CONTROL METHOD FOR CONSTRUCTION MACHINE, CONTROL PROGRAM FOR CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE

Abstract

To provide a control method of a work machine easily improving operability, especially for turning a machine body, control program of the work machine and work machine.SOLUTION: A control method of a work machine comprising a traveling part 11 including a pair of crawlers 111 juxtaposed in a lateral direction, includes acquiring an operation signal from an operating device 8, and applying at least one of a first mode and a second mode to control the traveling part 11 according to the operation signal. The operating device 8 includes a first operating unit 81 for moving the machine body of the work machine forward and backward, and a second operating unit 82 for turning the machine body to the left and right. The first mode is a mode for invalidating operation of the second operating unit 82 when the first operating unit 81 is not operated. The second mode is a mode for making the rotation direction of the machine body same in a plan view when the machine body moves forward and moves backward, the rotation direction of the machine body for a same operation of the second operating unit 82.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a control method for a construction machine that performs work, a control program for a construction machine, and a construction machine. [Background technology]

[0002] As a related art, a work machine (agricultural work vehicle) is known that includes a running part (crawler running part) including a pair of crawlers aligned in the left-right direction, a machine body (left body and right body), an engine, and a working part (chemical spraying part) (see, for example, Patent Document 1). In the work machine according to the related art, the pair of crawlers of the running part run while sandwiching the plant, which is the spray target, in the left-right direction. The left body of the machine body is mainly supported by the left crawler. The right body of the machine body is mainly supported by the right crawler. The engine is located on the left body side.

[0003] In a work machine according to the related art, a working unit is provided on each of a left body and a right body. Each working unit sprays a chemical on both the right and left sides. This allows the work machine according to the related art to simultaneously spray a chemical on plants passing between a pair of left and right crawlers, plants located on the left side of the work machine, and plants located on the right side of the work machine. This work machine is capable of spraying a chemical on plants while performing autonomous travel based on a current position and an autonomous travel route. In this work machine, the body can be turned by differentiating the drive speeds of the left and right crawlers, and the body can be turned (pivot turn) without changing its position by differentiating the drive directions of the left and right crawlers. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-152285 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned related art, for example, a situation may be considered in which the work machine is moved by the operator (remote control, etc.) from a warehouse or the like in which the work machine is stored to a start position for autonomous driving. In such a situation, for example, depending on the operator's level of skill, it may be difficult to adjust the orientation of the machine as the operator intends, particularly with respect to the operation of turning the machine.

[0006] An object of the present invention is to provide a control method for a work machine, a control program for a work machine, and a work machine that are capable of easily improving operability, particularly for turning the body. [Means for solving the problem]

[0007] A control method for a work machine according to one aspect of the present invention is a control method for a work machine equipped with a traveling part including a pair of crawlers aligned in the left-right direction. The control method includes acquiring an operation signal from an operating device, and controlling the traveling part according to the operation signal by applying at least one of a first mode and a second mode. The operating device has a first operating part for moving a body of the work machine forward and backward, and a second operating part for turning the body left and right. The first mode is a mode in which operation of the second operating part is invalidated when the first operating part is not operated. The second mode is a mode in which the rotation direction of the body in a plan view in response to the same operation of the second operating part is made the same when the body is moving forward and when it is moving backward.

[0008] A work machine control program according to one aspect of the present invention is a work machine control program for causing one or more processors to execute the work machine control method.

[0009] A work machine according to one aspect of the present invention includes a machine body, a traveling unit, an acquisition processing unit, and a traveling processing unit. The traveling unit includes a pair of crawlers aligned in the left-right direction. The acquisition processing unit acquires an operation signal from an operation device having a first operation unit for moving the machine body forward and backward, and a second operation unit for turning the machine body left and right. The traveling processing unit applies at least one of a first mode and a second mode to control the traveling unit according to the operation signal. The first mode is a mode in which the operation of the second operation unit is invalidated when the first operation unit is not operated. The second mode is a mode in which the rotation direction of the machine body in a plan view in response to the same operation of the second operation unit is the same when the machine body is moving forward and when it is moving backward. Effect of the Invention

[0010] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, and a work machine that are particularly likely to improve operability for turning the body. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is an external view of a sprayer according to a first embodiment, as viewed from the left front side. [Diagram 2] FIG. 2 is a rear external view of the sprayer according to the first embodiment as viewed from the rear side. [Diagram 3] FIG. 3 is a diagram showing an example of a crop row in which the sprayer according to the first embodiment is used. [Figure 4] FIG. 4 is a schematic diagram showing the overall configuration of an automatic driving system using the sprayer according to the first embodiment. [Diagram 5] FIG. 5 is a schematic block diagram showing the main configuration of the sprayer according to the first embodiment. [Figure 6] FIG. 6 is a left side external view of the spreader according to the first embodiment as viewed from the left side. [Figure 7] FIG. 7 is an external view of the right side of the spreader according to the first embodiment as viewed from the right side. [Figure 8]FIG. 8 is an external view of the top surface of the sprayer according to the first embodiment as viewed from above. [Figure 9] FIG. 9 is a rear external view of the spreader according to the first embodiment as viewed from the rear side. [Figure 10] FIG. 10 is a schematic diagram showing the spreader according to the first embodiment as viewed obliquely from behind. [Figure 11] FIG. 11 is an enlarged view of region Z1 in FIG. 7, and shows an external view of the operating device within the blowout. [Figure 12] FIG. 12 is a schematic diagram illustrating the gentle turning operation of the spreader according to the first embodiment when moving forward. [Figure 13] FIG. 13 is a schematic diagram illustrating the gentle turning operation of the spreader according to the first embodiment when moving backward. [Figure 14] FIG. 14 is a schematic diagram illustrating the pivot turning operation of the spreader according to the first embodiment. [Figure 15] FIG. 15 is a schematic diagram illustrating the pivot turning operation of the spreader according to the first embodiment. [Figure 16] FIG. 16 is a flowchart showing an example of a process, particularly related to the manual driving mode, in the control method according to the first embodiment. [Figure 17] FIG. 17 is an explanatory diagram showing an example of a correction curve used in the correction processing unit of the spreader according to the first embodiment. [Figure 18] FIG. 18 is a flowchart showing an example of processing related to control of the traveling unit when the first mode is applied in the control method according to the first embodiment. [Figure 19] FIG. 19 is a flowchart showing an example of a process related to control of the traveling unit when the second mode is applied. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall structure First, the overall configuration of a spreader 1 according to this embodiment will be described with reference to Figures 1 to 4. In this embodiment, the spreader 1 performs a spreading operation to spread a spreading material such as a chemical solution, water, or fertilizer on a crop V1 (see Figure 2) grown in a field F1. This spreader 1 is an example of a "work machine" that performs various operations within a work area such as the field F1.

[0014] That is, the sprayer 1 is a work machine capable of performing a spraying operation, for example, spraying a spray material such as a chemical solution, water, or fertilizer. In this disclosure, the "work machine" includes not only a sprayer, but also work vehicles such as a tractor, rice transplanter, sprayer, sowing machine, transplanter, and combine harvester. In other words, the work machine includes a work vehicle. Furthermore, the "work machine" in this disclosure is not limited to an agricultural machine (farm machinery), and may be, for example, a construction machine (construction machinery), etc.

[0015] Further, the "field" in this disclosure is an example of a work target area in which the sprayer 1, which is a work machine, moves and performs various tasks such as spraying, and includes orchards, pastures, rice fields, and fields where agricultural products are grown. In this case, the crop V1 grown in the field F1 is the agricultural product. Furthermore, when plants are grown in a plantation, the plantation becomes the field F1, and when trees to be used as lumber are grown in a forest, such as in forestry, the forest becomes the field F1. In this case, the crop V1 grown in the field F1 is a plantation or a tree. However, the work target area in which the work machine performs work is not limited to the field F1, and may be other than the field F1. For example, if the work machine is a construction machine, the work site where the construction machine performs work is the work target area.

[0016] In this embodiment, as an example, the spraying machine 1 is a vehicle that moves in a field F1 such as an orchard of fruit trees such as a vineyard or an apple orchard, and sprays a chemical solution onto a crop V1 grown in the field F1. In this case, the chemical solution is an example of a sprayed material. Further, the crop V1 is an example of a spraying target object onto which the sprayed material (chemical solution) is sprayed, and is, for example, a fruit tree of grapes. The crop V1 as the spraying target object is also an example of a work target object that is the target of the work by the spraying machine 1 as a work machine. The "chemical solution" as the sprayed material here is a pesticide used for improving agricultural efficiency or preserving agricultural crops, and includes herbicides, fungicides, mildew-proof agents, insecticides, rodenticides, growth promoters for the crop V1, germination inhibitors, and the like.

[0017] The crops V1 are arranged in a plurality of rows at a predetermined interval in the field F1. Specifically, as shown in FIG. 3, the plurality of crops V1 are planted in a straight line in the longitudinal direction A1 in a plan view. The plurality of crops V1 arranged in a straight line in the longitudinal direction A1 constitute a crop row Vr1. FIG. 3 illustrates three crop rows Vr1 each including six crops V1 arranged in the longitudinal direction A1. Each crop row Vr1 is arranged at a predetermined pitch W1 in the width direction A2. Thereby, between adjacent crop rows Vr1, there is a width W2 (<W1) corresponding to the interval between the crop rows Vr1, and a work passage extending along the longitudinal direction A1 is formed. The spraying machine 1 sprays the sprayed material (chemical solution) onto the crops V1 while moving (traveling) in the longitudinal direction A1 through this work passage.

[0018] Although details will be described later, the spraying machine 1 traveling in the field F1 includes a machine body 10 having a portal shape. That is, the machine body 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2, and a connecting portion 10C that connects the upper end portions of the first block 10L and the second block 10R. Thereby, the machine body 10 constitutes a portal shape that surrounds three sides, namely, the left side, the right side, and the upper side of the space Sp1, by the first block 10L, the second block 10R, and the connecting portion 10C. That is, a space Sp1 that is open in the front-rear direction D3 is formed inside the machine body 10.

