Field work apparatus and field work method

Abstract

To perform work such as efficient weeding, sterilization or killing of insects in the whole field including a headland or the like other than a passage of a furrow.SOLUTION: A traveling unit configured to travel across an agricultural crop in a field, a generation unit configured to generate a jetting body to be jetted to the field, a jetting unit configured to jet the jetting body to a periphery of the agricultural crop, and a state adjustment unit configured to adjust a state of the jetting unit, wherein the state adjustment unit adjusts a state of at least a part of the jetting unit to be separated from the agricultural crop when the traveling unit travels across the agricultural crop.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a field work apparatus for weeding, sterilizing, or killing insects in fields such as tea fields, and a field work method using the field work apparatus. [Background technology]

[0002] In agricultural and horticultural fields (tea and mulberry fields, vegetable gardens, etc., collectively referred to as "fields"), work is carried out to remove weeds that hinder crop growth. In many cases, due to the amount of work involved, the method of killing weeds has been to spray herbicides. In recent years, in response to pesticide regulations, a method of killing weeds by spraying steam instead of using herbicides has also been adopted.

[0003] When a steam spraying device for spraying such steam is used for weeding in a field, etc., the narrow width of the passage between the rows of soil means that the main body of the steam generating device may come into contact with the tea leaves and damage them. Furthermore, the high-temperature steam emitted from the steam generating device may come into contact with the tea, which is a commercial product, and the heat of the steam may cause the tea leaves to wither. To address these problems, for example, Patent Document 1 discloses a field weeding device that uses steam to weed, sterilize, or kill insects while avoiding thermal damage to the tea leaves caused by the heat of the steam. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-077436 Summary of the Invention [Problem to be solved by the invention]

[0005] However, while the above-mentioned field weeding device can efficiently weed in narrow areas such as paths between rows, when applied to areas other than paths between rows such as headlands, the processing volume of steam used for weeding is small, leaving room for improvement in terms of efficient operation.

[0006] The present disclosure has been made in consideration of such problems, and its purpose is to provide a field work device and a field work method that are capable of efficiently performing work such as weeding, sterilization, or insect control in the entire field, including areas other than the passages between the furrows, such as headlands. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, there is provided "a field work device having a traveling unit that travels across crops in a field, a generation unit that generates a spray element to be sprayed onto the field, an injection unit that sprays the spray element around the crops, and a condition adjustment unit that adjusts the condition of the injection unit, wherein the condition adjustment unit adjusts the condition of at least a portion of the injection unit when traveling across the crops, to keep it away from the crops."

[0008] According to one aspect of the present disclosure, there is provided a "field work method comprising: a first traveling step of traveling across crops in a field; a second traveling step of traveling around the crops in the field; a generation step of generating a spray body to be sprayed onto the field; an injection step of spraying the spray body from an injection unit around the crops during the first traveling step and the second traveling step; and a condition adjustment step of adjusting the condition of the injection unit, wherein the condition adjustment step moves at least a portion of the injection unit away from the crops before the first traveling step." [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a field work device and a field work method that are capable of efficiently performing work such as weeding, sterilization, or insect control in the entire field, including areas other than the passages between the rows of land, such as headlands.

[0010] It should be noted that the above effects are merely examples for the sake of convenience of explanation, and the effects of the present disclosure are not limited to these. In addition to the above effects, the present disclosure can achieve any of the effects described herein. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a plan view of a farm field according to a first embodiment. [Figure 2] 1 is a perspective view of a field work apparatus according to a first embodiment. FIG. [Figure 3] 1 is a perspective view of a field work apparatus according to a first embodiment. FIG. [Figure 4] FIG. 2 is a rear view of the field work apparatus according to the first embodiment. [Figure 5] 1 is a perspective view of a field work apparatus according to a first embodiment. FIG. [Figure 6] FIG. 1 is a piping diagram of a field work apparatus according to a first embodiment. [Figure 7] 1 is a block diagram of a field work apparatus according to a first embodiment. [Figure 8] FIG. 3 is a perspective view showing changes in state of a first injection section of the field work implement according to the first embodiment. [Figure 9] FIG. 4 is a perspective view showing changes in state of a second injection section of the field work implement according to the first embodiment. [Figure 10] FIG. 2 is a flow chart of work performed by the field work apparatus according to the first embodiment. [Figure 11] 11(a) to 11(d) are plan views showing the positional relationship between the first and second ejection sections in an ejection state according to a modification of the first embodiment. [Figure 12] 12(a) to 12(c) are plan views showing the positional relationship between the first and second ejection sections in an ejection state according to a modified example of the first embodiment. [Figure 13]FIG. 10 is a block diagram of a field work apparatus according to a second embodiment. [Figure 14] FIG. 10 is a flow chart showing a work flow using the field work apparatus according to the second embodiment. [Figure 15] FIG. 10 is a schematic diagram of a farm field work system according to a third embodiment. [Figure 16] FIG. 10 is a block diagram of a field work apparatus according to a third embodiment. [Figure 17] FIG. 10 is a flow chart showing a work flow using the field work apparatus according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] The field work apparatus and field work method of the present disclosure will be described in detail below with reference to the drawings. The present disclosure is not limited to the content described below, and can be modified as desired without departing from the spirit of the present disclosure. The drawings used in each embodiment are schematic representations of the field work apparatus according to the present disclosure, and may include partial emphasis, enlargement, reduction, or omission to facilitate understanding, and may not accurately represent the scale or shape of each component. Furthermore, some numerical values ​​used in each embodiment and its modified examples are merely examples, and can be modified in various ways as necessary. The same reference symbols are used to designate common components in the drawings.

[0013] (First embodiment) First, the shape of the field where the field work device according to this embodiment works, and the work and travel of the field work device in this field will be described with reference to Fig. 1. Fig. 1 is a plan view of the field according to the first embodiment. In particular, Fig. 1 shows the travel route in the field of the field work device according to this embodiment.

[0014] As shown in FIG. 1 , tea is grown as an agricultural crop in a field G, with many parallel tea ridges T. Between the tea ridges T, there are furrow areas F, which are areas used for tea ridge work management and where no tea is present. At both ends of the longitudinal direction of the tea ridges T, there are headland areas H, which are areas where the field work apparatus 1 performs turning over. Furthermore, around the furrow areas F and headland H, there are farm roads R that allow the field work apparatus 1 to enter the furrow areas F or headland H. That is, in this embodiment, a tea plantation is assumed as the field G, and the field G is made up of the tea ridges T, the furrow areas F, the headland H, and the farm road R.

[0015] As shown in FIG. 1 , the field work apparatus 1 according to this embodiment travels on furrow land F, headland H, and farm road R that make up a field G. For example, the field work apparatus 1 starts from a storage location (not shown) for the field work apparatus 1, travels on the farm road R, and enters the headland H (arrow A). The field work apparatus 1 also enters the furrow land F via the headland H, straddles the brown ridge T, and travels in the furrow land F along the brown ridge T (arrow B). Furthermore, the field work apparatus 1 turns around at the headland H to enter the adjacent furrow land F (arrow C), and travels in the furrow land F, straddling the next adjacent brown ridge T.

[0016] When traveling through the furrow land F, the field work apparatus 1 sprays a spraying body into the soil to perform weeding work to remove weeds that have proliferated in the soil and suppress weed regrowth. Here, the spraying body may be steam, or may be one containing steam and hot water, etc. (also referred to as a moist heat body). In this embodiment, the description will be made assuming simple steam. Furthermore, the field work apparatus 1 also performs insecticidal and sterilizing work on insects or insect eggs that live on the soil surface or in the soil of the furrow land F by spraying the steam. These weeding, insecticidal, and sterilizing work will hereinafter be collectively referred to simply as "work." Furthermore, the field work apparatus 1 performs the work while traveling through all of the furrow land F in the field G by repeatedly traveling through the furrow land F and headland H. The specific method of the work will be described later.

[0017] The field work apparatus 1 can also travel repeatedly on the headland H or farm road R (arrows D and E) to perform weeding work to remove weeds that have grown in these areas and suppress weed regrowth. Similarly, the field work apparatus 1 can also perform insecticidal and fungicidal work on the headland H or farm road R. That is, the field work apparatus 1 can spray steam while traveling on the headland H or farm road R, and thereby perform work on the headland H or farm road R separately from work in the furrow land F. The specific method of this work will be described later.

[0018] In this way, by performing the work in the furrows F, headland H, and farm roads R, the field work apparatus 1 is able to appropriately carry out weeding, insecticide, and disinfection in the necessary areas in the field G.

[0019] The field G is not limited to a tea plantation where tea is grown, but may also be a paddy field, field, or vegetable garden where agricultural products are grown. For example, it may be a mulberry field where mulberry trees are grown as agricultural products, or a place where general vegetables are grown. Furthermore, the field G is not limited to one having ridges and furrow land F, but may also be a paddy field, field, or vegetable garden where no ridges exist.

[0020] Next, the specific structure of the field work apparatus 1 according to this embodiment will be described with reference to Figures 2 to 5. Here, Figure 2 is a perspective view of the field work apparatus according to the first embodiment, showing a working state (spraying state) on a headland H or a farm road R. Figure 3 is a perspective view of the field work apparatus according to the first embodiment, showing a working state (spraying state) on furrow land F. Figure 4 is a rear view of the field work apparatus according to the first embodiment, showing a working state (spraying state) on a headland H or a farm road R. Figure 5 is a perspective view of the field work apparatus according to the first embodiment, showing a non-working state (storage state).

