Paddy field farming machine

Abstract

To provide a paddy field implement which allows a user to visually confirm, an actuation state of a line marker, and can detect an obstacle and preferably perform automatic operation.SOLUTION: On a machine body lateral position on a front part of a driver's seat, a line marker 24 for forming on a farm field, a travel target line for a subsequent step, is provided, and as an obstacle detection unit for detecting an obstacle in a prescribed region around the machine body as a detection range, there are provided: a front obstacle detection unit: and a rear obstacle detection unit; and a lateral obstacle detection unit 63. The lateral obstacle detection unit 63 is provided on a front side relative to the line marker 24, in the state, the machine body lateral side is the detection range.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a paddy field working machine that performs work while traveling in a field or the like. [Background technology]

[0002] Recently, in order to reduce the labor required for work, paddy field working machines have been proposed that can be operated manually at the edges of paddy fields, etc., but can also work while traveling automatically inside the field. In order to prevent the machine from coming into contact with external obstacles while traveling when operating automatically, this type of paddy field working machine is equipped with an obstacle detection device that detects obstacles within a detection range that is a predetermined area around the machine. In addition, when operating manually, a line marker that forms a travel indicator for the next work process on the field screen is provided behind the driver's seat (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-108611 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above conventional configuration, the line markers are located behind the driver's seat, which makes it difficult for the driver to visually check the operation status of the line markers. Therefore, a configuration has been proposed in which the line markers are located in front of the driver's seat to make it easier for the driver to visually check the operation status.

[0005] In the paddy field working machine capable of performing the above-mentioned automatic driving, it is preferable that the machine be able to detect obstacles around the machine body over a wide surrounding area with high accuracy.

[0006] However, if a configuration in which a line marker is positioned in front of the driver's seat is applied to a paddy field working machine capable of such automatic driving, there is a risk that the line marker will be mistakenly detected as an obstacle by the obstacle detection device.

[0007] Therefore, it has been desirable to have a system that allows easy visual confirmation of the operating status of line markers while also being able to detect obstacles and perform automatic driving smoothly. [Means for solving the problem]

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[0023] A paddy field working machine according to the present invention is characterized in that it is provided with a driver's seat, line markers provided at positions on the sides of the machine body forward of the driver's seat for forming a travel target line in the field for the rearward stroke, and obstacle detection devices which detect obstacles within a predetermined area around the machine body as a detection range, the obstacle detection devices being provided with a front obstacle detection device whose detection range is in front of the machine body, a rear obstacle detection device whose detection range is behind the machine body, and a lateral obstacle detection device whose detection range is on the sides of the machine body, the lateral obstacle detection devices being configured to have a detection range on the sides of the machine body when positioned forward of the line markers, and the rear obstacle detection devices being distributed to both the left and right sides of a left-right central position, The multiple rear obstacle detection devices are arranged at the rear of the machine, with the detection range extending further outward in the left-right direction the further out they are positioned on the left and right sides, a seedling planting device is provided at the rear of the machine, and the seedling planting device is provided with a seedling carrying table on which the seedlings to be planted are placed, a plurality of seedling planting mechanisms which move up and down to remove the seedlings to be planted from the lower end of the seedling carrying table, and a plurality of planting transmission cases which support the multiple seedling planting mechanisms, the multiple rear obstacle detection devices are each supported by the multiple planting transmission cases via a support frame, a chemical spraying device is provided at a position higher than the seedling planting mechanism in the left-right central position of the seedling planting device, and the upper end of the detection range of the rear obstacle detection device is set at a position lower than the lower end of the chemical spraying device.

[0024] According to the present invention, since the line markers are provided on the sides of the vehicle body forward of the driver's seat, the driver can easily visually check the operation status of the line markers. Also, the front obstacle detection device, the rear obstacle detection device, and the lateral obstacle detection device can each detect obstacles around the vehicle body. The lateral obstacle detection device is configured to be positioned forward of the line markers and have a detection range extending to the lateral sides of the aircraft, thereby preventing the lateral obstacle detection device from detecting the line markers as obstacles. Therefore, while the operating status of the line markers can be easily confirmed visually, it is also possible to effectively detect obstacles around the aircraft without any false detections. In paddy field working machines, a spraying device for spraying a chemical in a field is sometimes located in the center on the left and right at the rear of the machine body. Even when such a spraying device is provided, obstacles can be detected without omissions in a wide area on both sides of the rear of the machine body. In addition, a plurality of seedling planting mechanisms and planting transmission cases are provided for each seedling planting row. The highly rigid planting transmission case can be effectively used to support the seedling planting mechanism, thereby stably supporting a plurality of rear obstacle detection devices. Furthermore, with this configuration, the rear obstacle detection device will not mistakenly detect the pesticide spraying device as an obstacle, and pesticide can be sprayed and supplied smoothly to the field.