[0019] The spreader 1 further includes a traveling unit 11 including a pair of crawlers 111L, 111R arranged side by side in the left-right direction D2. The pair of crawlers 111L, 111R are provided at the bottom of the first block 10L and the second block 10R, respectively, and are located on both sides of the space Sp1 in the left-right direction D2.

[0020] As shown in Fig. 2, the sprayer 1 can run across one crop row Vr1 with the machine body 10 formed in a gate shape, and spray the crop V1 in this crop row Vr1 and the crop V1 in the crop row Vr1 adjacent to this crop row Vr1 with a spraying agent (chemical solution). In other words, the sprayer 1 can run so that the crop V1, which is the spraying target (work target), passes through the space Sp1 inside the machine body 10 formed in a gate shape. In other words, as illustrated in Fig. 2, when there are three crop rows Vr11, Vr12, and Vr13 arranged in the left-right direction D2, the sprayer 1 can run across any one of the three crop rows Vr11, Vr12, and Vr13 with the machine body 10.

[0021] Here, if the machine body 10 straddles the central crop row Vr12, the first block 10L travels on the work path between the leftmost crop row Vr11 and the crop row Vr12, and the second block 10R travels on the work path between the rightmost crop row Vr13 and the crop row Vr12. The sprayer 1 can simultaneously spray the spraying material (chemical solution) on the crop V11 in the crop row Vr11, the crop V12 in the crop row Vr12, and the crop V13 in the crop row Vr13. In this way, the sprayer 1 according to this embodiment can simultaneously spray the spraying material (chemical solution) on three rows of spraying objects (crops V1) while traveling, so the spraying work is more efficient than a configuration in which spraying is done one row at a time.

[0022] Furthermore, in this embodiment, as an example, the sprayer 1 is an unmanned vehicle that operates by automatic driving without being operated (including remote operation) by a person (operator). Therefore, as shown in FIG. 4, the sprayer 1 constitutes an automatic driving system 200 together with an operation terminal 201, a server 202, a base station 203, a satellite 204, etc. In other words, the automatic driving system 200 includes the sprayer 1, the operation terminal 201, the server 202, the base station 203, and the satellite 204. However, at least one of the operation terminal 201, the server 202, the base station 203, and the satellite 204 may not be included as a component of the automatic driving system 200, and for example, the automatic driving system 200 may not include the satellite 204.

[0023] The sprayer 1, the operation terminal 201, and the server 202 can communicate with each other. In the present disclosure, "communicable" means that information can be exchanged directly or indirectly via a communication network or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). For example, the sprayer 1 and the operation terminal 201 can communicate with each other via the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a public telephone line, a mobile phone line network, a packet line network, or a wireless LAN. In addition, each of the sprayer 1 and the operation terminal 201 can also communicate with the server 202 via the Internet, etc.

[0024] Satellite 204 is a positioning satellite constituting a satellite positioning system such as GNSS (Global Navigation Satellite System), and transmits a GNSS signal (satellite signal). Base station 203 is a reference point (reference station) constituting the satellite positioning system. Base station 203 transmits correction information to spreader 1 for calculating the current position of spreader 1, etc.

[0025] The sprayer 1 according to this embodiment is equipped with a positioning device 2 that detects the current position (latitude, longitude, altitude, etc.) and current orientation of the vehicle 10. The positioning device 2 executes a positioning process that identifies (calculates) the current position and current orientation of the vehicle 10 using a GNSS signal transmitted from a satellite 204. The positioning device 2 employs a relatively high-precision positioning method such as RTK (Real Time Kinematic) positioning that performs positioning based on positioning information (GNSS signals, etc.) received by two receivers (base station 203 and antenna 21) and correction information generated by base station 203.

[0026] The operation terminal 201 is, for example, an information processing device such as a tablet terminal or a smartphone. The operation terminal 201 includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. An operator can operate the operation unit to register various information on the operation screen displayed on the display unit. The operator can also operate the operation unit to give instructions to the sprayer 1 to start work, stop traveling, and the like.

[0027] The server 202 is an information processing device such as a server device, etc. The server 202 transmits to the sprayer 1 information such as a target route for automatically traveling the sprayer 1.

[0028] The sprayer 1 can automatically travel (autonomously travel) along a preset target route. For example, the sprayer 1 automatically travels from a work start position to a work end position along a target route including a plurality of work routes and movement routes. The plurality of work routes are linear routes along which the sprayer 1 performs work (spraying work) on the crop V1, which is the work object (spraying object), and the movement route is a route along which the sprayer 1 moves between the crop rows Vr1 without performing spraying work, and may include a turning route and a straight route.

[0029] The sprayer 1 also automatically travels in a predetermined row order. In the example of Fig. 2, the sprayer 1 travels across the crop row Vr11, then across the crop row Vr12, and then across the crop row Vr13. In this way, the sprayer 1 automatically travels according to the preset order of the crop rows Vr1. The sprayer 1 may travel for each row in the arrangement order of the crop rows Vr1, or may travel every several rows.

[0030] Also, in this embodiment, for convenience of explanation, the vertical direction when the spreader 1 is in a usable state is defined as the up-down direction D1 as shown in Figure 1. Furthermore, the left-right direction D2 and the front-rear direction D3 are defined based on the direction seen from the center point of the spreader 1 in a plan view. In other words, the direction of travel of the spreader 1 when moving forward is forward in the front-rear direction D3, and the direction of travel of the spreader 1 when moving backward is rearward in the front-rear direction D3. However, these directions are not intended to limit the direction of use of the spreader 1 (direction during use).

[0031] In addition, in this disclosure, "parallel" refers to a case where two straight lines on a plane do not intersect no matter how far they are extended, that is, the angle between the two is exactly 0 degrees (or 180 degrees), and also refers to a relationship where the angle between the two is within an error range of a few degrees (e.g., less than 10 degrees) from 0 degrees. Similarly, in this disclosure, "orthogonal" refers to a case where the angle between the two is exactly 90 degrees, and also refers to a relationship where the angle between the two is within an error range of a few degrees (e.g., less than 10 degrees) from 90 degrees.

[0032] [2] Details of the sprayer Next, the configuration of the spreader 1 will be described in more detail with reference to Figs. 1, 2, 5 to 11. Fig. 1 is an external view of the spreader 1 as seen from the left front side, and Fig. 2 is an external view of the back of the spreader 1 as seen from the rear side (rear). Fig. 5 is a schematic block diagram showing the main configuration of the spreader 1. Fig. 6 is an external view of the left side of the spreader 1 as seen from the left side, Fig. 7 is an external view of the right side of the spreader 1 as seen from the right side, and Fig. 8 is an external view of the top surface of the spreader 1 as seen from above. Fig. 9 is an external view of the back of the spreader 1 as seen from the rear side (rear). Fig. 10 is a schematic view showing the spreader 1 as seen obliquely from the rear, with a partial enlarged view shown in the blowout. Fig. 11 is an enlarged view of area Z1 in Fig. 7, with an external view of the operating device 8 shown in the blowout.

[0033] The sprayer 1 includes a body 10, a travel section 11, a support frame 3, and a spraying device 4. In this embodiment, as shown in FIG. 5, the sprayer 1 further includes a positioning device 2, a control device 7, an airflow generating section 5, a user interface 61, an obstacle detecting device 62, a power source 63, a tank 64 (see FIG. 7), and a display 65. The sprayer 1 further includes a communication terminal, a fuel tank, a battery, and the like. In this embodiment, the structures of the sprayer 1, such as the body 10 and the support frame 3, are basically made of metal, and the material is selected according to the required strength and weather resistance. However, the structures of the sprayer 1 are not limited to being made of metal, and may be made of, for example, resin or wood, as appropriate.

[0034] The vehicle 10 is the main body of the sprayer 1, and supports most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3. The vehicle 10 has a frame 101 (see FIG. 2) and a cover 102. The frame 101 is a member that constitutes the framework of the vehicle 10, and supports heavy objects such as the power source 63 and the tank 64. The cover 102 is a member that constitutes the outer shell of the vehicle 10, and is attached to the frame 101 so as to cover at least a portion of the frame 101 and the components mounted on the frame 101. The frame 101 is not covered by the cover 102 on the rear surface (back surface) and part of the right side surface of the vehicle 10, and the frame 101 is exposed. The cover 102 is divided into a plurality of parts, and these multiple parts are configured to be individually removable from the frame 101. Therefore, only the parts of the cover 102 that correspond to some of the devices (components), such as the power source 63, can be removed, and this makes it possible to expose some of the devices (components), such as the power source 63.

[0035] As described above, the body 10 has the first block 10L and the second block 10R arranged side by side in the left-right direction D2. The first block 10L and the second block 10R face each other in the left-right direction D2 with a certain distance between them. In the present embodiment, as an example, the first block 10L is located on the left side, and the second block 10R is located on the right side. Therefore, the left side of the body 10 is composed of the first block 10L, and the right side of the body 10 is composed of the second block 10R. Furthermore, the body 10 has a connecting portion 10C that connects the first block 10L and the second block 10R. In a front view (viewed from the front), the connecting portion 10C has a length along the left-right direction D2, and the first block 10L and the second block 10R each have a length along the up-down direction D1.

[0036] Here, the connecting portion 10C connects the upper ends of the first block 10L and the second block 10R to each other, in other words, the first block 10L and the second block 10R protrude downward from both ends (in the left-right direction D2) of the connecting portion 10C. As a result, the first block 10L, the second block 10R, and the connecting portion 10C form a gate-shaped body 10 that is open downward as well as on both sides in the front-rear direction D3. Inside the body 10, a space Sp1 is formed that is surrounded on three sides by the first block 10L, the second block 10R, and the connecting portion 10C and is open in the front-rear direction D3.

[0037] In short, as shown in FIG. 2, the machine body 10 forms a space Sp1 between the first block 10L and the second block 10R to allow the crop V1 (work object) to pass through, which is the target of work (spraying work) by the spraying device 4 (working unit). Specifically, the dimensions of each part of the machine body 10 are set so as to form a space Sp1 with a height and width equal to or greater than the standard size of the crop V1, which is the target of spraying. Therefore, if the crop V1 is of a standard size, the machine body 10 can allow the crop V1 to pass through the space Sp1 while straddling the crop V1 and leaving a gap of a predetermined value or more so that the crop V1 does not contact the machine body 10. When the crop V1 is passing through the space Sp1, the first block 10L is located to the left of the crop V1, the second block 10R is located to the right of the crop V1, and the connecting part 10C is located above the crop V1.

