Paddy field farming machine

Abstract

To easily perform manual travel with high accuracy.SOLUTION: A paddy field work machine which can perform automatic work travel along a target travel route IPLO and manual work travel along a target travel route IPLM as work travel includes a work device for performing prescribed work, a position calculation part for calculating a position of a machine body 1, a route calculation part for setting target travel routes (IPLO, IPLM), a marker 19 provided at each of both right and left sides of the machine body 1 to form a travel target on a field surface due to the travel of the machine body 1, and a marker control part for automatically controlling the posture of the marker 19 at a descent use posture or an ascent non-use posture. The marker control part makes the marker 19 in the direction side of an unworked target travel route IPLm in the descent use posture in the case that the target travel route IPLm adjacent to a target travel route IPLo during automatic work travel is the target travel route IPLm for the manual work travel and has not been worked.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a paddy field working machine equipped with a marker that forms a travel target in a field as a guide for the travel position. [Background technology]

[0002] A paddy field working machine such as a rice transplanter repeats reciprocating travel with a swing travel in between, and performs tasks such as planting seedlings during the reciprocating travel. The reciprocating travels run along paths that are parallel to each other.

[0003] As shown in Patent Document 1, the paddy field working machine is equipped with a marker, which forms a mark (travel target) in the field as a guide for the position to travel in the next process during each round trip. During manual travel, the paddy field working machine travels back and forth on a travel path parallel to the travel path of the previous process, using the mark formed by the marker.

[0004] In an autonomous paddy field working machine, a target travel route for round trip travel is set in advance. In addition, the paddy field working machine manages its own position in the field and is automatically controlled so that it travels along the target travel route. Therefore, a mark as a guide for the travel position is not necessary, so autonomous paddy field working machines do not usually use markers. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2016-189733 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, even in an automatically traveling paddy field working machine, there are cases where the machine needs to be manually driven in some parts of the field. Since there is no driving target for manual driving, it is difficult to manually drive the machine along the expected driving route.

[0007] An object of the present invention is to enable manual driving to be performed easily and accurately. [Means for solving the problem]

[0008] The paddy field working machine according to one embodiment of the present invention is an automatic work traveling machine that travels along a target traveling route. and a paddy field working machine which performs at least the automatic working travel among the manual working travel. a work device that performs a predetermined task, a position calculation unit that calculates the position of the machine body, and The target driving route, and The target travel route for performing the automatic work travel is Alternately A route calculation unit for setting the route; A traveling control unit that controls the traveling of the vehicle; The present invention is provided with markers provided on both the left and right sides of the vehicle body, each of which forms a travel target on a field scene as the vehicle travels, and a marker control unit which automatically controls the attitude of the marker to a lowered use attitude or an raised non-use attitude, The traveling control unit is The automatic work travel of From one end of the field to the other The automatic work run is performed. The target travel route is performed in the order of a turning run. height During the automatic work driving on the target driving path, the marker control unit sets the marker on the next process side, which is the side of the target driving path along which the driving is performed after the turning driving, to the lowered use position, thereby forming the driving target when performing the manual work driving.

[0009] With this configuration, when performing manual work traveling, if automatic work traveling is being performed on the adjacent target traveling route, a traveling target is formed on the target traveling route where manual work traveling is performed, so it is possible to move to the start position of the target traveling route using the traveling target as a landmark and perform manual work traveling along the target traveling route. As a result, manual work traveling can be performed along the target traveling route easily and accurately. Furthermore, the field work traveling may be performed by multiple paddy field working machines. For example, a paddy field working machine performing automatic work traveling and a paddy field working machine performing manual work traveling perform cooperative work. The paddy field working machine performing manual work traveling performs manual work traveling on a target traveling route (a target traveling route for manual work traveling) other than the target traveling route on which the paddy field working machine performing automatic work traveling performed in cooperation with the paddy field working machine performing automatic work traveling. Then, by implementing automatic control of the markers during automatic work traveling by the paddy field working machine performing automatic work traveling, travel targets are formed on the target travel route for manual work traveling. As a result, the paddy field working machine performing manual work traveling can easily and accurately perform manual work traveling along the target travel route for manual work traveling.

[0010] The machine may also be provided with a memory unit that continuously links the already-worked positions where the work driving has been performed to the target driving route based on the position of the machine and changes in the operating state of the work device, and the marker control unit may determine whether or not the adjacent target driving route has not been worked on based on the already-worked positions linked to the target driving route.

[0011] With this configuration, it is possible to easily determine whether adjacent target travel routes are unworked or not.