[0021] First, as can be seen from FIGS. 2 to 5 , the field work apparatus 1 basically comprises a traveling unit 2 for moving within the field G, a generation unit 3 for generating steam for weeding, killing insects, and disinfecting the field G, a spray unit 4 for spraying the steam toward each part of the ground in the field G, and a condition adjustment unit 5 for adjusting the state of the spray unit 4. Therefore, the field work apparatus 1 operates the traveling unit 2 to move within the field G, while spraying the steam generated by the generation unit 3 from the spray unit 4 to perform work in the field G. Furthermore, when the spray unit 4 does not spray steam, the field work apparatus 1 adjusts the position and orientation (i.e., the state) of the spray unit 4 by the condition adjustment unit 5 so that part or all of the spray unit 4 is in a stored state, which is a non-working state, and when the spray unit 4 sprays steam, the field work apparatus 1 adjusts the position and orientation (i.e., the state) of the spray unit 4 by the condition adjustment unit 5 so that part or all of the spray unit 4 is in a spraying state, which is a working state.

[0022] Next, as can be seen from Figures 2 to 5, the traveling unit 2 is similar to the traveling mechanism of a general riding tea field management device, and is configured to be able to travel across tea ridges T. Specifically, the traveling unit 2 comprises an upper frame 21 configured like a deck, and two leg frames 22 arranged side by side and vertically downward from the upper frame 21. In particular, as can be seen from Figure 4, the upper frame 21 and the leg frames 22 form a rear-view portal-type frame configuration for the traveling unit 2.

[0023] 2 to 5, the traveling unit 2 has crawlers 23, which serve as a drive unit for traveling through the field G, provided below each of the leg frames 22. Furthermore, the traveling unit 2 has a prime mover 24, which serves as a drive source, a driver's seat 25, and an operating handle 26 arranged on the upper frame 21. Although not shown in FIGS. 2 to 5, an accelerator, brakes, various levers, and various buttons are arranged on the upper frame 21. Note that, like a general riding tea plantation management device, other components and parts may be arranged on the upper frame 21, but descriptions of those components and parts that are less relevant to the features of the present disclosure will be omitted.

[0024] Next, as can be seen from FIGS. 2 to 5, the generation unit 3 has a boiler 31 mounted on the frame of the traveling unit 2. A typical small boiler that uses diesel fuel may be used as the boiler 31. Specifically, the boiler 31 includes a main tank 32, a burner 33, and an exhaust pipe 34 mounted on the upper frame 21, and a water supply tank 35 mounted on the leg frame 22. The main tank 32 of the boiler 31 also includes an upper tank, a lower tank, a boiler fuel tank, a heat-retaining water supply tank, a gas-liquid separation tank, and a pump (none of which are shown).

[0025] 2 to 5, a plurality of outlets 36 are provided on the upper part of the main tank 32 of the generation unit 3 for discharging the generated steam to the injection unit 4. One end of a supply pipe (not shown) is connected to the outlet 36, and the other end of the supply pipe is connected to an inlet provided in the injection unit 4. The configuration of the supply pipe will be described later with reference to FIG.

[0026] Furthermore, with such a configuration of the boiler 31, water from the water supply tank 35 is supplied by a pump to the lower tank of the main tank 32, and the filled water is evaporated by the heat of the burner 33 in the multiple steam pipes in the main tank 32. The steam then fills the upper tank of the main tank 32, is stored in the gas-liquid separation tank, and is separated into gas (steam) and liquid (water) in the gas-liquid separation tank. In addition, the separated steam is supplied to the injection unit 4 via a supply pipe. Note that as the temperature of the steam drops, hot water may be included in the steam supplied to the injection unit 4.

[0027] 2 to 5, the spraying unit 4 is composed of a first spraying section 41 disposed behind each of the two leg frames 22, and a second spraying section 42 disposed between the two first spraying sections 41. Steam is sprayed onto the field G from the first spraying section 41 and the second spraying section 42 to perform the predetermined tasks of weeding, sterilization, and insecticide. That is, the area onto which steam is sprayed by the first spraying section 41 is the first spraying area, and the area onto which steam is sprayed by the second spraying section 42 is the second spraying area. In particular, in this embodiment, the first spraying section 41 sprays steam onto the furrows F of the field G when traveling across crops, and functions as a working section for furrows (furrow weeding section). Furthermore, when traveling on the headland H or farm road R around the crops, the first spraying unit 41 can also spray steam onto the headland H or farm road R of the field G, and also functions as a working unit for areas other than the furrows (headland weeding unit). On the other hand, the second spraying unit 42 sprays steam onto the headland H or farm road R of the field G, and also functions as a working unit for areas other than the furrows (headland weeding unit).

[0028] As can be seen from FIGS. 3 and 5, the first injection section 41 basically comprises an injection member 43 that injects steam and a shield 44 that covers the injection member 43. In particular, as shown in FIG. 5, the injection member 43 comprises a lid portion 43a that is rectangular in plan view, a square-frame-shaped frame portion 43b disposed on the surface (bottom surface) of the lid portion 43a, and crosspieces 43c disposed inside the frame portion 43b, and the bottom surface that faces the field G is open. Furthermore, as shown in FIGS. 2 and 3, a steam inlet 43d is provided on the surface (top surface) of the lid portion 43a where the frame portion 43b and crosspieces 43c are not disposed. Furthermore, a plurality of injection holes 43e for injecting steam are provided in the frame portion 43b and crosspieces 43c. In addition, the lid portion 43a, the frame portion 43b, and the crosspiece portion 43c are formed with internal passages (not shown) through which steam introduced from the inlet 43d passes, and the internal passages are connected to the inlet 43d and the injection holes 43e, so that the steam introduced from the inlet 43d can be injected from the injection holes 43e. In other words, the steam introduced from the inlet 43d of the lid portion 43a is supplied to the crosspiece portion 43c, which functions as a steam receiving chamber, and is injected from the injection holes 43e of the crosspiece portion 43c, and also diffuses into the frame portion 43b, where it is injected from the injection holes 43e of the frame portion 43b.

[0029] Each component of spray member 43 may be made of a material with excellent heat insulation properties to enhance the effects of weeding, sterilization, and insecticide by steam. Also, spray member 43 may be provided with a steam heat-retaining cover made of a material with excellent heat insulation properties on the entire or part of the underside of lid portion 43a to enhance the effects of weeding, sterilization, and insecticide by steam.

[0030] As can be seen from Figures 3 and 5, the shield 44 is composed of a generally U-shaped wall shield 44a that surrounds the spray member 43 on three sides (front and side in the traveling direction) and a flat lid shield 44b that extends toward one side of the spray member 43 (rear in the traveling direction). This configuration of the shield 44 allows the sprayed steam to be diffused over a certain area and applied to the field G. In other words, when at least a portion of the shield 44 comes into contact with the ground of the field G, the lid portion 43a and the shield 44 form a space between the shield 44 and the ground that is filled with steam (a so-called moist and hot space where steam and heat act). The steam filling this space allows for efficient weeding, germ removal, and sterilization. In particular, the shield 44 is configured to correspond to the shape and dimensions of the furrowed land F, enabling work in the furrowed land F to be performed efficiently and accurately. Since the wall shield 44a and the lid shield 44b constituting the shield 44 come into contact with the field G, it is preferable that the shield 44 be formed using a material with excellent flexibility.

[0031] As can be seen from FIGS. 2 and 3, the second injection section 42 basically comprises an injection member 45 that injects steam and a shield 46 that covers the injection member 45. In particular, as shown in FIG. 3, the injection member 45 comprises a lid portion 45a that is rectangular in plan view, a square-frame-shaped frame portion 45b disposed on the surface (bottom surface) of the lid portion 45a, and crosspieces 45c disposed inside the frame portion 45b, and the bottom surface that faces the field G is open. Furthermore, as shown in FIG. 2, a steam inlet 45d is provided on the surface (top surface) of the lid portion 45a where the frame portion 45b and crosspieces 45c are not disposed. Furthermore, a plurality of injection holes 45e for injecting steam are provided in the frame portion 45b and crosspieces 45c. In addition, the lid portion 45a, the frame portion 45b, and the crosspiece portion 45c have an internal passage (not shown) formed therein through which steam introduced from the inlet 45d passes, and the internal passage communicates with the inlet 45d and the injection holes 45e, so that the steam introduced from the inlet 45d can be injected from the injection holes 45e. In other words, the steam introduced from the inlet 45d of the lid portion 45a is supplied to the crosspiece portion 45c, which functions as a steam receiving chamber, and is injected from the injection holes 45e of the crosspiece portion 45c, and also diffuses into the frame portion 45b, where it is injected from the injection holes 45e of the frame portion 45b.

[0032] Each component of spray member 45 may be made of a material with excellent heat insulation properties to enhance the effects of weeding, sterilization, and insecticide by steam, similar to spray member 43. Also, spray member 45 may be provided with a steam heat-retaining cover made of a material with excellent heat insulation properties on the entire or part of the underside of lid portion 45a to enhance the effects of weeding, sterilization, and insecticide by steam.

