Field Machinery

Abstract

To execute operation confirmation for a detector with a high degree of precision.SOLUTION: A farm field work machine includes: a machine body; a work device 3 for executing work for a farm field, which can change its posture between a work posture and a non-work posture; a detector 30 for detecting an obstacle around the machine body; an operation confirmation execution unit 47 for executing operation confirmation for the detector 30; and a posture detection unit 3S for detecting that the work device 3 is in the work posture. The operation confirmation execution unit 47 executes the operation confirmation in a state that the posture detection unit 3S detects that the work device 3 is in the work posture.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a field work machine equipped with a work implement for performing field work in a field. [Background technology]

[0002] As disclosed in Patent Document 1, a rice transplanter, which is one of farm work machines, performs seedling planting work while traveling in a farm field. In addition, a rice transplanter capable of automatic traveling performs automatic work traveling, that is, performing seedling planting work while traveling automatically. The rice transplanter capable of automatic traveling calculates a traveling route and performs automatic traveling along the traveling route based on the position of the machine calculated using GNSS (Global Navigation Satellite System) or the like.

[0003] In the case of autonomous driving, there are cases where the vehicle is not only manned but also unmanned. At least the unmanned autonomous driving rice transplanter is equipped with a detector (obstacle detection device) that detects obstacles in the field to avoid collisions with obstacles. When the vehicle starts autonomous driving, a check is made to ensure that the detector is operating normally.

[0004] On the other hand, rice transplanters that can plant many rows of seedlings at once, such as 10 rows, require a larger seedling planting device, which makes the machine wider and inconvenient to move and transport. For this reason, there are rice transplanters that can change the position of the seedling planting device to narrow the machine width. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2021-108611 A Summary of the Invention [Problem to be solved by the invention]

[0006] The seedling planting device is heavy, and a large impact occurs when changing its position from a non-working position in which the width of the seedling planting device is narrowed to a working position for planting seedlings. It is preferable to take into consideration that the impact caused by the position change may cause the detection range of the detector to shift or cause damage to the detector.

[0007] In particular, if the seedling planting device is changed from a non-working position to a working position after checking that the detector is working, the impact of the position change may cause the detector to be unable to function normally, and obstacles may not be detected properly during automatic driving.

[0008] An object of the present invention is to check the operation of a detector with high accuracy. [Means for solving the problem]

[0009] In order to achieve the above object, a field work machine according to one embodiment of the present invention includes a body, a work device that performs work on a field and is capable of changing its posture between a working posture and a non-working posture, a detector that detects obstacles around the body, an operation check execution unit that checks the operation of the detector, and a posture detection unit that detects that the work device is in the working posture, Non The posture detection unit detects that the user is in a working posture. Between Execute the above operation check Prohibit .

[0010] With this configuration, after the detector operation is confirmed, there is no need to change the position of the working device from a non-working position to a working position while the vehicle is traveling for work. Therefore, the impact that occurs when the working device is changed from a non-working position to a working position does not reach the detector after the operation is confirmed, and the detector is prevented from being unable to function normally while traveling for work. Therefore, the detector operation can be confirmed with high accuracy, and the detector can detect obstacles with high accuracy while traveling.

[0011] The working device may be a seedling planting device having a seedling carrier and a planting mechanism.

[0012] With this configuration, in a rice transplanter equipped with a seedling planting device, it is possible to accurately check the operation of the detector, and the detector can accurately detect obstacles while traveling.

[0013] In addition, the seedling planting device may have a right planting part and a left planting part that are separable from each other, the working position may be a position in which the right planting part and the left planting part are connected and arranged along the left-right direction, and the non-working position may be a position in which the left-right width across the separated right planting part and left planting part is narrower than the left-right width across the right planting part and left planting part in the working position.

[0014] With this configuration, the seedling planting device can be changed from the working position to the non-working position after separating the right planting section and the left planting section. Also, the seedling planting device can be changed to a position where the width of the machine body is narrowed. Therefore, the position of the seedling planting device can be easily changed. Even with this configuration, by checking the operation after the seedling planting device has been changed to the working position, the detector is not subjected to any shock that occurs when the seedling planting device is changed from the non-working position to the working position after the operation check, and the detector operation can be checked with high accuracy.

[0015] In addition, in the non-working posture, the right planting portion and the left planting portion may be folded in a state where they face each other.