[0012] The marker control unit also links the position of the aircraft with the attitude of the marker and continuously stores the link as a marker elevation history in the storage unit, and after the aircraft is stopped, Made When commercial travel is resumed, it is preferable to automatically control the attitude of the marker based on the marker elevation history.

[0013] With this configuration, even if the machine stops during work driving, automatic control of the markers is resumed when work driving is resumed, so that a driving target can be appropriately formed and manual work driving can be performed easily and accurately along the target driving route.

[0014] In addition, it is preferable that the marker control unit sets both the left and right markers to the lowered use position.

[0015] With this configuration, it is possible to form a travel target on the target travel route along which the manual work travel will be performed thereafter without missing an opportunity to form the travel target.

[0016] Further, the target travel path includes a plurality of internal round trip paths that travel round trip in an internal region of the field with the turning travel in between, and one or a plurality of circular paths that travel round trip in an outer peripheral region of the field along an outer edge of the field, The traveling control unit Business trip of , starting from the inner shuttle path adjacent to the outer periphery region height The marker control unit may place the markers on both the left and right sides in the lowered use position during the automatic work travel on the initial internal reciprocating path.

[0017] Work travel is often performed from an internal shuttle route at one end of the internal area. Therefore, the target travel route adjacent to one side of the target travel route (internal shuttle route) on which the work travel is performed first is a circular route, and the target travel route adjacent to the other side is an internal shuttle route, and naturally, neither route is yet to be worked on. In addition, manual work travel may be performed on both the circular route and the internal shuttle route. Therefore, at the start of work travel, the markers can be efficiently automatically controlled by setting both the left and right markers to the lowered use position.

[0018] The vehicle may also be provided with a marker operating device that accepts manual operation of raising and lowering the marker, and when the marker operating device is operated, the marker control unit may interrupt the automatic control while traveling on the target driving route, and raise or lower the marker in accordance with the operation of the marker operating device, and on the next target driving route, the marker control unit may execute the automatic control.

[0019] In some cases, it may be necessary to manually operate the marker during work travel. By providing a marker operation tool, even if automatic control of the marker is being performed, the marker can be manually operated in priority to the automatic control.

[0020] Furthermore, after manually operating the markers, when moving to the next target driving route, automatic control of the markers is resumed, so that appropriate formation of driving targets continues.

[0021]

[0022]

[0023] [Brief description of the drawings]

[0024] [Figure 1] FIG. 2 is a left side view of the automatically-traveling rice transplanter. [Diagram 2] FIG. 1 is a schematic diagram illustrating the operation travel of the rice transplanter. [Diagram 3] FIG. 13 is a diagram illustrating automatic control of the marker during the first internal round-trip route run. [Figure 4] FIG. 13 is a diagram illustrating automatic control of the marker when traveling along an internal round trip path. [Diagram 5] 13A and 13B are diagrams illustrating automatic control of markers when traveling on the inner circuit path. [Figure 6] FIG. 2 is a diagram illustrating an example of functional blocks of a control unit that controls automatic driving. [Figure 7] FIG. 11 is a diagram illustrating a process flow of an automatic marker control process. [Figure 8] FIG. 13 is a diagram illustrating automatic control of markers in collaborative work. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, a rice planter that travels through a farm field will be described as an example of the paddy field working machine of the present invention.

[0026] 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, "left" means the direction toward the front of the paper in FIG. 1, and "right" means the direction toward the back of the paper in FIG. 1.

[0027] [Overall structure] As shown in Fig. 1, the rice transplanter is a riding type with a four-wheel drive body 1. The body 1 includes a parallel four-link type link mechanism 13 connected to the rear of the 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 connected to the rear end region of the link mechanism 13 so as to be able to roll, and a fertilizer applicator 4 installed from the rear end region of the body 1 to the seedling planting device 3.

[0028] 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 power (rotation speed) 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 power output from the engine 2 is transmitted to the continuously variable transmission 9 via a traveling transmission mechanism, and is also transmitted from the continuously variable transmission 9 to the front wheels 12A, the rear wheels 12B, the working device, and the like. The engine 2 and the continuously variable transmission 9 are mounted on the front of the machine body 1.

[0029] As an example, the seedling planting device 3 is configured for eight rows of planting. The seedling planting device 3 includes a seedling stand 21, eight rows of planting mechanisms 22, etc. The seedling planting device 3 can be changed to two-row, four-row, six-row, etc. planting by controlling the clutch for each row (not shown).