[0033] As shown in FIG. 3, the shield 46 is composed of a flat wall shield 46a disposed on one side of the spraying member 45 (in front of the spraying member 45 in the traveling direction) and a flat lid shield 46b extending toward the other side of the spraying member 45 (in rear of the spraying member 45 in the traveling direction). This configuration of the shield 46 allows the sprayed steam to be diffused over a certain area and applied to the field G. In other words, when at least a portion of the shield 46 comes into contact with the ground of the field G, the lid portion 45a and the shield 46 form a space between the ground and the shield 46 that is filled with steam (also called a moist heat space). The steam filling this space allows for efficient weeding, germ removal, and sterilization. In particular, the shield 46 is arranged so that a portion of the shield 46 overlaps with the two shields 44. Because steam is diffused in the area between the shields 44, it is possible to spray steam simultaneously onto the two furrow areas F and the surrounding brown ridges T. That is, the first spraying part 41 and the second spraying part 42 can form a moist heat space over a wide area, enabling work to be carried out efficiently and accurately over a wide area. Like the wall shield 44a and the lid shield 44b, the wall shield 46a and the lid shield 46b that make up the shield 46 also come into contact with the field G, so it is preferable to form the shield 46 using a material with excellent flexibility.

[0034] The condition adjustment unit 5 has a function of switching the states of the first sprayer 41 and the second sprayer 42 so that the first sprayer 41 and the second sprayer 42 are in a spraying state, which is an operating state, or in a stored state, which is a non-operating state. Specifically, as can be seen from FIGS. 2 to 4 , the condition adjustment unit 5 includes a first adjustment unit 51 that switches the state of the first sprayer 41 and a second adjustment unit 52 that switches the state of the second sprayer 42. This allows the condition adjustment unit 5 to independently store the first sprayer 41 and the second sprayer 42 so that they do not come into contact with (i.e., are separated from) the crops while traveling. In particular, when traveling across crops, the condition adjustment unit 5 positions the second sprayer 42, which is at least a part of the sprayer unit 4, above the crops, preventing contact between the sprayer unit 4 and the crops.

[0035] 2 to 4, the first adjustment unit 51 includes a bracket 51a disposed on the upper surface of the lid portion 43a of the first injection unit 41, a shift cylinder 51b having one end connected to the bracket 51a by a pin, and a subframe 51c disposed adjacent to the shift cylinder 51b. The other end of the shift cylinder 51b is connected to the subframe 51c by a pin. One end of the subframe 51c is connected to the bracket 51a at a front end in the traveling direction via a pivot shaft 51d. The other end of the subframe 51c is connected to the leg frame 22. That is, the bracket 51a is rotatably supported by the pivot shaft 51d relative to the subframe 51c.

[0036] Due to the structure of the first adjustment unit 51, when the shift cylinder 51b is driven, the first sprayer 41 rotates around the rotation shaft 51d. More specifically, this rotation causes the first sprayer 41 to transition from the spraying state shown in Figures 2 and 3 to the stored state shown in Figure 5, and also transitions from the stored state to the spraying state. That is, when spraying by the first sprayer 41 is not necessary or when the first sprayer 41 may come into contact with the crops, the shift cylinder 51b is driven to place the first sprayer 41 in the stored state, and when spraying by the first sprayer 41 is necessary, the shift cylinder 51b is driven to place the first sprayer 41 in the spraying state.

[0037] The subframe 51c that supports the bracket 51a and the shift cylinder 51b may be fixedly connected to the leg frame 22, or may be connected so that its position can be freely changed in the vertical direction.

[0038] 2 and 4, the second adjustment unit 52 includes a holding unit 52a disposed on the upper surface of the lid unit 45a of the second injection unit 42, and an elevating unit 52b having one end connected to the holding unit 52a and the other end connected to the upper frame 21. The holding unit 52a includes a holding frame 52c connected to the elevating unit 52b and an electric hinge 52d that rotatably holds the lid unit 45a on the holding frame 52c. The elevating unit 52b is disposed on a side surface of the upper frame 21 and includes a main body 52e that houses a pinion (not shown) and a motor (not shown) that rotates the pinion, and an elevating rail 52f on which a rack that meshes with the pinion is formed. The configuration of the second adjustment unit 52 is not limited to the above. For example, a chain drive mechanism using a hydraulic cylinder may be used as the elevating unit 52b.

[0039] Due to the structure of the lifting / lowering section 52b of the second adjustment section 52, when the lifting / lowering rail 52f is raised, the position of the second spraying section 42 is displaced from a lower position in contact with the field G to an upper position (for example, above the tea crown of the tea ridge T) where it does not come into contact with agricultural products such as the tea ridges T. Also, when the lifting / lowering rail 52f is lowered, the position of the second spraying section 42 is displaced from an upper position where it does not come into contact with agricultural products such as the tea ridges T to a lower position in contact with the field G. In other words, the height of the second spraying section 42 in the vertical direction can be freely changed by the raising and lowering operation of the lifting / lowering rail 52f.

[0040] Furthermore, the structure of the holding portion 52a of the second adjustment unit 52 allows the orientation of the second sprayer 42 to be rotated 90 degrees. Specifically, the lid shield 46b of the shield 46 of the second sprayer 42 can be changed from facing the field G to facing backward in the traveling direction, and similarly, from facing backward in the traveling direction to facing the field G. In other words, when spraying by the second sprayer 42 is not required, the lid shield 46b of the shield 46 of the second sprayer 42 can be set to facing backward in the traveling direction, and when spraying by the second sprayer 42 is required, the lid shield 46b of the shield 46 of the second sprayer 42 can be set to facing backward in the traveling direction.

[0041] Then, the second adjustment unit 52 drives the holding unit 52a and the lifting unit 52b to lower the lifting rail 52f and bring the lid shield 46b facing the field G, thereby putting the second spraying unit 42 into the spraying state. In addition, the second adjustment unit 52 drives the holding unit 52a and the lifting unit 52b to raise the lifting rail 52f and bring the lid shield 46b facing rearward in the traveling direction, thereby putting the second spraying unit 42 into the stored state.

[0042] The second adjustment unit 52 is not limited to being disposed so as to connect the upper frame 21 and the second spray unit 42, and may be disposed so as to connect, for example, the leg frame 22 and the second spray unit 42. Furthermore, in order to maintain the second spray unit 42 in its raised or lowered state after it has been lifted or stored, a manual fixing pin or other method may be used, or a method using hydraulic pressure adjustment such as a shift cylinder may be used. In other words, any structure or method may be used as long as it can move the second spray unit 42 upward and prevent it from coming into contact with the crops, and the orientation of the second spray unit 42 does not necessarily need to be rotated.

[0043] Next, the piping related to the generation and injection of steam in the field work apparatus 1 will be described with reference to Fig. 6. Fig. 6 is a piping diagram of the field work apparatus 1 according to this embodiment. In particular, Fig. 6 shows the piping related to the supply of fuel and water to the boiler 31, the generation of steam using the supplied water, and the supply of the generated steam to each injection unit.

[0044] As shown in Fig. 6, a water supply tank 35 is connected to a main tank 32 of a boiler 31 via a water supply pipe L1. Water stored in the water supply tank is supplied to the main tank 32 by driving a pump (not shown). A fuel tank 37 is connected to a burner 33 disposed in the main tank 32 of the boiler 31 via a fuel pipe L2. Fuel stored in the fuel tank 37 is supplied to the burner 33 by driving a pump (not shown). This allows the burner 33 to heat the water, and steam is generated inside the main tank.

[0045] 6, one end of a first supply pipe L3 is connected to the outlet 36 of the main tank 32. The other end of the first supply pipe L3 is connected to the inlet 43d of the first jetting unit 41 via the first branching section 60. As a result, the steam generated in the main tank 32 is supplied to the first jetting unit 41 via the first branching section 60.

[0046] 6, each of the first branches 60 is connected to a second branch 61 via a branch pipe L4, and a vent pipe L5 is connected to the second branch 61. By providing such a vent pipe L5, the amount of steam supplied from the main tank 32 to the first jetting part 41 can be adjusted.

[0047] In addition, the second branch 61 is connected to the spray nozzle 48 via the second supply pipe L6. As a result, the steam generated in the main tank 32 is also supplied to the spray nozzle 48 via the first branch 60 and the second branch 61. The operator can perform work related to weeding, sterilization, and insecticide by holding the spray nozzle 48 and spraying steam from its nozzle (not shown) toward the furrows F, headland H, or farm road R. By using the spray nozzle 48, steam can be sprayed even in areas that are difficult to work with the first sprayer 41 and the second sprayer 42 (for example, around the base of crops or on sloping ground), allowing for more accurate and efficient work.

[0048] As shown in FIG. 6 , one end of a third supply pipe L7 is connected to the outlet 36 of the main tank 32. The other end of the third supply pipe L7 is connected to the inlet 45d of the second jetting unit 42. A valve 62 is disposed midway along the third supply pipe L7. That is, the steam circuit associated with the second jetting unit 42 is provided independently of the steam circuit associated with the first jetting unit 41. As a result, the steam generated in the main tank 32 is supplied to the second jetting unit 42 via the second supply pipe L6 without being affected by the supply of steam to the first jetting unit 41. At this time, the supply of steam to the second jetting unit 42 can be started or stopped by opening or closing the valve 62. Note that the valve 62 may have an aperture adjustment function, whereby the aperture of the valve 62 is adjusted to adjust the amount of steam supplied to the second jetting unit 42.

[0049] Next, the electrical configuration, functional configuration, and control configuration of the field work apparatus 1 will be described with reference to Figures 7 to 9. Here, Figure 7 is a block diagram of the field work apparatus 1. Figure 8 is a perspective view showing state changes of the first spraying unit 41 of the field work apparatus 1 according to this embodiment. Figure 9 is a perspective view showing state changes of the second spraying unit 42 of the field work apparatus 1 according to this embodiment.