[0025] In the present invention, it is preferable that a mudguard cover is provided below the rear obstacle detection device.

[0026] According to this configuration, even if mud is thrown upward during planting work by the seedling planting mechanism, the mud cover can prevent the mud from scattering onto the rear obstacle detection device. [Brief description of the drawings]

[0027] [Figure 1] FIG. 2 is a side view showing the entire paddy field working machine. [Diagram 2] FIG. 2 is a plan view showing the entire paddy field working machine. [Diagram 3] FIG. [Figure 4] FIG. 4 is a front view showing the posture switching state of the line marker. [Diagram 5] FIG. 4 is a plan view showing a support structure for a line marker. [Figure 6] FIG. 4 is a front view showing the support structure of the line marker. [Figure 7] FIG. 2 is an exploded perspective view showing a support configuration for a lateral sonar. [Figure 8] FIG. 2 is a cross-sectional plan view showing the support configuration for the lateral sonar. [Figure 9] FIG. 2 is a vertical cross-sectional side view showing the support configuration for the lateral sonar. [Figure 10] FIG. 1 is a side view showing the support configuration for the rear sonar. [Figure 11] FIG. 13 is a rear view showing the support configuration for the rear sonar. [Figure 12] FIG. 2 is a plan view showing an arrangement of the obstacle detection device; [Figure 13] FIG. [Figure 14] 13 is a flowchart of a sonar check process. [Figure 15] 4 is a flowchart of automatic driving control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] An embodiment of the present invention will be described with reference to the drawings, assuming that it is applied to a riding rice transplanter as an example of a paddy field working machine. In the following description, the direction of the arrow "F" is the "front side of the machine body" (see Fig. 1 and Fig. 2), the direction of the arrow "B" is the "rear side of the machine body" (see Fig. 1 and Fig. 2), the direction of the arrow "L" is the "left side of the machine body" (see Fig. 2), and the direction of the arrow "R" is the "right side of the machine body" (see Fig. 2). [Overall structure] As shown in Figures 1 to 3, the rice transplanter is equipped with a riding type four-wheel drive traveling body 1. The traveling body 1 is equipped with a link mechanism 3 in the form of a parallel four-linkage connected to the rear part so as to be able to rise and fall and swing, a seedling planting device 4 connected to the rear end of the link mechanism 3 so as to be able to roll, a fertilizer applicator 5 installed from the rear end region of the traveling body 1 to the seedling planting device 4, and a chemical sprayer 6 provided in the rear end region of the seedling planting device 4. The seedling planting device 4, the fertilizer applicator 5, and the chemical sprayer 6 are examples of working devices 58.

[0029] The traveling machine body 1 includes a pair of steerable front wheels 1F, 1F on the left and right as a mechanism for traveling, and a pair of rear wheels 1B, 1B as drive wheels on the left and right, an engine 7 as a power source, and a hydraulic continuously variable transmission 8 as a main transmission. The continuously variable transmission 8 is, for example, an HST (Hydro-Static Transmission), and changes the driving force (rotation speed) output from the engine 7 by adjusting the angles of a motor swash plate and a pump swash plate. The engine 7 and the continuously variable transmission 8 are mounted on the front of the traveling machine body 1. Power from the engine 7 is supplied to the front wheels 1F, rear wheels 1B, working equipment, etc. via the continuously variable transmission 8, etc.

[0030] As shown in Figures 1 and 2, the seedling planting device 4 is of a 10-row planting type and is connected to the rear of the link mechanism 3. The front end of the planting frame 9 of the seedling planting device 4 is connected to the rear of the link mechanism 3. The device is equipped with ten seedling planting mechanisms 10 attached to the planting frame 9 in a row in the lateral direction of the machine body, a seedling loading platform 11 provided above the front part of the planting frame 9, and five ground floats 12 attached to the lower part of the planting frame 9 in a row in the lateral direction of the traveling machine body.

[0031] Five planting transmission cases 13 are connected to the planting frame 9, spaced at predetermined intervals laterally along the travelling body and aligned in the front-rear direction. The ten seedling planting mechanisms 10 are attached to the planting frame 9, supported one on each side of the rear end of each planting transmission case 13.

[0032] The seedling carrying platform 11 moves back and forth in the left and right direction with a constant stroke corresponding to the left and right width of the mat-shaped seedlings. The ten seedling planting mechanisms 10 are of the rotary type, and cut one seedling (also called a planted seedling) from the bottom end of each mat-shaped seedling placed on the seedling carrying platform 11 and plant it in the muddy soil after leveling.