[0016] With this configuration, the seedling planting device can easily be changed in position so that the width of the body becomes narrower.

[0017] In addition, the posture detection unit may be a switch that is turned on when the right planting part and the left planting part are connected.

[0018] With this configuration, the operation check execution unit can easily check that the seedling planting device is in the working position because the switch is in the on state. As a result, it becomes easy to check the operation after the seedling planting device has been changed to the working position, and the operation check can be performed after the seedling planting device has been changed to the working position, making it possible to check the operation of the detector with high accuracy.

[0019] It is also preferable that the vehicle further includes an aircraft position calculation unit that calculates the position of the aircraft, and an automatic driving control unit that controls automatic driving based on the position of the aircraft, and that the operation check is performed when the automatic driving starts.

[0020] During automatic driving, it is important to detect obstacles around the vehicle. By checking the operation of the detector that detects obstacles when automatic driving begins, it is possible to accurately detect obstacles during automatic driving. As described above, by checking the operation after the working device is changed to a working position, the detector is not subjected to the shock that occurs when the working device is changed from a non-working position to a working position after the operation check, and the detector is prevented from being unable to function normally during working driving. Therefore, it is possible to check the operation of the detector with high accuracy, and the detector can accurately detect obstacles during automatic driving.

[0021] The apparatus may further include an alarm unit, and the operation confirmation execution unit may receive an operation to start executing the operation confirmation, and if the posture detection unit does not detect that the seedling planting device is in the working posture when the operation is received, the alarm unit may be caused to issue a warning.

[0022] With this configuration, the operation check of the detector is suppressed when the working device is not in the working position, and the operation check of the detector is encouraged when the working device is in the working position. As a result, the operation check of the detector can be performed with high accuracy. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a side view of an automatically-traveling rice transplanter. [Diagram 2] FIG. 1 is a plan view of an automatically-traveling rice transplanter. [Diagram 3] FIG. 1 is a schematic diagram illustrating the operation travel of the rice transplanter. [Figure 4] 13 is a diagram illustrating an example of changing the posture of the seedling planting device. FIG. [Diagram 5] FIG. 2 is a diagram illustrating a detection range of a sonar. [Figure 6] FIG. 2 is a functional block diagram showing a control system of the rice transplanter. [Figure 7] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] In the following, a rice transplanter will be described as an example of a field working machine that travels through a field.

[0025] For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (traveling direction) of the machine body. In addition, the left-right direction or lateral direction means the transverse direction of the machine body (machine body width direction) perpendicular to the longitudinal direction of the machine body, and "left" (the direction of arrow L shown in FIG. 2) and "right" (the direction of arrow R shown in FIG. 2) mean the leftward and rightward directions of the machine body, respectively.

[0026] [Overall structure] As shown in Figures 1 and 2, the rice transplanter is equipped with a riding type four-wheel drive machine body 1. The machine body 1 is equipped with a link mechanism 13 in the form of a parallel four-linkage connected to the rear of the machine body 1 so as to be able to rise and fall and swing, a hydraulic lifting link 13a that drives the link mechanism 13 to swing, a seedling planting device 3 (working device) that is connected to the rear end region of the link mechanism 13 so as to be able to roll, a fertilizer applicator 4 that is installed from the rear end region of the machine body 1 to the seedling planting device 3, and a chemical spraying device 18 that is provided in the rear end region of the seedling planting device 3. The seedling planting device 3, the fertilizer applicator 4, and the chemical spraying device 18 are examples of working devices.

[0027] The machine body 1 includes wheels 12 as a mechanism for traveling, an engine 2, and a hydraulic continuously variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission), and changes the speed of the driving force output from the engine 2 by adjusting the angles of a motor swash plate and a pump swash plate. The wheels 12 include left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. The engine 2 and the continuously variable transmission 9 are mounted on the front of the machine body 1. Power from the engine 2 is supplied to the front wheels 12A, the rear wheels 12B, the working device, etc. via the continuously variable transmission 9, etc.

[0028] As an example, the seedling planting device 3 is configured for 10-row planting. The seedling planting device 3 includes a seedling placement platform 21, a planting mechanism 22 for 10 rows, and five floats 15. The seedling planting device 3 can be changed to a 2-row, 4-row, 6-row, 8-row, or other type of planting by controlling the individual row clutch (planting clutch) not shown.