[0050] First, as shown in Fig. 7, the electrical configuration of the field work apparatus 1 includes a control unit 71, a memory unit 72, an input unit 73, and an output unit 74. In the field work apparatus 1, the control unit 71, the memory unit 72, the input unit 73, and the output unit 74 are electrically connected to one another via control lines and data lines. This enables the field work apparatus 1 to send and receive signals, data, and information between various electrical components, and also enables various controls to be performed by the control unit 71.

[0051] The control unit 71 is composed of a CPU (Central Processing Unit) and controls other connected devices or parts based on various programs stored in the memory unit 72. Specifically, the control unit 71 reads and executes programs for causing the field work device 1 to travel and perform work or programs for running the OS from the memory unit 72. The control unit 71 may be composed of a single CPU, or may be composed of a combination of multiple CPUs.

[0052] The storage unit 72 is composed of ROM, RAM, non-volatile memory, HDD, etc. For example, the ROM stores instructions and commands for causing the field work apparatus 1 to travel and perform work as a program. The RAM is used to write and read data while the program stored in the ROM is being processed by the control unit 71. The non-volatile memory is a storage device in which data is written and read as the program is executed, and data written therein is saved even after execution of the program has finished.

[0053] The input unit 73 is a device operated by the operator of the field work apparatus 1 to start and stop the travel and work of the field work apparatus 1. Specifically, the input unit 73 includes the operating handle 26, the accelerator 27, and the parking brake 28. The input unit 73 also includes a first spray button 29a and a second spray button 29b for instructing the start and stop of steam spray. Note that the input unit 73 may include other devices in addition to these, but as these devices are less relevant to the contents of this disclosure, their description will be omitted.

[0054] The output unit 74 is a device for starting and stopping the travel and work of the field work apparatus 1, and is a device that is driven by a supply of electricity or fuel. Specifically, the output unit 74 includes the devices that make up the travel unit 2, the generation unit 3, the injection unit 4, and the condition adjustment unit 5, and particularly includes the driving parts. In other words, the output unit 74 includes devices such as the crawler 23, the prime mover 24, the burner 33, the shift cylinder 51b, the electric hinge 52d, the pump, and the motor. Note that the output unit 74 may include devices other than these, but these devices are less relevant to the contents of this disclosure and therefore will not be described here.

[0055] Specifically, the control unit 71 controls the traveling unit 2 in response to input signals received from the operating handle 26, the accelerator 27, or the parking brake 28. More specifically, the control unit 71 controls the orientation and drive direction of the crawlers 23 of the traveling unit 2 in response to input signals received from the operating handle 26, thereby controlling the traveling direction of the field work apparatus 1. The control unit 71 also controls the rotation speed of the prime mover 24 in response to input signals received from the accelerator 27, thereby controlling the traveling speed of the field work apparatus 1. Furthermore, the control unit 71 drives the brake mechanism provided on the crawlers 23 of the traveling unit 2 in response to input signals received from the parking brake 28, thereby controlling the traveling speed of the field work apparatus 1.

[0056] When the first jet button 29a is pressed by the operator and enters the ON state, the control unit 71 receives an ON signal from the first jet button 29a. In response to the ON signal, the control unit 71 drives the generation unit 3 and starts generating steam. The control unit 71 also controls the shift cylinder 51b of the first adjustment unit 51 to transition the state of the first jet unit 41 from the stored state to the jetting state, as shown in FIG. 9. This makes it possible for the field work apparatus 1 to perform work by jetting steam into the furrow ground F while traveling across the furrow ground F. Therefore, the first jet button 29a functions as a drive button for the first jet unit 41.

[0057] In addition, when the operator further presses the second spray button 29b while the first spray button 29a is in the ON state, the control unit 71 receives an ON signal from the second spray button 29b. The control unit 71 lowers the lifting rail 52f of the second adjustment unit 52 and controls the rotation of the electric hinge 52d to transition the state of the second spray unit 42 from the stored state to the spraying state, as shown in FIG. 9. The control unit 71 also opens the valve 62 to enable the supply of steam to the second spray unit 42. As a result, the field work apparatus 1 travels along the headland H or the farm road R and sprays steam onto the headland H or the farm road R to perform work. Therefore, the second spray button 29b functions as a drive button for the second spray unit 42.

[0058] When the first ejection button 29a is in the OFF state, even if the operator further presses the second ejection button 29b, the control unit 71 does not control the second adjustment unit 52. In other words, the state of the second ejection unit 42 is not changed from the stored state to the ejection state, and the valve 62 is not opened.

[0059] On the other hand, when the operator presses the second spray button 29b again to turn it off, the control unit 71 receives an off signal from the second spray button 29b. In response to the off signal, the control unit 71 closes the valve 62 and stops the supply of steam to the second spray unit 42. The control unit 71 also raises the lifting rail 52f of the second adjustment unit 52 and controls the rotation of the electric hinge 52d, thereby transitioning the state of the second spray unit 42 from the spraying state to the stored state, as shown in FIG.

[0060] Furthermore, when the first ejection button 29a is pressed again by the operator to turn it off, the control unit 71 receives an off signal from the first ejection button 29a. In response to the off signal, the control unit 71 stops the generation of steam and rotates the first ejection unit 41 by 90 degrees, as shown in Fig. 8, to transition the state from the ejection state to the storage state.

[0061] Here, when the second jet button 29b is in the ON state, even if the first jet button 29a is further pressed by the operator, the control unit 71 does not control the first adjustment unit 51 and does not transition the state of the first jet unit 41 from the jetting state to the stored state. Note that when the second jet button 29b is in the ON state, if the first jet button 29a is further pressed by the operator to transition to the OFF state, the generation of steam may be stopped and the first jet unit 41 and the second jet unit 42 may be simultaneously transitioned to the stored state.

[0062] Next, an example of a workflow performed by the field work apparatus 1 will be described with reference to Fig. 10. Fig. 10 is a workflow diagram of the field work apparatus 1 according to this embodiment.

[0063] First, the field work implement 1 reaches the furrow land F (S1). Specifically, the operator of the field work implement 1 starts driving and operates the operating handle 26, accelerator 27, parking brake 28, etc., and as shown by arrow A in Fig. 1, the field work implement 1 travels from the storage location over the farm road R and headland H to the furrow land F. Note that when traveling on the farm road R before starting work, it is assumed that the first spraying unit 41 and the second spraying unit 42 are in the stored state, as shown in Fig. 5.

[0064] When the field work apparatus 1 enters the furrow land F, the operator of the field work apparatus 1 presses the first spray button 29a, and the first spray button 29a turns on (S2). On the other hand, the second spray button 29b has not been pressed, so the second spray button 29b remains in the off state. When the first spray button 29a turns on, an on signal is sent from the first spray button 29a to the control unit 71. Thereafter, the control unit 71 of the field work apparatus 1 receives the on signal from the first spray button 29a, and starts generating steam by the generation unit 3 (S3). That is, a generation step of generating steam is executed.

[0065] Next, the control unit 71 drives the first adjustment unit 51 to transition the state of the first injection unit 41 from the stored state to the injection state, as shown in Fig. 8 (S4). Here, the second adjustment unit 52 is not driven, so the second injection unit 42 remains in the stored state. This executes a state adjustment step in which the injection unit 4 is raised and lowered.

[0066] Thereafter, the field work apparatus 1 travels across the furrow ground F in the state shown in Fig. 3, while the first spraying unit 41 sprays steam onto the furrow ground F (S5). That is, a first traveling step of traveling across the tea ridges T, which are the crops in the field G, and a spraying step of spraying steam around the crops by the first spraying unit 41 are carried out. Then, by repeating traveling and working across the furrow ground F as shown by arrow B in Fig. 1 and turning around in the headland as shown by arrow C, the work in the furrow ground F progresses. Note that when turning around in the headland as shown by arrow C, spraying by the first spraying unit 41 may be continued or temporarily interrupted.

[0067] Next, when work in the furrow land F is completed and work in the headland H is to be carried out, the field work implement 1 leaves the furrow land F and reaches the headland H (S6). After that, the operator of the field work implement 1 presses the second jet button 29b, and the second jet button 29b turns on (S7). On the other hand, the first jet button 29a is not pressed again, so the first jet button 29a remains on.

[0068] When the second spray button 29b is turned on, an on signal is sent from the second spray button 29b to the control unit 71. Thereafter, the control unit 71 of the field work implement 1 receives the on signal from the second spray button 29b and drives the second adjustment unit 52 to transition the state of the second spray unit 42 from the stored state to the spraying state as shown in FIG. 9, and opens the valve 62 (S8). Here, the first adjustment unit 51 is not driven, so the first spray unit 41 remains in the spraying state. As a result, the state adjustment step of raising and lowering the spray unit 4 is executed again.

[0069] Thereafter, the field work apparatus 1 travels over the headland H in the state shown in Fig. 2, while injecting steam onto the headland H using the first spraying section 41 and the second spraying section 42 (i.e. the entire spraying unit 4) (S9). That is, a second traveling step of traveling around the tea ridges T, which are agricultural crops in the field G, and an injection step of injecting steam around the crops using the first spraying section 41 and the second spraying section 42 are carried out. Then, by repeating traveling and working over the headland H as shown by arrow D in Fig. 1, the work on the headland H progresses.