[0038] More specifically, in this embodiment, the aircraft 10 is configured to be approximately symmetrical in the left-right direction D2. The first block 10L and the second block 10R are formed in a rectangular shape of approximately the same size and shape in a side view. The first block 10L and the second block 10R each have a flat shape in the left-right direction D2, in which the dimension in the left-right direction D2 is the smallest among the up-down direction D1, the left-right direction D2, and the front-back direction D3. In addition, the first block 10L and the second block 10R each have a tapered shape in which the dimension in the left-right direction D2 decreases toward the upper end in the portion above the center in the up-down direction D1. The connecting portion 10C is formed in a rectangular shape in which the dimension in the front-back direction D3 is larger than the dimension in the left-right direction D2 in a plan view. The connecting portion 10C has a flat shape in the up-down direction D1, in which the dimension in the up-down direction D1 is the smallest among the up-down direction D1, the left-right direction D2, and the front-back direction D3.

[0039] Thus, the body 10 can be roughly divided into three parts (blocks): the first block 10L, the second block 10R, and the connecting portion 10C. Each of the first block 10L, the second block 10R, and the connecting portion 10C has a frame 101 and a cover 102. In other words, each of the first block 10L and the second block 10R has a frame 101 and a cover 102. Furthermore, most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3, are distributed among the first block 10L, the second block 10R, and the connecting portion 10C.

[0040] The travelling section 11 is a traveling device (vehicle body) that travels the sprayer 1, and is provided under the body 10. The travelling section 11 enables the body 10 to travel (including turning) on ​​the ground, thereby moving in the left-right direction D2 and the front-back direction D3 within the field F1. By providing such a travelling section 11 on the body 10, the sprayer 1 can perform work (spraying work) while moving within the field F1.

[0041] The traveling unit 11 includes a pair of crawlers (tracks) 111L, 111R arranged in the left-right direction D2. The pair of crawlers 111L, 111R are arranged at a certain interval in the left-right direction D2, and a space Sp1 is formed between the pair of crawlers 111L, 111R to allow the crop V1, which is the spraying target, to pass through. In other words, the left crawler 111L located to the left of the space Sp1 and the right crawler 111R located to the right of the space Sp1 face each other across the space Sp1. When there is no particular distinction between the left crawler 111L and the right crawler 111R, each crawler 111L, 111R is also simply referred to as a "crawler 111". The traveling unit 11 also includes a motor 112 that drives the crawler 111. In other words, the traveling unit 11 is a crawler-type (endless track-type) traveling device that drives an endless belt-shaped crawler 111 by a motor 112 to cause the spreader 1 to travel.

[0042] Here, at least two motors 112 are provided corresponding to the pair of crawlers 111L, 111R. The left motor 112 that drives the left crawler 111L and the right motor 112 that drives the right crawler 111R can drive the crawlers 111 individually. In this embodiment, as an example, the motor 112 is a hydraulic motor (hydraulic actuator), and drives the crawlers 111 by being supplied with hydraulic oil from a hydraulic pump. With this configuration, even if the road surface condition of the field F1 is rough, the machine body 10 can travel relatively stably.

[0043] Here, the crawler 111 and the motor 112 are provided at the bottom of each of the first block 10L and the second block 10R. That is, the first block 10L has a left crawler 111L and a motor 112 that drives the crawler 111L, and the second block 10R has a right crawler 111R and a motor 112 that drives the crawler 111R. In this embodiment, the pair of crawlers 111L, 111R and the pair of motors 112 are configured to be approximately symmetrical in the left-right direction D2. In this way, the pair of traveling parts 11 are arranged apart in the left-right direction D2 by the space Sp1, so that the sprayer 1 can travel in a relatively stable posture in various road surface conditions of the field F1, including a horizontally inclined slope in which either the left or right direction D2 is lower.

[0044] Here, the pair of crawlers 111L, 111R are driven by power from the power source 63 in a state where independent speed change is possible by the hydrostatic continuously variable transmission. Therefore, the machine body 10 is in a forward state moving straight forward in the forward direction by driving the pair of crawlers 111L, 111R at a constant speed in the forward direction, and in a reverse state moving straight backward in the reverse direction by driving the pair of crawlers 111L, 111R at a constant speed in the reverse direction. Also, the machine body 10 is in a forward turning state turning while moving forward by driving the pair of crawlers 111L, 111R at a non-uniform speed in the forward direction, and in a reverse turning state turning while moving backward by driving the pair of crawlers 111L, 111R at a non-uniform speed in the reverse direction. The machine body 10 is in a pivot turning state when one of the pair of crawlers 111L, 111R is stopped and the other is driven, and is in a spin turning state when the pair of crawlers 111L, 111R are driven at a constant speed in the forward and reverse directions. The machine body 10 is in a traveling stopped state when the pair of crawlers 111L, 111R are stopped. The turning operation of the machine body 10 by the traveling unit 11 will be explained in detail in the section "[3] Details of turning operation".

[0045] In addition, the first block 10L is equipped with a power source 63, etc., and the second block 10R is equipped with a tank 64, etc. In this way, by distributing and arranging the components of the sprayer 1 between the first block 10L and the second block 10R of the machine body 10, the sprayer 1 is balanced in the left-right direction D2 and has a low center of gravity. As a result, the sprayer 1 can travel stably on slopes, etc. of the field F1.

[0046] As described above, the positioning device 2 is a device that detects the current position and current orientation of the aircraft 10. The positioning device 2 has at least an antenna 21. The antenna 21 receives GNSS signals and the like transmitted from the satellite 204. In other words, the antenna 21 includes a position identification antenna for identifying the position of the aircraft 10. Here, the antenna 21 is disposed on the upper surface (top surface) of the aircraft 10 so as to facilitate reception of signals (GNSS signals) from the satellite 204. In other words, the antenna 21 is disposed at a position even higher than the highest position of the aircraft 10. Furthermore, the positioning device 2 includes an attitude detection unit and the like that detects the attitude of the aircraft 10.

[0047] In this embodiment, the positioning device 2 further includes an antenna 22 which is a second antenna in addition to the antenna 21 which is a first antenna. The positioning device 2 receives GNSS signals and the like with each of these two antennas 21, 22. Here, the antenna 22 (second antenna) is arranged to be aligned with the antenna 21 (first antenna) in the front-to-rear direction D3. This allows the positioning device 2 to transmit and receive signals (GNSS signals and the like) with each of the antennas 21, 22. In particular, when the antennas 21, 22 are position identification antennas, the current position can be identified at each of the front and rear of the aircraft 10, and therefore the direction (current orientation) of the aircraft 10 can also be identified.

[0048] The support frame 3 is attached to one end of the machine body 10 in the front-rear direction D3, and is a member that supports a spray nozzle 41 of the spray device 4 described later. In this embodiment, the support frame 3 is attached to the rear end of the machine body 10. The support frame 3 has a gate-shaped shape like the machine body 10, and is arranged at a position overlapping the machine body 10 in a rear view (viewed from the rear). That is, the support frame 3 has a vertical frame 3L (first vertical frame) and a vertical frame 3R (second vertical frame) arranged side by side in the left-right direction D2, and a horizontal frame 3C that connects the upper ends of the vertical frame 3L and the vertical frame 3R. As a result, the support frame 3 forms a gate-shaped shape that surrounds the space Sp1 on three sides, the left, right, and upper sides, with the vertical frame 3L, the vertical frame 3R, and the horizontal frame 3C.

[0049] Specifically, the support frame 3 has a vertical frame 3L and a vertical frame 3R arranged side by side in the left-right direction D2. The vertical frame 3L and the vertical frame 3R face each other in the left-right direction D2 with a certain distance or more therebetween. In the present embodiment, as an example, the vertical frame 3L is located on the left side, and the vertical frame 3R is located on the right side. Therefore, the vertical frame 3L is located behind the first block 10L of the body 10, and the vertical frame 3R is located behind the second block 10R of the body 10. In addition, in a rear view (viewed from the rear), the horizontal frame 3C has a length along the left-right direction D2, and the vertical frame 3L and the vertical frame 3R each have a length along the up-down direction D1.

[0050] Here, the horizontal frame 3C connects the upper ends of the vertical frame 3L and the vertical frame 3R, so in other words, the vertical frame 3L and the vertical frame 3R protrude downward from both ends (in the left-right direction D2) of the horizontal frame 3C. In this way, the support frame 3 includes the horizontal frame 3C having a length along the left-right direction D2 and a pair of vertical frames 3L, 3R each having a length along the up-down direction D1 and protruding downward from both ends of the horizontal frame 3C. As a result, the support frame 3 forms a gate-shaped shape that is open downward in addition to both sides in the front-rear direction D3 with the vertical frame 3L, the vertical frame 3R and the horizontal frame 3C. And inside the support frame 3, a space Sp1 is formed that is surrounded on three sides by the vertical frame 3L, the vertical frame 3R and the horizontal frame 3C and is open in the front-rear direction D3.

[0051] In short, as shown in FIG. 2, the support frame 3 forms a space Sp1 between a pair of vertical frames 3L, 3R through which the crop V1 (work object, spraying object) that is the target of the work (spraying work) by the spraying device 4 (working unit) passes. Specifically, the dimensions of each part of the support frame 3 are set so as to form a space Sp1 with a height and width equal to or greater than the standard size of the crop V1 that is the spraying object. Therefore, if the crop V1 is of a standard size, the support frame 3 can allow the crop V1 to pass through the space Sp1 while straddling the crop V1 and leaving a gap of a predetermined value or more so that the crop V1 does not contact the support frame 3. When the crop V1 is passing through the space Sp1, the vertical frame 3L is located to the left of the crop V1, the vertical frame 3R is located to the right of the crop V1, and the horizontal frame 3C is located above the crop V1.