[0030] The seedling carrying platform 21 is a platform on which eight rows of mat-shaped seedlings are placed. The seedling carrying platform 21 moves back and forth in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedlings, and each time the seedling carrying platform 21 reaches the left-right stroke end, each mat-shaped seedling on the seedling carrying platform 21 is vertically fed at a predetermined pitch toward the lower end of the seedling carrying platform 21. The eight planting mechanisms 22 are rotary type and are arranged in the left-right direction at a constant interval corresponding to the spacing between the planting rows. Each planting mechanism 22 receives power from the engine 2 when a planting clutch (not shown) is shifted to a transmission state, and cuts one seedling (a seedling to be planted) from the lower end of each mat-shaped seedling placed on the seedling carrying platform 21 and plants it in the muddy soil after the land is leveled. As a result, when the seedling planting device 3 is in an operating state, the seedlings can be taken out of the mat-shaped seedlings placed on the seedling carrying platform 21 and planted in the muddy soil of the paddy field.

[0031] The fertilizer application device 4 (supply device) has a hopper 25 (storage section) that stores granular or powdered fertilizer (chemicals and other agricultural materials), a delivery mechanism 26 that delivers the fertilizer from the hopper 25, and a fertilizer application hose 28 that transports the fertilizer delivered by the delivery mechanism 26 and discharges the fertilizer into the field. The fertilizer stored in the hopper 25 is delivered in predetermined amounts by the delivery mechanism 26 and sent to the fertilizer application hose 28, transported inside the fertilizer application hose 28 by the delivery wind of the blower 27, and discharged into the field from a furrow former 29. In this way, the fertilizer application device 4 supplies fertilizer to the field.

[0032] The furrow formers 29 are mounted on the ground leveling floats 15. Each furrow former 29 rises and falls together with each ground leveling float 15, and forms fertilizer furrows in the muddy soil of the paddy field and guides fertilizer into the furrows during work travel in which each ground leveling float 15 touches the ground.

[0033] The machine body 1 also includes markers 19. The markers 19 are provided on both sides of the machine body 1. The left and right markers 19 are each supported by the machine body 1 in a manner that allows them to protrude laterally outward from the machine body 1 (lowered use position). The markers 19 can provide travel marks in the field during manual travel.

[0034] As shown in FIG. 1, 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 for enabling the raising and lowering operation of the seedling planting device 3 and switching of the operating state, a detachable information terminal 5 having a touch panel for displaying (notifying) various information and notifying (outputting) it to the operator and receiving 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 working speed during work and a moving speed during movement. For example, movement between fields is performed at the moving speed, and planting work, etc. is performed at the working 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.

[0035] Furthermore, the aircraft 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1. The positioning unit 8 includes a satellite positioning module 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. The positioning unit 8 is supported on the upper part of the spare seedling support frame 17.

[0036] [Autonomous Driving] The operation travel in which the rice transplanter performs the operation of planting seedlings in a farm field by automatic travel will be described with reference to FIG. 1 and with reference to FIGS. 2 to 4. FIG.

[0037] The rice transplanter in this embodiment can selectively perform manual driving and automatic driving. Manual driving (manual work driving) and automatic driving (automatic work driving) are selected by switching an automatic / manual changeover switch (not shown) arranged in the driving section 14. In manual driving, the driver manually operates the steering wheel 10, the main shift lever 7A, the sub-shift lever 7B, the work operation lever 11, etc. to perform work driving. In automatic driving, the rice transplanter drives and works under automatic control along a preset target driving route.

[0038] When the rice transplanter is planting seedlings, the operator first manually drives the rice transplanter along the periphery (outer edge) of the field without performing any work. This peripheral driving generates the peripheral shape of the field (field map), and the field is divided into an outer area OA and an inner area IA.

[0039] When the field map is generated, a target travel path along which the rice transplanter will travel for work is set. In the inner area IA, an inner round trip path IPL, which is a plurality of paths approximately parallel to one side of the field, is generated as a target travel path. The inner round trip path IPL is a travel path along which the rice transplanter travels for work throughout the entire inner area IA. Automatic work travel is performed along the inner round trip path IPL. Turning travel connecting the inner round trip paths IPL is performed by automatic travel using a predetermined method.

[0040] In the outer peripheral area OA, one or more circular routes that travel around the outer peripheral area OA along the outer periphery (outer edge) of the field are generated as target travel routes. For example, two travel routes, an inner circular route IRL and an outer circular route ORL, are generated as the circular routes. Work travel in the entire outer peripheral area OA is performed by work travel on the inner circular route IRL and the outer circular route ORL. Work travel on the inner circular route IRL and the outer circular route ORL is performed automatically, but manual work travel may also be performed.