[0070] Next, when work on the headland H is completed and the field work apparatus 1 is to be returned to the storage location, the operator of the field work apparatus 1 presses the first spray button 29a and the second spray button 29b again, and the first spray button 29a and the second spray button 29b are turned off (S10). When each spray button is turned off, an off signal is sent from each spray button to the control unit 71. The control unit 71 of the field work apparatus 1 then receives the off signals from each spray button and drives the first adjustment unit 51 and the second adjustment unit 52 to change the state of the first spray unit 41 and the second spray unit 42 from the spraying state to the stored state, as shown in FIGS. 8 and 9, and closes the valve 62 (S11). The field work apparatus 1 then travels along the farm road R in the state shown in FIG. 5 to the storage location.

[0071] When traveling on the farm road R, the first spraying unit 41 and the second spraying unit 42 may be set to the spraying state, and the farm may travel to the storage location while working on the farm road R. Also, on the farm road R, separate work may be performed, as with the headland H. Furthermore, in this flow, work on the furrow land F is performed first, but work on the headland H may be performed first, and then work on the furrow land F may be performed. Also, when working on the furrow land F, steam injection is performed only by the first spraying unit 41 when turning back on the headland H, but the second spraying unit 42 may be switched to the spraying state, and steam injection may be performed by the first spraying unit 41 and the second spraying unit 42. In this case, the operator turns on the second spraying button 29b when the field work apparatus 1 enters the headland H, and then turns off the second spraying button 29b when the field work apparatus 1 re-enters the furrow land F.

[0072] In this flow, steam is injected from the first injection part 41 and the second injection part 42, but injection may also be performed using the injection nozzle 48. This allows for more accurate and efficient work.

[0073] As described above, when working in the relatively narrow furrow land F, only the first sprayer 41 is used, and steam is sprayed by part of the spray unit 4. When working in the relatively wide headland H or farm road R, the first sprayer 41 and the second sprayer 42 are used, and steam is sprayed by the entire spray unit 4. In particular, when working in the furrow land F, the second sprayer 42 rises above the ridges T, and when working on the headland H or farm road R, the second sprayer 42 descends to the headland H or farm road R. As such, in this embodiment, there is no need to switch the sprayer that sprays steam when working in the furrow land F and when working on the headland H or farm road R, and therefore the overall work efficiency of the field G can be improved.

[0074] (Modification of the first embodiment) In the above embodiment, when the first injection part 41 and the second injection part 42 are in the injection state, the shield 44 of the first injection part 41 and the shield 46 of the second injection part 42 partially overlap, forming an integrated moist heat space behind the crawler 23, but this is not limited to such an embodiment. In other words, the lid part 43a and the shield 44 of the first injection part 41 and the lid part 45a and the shield 46 of the second injection part 42 can be changed as appropriate to change the location and shape of the moist heat space depending on the shapes of the field G, furrow land F, headland H, and farm road R.

[0075] Modified examples of the humid and hot space will be described below with reference to Figures 11 and 12. Figures 11(a) to 11(d) are plan views showing the relative positions of the first spraying section 41 and the second spraying section 42 in the spraying state according to a modified example of this embodiment, where the second spraying section 42 is provided at the rear in the direction of travel of the field work apparatus 1. Figures 12(a) to 12(c) are plan views showing the relative positions of the first spraying section 41 and the second spraying section 42 in the spraying state according to a modified example of this embodiment, where the second spraying section 42 is provided at the front in the direction of travel of the field work apparatus 1, or where an additional spraying section is provided.

[0076] 11(a), the two first jetting units 41 are disposed behind the crawlers 23. On the other hand, the second jetting units 42 are disposed between the first jetting units 41, and are disposed further forward in the traveling direction than the first jetting units 41 so that they can jet steam even between the crawlers 23. This makes it possible to jet steam below the upper frame 21 between the crawlers 23, enabling work to be performed over a wider area.

[0077] Next, in the case shown in Figure 11(b), the two first spraying parts 41 are arranged behind the crawler 23. Meanwhile, compared to the case in Figure 11(a), the second spraying part 42 is formed wider at the rear in the traveling direction than the two first spraying parts 41. This makes it possible to spray steam over a wider area behind the field work implement 1, enabling work to be carried out over a wider area.

[0078] 11(c), the two first spraying sections 41 are arranged behind the crawler 23. Meanwhile, compared to the case of FIG. 11(b), the second spraying section 42 is formed at the rear in the traveling direction so as to be wider in the width direction of the field work implement 1 than the two first spraying sections 41. This makes it possible to spray steam over a wider area behind the field work implement 1 than the width of the traveling unit 2 of the field work implement 1, enabling work to be carried out over a wider area.

[0079] Next, in the case shown in Fig. 11(d), the two first jetting sections 41 are arranged behind the crawler 23. On the other hand, compared to the case in Fig. 11(a), the second jetting section 42 is not arranged so as to cover the entire area between the two first jetting sections 41 at the rear in the traveling direction, but is arranged so as to overlap with part of the two first jetting sections 41 and cover the area partway between the two first jetting sections 41. This makes it possible to form areas with a higher amount of steam while reducing the amount of steam injected, thereby improving work efficiency.

[0080] Next, in the case shown in Figure 12(a), the two first spraying units 41 are arranged behind the crawlers 23. Meanwhile, the second spraying unit 42 is arranged in front of the field work apparatus 1. In this case, the second adjustment unit 52 that adjusts the state of the second spraying units 42 is also arranged in front of the field work apparatus 1. This allows the operator to check the work being performed by the second spraying units 42 while facing forward in the direction of travel, improving work safety.

[0081] Next, in the case shown in FIG. 12(b), the two first jetting units 41 are disposed behind the crawler 23. Meanwhile, the second jetting units 42 are disposed in two locations: the location shown in FIG. 11(b) and the location shown in FIG. 12(a). This allows work to be performed over a wider range and improves work safety. In addition, the overlapping steam injection area is increased, further improving work efficiency and accuracy.

[0082] In Fig. 12(b), the second injection part 42 located at the rear in the traveling direction may be disposed as shown in Fig. 11(a), (c), and (d). The range and shape of the second injection part 42 located at the front in the traveling direction may also be changed as appropriate.

[0083] In the example shown in FIG. 12(c), the two first sprayers 41 are disposed behind the crawlers 23. The second sprayer 42 is disposed between the first sprayers 41, and is disposed further forward in the traveling direction than the first sprayers 41 so that it can spray between the crawlers 23. Furthermore, a third sprayer 47 having a shape similar to that of the second sprayer 42 is disposed on the side of the field work apparatus 1. Here, the third sprayer 47 is folded to the side of the leg frame 22 when traveling across crops, and is stored so as not to come into contact with the crops when traveling through furrow ground F. In this case, a mechanism for folding the third sprayer 47 is disposed between the leg frame 22 and the third sprayer 47. This makes it possible to spray steam over a wider area than the width of the traveling unit 2 of the field work apparatus 1, enabling work to be carried out over a wider area.

[0084] Furthermore, in the above embodiment, the first sprayer 41 and the second sprayer 42 are rotated to enter the stored state, but the first sprayer 41 and the second sprayer 42 may simply be moved vertically upward. That is, the stored state of each part may be established with the spraying surfaces of the first sprayer 41 and the second sprayer 42 remaining facing the ground. In particular, even in such a case, the second sprayer 42 is raised and lowered so as to be positioned above the tea crowns of the tea ridges T, which are agricultural crops.

[0085] Furthermore, in the above embodiment, the second adjustment unit 52 is provided at one end (forward in the traveling direction) of the second spraying unit 42. However, an adjustment unit that rotates the second spraying unit 42 to change its orientation may be provided at one end of the second spraying unit 42 in a direction perpendicular to the traveling direction (the furrow direction). In this case, the second spraying unit 42 in the spraying state faces the ground of the field G, but the second spraying unit 42 in the stored state may be adjusted so that it is perpendicular to the ground of the field G or inclined at a predetermined angle, and maintained at a distance from the tea ridges T to avoid contact with them. In other words, when the field work apparatus 1 travels through the furrowed ground F, the inclination angle of the second spraying unit 42 is adjusted to correspond to the shape of the tea ridges T, thereby preventing contact between the second spraying unit 42 and the tea ridges T, and work is performed by the first spraying unit 41. Here, in order to maintain the state of the second injection portion 42, a method using a manual fixing pin or the like may be used, or a method using hydraulic pressure adjustment such as a shift cylinder may be used.

[0086] In the above embodiment, one second jetting section 42 is provided between two first jetting sections 41, but this is not limiting. For example, the jetting section may be divided in the middle in the traveling direction, and two second jetting sections 42 for the headland H and the farm road R may be provided between the two first jetting sections 41. In this case, an adjustment section may be provided that rotates and changes the orientation of the two second jetting sections 42 in a direction (furrow direction) perpendicular to the traveling direction of the two second jetting sections 42. More specifically, the two second adjustment sections 42 may adjust the state of the two second jetting sections 42 so that the two second jetting sections 42 open both ways (like double doors) toward the first jetting section 41. That is, when the field work apparatus 1 travels on the furrowed ground F, the inclination angles of the two second spraying parts 42 are adjusted to correspond to the shape of the tea ridges T, thereby preventing the two second spraying parts 42 from coming into contact with the tea ridges T, and work is performed by the first spraying part 41. Here, in order to maintain the state of the two second spraying parts 42, a method using a manual fixing pin or the like may be used, or a method using hydraulic pressure adjustment such as a shift cylinder may be used.