[0029] The seedling carrying table 21 is a base on which 10 mat-shaped seedlings are placed. The seedling carrying table 21 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, and each time the seedling carrying table 21 reaches the left or right stroke end, each mat-shaped seedling on the seedling carrying table 21 is vertically fed toward the lower end of the seedling carrying table 21 at a predetermined pitch.

[0030] The ten planting mechanisms 22 are of a rotary type and are arranged in the left-right direction at regular intervals corresponding to the spacing between the planting rows. Each planting mechanism 22 receives driving force from the engine 2 when a planting clutch (not shown) is shifted to a transmission state, and cuts one seedling (also called a planted seedling) from the bottom end of each mat-like seedling placed on the seedling placement table 21 and plants it in the muddy soil after the ground is leveled. In this way, the seedling planting device 3 can take out the seedlings from the mat-like seedlings placed on the seedling placement table 21 and plant them in the muddy soil of the paddy field.

[0031] The floats 15 level the field when planting seedlings. Each float 15 is provided in correspondence with two rows of planting mechanisms 22.

[0032] The fertilizer applicator 4 delivers a predetermined amount of stored granular or powdered fertilizer (chemicals or other agricultural materials) to the field, thereby supplying the fertilizer to the field.

[0033] The machine body 1 is provided with a driving section 14 in the rear side area. The driving section 14 is provided with a steering wheel 10 for steering the front wheels, a main speed change lever 7A for adjusting the vehicle speed by changing the speed of the continuously variable transmission 9, a sub-speed change lever 7B for changing the speed of the sub-speed change lever, a work operation lever 11 (operating tool) for operating the raising and lowering operation of the seedling planting device 3 and the on / off (switching between a transmission state and a non-transmission state) of the planting clutch (not shown), an information terminal 5 having a touch panel that displays various information and notifies (outputs) the operator and accepts input of various information, and a driver's seat 16 for the operator (driver / worker). The sub-speed change lever 7B is used to switch the traveling vehicle speed between a work speed during work and a travel speed during travel. For example, travel between fields is performed at the travel speed, and planting work, etc. is performed at the work speed. Furthermore, in front of the driving section 14, a spare seedling storage device 17A for storing spare seedlings is supported on a spare seedling support frame 17.

[0034] In addition, the spare seedling support frame 17 is provided with a positioning unit 8, a stacked light 24, and a voice alarm generator 25.

[0035] The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS), and an inertial measurement module 8B that detects the inclination and acceleration of the three axes of the aircraft 1.

[0036] The stacked lamps 24 notify various information and warnings by lighting patterns. The voice alarm generator 25 notifies various information and warnings by voice.

[0037] As described later, the rice transplanter of this embodiment can perform automatic travel. When automatic travel starts or during automatic travel, if there is an obstacle ahead in the direction of travel or around the machine body 1, problems may occur with travel or work. For this reason, the rice transplanter of this embodiment is provided with a sonar sensor 30 as an example of a detector that detects obstacles around the machine body 1. Although obstacle detection is basically performed during automatic travel, it can also be configured to detect obstacles during manual travel.

[0038] Specifically, for example, the sonar sensor 30 is composed of four front sonars 31 that detect obstacles in the area in front of the aircraft 1, four rear sonars 32 that detect obstacles in the area behind the aircraft 1, and a pair of left and right lateral sonars 33 that detect obstacles in the forward area on the left and right lateral sides of the aircraft 1.

[0039] [Autonomous Driving] The operation of the rice transplanter planting rice in a field by automatic driving will be described with reference to Figs. 1 and 2 and Fig. 3.

[0040] The rice transplanter in this embodiment can selectively be driven manually or automatically. In the manual driving, the driver manually operates the driving operation tools such as the steering wheel 10, the main shift lever 7A, the sub-shift lever 7B, and the work operation lever 11 to drive the rice transplanter for work. In the automatic driving, the rice transplanter drives and works under automatic control along a preset driving route. In addition, the automatic driving can be performed in a manned automatic driving mode (manned automatic driving mode) that requires a driver to be on board, and an unmanned automatic driving mode (unmanned automatic driving mode) that does not require a driver to be on board. In the 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 the unmanned automatic driving, the driver does not need to be on board, but the driver may be on board during the unmanned automatic driving. In the unmanned automatic driving, the driver performs an operation to start the automatic driving, for example, a start operation using a remote control 34 (see FIG. 7) described later, to start the work driving under automatic control, and the preset work driving is performed under automatic control. The information terminal 5 is used to set the manned automatic mode in which manned automatic traveling is performed and the unmanned automatic mode in which unmanned automatic traveling is performed.