[0041] [Marker lifting and lowering movement] Next, the raising and lowering operation of the marker 19 will be described with reference to FIG. 2 and with reference to FIGS.

[0042] The marker 19 can be changed between an elevated non-use position (the state shown in FIG. 1) in which it is stored in a position along the machine body 1 and a lowered use position in which it protrudes from the machine body 1 and contacts the field surface. The length of the marker 19 in the lowered use position in the direction away from the machine body 1 (the width direction of the machine body 1) is a length such that the position where the marker 19 contacts the field surface while the machine body 1 is traveling on the target traveling path (internal reciprocating path IPL) is on the internal reciprocating path IPL adjacent to the internal reciprocating path IPL currently traveling. Therefore, the marker 19 in the lowered use position forms a traveling target, which serves as a guide for the traveling position, on the internal reciprocating path IPL (target traveling path) adjacent to the internal reciprocating path IPL currently traveling as it travels. The marker 19 is raised and lowered by an actuator (not shown).

[0043] In the automatic control of the marker 19 in this embodiment, when the machine body 1 is traveling along a target travel route and a target travel route adjacent to the currently traveling target travel route is an unworked target travel route on which no work travel is being performed and on which work travel will be performed in a subsequent process, the marker 19 on the side of the unworked target travel route is automatically changed to a lowered use position.

[0044] For example, if the target travel route to the right of the currently traveled target travel route is unworked, the marker 19 on the right side is automatically changed to the lowered use position. Also, if the target travel routes to the right and left of the currently traveled target travel route are both unworked, the markers 19 on both the left and right sides are automatically changed to the lowered use position.

[0045] Even when performing automatic work driving, there are cases where it is desired to switch to manual work driving depending on the state of the field or the work situation. In addition, automatic driving may end for some reason during automatic work driving. In cases where the remaining work area is small, it may be more efficient to perform manual work driving in the remaining work area rather than resuming automatic driving.

[0046] In this way, even when switching from automatic work driving to manual work driving, since the driving target is formed on the unworked target driving route during automatic work driving, manual work driving on the target driving route becomes easy and driving accuracy is maintained. Specific examples of the operation of the marker 19 (automatic control of the marker 19) are given below.

[0047] As shown in Fig. 3, after the outer peripheral shape of the field (field map) is generated, work travel is started from the inner round trip route IPLA located at the outermost part of the inner area IA and adjacent to the outer peripheral area OA. At this time, the inner round trip route IPLB and the inner circular route IRL adjacent to the inner round trip route IPLA are naturally left untouched. Therefore, during automatic work travel on the inner round trip route IPLA, both the left and right markers 19 are automatically changed to the lowered use position, and travel targets are formed on the inner round trip route IPLB and the inner circular route IRL.

[0048] When the automatic work travel of the internal reciprocating path IPLA is completed, reciprocating travel (work travel) for the other internal reciprocating path IPL is repeated with a turning travel in between. Here, even if manual work travel becomes necessary at the start of reciprocating travel of the internal reciprocating path IPLB or during reciprocating travel of the internal reciprocating path IPLB, since a travel target is formed on the internal reciprocating path IPLB during reciprocating travel of the internal reciprocating path IPLA, work travel can be easily and accurately performed for the internal reciprocating path IPLB. In other words, even if manual work travel becomes necessary during reciprocating travel, if a travel target is formed in the previous reciprocating travel, manual work travel can be performed using this travel target as a landmark. As a result, manual work travel can be easily and accurately performed for the internal reciprocating path IPL.

[0049] Furthermore, when the round trip travel of all the internal round trip routes IPL is completed, the inner circular route IRL is then traveled for work. Even if it becomes necessary to perform the work travel of the inner circular route IRL by manual work travel, the inner circular route IRL also has a travel target formed thereon, so that the manual work travel for the inner circular route IRL can be performed easily and accurately.

[0050] Also, as shown in Fig. 4, when the work travel of some of the internal shuttle routes IPL is completed and the remaining internal shuttle routes IPL are not yet worked on, while the machine body 1 is working on the internal shuttle route IPLA, it is confirmed whether the internal shuttle route IPLB adjacent to the left and the internal shuttle route IPLC adjacent to the right are not yet worked on. In the example shown in Fig. 4, the internal shuttle route IPLC adjacent to the right has been worked on, and the internal shuttle route IPLB adjacent to the left has not been worked on. Therefore, the marker 19 on the right side is put into the raised non-use position, and the marker 19 on the left side is put into the lowered use position.