[0033] As shown in Figs. 1 to 3, the traveling machine body 1 is provided with a driving section 14 in its rear side area. The driving section 14 is provided with various operating tools such as a steering wheel 15 for steering the front wheels, a main speed change lever 16 for adjusting the vehicle speed by changing the speed of the continuously variable transmission 8, an information terminal 19 having a touch panel for displaying (informing) various information to an operator and informing (outputting) various information and receiving input of various information, and a driver's seat 20 for the operator (driver / operator). Furthermore, a spare seedling storage device 21 for storing spare seedlings is provided in front of the driving section 14 and supported by a spare seedling support frame 22.

[0034] As shown in Fig. 3, the spare seedling storage devices 21 are supported by left and right lower end side portions 22a located on the left and right sides of the machine body of the spare seedling support frame 22. Five spare seedling storage devices 21 are provided on each of the left and right sides of the machine body, lined up in the vertical direction.

[0035] A stacked light 23 is attached to the upper side of the spare seedling storage device 21 at the lower end side portion 22a on the right side. The stacked light 23 is for confirming the driving control state from outside the vehicle body when performing unmanned automatic driving described later. Although not described in detail, it has multiple colored indicator lights and is configured to display colors according to the driving situation.

[0036] [Line marker] A line marker 24 is provided at a position on the side of the traveling body forward of the driver's seat 20 for drawing a travel target line for the rear travel in the field.

[0037] During manual travel, a travel target line is formed on the field scene by line markers 24 at locations on the sides of the traveling body 1. The left and right line markers 24 have the same configuration except for the direction in which they protrude, so the following will explain the left line marker 24.

[0038] 6, the line marker 24 is attached to a cylindrical support frame 27 provided at the side of the front part of the traveling body 1, spanning between the driver's step 25 and the side step 26. A mounting bracket 28 with an L-shaped cross section is fixed to the side surface of the support frame 27, and a connecting bracket 29 with a channel-shaped cross section is attached to the mounting bracket 28 by bolt connection.

[0039] The line marker 24 includes a support part 30 supported on the traveling body 1 so as to be swingable left and right about a vertical axis Y1 along the up-down direction, and an extension rod part 31 supported on the support part 30 so as to be swingable up and down about a first horizontal axis X1 along the horizontal direction provided at the tip part of the support part 30. The end part of the support part 30 on the traveling body 1 side is supported by the connecting bracket 29 via a shaft member 33 so as to be rotatable about the vertical axis Y1.

[0040] 4 and 5, the support part 30 is configured to be able to switch its posture among a sideways working posture PS in which it extends laterally outward from the traveling body 1 from the vertical axis Y1, a forward-facing storage posture PF in which it extends forward from the vertical axis Y1 along the traveling body 1, and a rearward-facing storage posture PR in which it extends diagonally rearward from the vertical axis Y1 of the traveling body 1. The obliquely rearward posture of the support part 30 in the rearward-facing storage posture PR is for avoiding interference with the driver's section step 25. In the drawings, reference numeral 80 denotes an adjacent marker.

[0041] During manual travel, when a travel target line is to be formed on the field scene at a location on the side of the traveling body 1, the line marker 24 is switched to a lateral working position PS as shown in Fig. 4. When a travel target line is not to be formed on the field scene, the line marker 24 is switched to either a forward-facing storage position PF or a rearward-facing storage position PR.

[0042] As shown in Figures 5 and 6, at the tip of the support portion 30, i.e., at the end opposite the end where the connecting bracket 29 is provided, an extension rod portion 31 is supported so as to be able to swing up and down around a first horizontal axis X1 along the horizontal direction.

[0043] The extension rod 31 is connected to a raising and lowering operation mechanism 34 equipped with a drive motor 34a. In other words, the raising and lowering operation mechanism 34 and a base bracket 35 of the extension rod 31 are connected via an operation spring material 36, and the extension rod 31 can be raised and lowered by driving the drive motor 34a.

[0044] The tip of the extension rod portion 31 is provided with an arm portion 37 having a bent tip portion, and a rotation marker 38 supported on the tip of the arm portion 37 so as to be rotatable.

[0045] [Lock mechanism] A locking mechanism 40 is provided near the end of the line marker 24 that is connected to the traveling body 1, for fixing and unlocking a selected mounting position of the line marker 24 relative to the traveling body 1. The locking mechanism 40 includes an operating lever 41 attached to the support part 30 of the line marker 24, and a position fixing member 42 welded to the support frame 27 of the traveling body 1.