[0041] When the rice transplanter performs 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), and the field is divided into an outer perimeter area OA and an inner area IA. At this time, an entrance / exit E for the rice transplanter to enter the field is set, and one side or specified multiple sides of the perimeter of the field are set as a supply side SL for supplying mat-shaped seedlings, fertilizer, chemicals, fuel, etc. to the rice transplanter.

[0042] After the field map is generated, a travel route along which the rice transplanter will travel is set. In the inner area IA, an inner round trip route IPL is generated that connects multiple routes that are approximately parallel to one side of the field with a turning route. The inner round trip route IPL is a travel route that travels throughout the entire inner area IA.

[0043] In the outer peripheral area OA, two travel routes, an inner circular route IRL and an outer circular route ORL, are generated to travel around the outer peripheral area OA along the outer periphery of the field. Work travel in the entire outer peripheral area OA is performed by working on the inner circular route IRL and the outer circular route ORL. Note that the travel routes that travel around the outer peripheral area OA are not limited to the inner circular route IRL and the outer circular route ORL, and may be one or more travel routes. In this case, the outermost travel route becomes the outer circular route ORL.

[0044] The inner round trip path IPL and the inner loop path IRL are performed by unmanned automatic driving, but may be manned automatic driving or manual driving for work. The outer loop path ORL is performed by manned automatic driving, but may be manned automatic driving for work, or may be unmanned automatic driving for work.

[0045] In addition, the conditions for starting the automatic traveling with manned operation are that at least the driver is on board and that the main shift lever 7A is in the neutral position. When the starting conditions are met, the automatic traveling starts when the main shift lever 7A is moved in the traveling direction. In the traveling route of the above-mentioned farm field, the automatic traveling with manned operation is performed during the work traveling on the outer circular route ORL, but it may be performed on other traveling routes. In addition, in the automatic traveling with manned operation, the raising and lowering of the seedling planting device 3 is performed by automatic control. For example, in the work traveling in the unmanned automatic traveling on the inner reciprocating route IPL or the inner circular route IRL, the raising and lowering of the seedling planting device 3 is performed by automatic control. However, in the work traveling on the outer circular route ORL, the lowering of the seedling planting device 3 is performed by manual operation. Specifically, when the machine body 1 reaches the turning position of the outer circular route ORL, the seedling planting device 3 is raised by automatic control. When the turning is completed in this state, the machine 1 stops, and the seedling planting device 3 is lowered manually, so that the automatic travel continues. There is a higher possibility of obstacles being present around the outer circular route ORL than on other travel routes. In order to ensure smooth work travel, when traveling on the outer circular route ORL, the seedling planting device 3 is lowered manually after it has been confirmed that there are no obstacles. Note that the seedling planting device 3 may also be lowered manually in unmanned automatic travel and manned automatic travel other than the outer circular route ORL.

[0046] [Changing the position of the seedling planting device] As shown in Fig. 4, the seedling planting device 3 is composed of a right planting part 3R and a left planting part 3L, and the right planting part 3R and the left planting part 3L are configured to be separable from each other. The seedling planting device 3 can change its position between a working position and a non-working position.

[0047] The working posture is the posture when performing seedling planting work, in which the right planting section 3R and the left planting section 3L are connected and arranged along the left-right direction (the state shown in FIG. 4(a)).

[0048] The non-working posture is a posture in which the width of the separated right planting part 3R and left planting part 3L is narrower than the width of the separated right planting part 3R and left planting part 3L in the working posture. For example, when changing from the working posture to the non-working posture, the connected right planting part 3R and left planting part 3L are first separated. Next, the right planting part 3R and the left planting part 3L rotate around an axis facing the up-down direction (vertical direction) of the machine body 1 and move closer to each other, and change posture so that their front faces each other (the state shown in FIG. 4(b)).

[0049] As a result, the seedling planting device 3 has a narrower left-right width of the machine body 1 in the non-working posture than in the working posture, and as a result, the left-right width of the rice transplanter is narrower. As a result, the rice transplanter can be easily moved and transported in the non-working posture.