[0052] More specifically, in this embodiment, the support frame 3 is configured to be substantially symmetrical in the left-right direction D2. The vertical frame 3L and the vertical frame 3R have a cylindrical shape with a circular cross section. In this embodiment, as an example, the vertical frame 3L and the vertical frame 3R are each configured by arranging two cylindrical members side by side. The horizontal frame 3C has a square tube shape with a rectangular cross section. Here, the vertical frame 3L and the vertical frame 3R are firmly fixed to the horizontal frame 3C by appropriate fixing means such as connecting metal fittings, diagonal braces, or welding. Therefore, the vertical frame 3L and the vertical frame 3R maintain a state where they are perpendicular to the horizontal frame 3C. In other words, in the rear view, the corners between the vertical frame 3L and the horizontal frame 3C and the corners between the vertical frame 3R and the horizontal frame 3C are each right-angled.

[0053] In this embodiment, the support frame 3 is supported by the machine body 10 so as to be rotatable around the rotation axis Ax1 while maintaining the relative positional relationship between the pair of vertical frames 3L, 3R and the horizontal frame 3C. The rotation axis Ax1 is an axis that passes through the fulcrum part 31 provided on the horizontal frame 3C and extends along the front-rear direction D3. In other words, the support frame 3 that supports the working part (spraying nozzle 41) is supported by the machine body 10 so as to be rotatable around the rotation axis Ax1 that extends along the front-rear direction D3. Here, the "rotation axis" in this disclosure means a virtual axis (straight line) that is the center of the rotational motion of the rotating body. In other words, the rotation axis Ax1 is a virtual axis that does not have a substance. However, the rotation axis Ax1 may be a material member such as an axle pin.

[0054] The spraying device 4 has a spray nozzle 41 and the like. The spraying device 4 performs a spraying operation of spraying the chemical solution stored in the tank 64 as a spraying material on the crop V1 as a spraying target. The spray nozzle 41 is supported by the support frame 3 and is a part that sprays the spraying material. In this embodiment, as an example, the spray nozzle 41 is an outlet (spraying part) that actually serves as an outlet for the spraying material (chemical solution). The spraying device 4 has a plurality of spray nozzles 41 (12 in this embodiment as an example).

[0055] In addition to the spray nozzle 41, the spray device 4 has a spray pipe 42, a pump 43 (see FIG. 7), a valve 44 (see FIG. 7), and a spray pipe. The spray nozzle 41 is an example of a working part that performs a task (spraying task), and is supported by the support frame 3. Since the support frame 3 is supported by the machine body 10, the spray nozzle 41 (working part) is indirectly supported by the machine body 10. In this embodiment, the spray nozzle 41 is attached to the spray pipe 42. The spray pipe 42 is connected to the pump 43 via the valve 44 by the spray pipe. The pump 43 pressure-feeds the spray material (chemical solution) stored in the tank 64 to the spray pipe 42. The valve 44 is an electronically controlled valve unit such as an electromagnetic valve, and changes the pressure (spray pressure) and spray pattern when spraying the spray material. As a result, the chemical liquid in the tank 64 is supplied by the pump 43 through the valve 44 and the spray pipe 42 to the spray nozzle 41, and is sprayed from the spray nozzle 41. Here, the chemical liquid is discharged (sprayed) in the form of a mist from the spray nozzle 41.

[0056] More specifically, as shown in Figs. 9 and 10, the spray pipes 42 are piping having a length in the up-down direction D1, and two of them are attached to each of the vertical frames 3L and 3R of the support frame 3. That is, in this embodiment, the spraying device 4 has a total of four spray pipes 42. The two (pair) spray pipes 42 attached to each of the vertical frames 3L and 3R are arranged side by side in the left-right direction D2. Each spray pipe 42 discharges the chemical solution as a spraying object injected from its upper end from the three spray nozzles 41 while flowing it downward through the pipe. Three spray nozzles 41 are attached to each spray pipe 42, and thus the spraying device 4 has a total of 12 spray nozzles 41.

[0057] Each spray nozzle 41 is attached to the corresponding spray tube 42 so that its position can be changed in the up-down direction D1. This allows each spray nozzle 41 to change the interval between adjacent spray nozzles 41 and the height position relative to the spray tube 42 depending on the object to be sprayed (crop V1). Also, each spray nozzle 41 is attached so that its position in the up-down direction D1 and left-right direction D2 relative to the machine body 10 and its direction (angle) can be changed depending on the object to be sprayed. However, in the spraying device 4, the number of spray nozzles 41 provided on each spray tube 42 can be appropriately changed depending on the type of object to be sprayed (crop V1) or the length of each spray tube 42.

[0058] The airflow generating unit 5 generates an airflow that carries the spray material (chemical solution) discharged from the spray nozzle 41. The airflow generating unit 5 is supported by the support frame 3 together with the spray nozzle 41. In other words, the sprayer 1 according to this embodiment is an air-assisted type sprayer that sprays the spray material (chemical solution) by utilizing the airflow generated by the airflow generating unit 5. This enables the sprayer 1 to efficiently spray the spray material (chemical solution) even on the spray target (crop V1) that is located relatively far from the spray nozzle 41.

[0059] The airflow generating unit 5 has a duct 51 and a blower 52. The duct 51 forms a flow path for air to flow along the vertical direction D1. The blower 52 blows air into the duct 51. The airflow generating unit 5 forms an airflow by blowing air from the blowing holes 511 (see FIG. 10) formed in the duct 51. In short, the airflow generating unit 5 blows the air sent by the blower 52 into the duct 51 through the flow path in the duct 51 and blows it out of the blowing holes 511, thereby generating a flow of air (airflow) flowing outward from the blowing holes 511. With this configuration, a stable airflow can be generated over a relatively wide range. Furthermore, the airflow generating unit 5 can adjust the air volume of the airflow by controlling the blower 52. The airflow generating unit 5 can adjust the transport distance of the scattering object by adjusting the air volume, and the larger the air volume, the farther the scattering object can be transported. Therefore, in the sprayer 1 according to this embodiment, the range over which the spraying device 4 sprays the sprayed material can be adjusted.

[0060] More specifically, the duct 51 is a pipe having a length in the vertical direction D1, and one duct 51 is attached to each of the vertical frames 3L and 3R of the support frame 3. That is, in this embodiment, the airflow generating unit 5 has a total of two ducts 51. Each duct 51 has a plurality of blowing holes 511 formed on the left and right sides of the duct 51 so as to be aligned in a row along the vertical direction D1. Furthermore, two spray pipes 42 of the spraying device 4 are fixed to the rear side of each duct 51.

[0061] Here, the duct 51, the two spray pipes 42 attached thereto, and the total of six spray nozzles 41 attached to these two spray pipes 42 are arranged symmetrically in the left-right direction D2. Of the two spray pipes 42, the three spray nozzles 41 provided on the left spray pipe 42 discharge the spray material (chemical solution) toward the left front, and the three spray nozzles 41 provided on the right spray pipe 42 discharge the spray material (chemical solution) toward the right front. Therefore, the mist-like spray material discharged from the left spray nozzle 41 is carried leftward by the airflow blown out from the duct 51 to the left, and the mist-like spray material discharged from the right spray nozzle 41 is carried rightward by the airflow blown out from the duct 51 to the right.

[0062] Therefore, among the multiple (12) spray nozzles 41, the three spray nozzles 41 provided on the leftmost spray tube 42 spray the chemical solution to the left toward the crop V1 located on the left outer side of the machine body 10. Among the multiple spray nozzles 41, the three spray nozzles 41 provided on the left inner spray tube 42 adjacent to the leftmost spray tube 42 spray the chemical solution to the right toward the crop V1 located in the inner space Sp1 of the machine body 10. Among the multiple spray nozzles 41, the three spray nozzles 41 provided on the rightmost spray tube 42 spray the chemical solution to the right toward the crop V1 located on the right outer side of the machine body 10. Among the multiple spray nozzles 41, the three spray nozzles 41 provided on the right inner spray tube 42 adjacent to the rightmost spray tube 42 spray the chemical solution to the left toward the crop V1 located in the inner space Sp1 of the machine body 10.

[0063] With the above-mentioned configuration, in the spraying device 4, the two spraying pipes 42 and the six spraying nozzles 41 provided on the vertical frame 3L of the support frame 3 function as a left-side spraying unit. Also, the two spraying pipes 42 and the six spraying nozzles 41 provided on the vertical frame 3R of the support frame 3 function as a right-side spraying unit. The pair of left and right spraying units are arranged at the rear of the machine body 10, in a state where they can spray in the left-right direction D2, with a gap (space Sp1) between them that allows the crop V1 to pass through.

[0064] In addition, the spraying device 4 is configured such that a plurality of (12) spray nozzles 41 are divided into a plurality of systems and can be controlled for each system. In this embodiment, as an example, the six spray nozzles 41 provided on the two inner spray pipes 42 in the left-right direction D2 among the four spray pipes 42 are classified into a first system, the three spray nozzles 41 provided on the leftmost spray pipe 42 are classified into a second system, and the three spray nozzles 41 provided on the rightmost spray pipe 42 are classified into a third system. Therefore, the spraying pattern by the spraying device 4 includes a full spraying pattern in which the spraying material (chemical solution) is sprayed from all the spray nozzles 41, and a limited spraying pattern in which the spraying direction is limited. The limited spray pattern includes a first spray pattern in which only the six spray nozzles 41 of the first system are sprayed, a second spray pattern in which only the three spray nozzles 41 of the second system are sprayed, and a third spray pattern in which only the three spray nozzles 41 of the third system are sprayed. In addition, the limited spray pattern includes a fourth spray pattern in which only the nine spray nozzles 41 of the first and second systems are sprayed, a fifth spray pattern in which only the nine spray nozzles 41 of the first and third systems are sprayed, and a sixth spray pattern in which only the six spray nozzles 41 of the second and third systems are sprayed.