[0046] The operating lever 41 is attached so as to be able to swing up and down about a second horizontal axis X2 intersecting the vertical axis Y1 with respect to the support part 30. That is, by gripping the operating lever 41 and pushing and pulling the operating lever 41 in the horizontal direction to rotate the support part 30 around the vertical axis Y1, the support part 30 and the operating lever 41 can be integrally rotated around the vertical axis Y1. When the gripped operating lever 41 is swung up and down, it swings up and down about the second horizontal axis X2 with respect to the support part 30. This swing operation allows the operating lever 41 to be engaged with and disengaged from the position fixing member 42. A grip part 43 is provided at the tip of the operating lever 41.

[0047] An intermediate portion of the operating lever 41 is configured to be able to engage with and disengage from an engagement recess 48 (described later) of the position fixing member 42. A helical spring 44 (corresponding to a biasing means) that biases the operating lever 41 downward to swing in a direction to deepen the engagement with the engagement recess 48 is provided at the base end portion.

[0048] The position fixing member 42 is made of a bent sheet metal member. A lower portion of this sheet metal member is provided at a location along the front-rear direction of the support frame 27, which is bent into a U-shape in plan view.

[0049] The sheet metal members constituting the position fixing member 42 include a first fixing member 45 which is formed in a channel shape when viewed in a plane and whose lower end is welded and fixed so that it straddles a location along the fore-and-aft direction of the support frame 27, a second fixing member 46 which is welded and fixed to the upper part of the first fixing member 45 so that its channel-shaped open side is directed laterally outward from the running body 1 when viewed in a plane and which embraces the first fixing member 45 from the outside (the inside of the running body), and a third fixing member 47 which is formed in an approximately triangular shape when viewed in a plane and is welded and fixed to the front side of the second fixing member 46.

[0050] The upper edge portion of the position fixing member 42 is provided with a number of engagement recesses 48 that engage with the middle portion of the operating lever 41. These engagement recesses 48 are formed as recessed grooves deep enough for the operating lever 41 to fit into, and limit the horizontal movement of the operating lever 41 when the operating lever 41 is in an engaged state with the operating lever 41 fitted in. This limit on the horizontal movement of the operating lever 41 results in a locked state in which rotation about the vertical axis Y1 of the support part 30 of the line marker 24 is restricted. When the engagement with the engagement recesses 48 is released, rotation about the vertical axis Y1 of the support part 30 of the line marker 24 is permitted.

[0051] Of the three positions, in the rearward stored position PR, the operating lever 41 is engaged with two positions, an engagement recess 48a formed on the front side of the second fixed member 46 and an engagement recess 48b formed on the front side of the third fixed member 47, to be in a locked state. Similarly, in the other positions, the operating lever 41 is engaged with the engagement recess 48 to be in a locked state.

[0052] The rearward-facing storage position PR corresponds to a storage position for automatic driving, and a rotation restriction portion 49 is configured by the engagement recess 48a of the second fixing member 46 and the engagement recess 48b of the third fixing member 47. A storage detection sensor 50 is provided as a storage state detection means for detecting whether the support part 30 has been switched to the rearward-facing storage position PR.

[0053] The storage detection sensor 50 is provided on the third fixing member 47. The storage detection sensor 50 is configured with a limit switch. A detection piece 50a of the storage detection sensor 50 is provided in the engagement recess 48b in the rearward-facing storage position PR so as to detect when the support part 30 enters the engagement recess 48b. [Autonomous Driving] This section explains how the rice transplanter automatically travels to plant rice in a field.

[0054] The rice transplanter in this embodiment can selectively be driven manually or automatically. Manual driving and automatic driving are selected by switching a mode change switch 52 provided on the driving operation panel 51. In manual driving, the driver manually operates the steering wheel 15, the main shift lever 16, and other operating tools to drive the vehicle for work.

[0055] Autonomous driving is when the rice transplanter drives and works under automatic control along a preset driving route. Autonomous driving can be performed in either manned automatic driving mode, which requires a driver to be on board, or unmanned automatic driving mode, which does not require a driver to be on board. In manned automatic driving, the driver performs some operations according to guidance provided by the rice transplanter, while the rice transplanter automatically controls other operations associated with driving and work. In unmanned automatic driving, a driver does not need to be on board, but a driver may be on board during unmanned automatic driving. In unmanned automatic driving, the driver operates the automatic driving start operation, and the work driving is started under automatic control, and the pre-set work driving is performed under automatic control. The information terminal 55 is used to set the manned automatic mode in which manned automatic driving is performed and the unmanned automatic mode in which unmanned automatic driving is performed.