[0051] By controlling the markers 19 in this manner, travel targets are formed on the unworked inner round-trip route IPLB. As a result, even if manual work travel is required on the inner round-trip route IPLB, the travel targets have been formed on the inner round-trip route IPLB, so that manual work travel can be easily and accurately performed on the inner circular route IRLB.

[0052] As shown in FIG. 5, when the work travel of the inner circular route IPL is completed, the automatic work travel of the inner circular route IRL is performed next. At this time, the inner circular route IPL adjacent to the inner circular route IRL has been worked on, and the outer circular route ORL adjacent to the inner circular route IRL has not been worked on. Therefore, the marker 19 on the inner circular route IPL side is in the raised non-use position, and the marker 19 on the outer circular route ORL side is in the lowered use position. In the example shown in the figure, the inner circular route IPL is located on the right side of the machine body 1 working on the inner circular route IRL, and the outer circular route ORL is located on the left side of the machine body 1 working on the inner circular route IRL. Therefore, the marker 19 on the right side is in the raised non-use position, and the marker 19 on the left side is in the lowered use position.

[0053] By controlling the markers 19 in this manner, travel targets are formed on the unworked outer circular route ORL. As a result, even if manual work travel needs to be performed on the outer circular route ORL, the travel targets have been formed on the outer circular route ORL, so that manual work travel on the outer circular route ORL can be performed easily and accurately.

[0054] [Control configuration] Next, the control unit 6 that controls the automatic travel of the paddy field working machine will be described using FIG. 6 with reference to FIGS.

[0055] The control unit 6 includes a position calculation unit 41, a route calculation unit 42, a work control unit 44, a memory unit 46, a travel control unit 30, and a marker control unit 50. The control unit 6 is also connected to the positioning unit 8, the engine 2, the wheels 12, the work equipment W, and the marker 19 in a manner that allows data communication between them. The control unit 6 can receive various information from these and transmit control signals for these. The work equipment W includes a seedling planting device 3, a fertilizer application device 4, etc., and performs various tasks.

[0056] The control unit 6 is a control device such as an ECU that is controlled by a processor such as a CPU. The control unit 6 is provided in the machine 1 or the information terminal 5, or in a management computer or the like external to the machine.

[0057] The position calculation section 41 calculates the position and orientation of the machine body 1 in the field based on the positioning data output by the positioning unit 8.

[0058] The path calculation unit 42 generates an outer peripheral shape of the field (field map) based on the position of the machine 1 calculated continuously during manual traveling (peripheral traveling) along the periphery of the field, and divides the field into an outer peripheral area OA and an inner area IA. Furthermore, the path calculation unit 42 generates a target traveling path. The target traveling path includes a plurality of inner round trip paths IPL for working traveling within the inner area IA, and a circular path for working traveling in the outer peripheral area OA. The circular path includes an inner circular path IRL and an outer circular path ORL.

[0059] The work control unit 44 controls the work device W. During manual traveling, the work control unit 44 controls the work device W in response to operations performed on operating tools such as the work operation lever 11. During automatic traveling, the work control unit 44 automatically controls the work device W in response to a set target traveling route and the position of the machine body 1.

[0060] The memory unit 46 stores various information such as the outer peripheral shape of the field (field map), target travel routes (inner round trip route IPL, inner circular route IRL, outer circular route ORL), and information indicating the unworked / worked status on each target travel route.

[0061] The travel control unit 30 controls the travel of the machine body 1 by controlling the engine 2 and the wheels 12. The travel control unit 30 is controlled by a processor such as a CPU. In addition, when the work travel is performed along the target travel route, the travel control unit 30 acquires the change in the operating state of the working device W and the position of the machine body 1 at that time, and based on these, links the target travel route where the work travel was performed with the information that the work has been completed (work has been completed) and stores it in the memory unit 46. In other words, the travel control unit 30 links the completed work position where the work was performed with the target travel route and stores it in the memory unit 46. The change in the operating state is, for example, a change in the lifting state of the planting mechanism 22 or the on / off of the planting clutch, and the state where the planting mechanism 22 is lowered or the state where the planting clutch is on is determined to be a state where work is being performed.

[0062] During manual driving, the driving control unit 30 controls the driving of the vehicle 1 in response to operations performed on operating tools such as the main shift lever 7A, the sub shift lever 7B, and the steering wheel 10.

[0063] During automatic travel, the travel control unit 30 automatically controls the travel of the vehicle 1 according to the set target travel route and the position of the vehicle 1. During automatic travel, the travel control unit 30 detects a position deviation amount, which is the deviation amount of the vehicle 1 from the target travel route, and an orientation deviation amount, which is the deviation amount of the travel orientation of the vehicle 1 from the target travel route. The travel control unit 30 controls the vehicle 1 to automatically travel along the target travel route based on the position deviation amount and the orientation deviation amount.