[0087] Additionally, in the above embodiment, the two first jetting units 41 were adjusted by one first adjusting unit 51, but each of the first jetting units 41 may be adjusted independently by two independent adjusting units. As a result, when only one of the leg frames 22 travels in the furrow ground F, only the first jetting unit 41 located behind the leg frame 22 traveling in the furrow ground F can be in the jetting state, and the other can be in the retracted state, thereby reducing unnecessary steam injection. In this case, it is necessary to provide a valve in the first supply pipe L3 so that steam can be supplied independently.

[0088] In the above embodiment, the generating unit 3, the spraying unit 4, and the conditioning unit 5 are incorporated into the traveling unit 2 of a general riding tea field management device that travels across the tea ridges T, but this is not limiting. For example, these units may be incorporated into a traveling unit such as a general vehicle like a truck or a cart.

[0089] (Second embodiment) In the first embodiment, the operator of the field work apparatus 1 manually switches the states of the first spraying unit 41 and the second spraying unit 42 from the spraying state to the stored state, or from the stored state to the spraying state, by pressing a button. However, these states may also be switched automatically. This embodiment will be described as the second embodiment with reference to FIGS. 13 and 14. Here, FIG. 13 is a block diagram of the field work apparatus 101 according to this embodiment. FIG. 14 is a workflow diagram of the field work apparatus 101 according to this embodiment.

[0090] Since the mechanical configuration is the same as that of the field work apparatus 1 according to the first embodiment, a description of the same mechanical configuration will basically be omitted, and only the parts that differ from the first embodiment will be described. Also, in the description, the same components as those in the first embodiment will be assigned the same reference numerals, and the description thereof will be omitted.

[0091] First, as shown in Figure 13, compared to the field work apparatus 1 of the first embodiment, the field work apparatus 101 has one spray button 129 instead of two spray buttons. The spray button 129 is a button that the operator presses once when starting work and again when completing work. Therefore, in the field work apparatus 101, when the operator presses the spray button 129 when starting work, the control unit 171 receives an ON signal indicating that the spray button 129 is in the ON state. Furthermore, when the operator presses the spray button 129 again when completing work, the control unit 171 receives an OFF signal indicating that the spray button 129 is in the OFF state.

[0092] When the control unit 171 receives an ON signal from the spray button 129, it starts generating steam using the generation unit 3. At this time, the valve 62 remains closed. On the other hand, when the control unit 171 receives an OFF signal from the spray button 129, it controls the first adjustment unit 51 and the second adjustment unit 52 to transition the first spray unit 41 and the second spray unit 42 to the stored state.

[0093] 13, compared to the field work apparatus 1 of the first embodiment, the field work apparatus 101 has a sensor 175 for detecting objects around the traveling unit 2. Here, the number of sensors 175 is not limited to one, and there may be one or more sensors as long as they can determine the traveling position of the traveling unit 2 and determine whether the traveling position is in the furrow ground F or somewhere else.

[0094] The control unit 171 determines the traveling position of the traveling unit 2 based on the detection signal transmitted from the sensor 175. Specifically, it determines whether the traveling unit 2 is traveling in the furrow ground F or somewhere else (headland H or farm road R). Then, based on the determination result, the control unit 171 controls the first adjustment unit 51 and the second adjustment unit 52 to raise and lower the state adjustment unit 5. Specifically, when the traveling unit 2 is traveling in the furrow ground F, the control unit 171 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first spraying unit 41 to the spraying state and the second spraying unit 42 to the retracted state. On the other hand, when the traveling unit 2 is traveling in the headland H or farm road R, the control unit 171 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first spraying unit 41 and the second spraying unit 42 to the spraying state. In addition, the control unit 171 opens the valve 62 when the traveling unit 2 is traveling on headland H or farm road R, and closes the valve 62 when the traveling unit 2 is traveling on furrow ground F. Through these controls, the control unit 171 will perform work in a narrow area of ​​the furrow ground F or work in a wide area of ​​the headland H or farm road R, based on the traveling position of the traveling unit 2.

[0095] Next, the control flow during work by the field work implement 101 will be described with reference to Figure 14. As shown in Figure 14, first, the control unit 171 determines whether the spray button 129 is in the on state (S111). Specifically, the control unit 171 determines whether the spray button 129 is in the on state or the off state according to the signal received from the spray button 129. If the spray button 129 is in the off state, the control unit 171 determines that there is no need to start work, and does not proceed to the next step until it determines that the spray button 129 is in the on state (S111: No).

[0096] On the other hand, if the ejection button 129 is in the on state (S111: Yes), the control unit 171 determines that work needs to be started and starts steam generation (S112). Specifically, the control unit 171 controls the generation unit 3 to drive the boiler 31 to generate steam.

[0097] Next, the control unit 171 determines the traveling position of the traveling unit 2 based on the detection signal received from the sensor 175 (S113). For example, when the control unit 171 receives a detection signal from the sensor 175 indicating that a brown ridge T has been detected, it determines that the traveling position of the traveling unit 2 is the furrow ground F. On the other hand, when the control unit 171 does not receive a signal from the sensor 175 indicating that an object has been detected, or when it receives a signal indicating that there is no object in the vicinity, it determines that the traveling position of the traveling unit 2 is the headland H or the farm road R.

[0098] Next, if the determination in S113 indicates that the traveling position of the traveling unit 2 is in the furrow ground F (S114: Yes), the control unit 171 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first injection unit 41 in the injection state and the second injection unit 42 in the retracted state. In addition, the control unit 171 closes the valve 62 (S115). This causes the first injection unit 41 to start injecting steam (S116), and work on the furrow ground F progresses.

[0099] On the other hand, if the determination in S113 indicates that the traveling position of the traveling unit 2 is not in the furrow ground F, that is, the traveling position is in the headland H or the farm road R (S114: No), the control unit 171 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first injection unit 41 and the second injection unit 42 to the injection state. In addition, the control unit 171 opens the valve 62 (S117). This causes the first injection unit 41 and the second injection unit 42 to start injecting steam (S118), and work on the headland H or the farm road R progresses.

[0100] Then, as spraying by only the first sprayer 41 or spraying by both the first sprayer 41 and the second sprayer 42 progresses, the control unit 171 determines whether the spray button 129 is in the OFF state (S119). If the spray button 129 is not in the OFF state (S119: No), the process returns to step S113, and the operation according to the location based on the determination result, starting with the determination of the traveling position, is repeated. That is, if the spray button 129 is not in the OFF state, spraying by only the first sprayer 41 continues as long as the vehicle is traveling in the furrow ground F, and spraying by both the first sprayer 41 and the second sprayer 42 continues as long as the vehicle is traveling on the headland H or the farm road R. On the other hand, if the determination result differs from the previous determination result, the traveling position changes from the furrow ground F to the headland H or the farm road R, or from the headland H or the farm road R to the furrow ground F, and the spraying operation is changed.

[0101] On the other hand, if the ejection button 129 is in the OFF state (S119: Yes), the control unit 171 determines that the work is complete and controls the first adjustment unit 51 and the second adjustment unit 52 to shift the first ejection unit 41 and the second ejection unit 42 to the stored state and close the valve 62 (S120).

[0102] As described above, in this embodiment, the first spraying section 41 and the second spraying section 42 are automatically stored or sprayed depending on the traveling position of the traveling unit 2, which reduces the burden of operating the field work implement 101 during work and makes it possible to improve the efficiency and accuracy of work without relying on the skill of the operator. Also, because the operator can progress with work by simply operating the field work implement 101 to travel, safety during work is also improved.

[0103] (Third embodiment) In the second embodiment, the traveling position was determined based on the detection signal from the sensor, and each adjustment unit was controlled based on the determination result. However, the traveling position may be determined based on radio waves received from satellites constituting a global positioning satellite system, and each adjustment unit may be controlled based on the determination result. This embodiment will be described with reference to Figs. 15 to 17 as the third embodiment. Fig. 15 is a schematic diagram of a field work system according to this embodiment. Fig. 16 is a block diagram of a field work apparatus 201 according to this embodiment. Fig. 17 is a workflow diagram of the field work apparatus 201 according to this embodiment.

[0104] Since the mechanical configuration is the same as that of the field work apparatus 1 according to the first embodiment, a description of the same mechanical configuration will basically be omitted, and only the parts that differ from the first embodiment will be described. Also, in the description, the same components as those in the first embodiment will be assigned the same reference numerals, and the description thereof will be omitted.

[0105] First, as shown in Fig. 15, the field work system 200 is made up of a field work device 201, a Global Navigation Satellite System (GNSS) 300, a server device 400, and a terminal device 500. The Global Navigation Satellite System 300 has a plurality of satellites 301. The field work device 201, the server device 400, and the terminal device 500 are connected via a network 600 such as the Internet so that they can send and receive data and information to and from each other. The network 600 may be wireless, wired, or a combination of these.

[0106] The field work device 201 receives a start signal indicating a command to start operation and work from the server device 400 and the terminal device 500 via the network 600. Upon receiving the start signal, the field work device 201 begins automatic travel and performs work such as weeding suited to its travel location while controlling its travel route based on radio waves received from the satellite 301. Furthermore, upon completing travel along the specified travel route and completing work such as weeding, the field work device 201 transmits information to the server device 400 and the terminal device 500 via the network 600 to indicate that the work has been completed and to indicate the details of the work (date, time, location, travel route, etc.).

[0107] The server device 400 and the terminal device 500 store information related to the field G, information related to the field work apparatus 201, and information about work in the field G in a memory unit (not shown). In the server device 400 and the terminal device 500, a control unit (not shown) reads out a program from the memory unit in response to an operation by the manager of the field G, generates a start signal to start automatic operation of the field work apparatus 201, and transmits the start signal to the field work apparatus 201 via a communication unit (not shown) and the network 600. In addition, in the server device 400 and the terminal device 500, information about the completion of work and information related to the work content received from the field work apparatus 201 is stored in the memory unit, and this information and the management status of the field G are displayed on a display unit (not shown).