[0056] When performing unmanned automatic traveling, the line markers 24 are switched to the rear-facing storage position PR. Since the switching operation of the line markers 24 is performed manually, the storage detection sensor 50 detects whether the line markers 24 have been reliably switched to the rear-facing storage position PR.

[0057] The specific travel mode of the rice transplanter during work will be briefly explained below.

[0058] When performing planting work, the operator first manually drives the rice transplanter along the perimeter of the field without performing any work. This driving around the perimeter generates the perimeter shape of the field (field map). When the field map is generated, the driving route along which the rice transplanter will drive for work is set.

[0059] The conditions for starting manned automatic driving are that at least a driver is on board and that the main shift lever 16 is in the neutral position. Whether or not a driver is on board is detected by a seating sensor (not shown) provided in the driver's seat 20. Whether or not the main shift lever 16 is in the neutral position is detected by a neutral sensor provided near the main shift lever 16. When the start conditions are satisfied, automatic travel begins when the main speed change lever 16 is moved in the travel direction. In manned automatic travel, the seedling planting device 4 is raised and lowered by automatic control.

[0060] In the unmanned automatic driving, automatic driving is started by a start command from the operator, and the work driving is performed by automatic control along a preset driving route. Even in the unmanned automatic driving, the raising and lowering of the seedling planting device 4 is performed by automatic control. [Control system] Next, the control system of the rice transplanter will be explained.

[0061] The rice transplanter is provided with a control unit 53, which is the core of the control system of the rice transplanter. The control unit 53 is provided with a microcomputer and the like, and is configured to execute various controls in a program format.

[0062] As shown in Fig. 13, the control unit 53 is connected to a positioning unit 54 for calculating the vehicle position, an information terminal 55 for performing various settings and operations and displaying various information, a sensor group 56 for detecting various states of the rice transplanter, various operating tools 57, various working devices 58, and traveling equipment 59 including the front wheels 1F related to steering and the continuously variable transmission 8. The mode change switch 52, which is one of the operating tools 57, is a switch for selecting one of a manual traveling mode for manual traveling, a manned automatic traveling mode for automatic traveling with a man, and an unmanned automatic traveling mode for automatic traveling without a man. The sensor group 56 includes a storage detection sensor 50, an object detection sensor 60 described later, and the like.

[0063] The control unit 53 controls the travel of the rice transplanter and the operation of various work devices 58. During manual travel, the control is performed according to the operation of various operating tools 57 performed by the driver, and during automatic travel, the control is performed according to the vehicle position while acquiring the vehicle position.

[0064] The positioning unit 54 outputs positioning data for calculating the position and orientation of the traveling body 1. The positioning unit 54 includes a satellite positioning module 54A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS), and an inertial measurement module 54B that detects the inclination and acceleration of the three axes of the traveling body 1.

[0065] In the manual driving mode, the control unit 53 controls the driving equipment 59 in accordance with the operation of the operating tool 57 and the setting state of the information terminal 55, and controls the vehicle speed and steering amount, thereby controlling driving. The control unit 53 controls the operation of the working device 58 in accordance with the operation of the operating tool 57 and the setting state of the information terminal 55.

[0066] In the manned automatic traveling mode or the unmanned automatic traveling mode, the control unit 53 calculates the map coordinates (vehicle position) of the machine body 1 based on the satellite positioning data successively sent from the positioning unit 54. The control unit 53 acquires a field map and sets a traveling route according to the field map and the settings and operation of the information terminal 55. At the same time, the control unit 53 determines the operation of the working device 58 according to the position in the traveling route. Then, the control unit 53 calculates the traveling position in the traveling route based on the vehicle position, and controls the traveling equipment 59 and the working device 58 according to the traveling position in the traveling route and the setting state of the information terminal 55. In this way, the control unit 53 controls the work traveling in the automatic traveling mode. Although not described in detail, the control of the traveling equipment 59 includes the rotation control of the engine 7, the automatic adjustment control of the traveling speed, the automatic steering control of the front wheels 1F, etc., and the control of the working device 58 includes the on / off of the planting clutch (not shown), the lifting and lowering operation of the seedling planting device 4, etc.

[0067] Therefore, the control unit 53 is equipped with a vehicle position calculation unit 100 that calculates the position of the running vehicle 1 based on the measurement results of the positioning unit 54, and an automatic driving control unit 101 that executes automatic driving control when the driving start conditions are met, in a control program. [Obstacle Detection Device] When the automatic traveling starts or during automatic traveling, if there is an obstacle ahead in the traveling direction or around the traveling body 1, problems may occur in traveling or work. For this reason, the rice transplanter of this embodiment is equipped with an object detection sensor 60 as an obstacle detection device that detects obstacles around the traveling body 1. Although the obstacle detection is basically performed during automatic traveling, it can also be configured to detect the obstacle during manual traveling.