[0065] The spraying device 4 is controlled by the control device 7, and the above-mentioned multiple spraying patterns (a total of six patterns including the full spraying pattern and six limited spraying patterns) are appropriately switched. At least the valve 44 of the spraying device 4 is provided for each system of the multiple spray nozzles 41, and in this embodiment, three valves 44 are provided to correspond to three systems (first system, second system, and third system). These multiple (here, three) valves 44 are individually controlled by the control device 7 to change the spraying pattern. In addition, the spraying device 4 can change the spraying range of the sprayed material by changing the pressure (spray pressure) when spraying the sprayed material for each system. Furthermore, in this embodiment, the spraying range of the sprayed material can be adjusted by adjusting the air volume of the airflow generating unit 5, so that a more diverse spraying range can be realized depending on the spray target (crop V1) or the sprayed material (chemical solution).

[0066] In the present embodiment, as described above, the support frame 3 is configured to be rotatable about the rotation axis Ax1, rather than being fixed relatively to the machine body 10. When the support frame 3 rotates, the multiple spray nozzles 41 supported by the support frame 3 also rotate about the rotation axis Ax1.

[0067] In addition, the sprayer 1 according to this embodiment does not include an actuator or the like that actively rotates the support frame 3. Therefore, the support frame 3 rotates only when an external force acts on the support frame 3. For example, when the machine body 10 travels on a horizontally inclined slope, the support frame 3 rotates due to its own weight, that is, gravity acting on the support frame 3. Here, if the support frame 3 and the members supported by the support frame 3 (such as the spray nozzle 41, the spray pipe 42, and the airflow generating unit 5) have a weight balance that is symmetrical in the left-right direction D2, the support frame 3 will be maintained in a neutral position as long as the machine body 10 is kept horizontal.

[0068] According to the rotatable support frame 3 as described above, for example, when the machine body 10 is traveling on a horizontally inclined slope, the support frame 3 rotates, so that the amount of the sprayed material (chemical solution) by the spray nozzle 41 is less likely to be uneven (uneven spraying). In other words, if the support frame 3 is fixedly supported by the machine body 10, the machine body 10 may tilt when traveling on a horizontally inclined slope. In this case, the distance from the spray nozzle 41 to the top and bottom of the crop V1 (spray target) extending straight vertically from the ground (field F1) is different, and unevenness in the amount of the sprayed material may occur. In contrast, in the sprayer 1 according to this embodiment, the support frame 3 rotates, so that the support frame 3 and the spray nozzle 41 supported by the support frame 3 can maintain the same posture as when traveling on a horizontal plane. Therefore, even for a crop V1 (target object) that extends vertically from the ground (field F1), the distance from the spray nozzle 41 to the top and bottom is less likely to vary, making it easier to prevent unevenness in the amount of sprayed product.

[0069] The user interface 61 is a device that performs at least one of outputting information to a user and accepting operations. Here, as shown in FIG. 7, the user interface 61 has a display unit 611 such as a liquid crystal display or an organic EL display that displays various information, and an operation unit 612 such as a touch panel, a knob, or a push button switch that accepts operations. An operator, who is an example of a user, can operate the operation unit 612 according to the operation screen displayed on the display unit 611 to perform various settings. Specifically, the operator operates the operation unit 612 of the user interface 61 to set operating conditions, etc. of the spraying device 4. Examples of operating conditions of the spraying device 4 include the pressure (spray pressure) and flow rate when spraying the spraying material from the spray nozzle 41.

[0070] The obstacle detection device 62 includes a first sensor 621, a second sensor 622, a third sensor 623, and a fourth sensor 624. The first sensor 621 to the fourth sensor 624 are all arranged facing the front of the body 10. The first sensor 621 is arranged at the left front end of the upper surface of the body 10, the second sensor 622 is arranged at the right front end of the upper surface of the body 10, the third sensor 623 is arranged at the front of the first block 10L, and the fourth sensor 624 is arranged at the front of the second block 10R. The obstacle detection device 62 further includes a fifth sensor 625 (see FIG. 6) and a sixth sensor 626 (see FIG. 7). The fifth sensor 625 and the sixth sensor 626 are all arranged facing the rear of the body 10. The fifth sensor 625 is attached to the vertical frame 3L, and the sixth sensor 626 is attached to the vertical frame 3R.

[0071] Each of the first sensor 621 to the sixth sensor 626 includes, for example, an image sensor (camera), a sonar sensor, a radar, or a LiDAR (Light Detection and Ranging) sensor, and detects the surrounding situation of the aircraft 10. As an example in this embodiment, each of the first sensor 621 to the sixth sensor 626 is a three-dimensional sensor that measures the distance to each ranging point (measurement target) in the measurement range by a TOF (Time Of Flight) method that measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach the ranging point and return. The surrounding situation of the aircraft 10 includes, for example, the presence or absence of an object (obstacle, etc.) present ahead in the traveling direction of the aircraft 10, and the position (distance and direction) of the object, etc.

[0072] The obstacle detection device 62 further includes a front contact sensor 627 and a rear contact sensor 628. The front contact sensors 627 are arranged in a pair on the left and right sides on the front side of the aircraft 10, and the rear contact sensors 628 are arranged in a pair on the left and right sides on the rear side of the aircraft 10. Each of the front contact sensor 627 and the rear contact sensor 628 detects an obstacle when it comes into contact with the obstacle. Each sensor transmits a detection signal to the control device 7 when it detects an obstacle.

[0073] The power source 63 is a drive source that supplies power to at least the traveling unit 11. The power source 63 has an engine such as a diesel engine. The power source 63 drives a hydraulic pump and supplies hydraulic oil from the hydraulic pump to the motor 112 of the traveling unit 11, thereby driving the traveling unit 11, etc.

[0074] Tank 64 stores a spray material such as a chemical solution. The spray material stored in tank 64 is supplied to spray device 4 and sprayed from spray nozzle 41 of spray device 4. Tank 64 can be refilled with the spray material, which is the chemical solution, from the outside. The capacity of tank 64 is, for example, about 200 L.

[0075] The display 65 is disposed on the top surface of the machine body 10. As an example, the display 65 is formed in a cylindrical shape having a length in the vertical direction D1. The illumination state of the display 65 changes according to the operating state of the spreader 1 (traveling state, spraying work execution state, etc.). This makes the operating state of the spreader 1 visible even from around the spreader 1.

[0076] The control device 7 mainly comprises a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control device 7 is an integrated controller that controls the entire sprayer 1, and is composed of, for example, an electronic control unit (ECU). However, the control device 7 may be provided separately from the integrated controller, or may be mainly composed of one processor or multiple processors.

[0077] 5, the control device 7 includes an acquisition processing unit 71, a driving processing unit 72, a switching processing unit 73, a correction processing unit 74, a scattering processing unit 75, and an automatic driving processing unit 76. In the present embodiment, as an example, the control device 7 is mainly configured as a computer system having one or more processors, and the one or more processors execute a control program to realize these multiple functional units (the acquisition processing unit 71, etc.). These multiple functional units included in the control device 7 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0078] The control device 7 is configured to be able to communicate with devices provided in each part of the machine body 10. That is, at least the traveling part 11, the positioning device 2, the spraying device 4, the airflow generating part 5, the user interface 61, the obstacle detection device 62, the power source 63, and the display 65 are connected to the control device 7. This allows the control device 7 to control the traveling part 11 and the spraying device 4, etc., and to obtain electrical signals from the positioning device 2 and the obstacle detection device 62, etc. The control device 7 may directly exchange various information (data) with each device, or indirectly via a repeater or the like.

[0079] In addition to the above-mentioned functional units, the control device 7 further includes an engine control unit, and an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission. The engine control unit controls the engine (power source 63). The HST control unit controls the hydrostatic continuously variable transmission.

[0080] The acquisition processing unit 71 executes an acquisition process for acquiring an electric signal (including data) from each device. In this embodiment, the acquisition processing unit 71 acquires an operation signal from at least the operation device 8 described later. That is, when the operation device 8 having a first operation unit 81 and a second operation unit 82 outputs an operation signal according to an operation by an operator (user), the acquisition processing unit 71 acquires the operation signal. Thereby, the control device 7 can acquire, for example, an operation signal indicating the presence or absence and the amount of operation of each of the first operation unit 81 and the second operation unit 82 by the acquisition processing unit 71. Furthermore, the acquisition processing unit 71 acquires information (data) such as the drive speed of the crawler 111 from the traveling unit 11.

[0081] The travel processing unit 72 executes a travel control process to control the traveling unit 11 according to the operation signal acquired by the acquisition processing unit 71. In this embodiment, the travel processing unit 72 applies at least one of the first mode and the second mode to control the traveling unit 11. The first mode is an operation mode in which the operation of the second operation unit 82 is invalidated when the first operation unit 81 is not operated. The second mode is an operation mode in which the rotation direction in a plan view of the vehicle 10 in response to the same operation of the second operation unit 82 is made the same when the vehicle 10 is moving forward and backward. In other words, the control device 7 controls the traveling unit 11 by the travel processing unit 72 in response to the operation of the operation device 8 by the operator, that is, the traveling unit 11 can be manually operated. Then, the control content of the traveling unit 11 in response to the operation signal changes depending on which operation mode is applied by the travel processing unit 72.

[0082] The switching processing unit 73 executes a mode switching process for switching the operation mode of the driving processing unit 72. Specifically, the switching processing unit 73 switches the operation mode of the driving processing unit 72 by switching whether or not to apply each of the first mode and the second mode. Here, the driving processing unit 72 only needs to be able to apply at least one of the first mode and the second mode, and may apply only the first mode and not the second mode, or may apply only the second mode and not the first mode. Furthermore, the driving processing unit 72 may apply both the first mode and the second mode, or may not apply both the first mode and the second mode. Furthermore, the driving processing unit 72 may be able to apply an operation mode (such as a third mode) other than the first mode and the second mode.

[0083] In the present embodiment, as an example, the switching processing unit 73 switches whether or not to apply at least one of the first mode and the second mode in response to a user (operator) operation. That is, whether or not to apply the first mode and whether or not to apply the second mode are each manually switched, for example, by an operator's operation on the user interface 61. Also, in the present embodiment, the switching processing unit 73 switches whether or not to apply at least one of the first mode and the second mode in response to the running speed of the machine body 10. That is, whether or not to apply the first mode and whether or not to apply the second mode are each automatically switched, for example, in response to the running speed of the machine body 10 represented by the drive speed of the crawler 111.

