7). Then, when the end of the work travel has been reached (No in step #89 in FIG. 7), the control unit 25 ends the ridge edge process.

[0077] [Another embodiment] (1) When the reception accuracy of the satellite signal in the positioning unit 8 decreases, the position PP of the aircraft 1 cannot be obtained accurately, and the traveling vehicle speed 45 and the position PP (current position) of the aircraft 1 cannot be obtained with high accuracy. This makes it impossible to perform accurate ridge-edge control, and even if a ridge-edge warning is issued, there may not be enough time to respond appropriately, and it may not be possible to prevent the aircraft 1 from reaching the ridge.

[0078] Therefore, in the above embodiment, when the reception accuracy of the satellite signal (the positioning accuracy (positioning status) of position PP) deteriorates below a predetermined accuracy, the ridge setting unit 35 may set the ridge position PCH to a position inside the field by the predetermined retreat distance 52. In other words, the ridge setting unit 35 sets the ridge position PCH to a position inside the field by the retreat distance 52 from the ridge position PCH that would normally be set. As a result, when the reception accuracy of the satellite signal is poor, the ridge position PCH is set to a position in the traveling direction that is the distance DD + retreat distance 52 before the outer perimeter PS.

[0079] With this configuration, if the reception accuracy of the satellite signal is poor, a ridge-edge alarm is issued (issued) at a position PP where the distance from the outer perimeter PS of the field (the arrival time 48 to reach the outer perimeter PS) is longer than normal. Therefore, even if the position PP of the aircraft 1 is erroneously detected, it is possible to prevent the aircraft 1 from colliding with the ridge or going out of the field, and it is possible to accurately prevent the aircraft 1 from reaching the ridge-edge.

[0080] (2) In each of the above other embodiments, the ridge-edge control system is not connected to the seedling planting device 3, and the ridge position PCH may be set based on the outer perimeter PS of the field, etc., rather than being limited to the lifting position of the planting unit. Also, the ridge-edge control system is not connected to the start position operating device 18 and the end position operating device 19, and the reciprocating travel is not limited to keeping straight, but may be performed in any manner, such as traveling along an arbitrarily generated target travel route based on the control of the work travel control unit 33.

[0081] (3) In each of the above other embodiments, the work travel in the round trip travel is not limited to straight travel parallel to the reference direction RD, but a work travel path parallel to the reference direction RD may be generated and the work travel path may be performed along the work travel path. In other words, the work travel path may be generated not only along the reference direction RD but also along the work travel path. The work travel path may be generated by any functional block provided in the control unit 25, such as a travel path generation unit. The work travel path may be generated in advance over the entire internal area IA, or the configuration may be such that after one work travel path has been traveled, the next work travel path is generated sequentially.

[0082] With this configuration, the machine body 1 can be prevented from reaching the edge of the ridge with high accuracy even in various types of automatic driving.

[0083] (4) In each of the above-described other embodiments, the ridge-edge control is not limited to the round-trip travel in the internal area IA, but may be performed during any of the following travel modes in the field: work travel, non-work travel, automatic travel, and manual travel. This allows the machine 1 to be accurately prevented from reaching the ridge-edge during any travel mode in the field.

[0084] (5) In each of the above-described other embodiments, the position acquisition unit 31 that acquires the position PP of the aircraft 1 is not limited to a configuration that calculates the position PP of the aircraft 1 from the positioning data output by the positioning unit 8, and may acquire the position PP of the aircraft 1 in any configuration. This allows the aircraft 1 to be accurately prevented from reaching the edge of a ridge with a configuration appropriate for the situation.

[0085] (6) In each of the above-described embodiments, the vehicle speed detection unit 37 may calculate the traveling vehicle speed 45 based on the positioning data (position PP of the vehicle 1) acquired by the positioning unit 8 (position acquisition unit 31). However, the traveling vehicle speed 45 may be acquired in any configuration. For example, the vehicle speed detection unit 37 may calculate the traveling vehicle speed 45 from the rotation speed of the axle of the traveling device. In this case, a rotation sensor 29 may be provided on the axle of the traveling device, and the vehicle speed detection unit 37 may calculate the traveling vehicle speed 45 based on the rotation speed of the axle detected by the rotation sensor 29. This allows for an appropriate configuration depending on the situation to accurately prevent the vehicle 1 from reaching the edge of the ridge. The vehicle speed detection unit 37 may have an image sensor such as a camera and detect the vehicle speed by calculating the distance the vehicle 1 has moved before and after a predetermined time based on captured images. The vehicle speed detection unit 37 may also have a reflective sensor such as sonar or LIDAR, continuously measure the distance to the ridge using the reflective sensor, and detect the vehicle speed based on the distance measured over a predetermined time.