[0068] 12, there are provided four front sonars 61 as front obstacle detection devices that detect obstacles in the area in front of the traveling body 1, four rear sonars 62 as front obstacle detection devices that detect obstacles in the area behind the traveling body 1, and two side sonars 63 as side obstacle detection devices that detect obstacles in the areas to the sides of the traveling body 1. The front sonars 61, rear sonar 62, and side sonars 63 are made up of ultrasonic sensors of known configurations that detect the presence of obstacles by emitting ultrasonic waves and then receiving reflected waves.

[0069] [Front sonar] Of the four front sonars 61, the two located at the left and right center are arranged side by side in the left and right direction of the traveling body 1 on the front side of the machine body. The two front sonars 61 arranged on the left and right outer sides of the front sonars 61 are each supported by stays 64 protruding forward from the left and right spare seedling support frames 22. The heights of the four front sonars 61 above the ground are approximately the same.

[0070] The detection range in the planar direction of each front sonar 61 (detection range in a plan view) spreads out in a fan shape from the front sonar 61. The forward detection range of the front sonar 61 is adjusted so that a length is secured that allows the traveling vehicle 1 to stop in front of an obstacle after detecting the obstacle when traveling at the maximum traveling vehicle speed. The front sonars 61 are arranged so that at least a portion of the horizontal detection ranges of adjacent front sonars 61 overlap each other.

[0071] [Rear Sonar] The rear sonars 62 are provided in a state where two are distributed to each of the left and right sides of the central position of the seedling planting device 4. The four rear sonars 62 are supported by the four planting transmission cases 13, respectively.

[0072] To explain further, as shown in Figures 10 and 11, a support rod 65 is fixedly extended upward from each of the leftmost planting transmission case 13 and the planting transmission case 13 adjacent to it on the right side, and serves as a support frame shaped like a U in a side view. A connecting member 66 is provided in a state in which it is installed across the upper parts of the two support rods 65. The two rear sonars 62 located on the left side are attached to the connecting member 66. Similarly, the two rear sonars 62 located on the right side are attached to the connecting member 66 supported via the support rod 65 to the rightmost planting transmission case 13 and the planting transmission case 13 adjacent to it on the left side.

[0073] The rear sonar 62 mainly detects obstacles when moving backward. As shown in FIG. 12, the detection range of the rear sonar 62 in the planar direction spreads outward from the rear sonar 62 in a fan shape. The two rear sonars 62 are arranged on both the left and right sides of the center position of the seedling planting device 4, and the detection range is provided so that the detection range faces outward in the left and right direction as it is located on the outside of the left and right direction. In other words, the two rear sonars 62 located on the center side of the left and right direction among the four rear sonars 62 are arranged so that the detection range faces almost directly backward, and the detection range of the two rear sonars 62 located on the outside of the left and right direction is slightly biased outward. The horizontal detection ranges of the multiple rear sonars 62 are provided over a wide range while partially overlapping each other.

[0074] The chemical spraying device 6 is provided at a position higher than the seedling planting mechanism 10 at the left-right central position of the seedling planting device 4. The chemical spraying device 6 is supported by the central planting transmission case 13 and a support arm 67 extending upward from the adjacent planting transmission case 13. The upper end of the detection range of the rear sonar 62 is set at a position lower than the lower end of the chemical spraying device 6. This makes it possible to prevent the rear sonar 62 from erroneously detecting the chemical spraying device 6 as an obstacle.

[0075] A mud cover 68 is provided below the rear sonar 62. Four mud covers 68 are provided corresponding to the four rear sonars 62. Each mud cover 68 is supported by a support stay 69 extending upward from the planting transmission case 13. The mud cover 68 can prevent mud splashed by the planting operation of the seedling planting mechanism 10 from falling on the rear sonar 62.

[0076] [Horizontal sonar] The lateral sonar 63 is configured to have a detection range on the side of the aircraft when positioned forward of the line marker 24. The lateral sonar 63 is configured so that the detection range can be changed and adjusted forward and backward. Furthermore, the lateral sonar 63 is configured so that the detection range can be changed and adjusted upward and downward.

[0077] 7 to 9, the lateral sonar 63 is supported by the support frame 27. A base portion 70 is provided in a state of being fixed to the support frame 27 by welding. The lateral sonar 63 is supported on a base 70 via a relay member 71. The relay member 71 includes a bottom surface 71A in a horizontal position and a vertical surface 71B fixed to the center of the bottom surface 71A by welding and erected.