[0050] The seedling planting device 3 also includes a posture detection unit that detects that the device is in a working posture. For example, the posture detection unit is a switch 3S. The switch 3S is provided at the connection between the right planting section 3R and the left planting section 3L, and is turned on when the right planting section 3R and the left planting section 3L are connected. This allows the switch 3S to detect that the seedling planting device 3 is in a working posture. The posture detection unit may be a sensor or the like that detects that the seedling planting device 3 is in a working posture.

[0051] [Sonar sensor operation check] As described above, the sonar sensor 30 detects obstacles around the aircraft 1. Since detecting obstacles is important in autonomous driving, the operation of the sonar sensor 30 is checked before autonomous driving begins.

[0052] The operation check is performed by checking whether all sonar sensors 30 detect an obstacle when the aircraft 1 is stopped. As shown in Fig. 5, each sonar sensor 30 has an individual detection range 30A. Therefore, the operation check is performed by placing a pseudo obstacle in the detection range 30A of each sonar sensor 30 and checking whether each sonar sensor 30 detects the obstacle. For example, the operation check is performed by having an operator walk around the aircraft 1 and checking whether all sonar sensors 30 detect the operator as an obstacle.

[0053] [Control system configuration] Next, with reference to FIG. 1, FIG. 2, and FIG. 5, and with reference to FIG. 6, the control relating to the automatic work travel of the rice transplanter and the operation confirmation of the sonar sensor 30 will be described.

[0054] <Function block configuration> As shown in FIG. 6 , the control of the rice transplanter including its automatic travel and operation confirmation of the sonar sensor 30 is controlled by a control unit 40.

[0055] The control unit 40 is communicably connected to the positioning unit 8, the sonar sensor 30, the seedling planting device 3, the switch 3S which is a position detection unit, the wheels 12 which are a traveling device, the information terminal 5, the stacked lights 24, and the voice alarm generating device 25. The information terminal 5, the stacked lights 24, and the voice alarm generating device 25 function as a notification unit that notifies information and warnings.

[0056] The control unit 40 includes a vehicle position calculation unit 42 , a driving control unit 43 , a work control unit 45 , and an operation confirmation execution unit 47 .

[0057] The aircraft position calculation section 42 acquires positioning data from the positioning unit 8, and calculates the position of the aircraft 1 and the traveling direction of the aircraft 1 at the position of the aircraft 1 intermittently at predetermined time intervals based on the positioning data.

[0058] The driving control unit 43 performs steering control and drive control in automatic driving and manual driving. In manual driving, the driving control unit 43 controls the operation of the wheels 12 in response to the operation of an operator (driver).

[0059] The travel control unit 43 includes an automatic travel control unit 44, which performs steering control and drive control for automatic travel. The automatic travel control unit 44 automatically controls the operation of the wheels 12 based on the position of the machine body 1 and the travel direction of the machine body 1 so that the work travel is performed along a preset target travel route.

[0060] The work control unit 45 controls the operation of the work devices such as the seedling planting device 3 according to the operation of the worker (driver) or a preset program.

[0061] The operation check execution unit 47 controls the operation check of the sonar sensor 30. The operation check of the sonar sensor 30 is performed before the start of autonomous driving.

[0062] <Sonar sensor operation check>

[0063] The operation check of the sonar sensor 30 by the operation check execution unit 47 will be described in detail below.

[0064] When performing automatic driving, various settings related to automatic driving are performed by the information terminal 5. After such settings are performed or before the settings are performed, the operation of the sonar sensor 30 is checked. The operation check of the sonar sensor 30 can also be performed by operating the information terminal 5.

[0065] When the information terminal 5 or the like is operated to start the operation check of the sonar sensor 30, the operation check execution unit 47 first checks whether the seedling planting device 3 is in the working posture. For example, the confirmation that the seedling planting device 3 is in the working posture can be performed by confirming that the switch 3S, which is the posture detection unit, is in the ON state. That is, when the right planting part 3R and the left planting part 3L (see FIG. 2) of the seedling planting device 3 are in the working posture and connected, the switch 3S is in the ON state. Therefore, the operation check execution unit 47 can determine that the seedling planting device 3 is in the working posture by confirming that the switch 3S is in the ON state. For example, when the switch 3S is in the ON state, it outputs a working posture signal. Then, the operation check execution unit 47 confirms that the seedling planting device 3 is in the working posture by receiving the working posture signal output by the switch 3S.