[0084] The correction processor 74 executes a correction process to correct the control amount of the traveling unit 11 by the travel processor 72. Specifically, the correction processor 74 corrects the control amount of the traveling unit 11 so that the drive speed of the crawler 111 changes nonlinearly with respect to the operation signal acquired by the acquisition processor 71. In this embodiment, the correction processor 74 corrects the control amount corresponding to the operation amount for at least one of the first operation unit 81 and the second operation unit 82 so that the change amount of the control amount of the traveling unit 11 with respect to the change amount of the operation amount increases as the operation amount increases. As a result, for example, in an area where the operation amount of the operation device 8 is small, the change amount of the drive speed of the crawler 111 with respect to the operation amount of the operation device 8 becomes small, making it easier to fine-tune the traveling speed of the traveling unit 11.

[0085] The spraying processing unit 75 performs spraying control processing related to the work (spraying work) of the spraying device 4 and the airflow generation unit 5, etc. Specifically, when the sprayer 1 starts automatic travel at the work start position, the spraying processing unit 75 outputs a switching signal to the spraying device 4 to switch the spraying pattern based on control information included in a predetermined target route. When the spraying device 4 receives the switching signal, it executes the spraying work in a predetermined spraying pattern.

[0086] The automatic travel processing unit 76 automatically travels the machine 10 along a target route in the field F1 based on the positioning information acquired from the positioning device 2 and the like. Specifically, the automatic travel processing unit 76 automatically travels the traveling unit 11 along the target route based on the positioning information including the position and orientation of the machine 10 measured by the positioning device 2. For example, when the positioning information is in a state where RTK positioning is possible and the operator presses the start button (automatic travel start instruction) on the operation screen of the operation terminal 201, the operation terminal 201 outputs an automatic travel start instruction (work start instruction) to the sprayer 1. When the automatic travel start instruction is acquired from the operation terminal 201, the automatic travel processing unit 76 starts the automatic travel of the sprayer 1 based on the positioning information of the machine 10 measured by the positioning device 2. As a result, the sprayer 1 starts automatic travel along the target route and starts the spraying work by the spraying device 4.

[0087] The communication terminal is a communication interface for connecting the sprayer 1 to a communication network by wire or wirelessly and executing data communication in accordance with a predetermined communication protocol via the communication network with external devices such as the operation terminal 201 and the server 202. The positioning device 2, the control device 7, the communication device, and other electronic devices are connected to a battery and can operate even when the power source 63 is stopped.

[0088] Incidentally, the sprayer 1 according to this embodiment is capable of communicating with an operating device 8, as shown in Figure 5, and an operation signal output by the operating device 8 in response to an operator's operation is acquired by a control device 7 (acquisition processing unit 71). The sprayer 1 (its control device 7) constitutes a control system 100 together with the operating device 8 for manually controlling the sprayer 1. In other words, the control system 100 comprises the sprayer 1 (its control device 7) and the operating device 8.

[0089] In this embodiment, the operating device 8 is connected to the control device 7 of the spreader 1 by a cable having a sufficient length, and communicates with the spreader 1 by wire. Therefore, the operator can manually operate the spreader 1 using the operating device 8 while standing around the machine 10, for example, without boarding the machine 10 of the spreader 1. Here, the operating device 8 may communicate with the spreader 1 by wireless communication using radio waves or light, and even in this case, the operator can manually operate the spreader 1 using the operating device 8 from outside the machine 10. In short, the operating device 8 can be operated outside the machine 10. Therefore, for example, when loading and unloading the spreader 1 on a transport vehicle, the operator can manually operate the spreader 1 in a safe place outside the machine 10.

[0090] In this embodiment, as shown in FIG. 11, the machine body 10 is provided with a storage section 80 capable of storing the operating device 8. The automatic travel processing section 76 of the control device 7 starts the automatic travel of the sprayer 1 (work machine) only when the operating device 8 is stored in the storage section 80. That is, when the operating device 8 is not used, such as during automatic travel of the sprayer 1, the operating device 8 can be stored in the storage section 80 of the machine body 10, which leads to prevention of loss of the operating device 8. When the operating device 8 is not stored in the storage section 80, the sprayer 1 does not start automatic travel, so that the operator can get used to storing the operating device 8 in the storage section 80 of the machine body 10 when the operating device 8 is not used.

[0091] Specifically, the storage unit 80 is provided on the second block 10R side, as are the user interface 61 and the like. The user interface 61 includes an operation unit 612 that accepts operations for adjustments related to the work (spraying work) and a display unit 611 that displays information related to the operation. The display unit 611, which is made of, for example, a liquid crystal display, is disposed at a position near the front end on the outer surface (right side) of the second block 10R, and a knob or a push button switch as the operation unit 612 is disposed below the display unit 611. The storage unit 80 is disposed further below the operation unit 612 on the outer surface (right side) of the second block 10R. The storage unit 80 is formed of a recess large enough to store the operation device 8.

[0092] A contact or non-contact sensor (including a switch) is provided inside the storage unit 80, and the sensor detects whether the operating device 8 is stored in the storage unit 80. The detection result of the sensor is acquired by the control device 7 (acquisition processing unit 71). The automatic driving processing unit 76 starts automatic driving of the sprayer 1 when it acquires an automatic driving start instruction from the operation terminal 201 only when the detection result of the sensor indicates that the operating device 8 is stored in the storage unit 80. In other words, when the detection result of the sensor indicates that the operating device 8 is not stored in the storage unit 80, the automatic driving processing unit 76 does not start automatic driving of the sprayer 1 even if it acquires an automatic driving start instruction from the operation terminal 201.

[0093] As shown in the bubble of FIG. 11, the operation device 8 has a first operation unit 81, a second operation unit 82, a third operation unit 83, and a display unit 84. The first operation unit 81, the second operation unit 82, and the third operation unit 83 are each composed of various types of mechanical switches such as a lever switch, a slide switch, a joystick, a seesaw switch, or a push button switch. The operation device 8 has a circuit board therein, and when it receives an operation on the first operation unit 81, the second operation unit 82, or the third operation unit 83 from the operator, it outputs an operation signal (electrical signal) corresponding to the operation. For example, when the operator operates the first operation unit 81 upward, the operation device 8 outputs an operation signal indicating that the first operation unit 81 has been operated upward.

[0094] The following operations are assigned to the first operation unit 81, the second operation unit 82, and the third operation unit 83, respectively. The first operation unit 81, consisting of a lever switch that can be operated vertically (up and down) as seen by the operator, is assigned an operation for moving the machine body 10 forward and backward. The second operation unit 82, consisting of a lever switch that can be operated horizontally (left and right) as seen by the operator, is assigned an operation for turning the machine body 10 left and right. The third operation unit 83, consisting of a push button switch, is assigned an operation for activating a manual driving mode in which the traveling unit 11 is manually driven. The display unit 84 is, for example, an LED, which lights up when the manual driving mode is enabled.

[0095] In this embodiment, since both the first operating unit 81 and the second operating unit 82 are lever-type (stick-type) operating tools, for example, the first operating unit 81 can receive an operation to move between the "neutral position" and the "forward position", or between the "neutral position" and the "reverse position". Similarly, the second operating unit 82 can receive an operation to move between the "neutral position" and the "right turning position", or between the "neutral position" and the "left turning position". Here, the "neutral position" is a neutral position, and in a state where the operator is not touching the first operating unit 81 and the second operating unit 82, both the first operating unit 81 and the second operating unit 82 return to the "neutral position". The "forward position" of the first operating unit 81 is a movable limit position on the upper side as seen from the operator, and the "reverse position" is a movable limit position on the lower side as seen from the operator. The "right turning position" of the second operating unit 82 is the limit of movement to the right as seen by the operator, and the "left turning position" is the limit of movement to the left as seen by the operator. Therefore, when the operating device 8 receives an operation from the operator involving the movement of the first operating unit 81 from the "neutral position" to the "forward position" side (i.e., upward), for example, the operating device 8 outputs an operation signal according to the amount of operation (the amount of movement of the first operating unit 81).

[0096] [3] Turning operation details Next, the turning operation of the spreader 1 (work machine) according to this embodiment will be described in detail with reference to Fig. 12 to Fig. 15. Fig. 12 to Fig. 15 show a schematic outline of the machine body 10 in a plan view, with the current machine body 10 shown in a solid line and the machine body 10 after movement (turning) shown in an imaginary line (two-dot chain line). In Fig. 12 to Fig. 15, the thick dashed arrow indicates the direction in which the machine body 10 moves, and the driving state of each of the pair of crawlers 111L, 111R is shown within the airflow.

[0097] In the spreader 1 (work machine) according to this embodiment, as described above, the traveling part 11 includes a pair of crawlers 111L, 111R arranged in the left-right direction D2, and thus it is possible to perform turning in a plurality of modes. "Turning" here means that the machine body 10 performs a rotational motion so that the orientation (attitude) of the machine body 10 changes in a plan view. In particular, when focusing on the orientation of the machine body 10, a rotation in which the front of the machine body 10 faces left, that is, a turning in which the machine body 10 turns counterclockwise, is called a "left turning", and a rotation in which the front of the machine body 10 faces right, that is, a turning in which the machine body 10 turns clockwise is called a "right turning".

[0098] The turning modes include "gentle turning", "pivot turning" and "super pivot turning". And since each turning mode includes "left turning" and "right turning", the sprayer 1 can perform a total of six types of turning, such as "left turning" in "gentle turning", "right turning" in "gentle turning", or "right turning" in "pivot turning".

[0099] The "gentle turning" is an operation in which the vehicle 10 changes course by drawing an arc while moving forward or backward (backward) by rotating the pair of crawlers 111L, 111R in the same direction while varying their rotational speeds, and includes the forward turning state and the backward turning state described above. In other words, according to the gentle turning, as shown in Fig. 12, the vehicle 10 rotates about an axis P1 set outside the vehicle 10 in a plan view, and the direction (attitude) of the vehicle 10 changes. The upper part of Fig. 12 illustrates an example of a "left turning" of the gentle turning, in which the vehicle 10 rotates counterclockwise while moving forward by driving the pair of crawlers 111L, 111R in the forward direction while setting the drive speed of the left crawler 111L lower than the drive speed of the right crawler 111R. The lower part of Figure 12 shows an example of a gentle turn, called a "right turn," in which the pair of crawlers 111L, 111R are driven in the forward direction while the drive speed of the right crawler 111R is set slower than the drive speed of the left crawler 111L, causing the machine body 10 to rotate clockwise while moving forward.