[0108] With such a configuration of the field work system 200, the manager of the field G can manage work in the field G by remotely operating the field work apparatus 201 using the server device 400 or the terminal device 500, without directly operating the field work apparatus 201 in the field G. The manager of the field G can then easily ascertain the next work location (area where weeding or the like should be done), the work content, the work schedule for the field G, and the like, from the work data for the field G accumulated in the server device 400 or the terminal device 500.

[0109] 16, compared to the field work apparatus 1 of the first embodiment, the field work apparatus 201 has a communication unit 276. The communication unit 276 transmits and receives information to and from the satellite 301, the server device 400, and the terminal device 500 via a communication processing circuit and an antenna (neither of which are shown).

[0110] The communication processing circuit may perform processing based on a wideband wireless communication system such as the LTE system. The communication processing circuit may also perform processing based on a narrowband wireless communication system such as a wireless LAN system such as IEEE802.11 or Bluetooth (registered trademark). The communication processing circuit may also perform processing based on a system related to contactless wireless communication. The communication processing circuit may also include a circuit for processing satellite radio waves. Furthermore, the communication processing circuit may utilize wired communication instead of or in addition to such wireless communication.

[0111] Since the field work implement 201 is assumed to be driven automatically, the operating handle 26, accelerator 27, and parking brake 28 operated by the operator are not shown in FIG. 16, but if the implement is to be switched between automatic and manual driving, the implement will have these operating parts for driving.

[0112] When the control unit 271 receives a start signal from the server device 400 or the terminal device 500 via the communication unit 276, it prepares the traveling unit 2 for automatic traveling (such as setting a traveling route) and starts the generation unit 3 for steam generation. At this time, the valve 62 remains closed. Furthermore, after preparations for automatic traveling have been made, when the control unit 271 receives radio waves from the satellite 301 via the communication unit 276, it determines the current position (initial traveling position) of the traveling unit 2 and controls the traveling unit 2 taking into account the current position and the traveling route. As a result, the field work apparatus 201 starts traveling along the traveling route.

[0113] The control unit 271 also receives radio waves from the satellite 301 and periodically or as needed determines the current traveling position of the traveling unit 2. Specifically, the control unit 271 determines whether the traveling unit 2 is traveling in furrow ground F or somewhere else (headland H or farm road R) based on the received radio waves and the map information stored in the memory unit 272. Then, based on the determination result, the control unit 271 controls the first adjustment unit 51 and the second adjustment unit 52 to raise and lower the state adjustment unit. Specifically, when the traveling unit 2 is traveling in furrow ground F, the control unit 271 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first jetting unit 41 to the jetting state and the second jetting unit 42 to the retracted state. On the other hand, when the traveling unit 2 is traveling in headland H or farm road R, the control unit 271 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first jetting unit 41 and the second jetting unit 42 to the jetting state. In addition, the control unit 271 opens the valve 62 when the traveling unit 2 is traveling on headland H or farm road R, and closes the valve 62 when the traveling unit 2 is traveling on furrow ground F. Through these controls, the control unit 271 will perform work in a narrow area in the furrow ground F or work in a wide area in the headland H or farm road R, based on the traveling position of the traveling unit 2.

[0114] Next, with reference to FIG. 17, a control flow during work by the field work implement 201 will be described. It is assumed here that the control unit 271 has set a travel route and started steam generation and automatic travel. As shown in FIG. 17, first, the control unit 271 determines whether or not radio waves have been received from the satellite 301 (S211). The control unit 171 does not proceed to the next step until it receives the radio waves via the communication unit 276 (S211: No). On the other hand, when the control unit 271 receives radio waves from the satellite 301 (S211: Yes), it determines the travel position of the traveling unit 2 based on the radio waves. For example, the control unit 171 refers to map information stored in the memory unit 272 and determines from the received radio waves whether the traveling position of the traveling unit 2 is in furrow ground F, headland H, or farm road R (S212).

[0115] Next, if the determination in S212 indicates that the traveling position of the traveling unit 2 is in the furrow ground F (S213: Yes), the control unit 171 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first spraying unit 41 in the spraying state and the second spraying unit 42 in the stored state. In addition, the control unit 271 closes the valve 62 (S214). This causes the first spraying unit 41 to start spraying steam (S215), and work on the furrow ground F progresses.

[0116] On the other hand, if the determination in S212 shows that the traveling position of the traveling unit 2 is not in the furrow ground F, that is, in the headland H or the farm road R (S213: No), the control unit 271 controls the first adjustment unit 51 and the second adjustment unit 52 to set the first spraying unit 41 and the second spraying unit 42 to the spraying state. In addition, the control unit 171 opens the valve 62 (S216). This causes the first spraying unit 41 and the second spraying unit 42 to start spraying steam (S217), and work on the headland H or the farm road R progresses.

[0117] Then, after a predetermined time has elapsed as spraying by only the first sprayer 41 or spraying by both the first sprayer 41 and the second sprayer 42 progresses, the control unit 271 determines whether the work has ended (S218). Specifically, the control unit 271 determines whether the traveling unit 2 has reached the work end position based on the radio waves received from the satellite 301, and determines whether the work has ended. If the work has not ended (S218: No), the process returns to step S211, and the process from receiving the radio waves to determining whether the work has ended is repeated. That is, as long as the vehicle is traveling in the furrow ground F, spraying by only the first sprayer 41 continues, and as long as the vehicle is traveling on the headland H or farm road R, spraying by the first sprayer 41 and the second sprayer 42 continues. On the other hand, if the determination result differs from the previous determination result, the traveling position changes from the furrow ground F to the headland or farm road R, or from the headland or farm road R to the furrow ground F, and the spraying operation is changed.

[0118] On the other hand, if the work has been completed (S218: Yes), the control unit 271 controls the first adjustment unit 51 and the second adjustment unit 52 to transition the first injection unit 41 and the second injection unit 42 to a stored state and close the valve 62 (S219).

[0119] As described above, in this embodiment as well, the first spraying section 41 and the second spraying section 42 are automatically stored or sprayed depending on the traveling position of the traveling unit 2, which improves work efficiency and accuracy without relying on the skill of the operator. Also, the operator does not need to go directly to the field G, and it becomes possible to use multiple field work implements 201 to work on multiple fields G simultaneously.

[0120] (Embodiments of the present disclosure) A first embodiment of the present disclosure is a field work device that has a traveling unit that travels across crops in a field, a generation unit that generates a spray to be sprayed into the field, an injection unit that sprays the spray around the crops, and a condition adjustment unit that adjusts the condition of the injection unit, and the condition adjustment unit adjusts the condition of at least a portion of the injection unit when traveling across the crops, to keep it away from the crops.

[0121] With this configuration, when traveling over crops, there is no need to remove the part of the spray unit that comes into contact with the crops, and the field work device can be easily moved above the crops, allowing for continuous work such as weeding, sterilization, or insecticide by spraying the spray body. In other words, by easily adjusting the state of the field work device for work when traveling over crops and work when traveling around crops, it is possible to efficiently perform work such as weeding, sterilization, or insecticide throughout the entire field.

[0122] In a second embodiment of the present disclosure, in the first embodiment, the conditioning unit raises and lowers at least a portion of the spray unit to separate it from the crops, thereby eliminating the need to remove the portion of the spray unit that would otherwise come into contact with the crops when the tiller travels across the crops, and allowing the tiller to easily move above the crops.

[0123] In a third embodiment of the present disclosure, in the first embodiment, the conditioning unit rotates at least a portion of the spray unit to separate it from the crops, thereby eliminating the need to remove a portion of the spray unit that would otherwise come into contact with the crops when the tiller travels across the crops, and allowing the tiller to easily move to the side of the crops.

[0124] In a fourth embodiment of the present disclosure, in any of the first to third embodiments, the spray unit includes a first spray unit that sprays the spray material when traveling across the crops, and a second spray unit that sprays the spray material when traveling around the crops. This makes it possible for the spray unit to be composed of two spray units and to more accurately spray the spray material according to the traveling state.

[0125] In a fifth embodiment of the present disclosure, the first and second spraying units in the fourth embodiment each include a spray member that sprays the spray body and a shield that covers the spray member, thereby making it possible to adjust the spray range of the spray body and perform tasks such as weeding, sterilization, or insecticide more efficiently.

[0126] A sixth embodiment of the present disclosure is the fifth embodiment, in which the shield is grounded to the field when the jet is jetted, thereby forming a space filled with the jet, and improving the effectiveness of weeding, sterilization, insecticide, etc.

[0127] A seventh embodiment of the present disclosure is any of the second to sixth embodiments, in which the first spraying unit sprays the spray body into the furrows of the field when traveling across the crops, and the first and second spraying units spray the spray body into headland of the field when traveling around the crops. This makes it possible to easily adjust the state of the field work device for work when traveling across furrows, such as traveling across crops, and work when traveling on headland or farm roads, such as traveling around the crops, and enables efficient work such as weeding, sterilization, or insecticide to be performed throughout the entire field, including headland areas other than the furrow paths.

[0128] An eighth embodiment of the present disclosure is any of the first to seventh embodiments, further comprising a branch section provided between the generation unit and the injection unit, and an injection nozzle extending from the branch section. This allows the injection body to be injected even in places where it is difficult to work with field work equipment, allowing for more efficient work such as weeding, sterilization, or insecticide.