[0078] A bottom surface portion 71A of the relay member 71 is connected to the upper surface of the base portion 70 by two bolts 72 arranged substantially in front-to-rear direction. Two bolt insertion holes 73 in the bottom surface portion 71A are formed as elongated holes extending in a direction perpendicular to the arrangement direction.

[0079] A support member 74 of the lateral sonar 63 is connected to the vertical surface portion 71B of the relay member 71 by two bolts 75 arranged vertically. Two bolt insertion holes 76 in the vertical surface portion 71B are formed as long slots extending in a direction perpendicular to the arrangement direction.

[0080] The support member 74 supports the lateral sonar 63 in a fixed position and includes an attachment portion 74A that is connected to the vertical surface portion 71B of the relay member 71 by bolts, and a cover portion 74B that extends continuously from the attachment portion 74A and covers the outer lateral side and above the aircraft of the lateral sonar 63.

[0081] By loosening the two bolts 72 connecting the bottom portion 70A to the base portion 70, the lateral sonar 63 and support member 74 can be rotated together within a specified range around the vertical axis within the range of the long hole of the bolt insertion hole 73, and by changing this position, the detection range of the lateral sonar 63 can be adjusted back and forth.

[0082] In addition, by loosening the two bolts 75 connecting the support member 74 to the vertical surface portion 71B, the support member 74 can be rotated within a specified range about the horizontal axis within the range of the long hole of the bolt insertion hole 76, and by changing the posture, the detection range of the lateral sonar 63 can be adjusted up and down.

[0083] That is, the object detection sensor 60 detects objects that exist within a specific detection range as described above. Furthermore, if a muddy surface of a farm field exists within the detection range, the object detection sensor 60 will detect the muddy surface as an obstacle. If the muddy surface is detected as an obstacle, automatic traveling will not start and traveling will not continue. Therefore, the detection range of the object detection sensor 60 is adjusted so as not to detect the muddy surface.

[0084] [Control Operation] When the operation start condition is satisfied, the automatic operation control unit 101 is configured to execute a sensor check process, as an example of automatic operation control, to check whether the object detection sensor 60 is malfunctioning. In the sensor check process, an operator walks around the rice transplanter holding a reflector that acts as a pseudo obstacle. The sonar check process here finds malfunctions caused by foreign objects such as mud or water droplets adhering to the object detection sensor 60, and if foreign objects are adhering, the operator removes the foreign objects. If there is a malfunction, replacement is required.

[0085] In addition, if the driving start conditions are met, the automatic driving control unit 101 is configured to execute other examples of automatic driving control, such as manned automatic driving control in which the vehicle drives automatically with a person present, and unmanned automatic driving control in which the vehicle drives automatically without a person present.

[0086] However, the automatic driving control unit 101 is configured not to execute automatic driving control unless the stored state is detected by the storage detection sensor 50. In other words, one of the driving start conditions is that the operating lever 41 is stored in the rearward stored position PR.

[0087] The operation when the automatic driving control unit 101 performs a sonar check will be described with reference to FIG.

[0088] First, the main switch is turned ON to start the rice transplanter (#S01). This causes the initial processing of the control system to be performed, and the operation confirmation flag is set to "0" (#S02). Next, an initial sonar check request command is output (#S03), and the operator is asked via the display screen of the information terminal 55 whether or not to perform a sonar check (#S04). When the operator is instructed to perform a sonar check (#S04 Yes branch), the storage detection sensor 50 then checks whether or not the support part 30 of the line marker 24 is in a stored state in which it has been switched to the rearward stored position PR (#S05 Yes branch). When it is confirmed that the support part 30 is in a stored state (#S05 Yes branch), the sonar check process is executed (#S06). At this time, when the sonar check process is completed (#S07), the operation confirmation flag is set to "1" (#S08).

[0089] If the storage detection sensor 50 does not confirm that the line marker 24 is in the stored state (#S05 No branch), sonar check processing is not performed. In this case, the fact that the line marker 24 is not in the stored state is displayed on the display screen of the information terminal 55 to notify the operator (#S09).

[0090] Although the sonar check process will not be described in detail, the operator moves around the rice transplanter and sequentially checks whether the front sonar 61, rear sonar 62, and side sonar 63 of the object detection sensor 60 are properly detecting each sonar. The results of the check are then displayed on the display unit of the information terminal 55.

[0091] Next, with reference to FIG. 15, an operation when unmanned driving control is performed by the automatic driving control unit 101 will be described.