[0064] The marker control unit 50 automatically controls the marker 19 to a lowered use position or an raised non-use position depending on the status of the target travel route adjacent to the target travel route currently being traveled. The marker control unit 50 includes a work status determination unit 52 and is controlled by a processor such as a CPU.

[0065] [Automatic marker control configuration] Next, a configuration for automatically controlling the marker 19 to the lowered use position or the raised non-use position will be described using FIGS. 6 and 7 while also referring to FIGS. 2 to 5.

[0066] First, when automatic work travel of the target travel route is started (step #1 in FIG. 7), the work status determination unit 52 of the marker control unit 50 determines whether the target travel route along which travel is to be performed and the adjacent target travel route are not yet worked on (step #2 in FIG. 7). At this time, the work status determination unit 52 checks information in the memory unit 46 that links the target travel route along which work has been performed with information that work has been completed (work has been completed), and determines whether the adjacent target travel route is not yet worked on. Such a determination is made every time automatic work travel of each target travel route is started. In addition, not only in automatic work travel, but also at the start of manual work travel of the target travel route, it may be determined whether the adjacent target travel route is not yet worked on, and automatic control of the marker 19 may be performed. Furthermore, the rice transplanter may be provided with a switching operation tool that switches between enabling and disabling the automatic control of the marker 19.

[0067] If the target travel route adjacent to the target travel route along which travel is to be performed has not been worked on (step #2 Yes in FIG. 7), the marker control unit 50 sets the marker 19 on the direction side of the unworked target travel route to the descending use position (step #3 in FIG. 7). In other words, if the target travel routes adjacent to both the left and right sides of the direction along which the machine body 1 travels have not been worked on (for example, the state in FIG. 3), the marker control unit 50 sets the markers 19 on both the left and right sides to the descending use position. Also, if the target travel route adjacent to the left side of the direction along which the machine body 1 travels has not been worked on and the target travel route adjacent to the right side has been worked on (for example, the state in FIG. 4), the marker control unit 50 sets the left marker 19 to the descending use position.

[0068] Naturally, the marker control unit 50 puts the marker 19 on the side of the target driving route where work has already been done into an elevated, non-use position, and if the adjacent target driving routes on both the left and right sides are already worked on, the marker control unit 50 puts the markers 19 on both the left and right sides into an elevated, non-use position (step #4 in Figure 7).

[0069] In this manner, the marker control unit 50 sets the marker 19 on the unworked side of the target travel route in the lowered use position, and the marker 19 on the worked side of the target travel route in the raised non-use position, and the travel control unit 30 starts automatic work travel on the target travel route (step #5 in FIG. 7). Then, during the automatic work travel on the target travel route, the marker 19 forms a travel target on the unworked target travel route.

[0070] In this way, by forming a driving target on an unworked target driving route, even if manual work driving is to be performed on that target driving route, the manual work driving can be performed using the driving target as a landmark, and manual work driving can be performed along the target driving route easily and accurately.

[0071] [Another embodiment] (1) In some cases, multiple rice transplanters may be used to drive the rice planter in a field. For example, an automatically driven rice transplanter TO and a manually driven rice transplanter TM may drive the rice planter in cooperation with each other. As shown in FIG. 8, the automatically driven rice transplanter TO drives the rice planter TO for automatic operation along a target drive route (for automatic operation drive), and the manually driven rice transplanter TM drives the rice planter TM for manual operation along a target drive route (for manual operation drive). The following describes round trip driving on the internal round trip route IPL as an example.

[0072] In the internal reciprocating path IPL, the rice transplanter TO automatically travels along a plurality of internal reciprocating paths IPLO with turning travel in between, and the rice transplanter TM manually travels along a plurality of internal reciprocating paths IPLM with turning travel in between. The internal reciprocating paths IPLO and the internal reciprocating paths IPLM are set alternately, and the internal reciprocating paths IPLO and the internal reciprocating paths IPLM are adjacent to each other.

[0073] The work travel is performed from one side of the field to the other end, and in the figure, the work travel is performed in order starting from the left internal shuttle path IPL. The rice transplanter TO performs automatic work travel first, and the rice transplanter TM follows behind and performs manual work travel. In this way, when the rice transplanter TO performs automatic work travel on the internal shuttle path IPLO, the adjacent internal shuttle path IPLM on either the left or right becomes the unworked internal shuttle path IPLM (target travel path).