[0086] (7) In each of the above embodiments, the control unit 25 is not limited to being composed of the above-described functional blocks, but may be composed of any functional blocks. For example, each functional block of the control unit 25 may be further subdivided, or conversely, some or all of the functional blocks may be combined. The control unit 25 may also include other functional blocks. At least one of the control unit 25 and the storage unit 26 may be provided in an information terminal, an external management server, or the like. The functions of the control unit 25 are not limited to the above-described functional blocks, but may be realized by a method executed by any functional block. Some or all of the functions of the control unit 25 may be configured by software. A program related to the software is stored in any storage device, such as the storage unit 26, and executed by a processor, such as a CPU, provided in the control unit 25 or a separately provided processor. [Industrial Applicability]

[0087] The present invention can be applied to rice transplanters and other field work machines that use work implements to work in fields. [Explanation of symbols]

[0088] 1 aircraft 8 Positioning Unit 8A Satellite Antenna 28 Information Department 31 Position acquisition part 32 Reference direction setting section 33 Work travel control unit (travel control unit) 35 Ridge setting section 37 Vehicle speed detection unit 38 Ridge distance calculation section 39 Arrival time calculation section 42 Ridge Edge Control Section 45 Traveling speed 47 Ridge Distance 48 Arrival time 49 hours 51 Separation distance 52 Evacuation distance PCH ridge location PP position (aircraft position) RD reference bearing

Claims

1. A field work machine having a work implement and a traveling device on a machine body, and traveling to work in a field, comprising: a ridge setting unit that sets a ridge position ahead in the traveling direction of the aircraft; a position acquisition unit that acquires the position of the aircraft; a vehicle speed detection unit for acquiring a traveling vehicle speed; a ridge distance calculation unit that calculates a ridge distance, which is a distance from the position of the machine body to the ridge position, based on the ridge position and the position of the machine body; an arrival time calculation unit that calculates an arrival time, which is a time required for the vehicle to reach the ridge position, based on the traveling vehicle speed and the ridge distance; a notification unit that issues a predetermined notification; A ridge control system comprising a ridge control unit that issues a ridge alarm to the alarm unit when the arrival time becomes equal to or shorter than a predetermined time.

2. The field work machine travels back and forth in the field by performing work travel, a reference orientation setting unit that sets a reference orientation; a travel control unit that controls the travel device so that the vehicle travels in a direction along the reference orientation based on the position of the vehicle; The ridge control system of claim 1, wherein the ridge control unit causes the alarm unit to issue the ridge warning when the arrival time becomes less than or equal to the time while the aircraft is traveling in a direction along the reference direction.

3. The ridge edge control system according to claim 2, wherein the ridge setting unit sets the ridge position in accordance with at least one of the operating conditions of the work implement and the operating conditions of the traveling device in a work travel that has already been carried out.

4. The ridge-edge control system according to claim 1 , wherein the ridge-edge control unit stops the machine when the ridge distance becomes equal to or smaller than a predetermined distance.

5. The position acquisition unit a satellite antenna for receiving satellite signals from a satellite; a positioning unit that outputs positioning data based on the satellite signals; The ridge edge control system according to claim 1 , wherein the position of the aircraft is calculated based on the positioning data.

6. 6. The ridge edge control system according to claim 5, wherein the ridge setting unit sets the ridge position to a position inside the field by a predetermined retreat distance when the reception accuracy of the satellite signal deteriorates below a predetermined accuracy.

7. The ridge-edge control system according to claim 1 , wherein the vehicle speed detection unit calculates the traveling vehicle speed based on the position of the vehicle acquired by the position acquisition unit.

8. The running device has an axle, Further provided is a rotation sensor that measures the rotation speed of the axle, The ridge-edge control system according to claim 1 , wherein the vehicle speed detection unit calculates the traveling vehicle speed based on the number of rotations of the axle measured by the rotation sensor.

9. The ridge control system according to claim 1; The working device; A field work machine comprising the traveling device.

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