[0100] 12 shows a forward turn in which the vehicle 10 turns while moving forward, but there are also "left turns" and "right turns" for the reverse turn in which the vehicle 10 turns while moving backward among gentle turns. That is, as illustrated in the upper part of FIG. 13, a "right turn" is performed in which the vehicle 10 rotates clockwise while moving backward by driving the pair of crawlers 111L, 111R in the reverse direction and setting the drive speed of the left crawler 111L lower than the drive speed of the right crawler 111R. Similarly, as illustrated in the lower part of FIG. 13, a "left turn" is performed in which the vehicle 10 rotates counterclockwise while moving backward by driving the pair of crawlers 111L, 111R in the reverse direction and setting the drive speed of the right crawler 111R lower than the drive speed of the left crawler 111L. Here, in a "right turn" during a backward turn (upper part of FIG. 13), the aircraft 10 moves rearward to the left, but the aircraft 10 itself rotates so that the front of the aircraft 10 faces right, i.e., rotates clockwise, which is a "right turn." Similarly, in a "left turn" during a backward turn (lower part of FIG. 13), the aircraft 10 moves rearward to the right, but the aircraft 10 itself rotates so that the front of the aircraft 10 faces left, i.e., rotates counterclockwise, which is a "left turn."

[0101] A "pivot turn" is an operation (pivot turn) in which one crawler 111 is stopped and only the crawler 111 on the other side is rotated, and the crawler 111 on the stopped side is turned as an axis (pivot). In other words, according to the pivot turn, as shown in FIG. 14, the vehicle body 10 rotates about the axis P2 set near the center of the crawler 111 on the stopped side (the left crawler 111L in FIG. 14) in a plan view, and the orientation (attitude) of the vehicle body 10 changes. The upper part of FIG. 14 illustrates an example of a pivot turn in which the vehicle body 10 turns left (rotates counterclockwise) by stopping the driving of the left crawler 111L and driving the right crawler 111R in the forward direction. The lower part of FIG. 14 illustrates an example of a pivot turn in which the vehicle body 10 turns right (rotates clockwise) by stopping the driving of the right crawler 111R and driving the left crawler 111L in the forward direction.

[0102] 14, the drive side crawler 111 is driven in the forward direction, but this is not limiting, and the drive side crawler 111 can also be driven in the reverse direction to achieve "pivot turn." For example, by stopping the left crawler 111L and driving the right crawler 111R in the reverse direction, the vehicle 10 turns right (rotates clockwise) in "pivot turn." Similarly, by stopping the right crawler 111R and driving the left crawler 111L in the reverse direction, the vehicle 10 turns left (rotates counterclockwise) in "pivot turn."

[0103] The "spin turn" is an operation (spin turn) in which the vehicle 10 turns on the spot around the center of the vehicle body 10 by rotating the pair of crawlers 111L, 111R at a constant speed in opposite directions. In other words, according to the spin turn, as shown in FIG. 15, the vehicle body 10 turns on the axis P3 set near the center of the pair of crawlers 111L, 111R in a plan view, and the orientation (attitude) of the vehicle body 10 changes. The upper part of FIG. 15 illustrates an example of a state in which the vehicle body 10 turns left (rotates counterclockwise) by driving the left crawler 111L in the backward direction and the right crawler 111R in the forward direction during the spin turn. The lower part of FIG. 15 illustrates an example of a state in which the vehicle body 10 turns right (rotates clockwise) by driving the right crawler 111R in the backward direction and the left crawler 111L in the forward direction during the spin turn.

[0104] [4] Control method for work machine Hereinafter, with reference to Figs. 16 to 19, an example of a control method for a work machine (sprayer 1) executed mainly by the control device 7 (hereinafter, simply referred to as a "control method") will be described. Fig. 16 is a flowchart showing an example of processing related to the manual travel mode in the control method. Fig. 17 is an explanatory diagram showing an example of a correction curve used by the correction processing unit 74. Fig. 18 is a flowchart showing an example of processing related to the control of the travel unit 11 when the first mode is applied in the control method. Fig. 19 is a flowchart showing an example of processing related to the control of the travel unit 11 when the second mode is applied in the control method. However, the flowcharts shown in Figs. 16, 18, and 19 are merely examples, and processing may be added or omitted as appropriate, and the order of processing may be changed as appropriate.

[0105] The control method according to this embodiment is executed by the control device 7, which is mainly composed of a computer system. In other words, it is embodied in a control program (hereinafter simply referred to as the "control program") for the work machine (sprayer 1). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control device 7 and the operating device 8 in cooperation with each other.

[0106] Here, when a specific manual driving mode start operation for enabling the manual driving mode is performed, the control device 7 enables the manual driving mode and executes the various processes described below related to the manual driving mode. The manual driving mode start operation is, for example, a long press operation for continuously pressing the third operation unit 83 of the operation device 8 for a certain period of time (for example, one second) while the key switch for starting the engine (power source 63) of the sprayer 1 is in the on state. On the other hand, when a specific, preset manual driving mode termination operation is performed, the control device 7 disables the manual driving mode and terminates the various processes described below related to the manual driving mode. The manual driving mode termination operation is, for example, an operation for pressing the third operation unit 83 of the operation device 8.

[0107] In the following, a situation is assumed in which the sprayer 1 is operated in a "manual driving mode" in which the operator drives the sprayer 1 by manual operation before the sprayer 1 starts automatic driving. For example, the operator may transport the sprayer 1 from a storage facility (such as a barn) to the field F1 using a transport vehicle, manually drive the sprayer 1 to a start position (work start position) of automatic driving in the field F1, and then cause the sprayer 1 to start automatic driving. In such a case, when the sprayer 1 is taken out of the storage facility and loaded onto the transport vehicle, and when the sprayer 1 is unloaded from the transport vehicle and moved to the start position, the operator manually drives the sprayer 1 in the manual driving mode. However, this is not limited to such a case, and the operator manually drives the sprayer 1 in the manual driving mode, for example, when supplying chemicals from a chemical supply vehicle to the sprayer 1 (tank 64) in a chemical supply area outside the field F1.

[0108] [4.1] General processing related to manual driving mode As shown in FIG. 16, the control device 7 starts the process of step S2 and thereafter, triggered by the activation of the manual travel mode (S1: Yes). Here, the control device 7 determines whether the manual travel mode is activated or not depending on the presence or absence of a long press operation of the third operation unit 83 of the operation device 8. When the third operation unit 83 is long pressed and the manual travel mode is activated, the control device 7 determines that the manual travel mode is activated (S1: Yes). When the third operation unit 83 is long pressed and the manual travel mode is activated, the display unit 84 of the operation device 8 is turned on. On the other hand, when the third operation unit 83 is not long pressed or the third operation unit 83 of the operation device 8 is operated in a state where the manual travel mode is activated, the control device 7 determines that the manual travel mode is deactivated (S1: No). When the manual travel mode is deactivated, the display unit 84 of the operation device 8 is turned off.

[0109] In this way, the control method according to this embodiment involves switching between an effective state in which the operation of the operation device 8 is enabled and an ineffective state in which the operation of the operation device 8 is disabled, depending on the operation state of the operation device 8. In short, if the manual driving mode is enabled (S1: Yes), the operation of the operation device 8 is enabled, whereas if the manual driving mode is disabled (S1: No), the operation of the operation device 8 is disabled, thereby enabling the operator to arbitrarily switch between an effective state in which the operation of the operation device 8 is enabled and an ineffective state in which the operation of the operation device 8 is disabled.

[0110] In step S2, the switching processing unit 73 of the control device 7 determines whether or not the first mode is set to be applied. In this embodiment, the switching processing unit 73 manually switches whether or not at least the first mode is applied by an operation of the operator. Specifically, the first mode is set to be enabled / disabled by an operation of the operator on the user interface 61, and if the first mode is enabled, the switching processing unit 73 determines that the setting to apply the first mode is set (S2: Yes), and shifts the process to step S3. On the other hand, if the first mode is disabled, the switching processing unit 73 determines that the setting to apply the first mode is not set (S2: No), and shifts the process to step S4. In step S3, the switching processing unit 73 of the control device 7 applies the first mode as the operation mode of the driving processing unit 72.

[0111] In step S4, the switching processing unit 73 of the control device 7 determines whether the traveling speed of the machine body 10 is less than a threshold value. In this embodiment, the switching processing unit 73 automatically switches whether to apply at least the second mode depending on the traveling speed. Specifically, if the driving speed of the crawler 111 is less than a predetermined speed, the switching processing unit 73 determines that the traveling speed of the machine body 10 is less than the threshold value (S4: Yes), and shifts the process to step S5. On the other hand, if the driving speed of the crawler 111 is equal to or greater than a predetermined speed, the switching processing unit 73 determines that the traveling speed of the machine body 10 is equal to or greater than a threshold value (S4: No), and shifts the process to step S6. In step S5, the switching processing unit 73 of the control device 7 applies the second mode as the operation mode of the traveling processing unit 72.

[0112] In step S6, the acquisition processing unit 71 of the control device 7 acquires an operation signal from the operation device 8. Here, the operation signal includes information on the presence or absence of operation and the amount of operation for at least each of the first operation unit 81 and the second operation unit 82. That is, the operation signal changes according to the operation of the operation device 8 by the operator.

[0113] In step S7, the correction processor 74 of the control device 7 corrects the control amount for the operation amount included in the operation signal. Specifically, the correction processor 74 corrects the control amount of the traveling unit 11 according to a correction curve as exemplified in FIG. 17. In FIG. 17, the horizontal axis represents the operation amount of the first operation unit 81 (or the second operation unit 82), and the vertical axis represents the control amount of the traveling unit 11. That is, the correction processor 74 corrects the control amount so that the drive speed of the crawler 111 changes nonlinearly with respect to the operation amount. In this embodiment, the correction processor 74 corrects the control amount corresponding to the operation amount for both the first operation unit 81 and the second operation unit 82 so that the change amount of the control amount of the traveling unit 11 with respect to the change amount of the operation amount becomes larger as the operation amount becomes larger.