[0074] For example, when the rice transplanter TO automatically travels along the internal reciprocating path IPLo, the internal reciprocating path IPLm adjacent to the right side of the adjacent internal reciprocating paths IPLM is not yet worked.

[0075] In such a situation, the marker control unit 50 places the marker 19 adjacent to the currently running internal round-trip path IPLo in a lowered use position while the rice transplanter TM, which is manually running, is performing manual work running and is on the unworked internal round-trip path IPLm side (right side).

[0076] In other words, the marker control unit 50 determines whether or not there is an internal round-trip route IPLm (target travel route) for manual work travel among the internal round-trip routes IPL (target travel route) adjacent to the internal round-trip route IPL (target travel route) currently being traveled, and sets the marker 19 on the side of the unworked internal round-trip route IPL to a lowered use position.

[0077] As a result, a travel target is formed on the internal reciprocating path IPLm (IPLM) along which the rice transplanter TM travels for manual work, and the travel target serves as a landmark when traveling for manual work, allowing manual work to be performed easily and accurately.

[0078] In order to perform such control, the path calculation unit 42 stores the generated target travel path in the storage unit 46, distinguishing between a target travel path for the rice transplanter TM that travels manually (for manual work travel) and a target travel path for the rice transplanter TO that travels automatically (for automatic work travel). The marker control unit 50 further includes a path determination unit 54. The path determination unit 54 determines whether or not a target travel path adjacent to the currently traveling target travel path is a target travel path for the rice transplanter TM that travels manually (for manual work travel). Based on the determination result of whether or not the adjacent target travel path is unworked, performed by the work status determination unit 52, the marker control unit 50 determines whether or not a target travel path adjacent to the currently traveling target travel path is a target travel path for the rice transplanter TM that travels manually and is unworked.

[0079] Furthermore, the internal round trip paths IPLO and the internal round trip paths IPLM are not limited to being set alternately, but one internal round trip path IPLM may be set for every two internal round trip paths IPLO, and the internal round trip paths IPLO and the internal round trip paths IPLM may be set in any arrangement.

[0080] (2) As described above, not only in cases where cooperative work is performed by multiple rice transplanters, but also in cases where manual work driving is planned on some target driving routes when one or more rice transplanters are driving for work, if a target driving route adjacent to the currently driving target driving route is a target driving route that is not yet worked on and is also a target driving route on which manual work driving is performed, the marker 19 in that direction may be automatically brought into a lowered use position.

[0081] For example, if manual work driving is scheduled to be performed on the outer circular route ORL, when automatic work driving is performed on the inner circular route IRL adjacent to the outer circular route ORL, the marker control unit 50 puts the marker 19 on the side of the outer circular route ORL in the lowered use position.

[0082] This makes it possible to form driving targets on the target driving route for manual work driving, even when work driving is performed using both manual work driving and automatic work driving in any configuration, and manual work driving can be performed easily and accurately.

[0083] (3) In each of the above embodiments, the circuit path is not limited to a two-circuit path including the inner circuit path IRL and the outer circuit path ORL, and may be a one-circuit path or three or more circuits.

[0084] (4) There are cases where work or work travel is stopped during work travel along the target travel route. Also, there are cases where automatic driving is stopped during work travel along the target travel route. Even in such cases, it is preferable that automatic control of the marker 19 is continued when work travel is resumed.

[0085] Therefore, in each of the above embodiments, the marker control unit 50 continuously acquires the position of the machine body 1 that performed the automatic work travel, and the state (posture) of the marker 19, whether it is in the lowered use posture or the upper non-use posture. Then, the marker control unit 50 links the position of the machine body 1 with the state (posture) of the marker 19 and stores them as a marker ascent / descent history in the memory unit 46. The stored marker ascent / descent history may be left in the memory unit 46 in sequence, or may be updated so that only the latest marker ascent / descent history is left.

[0086] When work driving or automatic operation is stopped (hereinafter simply referred to as "machine 1 being stopped") and work driving is resumed, the marker control unit 50 checks the memory unit 46 and automatically controls the posture (lifting and lowering) of the marker 19 based on the latest marker lifting and lowering history stored. In addition, when the machine body 1 moves after being stopped and then returns to the stopped position to resume work travel, the marker control unit 50 confirms that the position of the machine body 1 is near the position corresponding to the latest marker lifting / lowering history, and if it is confirmed that it is near this position, it automatically controls the attitude (lifting / lowering) of the marker 19 in accordance with this marker lifting / lowering history.

[0087] With the above-described configuration, even when the machine body 1 is stopped, automatic control of the marker 19 continues appropriately, and subsequent manual work driving can be performed easily and appropriately.