[0066] When the operation check execution unit 47 cannot confirm that the seedling planting device 3 is in the working position despite the start of the operation check, it notifies the operator of the fact. The operator (driver) who receives the notification changes the position of the seedling planting device 3 to the working position, or changes the position of the seedling planting device 3 to the working position after eliminating the cause that is preventing the position from being changed to the working position, and performs the operation check of the sonar sensor 30 again.

[0067] The notification that the seedling planting device 3 is not in the working position despite the receipt of an operation to start checking the operation of the sonar sensor 30 is made by the stacked lights 24 or the voice alarm generating device 25, or by both the stacked lights 24 and the voice alarm generating device 25. The stacked lights 24 make the notification by a lighting pattern. The voice alarm generating device 25 makes the notification by emitting a sound. Alternatively, the notification may be made by displaying a warning on the touch panel of the information terminal 5.

[0068] Then, when the operation check execution unit 47 confirms that the seedling planting device 3 is in the working posture, it performs an operation check to see whether each sonar sensor 30 can detect an obstacle. The operation check execution unit 47 puts each sonar sensor 30 into an operating state, and performs the operation check by confirming that all sonar sensors 30 detect obstacles in a state where pseudo obstacles are placed around the machine body 1 by an operator walking around the machine body 1 as described above.

[0069] When the operation check of the sonar sensor 30 is completed satisfactorily, the vehicle is ready to start automatic driving, provided that the conditions for starting automatic driving are met. In this state, the automatic driving control unit 44 and the work control unit 45 start automatic driving by accepting a predetermined operation for starting automatic driving.

[0070] When the seedling planting device 3 is changed from a non-working position to a working position, a large impact is applied to the sonar sensor 30, and the sonar sensor 30 may not be able to properly detect an obstacle. As described above, the operation of the sonar sensor 30 is checked when the seedling planting device 3 is in a working position, so that the seedling planting device 3 is not changed to the working position after the operation check. Therefore, the sonar sensor 30 is prevented from being unable to properly detect an obstacle due to the impact caused by the change in the position of the seedling planting device 3 after the operation check. As a result, the sonar sensor 30 is prevented from being unable to properly detect an obstacle during automatic traveling after the operation check. From the above, the operation of the sonar sensor 30 is properly checked, and obstacles are accurately detected during automatic traveling.

[0071] [Another embodiment] (1) In the above embodiment, the sonar sensors 30 are not limited to the four front sonars 31, the four rear sonars 32, and the two side sonars 33, and any number of sonar sensors 30 may be provided. In addition, with regard to the placement positions of the sonar sensors 30, one or more sonar sensors 30 may be placed in positions that can cover a necessary area around the aircraft 1 as the detection range 30A.

[0072] This allows the required number of sonar sensors 30 to be placed in the required positions depending on the configuration of the rice transplanter and the working conditions, allowing obstacles to be detected appropriately.

[0073] (2) In each of the above embodiments, the notification that the seedling planting device 3 is not in the working position may not be performed. This simplifies the configuration for notifying the user of the stacked lights 24 and the voice alarm generating device 25.

[0074] (3) In each of the above embodiments, the operation of the sonar sensor 30 may be confirmed not only in an automatically traveling rice transplanter, but also in a rice transplanter that is equipped with a sonar sensor 30 and travels for work by manual operation, with the seedling planting device 3 in the working position before travel for work.

[0075] (4) In each of the above embodiments, part or all of the control unit 40 is not limited to being provided in the aircraft 1, but may be provided in an information terminal 5 or a management computer provided outside the aircraft 1 so as to be able to communicate with the aircraft 1.

[0076] This allows the functions of the rice transplanter body to be kept to a minimum, giving the rice transplanter a simple configuration.

[0077] (5) In each of the above embodiments, the control unit 40 is not limited to being composed of the above-mentioned functional blocks, and may be composed of any functional blocks. For example, each functional block of the control unit 40 may be further subdivided, or conversely, some or all of the functional blocks may be combined. Furthermore, the functions of the control unit 40 are not limited to the above-mentioned functional blocks, and may be realized by a method executed by any functional block. Furthermore, some or all of the functions of the control unit 40 may be configured by software. A program related to the software is stored in any storage device and executed by a processor such as a CPU included in the control unit 40 or a processor provided separately.