[0129] A ninth embodiment of the present disclosure is any of the second to seventh embodiments, in which the traveling unit includes an upper frame, two leg frames arranged vertically downward from the upper frame, and a drive unit provided on each of the two leg frames, and the first spray unit is disposed in front of or behind the drive unit in the traveling direction. This allows the spray body to be sprayed over a wider area when traveling around crops, enabling efficient work such as weeding, sterilization, and insecticide.

[0130] A tenth embodiment of the present disclosure is the ninth embodiment, in which the second spraying unit is disposed between two of the first spraying units. This allows a spraying area to be formed by the first and second spraying units, and when traveling around crops, the spray body can be sprayed over a wider area, allowing for efficient weeding, sterilization, insecticide, and other operations.

[0131] An eleventh embodiment of the present disclosure is the ninth embodiment, wherein the second spraying unit is disposed in front of or behind the drive unit in the traveling direction, on the opposite side of the two first spraying units. This allows for independent spraying areas to be formed when traveling around crops, enabling efficient weeding, sterilization, insecticide, and other operations.

[0132] A twelfth embodiment of the present disclosure is any of the second to seventh and ninth to eleventh embodiments, in which the first injection area of ​​the injection body by the first injection unit and the second injection area of ​​the injection body by the second injection unit partially overlap. This allows the injection bodies to be sprayed in a partially overlapping manner, thereby improving the efficiency of weed control, sterilization, insecticide, etc.

[0133] A thirteenth embodiment of the present disclosure is any of the ninth to twelfth embodiments, in which the spray unit includes a third spray unit provided on the side of the leg frame, which sprays the spray material into the field when traveling around the crops and is folded to the side of the leg frame when traveling across the crops. This allows the spray material to be sprayed over a wider area when traveling around the crops, enabling efficient work such as weeding, sterilization, and insecticide.

[0134] A fourteenth embodiment of the present disclosure is any of the first to thirteenth embodiments, further comprising a control unit for controlling the operation of the condition adjustment unit, thereby enabling accurate control of the condition of the spray unit and efficient weeding, sterilization, insecticide, and other operations.

[0135] A fifteenth embodiment of the present disclosure is the fourteenth embodiment, wherein the control unit raises and lowers the condition adjustment unit in response to an instruction from an operator. This allows precise work to be performed based on the operator's intention, enabling precise execution of work such as weeding, sterilization, or insecticide.

[0136] A sixteenth embodiment of the present disclosure is the fourteenth embodiment, further comprising a sensor for detecting objects around the traveling unit, and the control unit determines the traveling position of the traveling unit based on a detection signal from the sensor and raises and lowers the conditioning unit based on the determination result. This enables automatic conditioning and more efficient weeding, sterilization, insect control, and other tasks.

[0137] A seventeenth embodiment of the present disclosure is the fourteenth or sixteenth embodiment, in which the control unit determines the traveling position of the traveling unit based on radio waves received from satellites constituting a global positioning satellite system, and performs the raising and lowering operation of the condition adjustment unit based on the determination result. This enables automatic traveling control and condition adjustment, and enables more efficient work such as weeding, sterilization, or insect control.

[0138] An eighteenth embodiment of the present disclosure is a field work method including a first traveling step of traveling across crops in a field, a second traveling step of traveling around the crops in the field, a generation step of generating a spray body to be sprayed onto the field, an injection step of spraying the spray body from an injection unit around the crops during the first traveling step and the second traveling step, and a condition adjustment step of adjusting the condition of the injection unit, wherein the condition adjustment step moves at least a portion of the injection unit away from the crops before the first traveling step.

[0139] With this method, when traveling over crops, there is no need to remove the part of the spray unit that comes into contact with the crops, and the field work apparatus can be easily moved above the crops, allowing it to continue to perform work such as weeding, sterilization, or insecticide by spraying the spray body. In other words, by easily adjusting the state of the field work apparatus for work when traveling over crops and work when traveling around crops, it is possible to perform work such as weeding, sterilization, or insecticide efficiently throughout the entire field.

[0140] A 19th embodiment of the present disclosure is the 18th embodiment, wherein the conditioning step is to lower at least a part of the spray unit and ground it on the field during the second traveling step, thereby creating a space filled with the spray body and improving the effectiveness of weeding, sterilization, insecticide, etc.

[0141] A twentieth embodiment of the present disclosure is the 18th or 19th embodiment, in which the spraying step involves spraying the jet into the furrows of the field by the first spraying section of the spraying unit in the first traveling step, and spraying the jet into the headland of the field by the first and second spraying sections of the spraying unit in the second traveling step. This makes it possible to easily adjust the state of the field work apparatus for work when traveling in furrows, such as traveling across crops, and for work when traveling on headlands or farm roads, such as traveling around crops, and enables efficient work such as weeding, sterilization, or insecticide to be performed throughout the entire field, including headlands and the like other than the paths between the furrows. [Explanation of symbols]

[0142] 1. Field work equipment 2 Traveling Unit 3 Generating Units 4 injection unit 5 Conditioning Unit 21 Upper frame 22 Leg frame 23 Crawler 29a First injection button 29b Second injection button 31 Boiler 41 1st injection part 42 2nd injection part 43 Injection member 44 Shield 45 Injection member 46 Shield 48 Injection Nozzle 51 1st adjustment section 52 2nd adjustment section 60 First Branch 61 Second Branch 71 Control Unit 200 Field Work System 300 Global Positioning Satellite System 301 Satellite G Field T Tea ridge F Furrow land H headland R Farm Road

Claims

1. a traveling unit that travels across crops in a field; a generating unit that generates a jet to be sprayed onto the field; a spray unit that sprays the spray body around the crops; a condition adjusting unit for adjusting the condition of the injection unit, The condition adjustment unit adjusts the condition of at least a part of the spray unit to keep it spaced apart from the crop when the field work implement travels across the crop.

2. The field work apparatus according to claim 1 , wherein the conditioning unit raises and lowers at least a portion of the spray unit to place it away from the crops.

3. The field work apparatus according to claim 1 , wherein the conditioning unit rotates at least a part of the spray unit to place it in a state spaced apart from the crops.

4. 2. The field work apparatus according to claim 1, wherein the spray unit includes a first sprayer that sprays the spray body when traveling across the crops, and a second sprayer that sprays the spray body when traveling around the crops.

5. The field work apparatus according to claim 4 , wherein the first spraying unit and the second spraying unit include a spraying member that sprays the spray body and a shield that covers the spraying member.

6. The field work implement according to claim 5, wherein the shield is in contact with the field when the ejection body is ejected.

7. The first spraying unit sprays the spray body into furrows in the field when traveling across the crops, The field work apparatus according to claim 4 , wherein the first spraying unit and the second spraying unit spray the spray body onto a headland of the field when traveling around the crops.

8. The field work apparatus according to claim 1 , further comprising: a branching portion provided between the generating unit and the spraying unit; and a spray nozzle extending from the branching portion.

9. The traveling unit includes an upper frame, two leg frames arranged side by side vertically downward from the upper frame, and a drive unit provided on each of the two leg frames, The field work apparatus according to claim 4 , wherein the first injection unit is disposed in front of or behind the drive unit in the traveling direction.

10. The field work apparatus according to claim 9 , wherein the second injection unit is disposed between two of the first injection units.

11. The field work apparatus according to claim 9 , wherein the second spraying unit is disposed in front of or behind the drive unit in the traveling direction and on the opposite side to where the two first spraying units are disposed.

12. The field work apparatus according to claim 4 , wherein a first spraying area of ​​the ejection body by the first ejection section and a second spraying area of ​​the ejection body by the second ejection section partially overlap each other.

13. The injection unit includes a third injection portion provided on a side of the leg frame, The field work apparatus according to claim 9 , wherein the third spray unit sprays the spray body into the field when traveling around the crops, and is folded to the side of the leg frame when traveling across the crops.

14. The field work apparatus according to claim 1 , further comprising a control unit that controls the operation of the conditioning unit.

15. The field work apparatus according to claim 14, wherein the control unit performs an up-and-down operation of the condition adjustment unit in response to an instruction given by an operator.

16. a sensor for detecting an object around the traveling unit; The field work apparatus according to claim 14, wherein the control unit determines a traveling position of the traveling unit based on a detection signal from the sensor, and performs a lifting and lowering operation of the condition adjustment unit based on a result of the determination.

17. 17. The field work apparatus according to claim 14, wherein the control unit determines the traveling position of the traveling unit based on radio waves received from satellites constituting a global positioning satellite system, and performs lifting and lowering operations of the condition adjustment unit based on the determination result.

18. a first traveling step of traveling across crops in a field; a second traveling step of traveling around the crops in the field; a generating step of generating a jet to be sprayed onto the field; a spraying step of spraying the spray body from a spray unit toward the periphery of the crops during the first traveling step and the second traveling step; and a condition adjusting step of adjusting the condition of the injection unit, The field work method, wherein the conditioning step causes at least a portion of the spray unit to be spaced away from the crops before the first traveling step.

19. The field work method according to claim 18, wherein the conditioning step includes lowering at least a portion of the jet unit to contact the field during the second traveling step.

20. 20. The field work method according to claim 18 or 19, wherein the spraying step sprays the spray body into furrows of the field by a first spraying section of the spraying unit in the first traveling step, and sprays the spray body into headland areas of the field by the first spraying section and the second spraying section of the spraying unit in the second traveling step.

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