[0092] When the unmanned automatic driving mode is selected by the mode change switch 52 (#S10), it is confirmed that the operation confirmation flag is "1", that is, the sonar check process is completed (#S11). Then, when the operator issues a command to start automatic driving by the information terminal 55 or another command operating tool (#S12), the storage detection sensor 50 checks whether the support part 30 of the line marker 24 is in a stored state in which it is switched to the rearward stored posture PR (#S13). If it is confirmed that it is in the stored state (#S13 Yes branch), the automatic driving control is executed (#S15). However, if it is not confirmed that it is in the stored state (#S13 No branch), the automatic driving control is not executed. In this case, the fact that the line marker 24 is not in the stored state is displayed on the display screen of the information terminal 55 to notify the operator (#S14). [Another embodiment]

[0093] (1) In the above embodiment, the system is configured to have four front sonars 61, four rear sonars 62, and one lateral sonar 63 on each side. However, instead of this configuration, the number may be changed as appropriate, and the number may be one or more so long as it is capable of detecting obstacles.

[0094] (2) In the above embodiment, the lateral sonar 63 is configured so that the detection range can be changed and adjusted forward and backward. However, instead of this configuration, the lateral sonar 63 may be installed so that its position is fixed forward and backward.

[0095] (3) In the above embodiment, the lateral sonar 63 is configured so that the detection range can be adjusted up and down. However, instead of this configuration, the lateral sonar 63 may be installed so that its position is fixed up and down.

[0096] (4) In the above embodiment, an ultrasonic sonar is used as the object detection sensor 60 (obstacle detection sensor). However, instead of this configuration, an imaging device (camera), a temperature detection sensor, a millimeter wave radar, a laser scanner, etc. can be used.

[0097] (5) In the above embodiment, the support part 30 of the line marker 24 is configured to be switchable between the side-facing working position PS, the forward-facing storage position PF, and the rear-facing storage position PR. However, instead of this configuration, various configurations can be adopted, such as a configuration that switches between the side-facing working position PS and the rear-facing storage position PR.

[0098] (6) In the above embodiment, five spare seedling storage devices 21 are provided on each of the left and right sides of the body, lined up in the vertical direction. However, instead of this configuration, four spare seedling storage devices 21 may be provided on the side where the stacked lights 23 are provided, which is the right side in the above embodiment, in order to prevent the weight balance from being disturbed by the stacked lights 23. [Industrial Applicability]

[0099] The present invention can be used not only in paddy field working machines equipped with seedling planting devices, but also in paddy field working machines equipped with direct seeding devices. [Explanation of symbols]

[0100] 4 Seedling planting device 6. Chemical spraying device 10 Seedling planting mechanism 11 Seedling stand 13 Planting transmission case 20 Driver's seat 24 Line Marker 30 Support Department 31 Extending rod part 60 Obstacle detection device 61 Front sonar (front obstacle detection device) 62 Rear Sonar (rear obstacle detection device) 63 Horizontal sonar (horizontal obstacle detection device) 68 Mudguard cover

Claims

1. The vehicle is provided with a driver's seat, a line marker that is provided on a side of the vehicle body forward of the driver's seat and that is used to form a travel target line for a rearward journey in a field, and an obstacle detection device that detects obstacles within a predetermined area around the vehicle body as a detection range, The obstacle detection device includes a front obstacle detection device having a detection range in front of the aircraft, a rear obstacle detection device having a detection range in the rear of the aircraft, and a lateral obstacle detection device having a detection range on the side of the aircraft, The lateral obstacle detection device is configured to have a detection range on the lateral side of the aircraft when positioned forward of the line marker, The rear obstacle detection devices are arranged in a plurality of units on both the left and right sides with respect to a left-right central position, The rear obstacle detection devices are arranged on both the left and right sides in such a manner that the detection ranges of the rear obstacle detection devices are directed outward in the left and right direction as they are positioned on the left and right outer sides, A seedling planting device is installed at the rear of the aircraft. The seedling planting device is provided with a seedling carrying platform on which seedlings to be planted are placed, a plurality of seedling planting mechanisms that move up and down to take out seedlings to be planted from the lower end of the seedling carrying platform, and a plurality of planting transmission cases that support the plurality of seedling planting mechanisms. The plurality of rear obstacle detection devices are supported on the plurality of planting transmission cases via a support frame, A chemical spraying device is provided at a position higher than the seedling planting mechanism at the left-right central position of the seedling planting device, A paddy field working machine in which the upper end of the detection range of the rear obstacle detection device is set at a position lower than the lower end of the pesticide spraying device.

2. 2. The paddy field working machine according to claim 1, further comprising a mudguard cover provided below the rear obstacle detection device.

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