[0078] (6) A chemical spraying device 18 that sprays chemicals on the field is supported by the seedling planting device 3 and moves up and down as the seedling planting device 3 moves up and down.

[0079] Furthermore, the chemical spraying device 18 replenishes the chemical at the supply side SL. Therefore, in order to replenish the chemical in the chemical spraying device 18, the machine body 1 is moved backwards to approach the supply side SL. At this time, the chemical spraying device 18 is raised along with the rise of the seedling planting device 3. In particular, during automatic travel, automatic travel is temporarily stopped so that the chemical spraying device 18 can replenish the chemical, and accordingly, the seedling planting device 3 and the chemical spraying device 18 are raised.

[0080] Here, when the chemical spraying device 18 is raised as the seedling planting device 3 is raised, the height of the chemical spraying device 18 may be too high for chemical supply work. During manual running or manned automatic running, an operator (driver) is on board the machine 1, so the operation operation lever 11 can be operated to lower the seedling planting device 3. However, during unmanned automatic running, an operator (driver) is not on board the machine 1, so chemical supply work cannot be easily performed.

[0081] Therefore, in each of the above embodiments, it is preferable to provide the remote control 34 illustrated in FIG. 7 with a function to lower the seedling planting device 3. For example, by pressing and holding the planting button 34a on the remote control 34, the seedling planting device 3 can be configured to lower only while the button is pressed. This allows the seedling planting device 3 to be lowered to a required height by operating the remote control 34 from outside the machine body 1. As a result, the drug supply work can be easily performed. During the descent, a notification that the device is being lowered may be given by the stacked light 24, the voice alarm generating device 25, etc.

[0082] The lowering of the seedling planting device 3 using the remote control 34 may be possible not only during unmanned automatic running, but also during at least one of manned automatic running and manual running.

[0083] (7) In each of the above embodiments, the working device is not limited to the seedling planting device 3 but may be various working devices that perform work on a field, such as a harvesting device or a boom sprayer, and is not limited to a rice transplanter but may be various field work machines. [Industrial Applicability]

[0084] The present invention can be applied to farm work machines capable of autonomous travel. [Explanation of symbols]

[0085] 1 Aircraft 3 Seedling planting device (work device) 3L left planting area 3R Right planting area 3S switch (attitude detection part) 21 Seedling stand 22 Planting mechanism 24 Stacked light (alarm section) 25 Voice alarm generator (alarm section) 30 Sonar sensor (detector) 42 Aircraft position calculation unit 44 Automatic driving control unit 47 Operation check execution unit

Claims

1. The aircraft and A working device that performs work on a farm field and is capable of changing its position between a working position and a non-working position; A detector that detects obstacles around the aircraft; an operation check execution unit that executes an operation check of the detector; a posture detection unit that detects that the working apparatus is in the working posture, The operation check execution unit prohibits execution of the operation check while the non-working posture is detected by the posture detection unit.

2. 2. The field work machine according to claim 1, wherein the work implement is a seedling planting implement having a seedling carrier and a planting mechanism.

3. The seedling planting device has a right planting section and a left planting section which are separable from each other, The working posture is a posture in which the right planting portion and the left planting portion are connected and arranged along the left-right direction, 3. The field work machine according to claim 2, wherein the non-working posture is a posture in which the left-right width between the separated right planting portion and the left planting portion is narrower than the left-right width between the right planting portion and the left planting portion in the working posture.

4. 4. The field work machine according to claim 3, wherein in the non-working posture, the right planting section and the left planting section are folded in a state where they face each other.

5. 5. The field work machine according to claim 3, wherein the attitude detection unit is a switch that is turned on when the right planting section and the left planting section are connected.

6. an aircraft position calculation unit that calculates a position of the aircraft; An automatic driving control unit that controls automatic driving based on the position of the aircraft, The farm work machine according to claim 1 , wherein the operation check is performed when the automatic traveling is started.

7. Further comprising a notification unit, 7. The field work machine according to claim 1, wherein the operation confirmation execution unit receives an operation to start execution of the operation confirmation, and when the operation is received, if the posture detection unit does not detect that the work implement is in the working posture, causes the notification unit to issue a warning.

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