[0088] (5) In each of the above embodiments, the rice transplanter may be provided with a marker operation tool that accepts manual operation of raising and lowering the marker 19. The marker 19 changes its position (raise and lower) to a lowered use position or an raised non-use position in response to manual operation of the marker operation tool.

[0089] The marker 19 changes its posture in response to manual operation of the marker operating tool, even if automatic control of the marker 19 is being performed during automatic work driving.

[0090] However, when the marker operating tool is moved from the operated target travel route to the next target travel route, the automatic control of the marker 19 is resumed again.

[0091] The marker 19 may need to be raised or lowered depending on the conditions of the work travel or the field. For example, it may be necessary to raise the marker 19 to a raised non-use position to avoid an obstacle. By providing a marker operation tool, the marker 19 can be raised or lowered appropriately depending on the conditions of the work travel or the field.

[0092] Furthermore, when the target driving route is shifted, automatic control of the marker 19 is resumed, so that a driving target is appropriately formed, and subsequent manual work driving can be performed easily and appropriately.

[0093] (6) In each of the above embodiments, the rice transplanter may be provided with an obstacle detection device. As described above, when an obstacle is present on the path of the marker 19 in the lowered use position, the marker 19 needs to be raised to avoid the obstacle.

[0094] When the obstacle detection device detects that there is an obstacle on the path of the marker 19 in the lowered use position, the marker control unit 50 automatically changes the position of the marker 19 (raises it) to the upper non-use position.

[0095] (7) In each of the above embodiments, the control unit 6 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 6 may be further subdivided, or conversely, some or all of the functional blocks may be combined. Furthermore, the functions of the control unit 6 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 6 may be configured by software. A program related to the software is stored in any storage device such as the storage unit 46, and is executed by a processor such as a CPU included in the control unit 6 or a processor provided separately. [Industrial Applicability]

[0096] The present invention is not limited to rice transplanters, but can be applied to work machines that perform various types of work traveling along target travel routes in a work field. [Explanation of symbols]

[0097] 1 Aircraft 41 Position calculation section 42 Route calculation unit 46 Memory section 50 Marker control section IPL Internal round trip route (target driving route) IPLm Internal round trip route (target driving route) IPLo Internal round trip route (target driving route) IRL Inner circuit route (circuit route target driving route) ORL Outer circuit route (Circulation route Target driving route) W Work Equipment

Claims

1. A paddy field working machine that performs at least the automatic work traveling among automatic work traveling and manual work traveling along a target travel route, A work device for performing a predetermined work; A position calculation unit that calculates the position of the aircraft; a route calculation unit that alternately sets the target travel route for performing the manual work travel and the target travel route for performing the automatic work travel; A traveling control unit that controls the traveling of the vehicle; Markers are provided on both the left and right sides of the vehicle, respectively, and form travel targets on a field scene as the vehicle travels; a marker control unit that automatically controls the attitude of the marker to a lowering use attitude or an ascending non-use attitude, the travel control unit causes the automatic work travel to be performed along the target travel path in which the automatic work travel is performed from one end side of a field to the other end side of the field, with turning travel interposed therebetween; The marker control unit, during the automatic work travel on the target travel path, brings the marker on the next process side, which is the side of the target travel path along which the movement is made after the turning travel, into the lowered use position, thereby forming the travel target when performing the manual work travel, in this paddy field work machine.

2. the marker control unit continuously stores the position of the aircraft and the attitude of the marker in a storage unit as a marker elevation history by linking the position of the aircraft and the attitude of the marker; The paddy field working machine according to claim 1 , wherein, when work travel is resumed after the machine body has been stopped, the attitude of the marker is automatically controlled based on the marker elevation history.

3. the target travel path includes a plurality of internal round trip paths that travel round trip in an internal region of the field with the turning travel in between, and one or a plurality of circular paths that travel round trip in an outer peripheral region of the field along an outer edge of the field, The travel control unit starts work travel from the internal reciprocating path adjacent to the outer circumferential area, 3. The paddy field working machine according to claim 1 or 2, wherein the marker control unit sets the markers on both the left and right sides to the lowered use position during the automatic work traveling on the initial internal reciprocating path.

4. a marker operation tool that accepts manual operation of raising and lowering the marker; When the marker operation tool is operated, the marker control unit suspends the automatic control during traveling on the target traveling route, and raises and lowers the marker in response to the operation of the marker operation tool, The paddy field working machine according to claim 1 , wherein the marker control unit executes the automatic control on the next target travel route.

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