[0114] In step S8, the travel processing unit 72 of the control device 7 controls the traveling unit 11 according to the corrected control amount. For example, when the first operating unit 81 is operated from the neutral position to the forward position side while the second operating unit 82 is not operated, the travel processing unit 72 controls the traveling unit 11 to move the vehicle body 10 forward by driving the pair of crawlers 111L, 111R in the forward direction at a constant speed. At this time, the drive speed of the crawler 111 is determined by the control amount corresponding to the operation amount from the neutral position of the first operating unit 81. In other words, the larger the operation amount, the larger the control amount becomes, and the drive speed of the crawler 111 becomes faster, and the traveling speed in the forward direction of the vehicle body 10 becomes faster. Furthermore, since the control amount corresponding to the operation amount is corrected according to the correction curve in step S7, fine adjustment of the traveling speed is facilitated, particularly in the low speed range, and for example, operations such as delicate positioning of the vehicle body 10 are facilitated.

[0115] With step S8, a series of processes related to the control method ends. The control device 7 repeatedly executes the processes of steps S1 to S8. Therefore, as long as the manual driving mode is enabled (S1: Yes), the driving unit 11 is controlled in response to the operation of the operation device 8, and the sprayer 1 can be manually driven.

[0116] The control method according to the present embodiment is a control method for a work machine (sprayer 1) equipped with a traveling part 11 including a pair of crawlers 111L, 111R arranged in the left-right direction D2. This control method includes acquiring an operation signal from an operating device 8, and controlling the traveling part 11 according to the operation signal by applying at least one of a first mode and a second mode. Here, the operating device 8 has a first operating part 81 for moving the body 10 of the sprayer 1 forward and backward, and a second operating part 82 for turning the body 10 left and right. The first mode is an operation mode in which the operation of the second operating part 82 is invalidated when the first operating part 81 is not operated. The second mode is an operation mode in which the rotation direction of the body 10 in a plan view in response to the same operation of the second operating part 82 is made the same when the body 10 is moving forward and backward. The control (S8) of the traveling part 11 when the first mode is applied will be described in detail in the section "[4.2] First Mode". The control of the traveling unit 11 (S8) when the second mode is applied will be described in detail in the section "[4.3] Second Mode."

[0117] This tends to improve operability, particularly for turning the vehicle 10, when fine adjustment of the orientation of the vehicle 10 is required, such as when the operator moves the sprayer 1 (by remote control, etc.) from a warehouse or the like in which the sprayer 1 is stored to a start position for automatic travel. In other words, by applying the first mode and / or the second mode depending on the operator's skill level or preference, fine adjustment of the orientation of the vehicle 10 by the turning operation of the vehicle 10 becomes easy, and operability, particularly for turning the vehicle 10, is improved.

[0118] [4.2] First mode Hereinafter, the control (S8) of the traveling unit 11 when the first mode is applied, particularly the process related to the turning operation, will be described in more detail with reference to FIG.

[0119] When the first mode is applied, the traveling processing unit 72 of the control device 7 determines whether or not a forward or reverse operation is being performed (S11). In this embodiment, the traveling processing unit 72 determines whether or not a forward or reverse operation is being performed based on the operation state of the first operation unit 81 by the operator (user). That is, when the first operation unit 81 is in a state in which it is being operated, such as when the first operation unit 81 is in a position other than the "neutral position", the traveling processing unit 72 determines that a forward or reverse operation is being performed (S11: Yes), and shifts the processing to step S12. On the other hand, when the first operation unit 81 is in a state in which it is not being operated, such as when the first operation unit 81 is in the "neutral position", the traveling processing unit 72 determines that a forward or reverse operation is not being performed (S11: No), and shifts the processing to step S13. Here, a predetermined range including the "neutral position" in the movable range of the first operating unit 81 may be assumed to be an insensitive range, and when the first operating unit 81 is in the insensitive range (i.e., when the amount of operation of the first operating unit 81 is small), it may be determined that the first operating unit 81 is in an unoperated state.

[0120] In step S12, the driving processing unit 72 of the control device 7 enables the operation of the second operation unit 82. This enables the driving processing unit 72 to control the driving unit 11 to turn the machine body 10 left or right according to the amount of operation of the second operation unit 82.

[0121] On the other hand, in step S13, the driving processing unit 72 of the control device 7 disables the operation of the second operation unit 82. As a result, the driving processing unit 72 does not perform control to turn the aircraft 10 left or right, regardless of the amount of operation of the second operation unit 82. The driving processing unit 72 ends a series of processes related to the turning operation with step S13.

[0122] In step S14, the driving processing unit 72 of the control device 7 determines whether or not a turning operation (left turn or right turn) has been performed. In this embodiment, the driving processing unit 72 determines whether or not a turning operation has been performed based on the operation state of the second operation unit 82 by the operator (user). That is, if the second operation unit 82 is in a state in which it is being operated, such as being in a position other than the "neutral position", the driving processing unit 72 determines that a turning operation has been performed (S14: Yes) and shifts the processing to step S15. On the other hand, if the second operation unit 82 is in a state in which it is not being operated, such as being in the "neutral position", the driving processing unit 72 determines that a turning operation has not been performed (S14: No) and ends a series of processes related to the turning operation. Here, a predetermined range including the "neutral position" in the movable range of the second operating unit 82 may be assumed to be an insensitive range, and when the second operating unit 82 is in the insensitive range (i.e., when the amount of operation of the second operating unit 82 is small), it may be determined that the second operating unit 82 is in an unoperated state.

[0123] In step S15, the driving processing unit 72 of the control device 7 determines whether or not a forward operation has been performed. In this embodiment, the driving processing unit 72 determines whether or not a forward operation has been performed based on the operation state of the first operation unit 81 by the operator (user). That is, if the first operation unit 81 is in a state where it is operated from the "neutral position" to the "forward position", the driving processing unit 72 determines that a forward operation has been performed (S15: Yes) and shifts the process to step S16. On the other hand, if the first operation unit 81 is in a state where it is not operated to the "forward position", such as in the "neutral position", the driving processing unit 72 determines that a forward operation has not been performed (S15: No) and shifts the process to step S18.

[0124] In step S16, the driving processing unit 72 of the control device 7 judges whether the operation amount of the second operation unit 82 is at the upper limit (100%). When the second operation unit 82 is at the limit on the "left turn position" side or the "right turn position" side of the movable range, the driving processing unit 72 judges that the operation amount of the second operation unit 82 is at the upper limit (S16: Yes), and shifts the processing to step S17. On the other hand, when the second operation unit 82 has not reached the limit on the "left turn position" side or the "right turn position" side of the movable range, the driving processing unit 72 judges that the operation amount of the second operation unit 82 is not at the upper limit (S16: No), and shifts the processing to step S18.

[0125] In step S17, the driving processing unit 72 of the control device 7 controls the traveling unit 11 to perform a pivot turn. At this time, if the second operation unit 82 is operated to the "left turn position" side, the driving processing unit 72 drives the left crawler 111L in the backward direction and drives the right crawler 111R in the forward direction, as shown in the upper part of FIG. 15, to perform a left turn in the pivot turn. On the other hand, if the second operation unit 82 is operated to the "right turn position" side, the driving processing unit 72 drives the right crawler 111R in the backward direction and drives the left crawler 111L in the forward direction, as shown in the lower part of FIG. 15, to perform a right turn in the pivot turn. The driving processing unit 72 ends a series of processes related to the turning operation with step S17.

[0126] In step S18, the travel processing unit 72 of the control device 7 controls the travel unit 11 to perform a gentle turn or a pivot turn. At this time, if the forward operation is in progress (S15: Yes) and the second operation unit 82 is operated to the "left turn position" side, the travel processing unit 72 drives the pair of crawlers 111L, 111R in the forward direction while setting the drive speed of the left crawler 111L lower than the drive speed of the right crawler 111R, as shown in the upper part of FIG. 12, to perform a left turn as part of the gentle turn. On the other hand, if the forward operation is in progress (S15: Yes) and the second operation unit 82 is operated to the "right turn position" side, the travel processing unit 72 drives the pair of crawlers 111L, 111R in the forward direction while setting the drive speed of the right crawler 111R lower than the drive speed of the left crawler 111L, as shown in the lower part of FIG. 12.

[0127] Also, in step S18, if the vehicle is in reverse operation (S15: No) and the second operation unit 82 is operated to the "left turning position", the travel processing unit 72 drives the pair of crawlers 111L, 111R in the reverse direction while setting the drive speed of the left crawler 111L lower than the drive speed of the right crawler 111R, thereby performing a right turn as part of the gentle turn, as shown in the upper part of Fig. 13. On the other hand, if the vehicle is in reverse operation (S15: No) and the second operation unit 82 is operated to the "right turning position", the travel processing unit 72 drives the pair of crawlers 111L, 111R in the reverse direction while setting the drive speed of the right crawler 111R lower than the drive speed of the left crawler 111L, thereby performing a left turn as part of the gentle turn, as shown in the lower part of Fig. 13.

[0128] Furthermore, in step S18, if the first operating unit 81 is at the limit of the "reverse position" side of the movable range (the reverse operation amount is at the upper limit value) and the second operating unit 82 is operated to the "left turning position" side, the traveling processing unit 72 performs a left turn in the pivot turn by stopping the drive of the right crawler 111R and driving the left crawler 111L in the reverse direction. On the other hand, if the first operating unit 81 is at the limit of the "reverse position" side of the movable range (the reverse operation amount is at the upper limit value) and the second operating unit 82 is operated to the "right turning position" side, the traveling processing unit 72 performs a right turn in the pivot turn by stopping the drive of the left crawler 111L and driving the right crawler 111R in the reverse direction. The traveling processing unit 72 ends a series of processes related to the turning operation with step S18.

[0129] Thus, in the first mode, when the first operating unit 81 is not operated (S11: No), the operation of the second operating unit 82 is invalid (S13). Therefore, in the first mode, when the first operating unit 81 is not operated, the turning operation of the aircraft 10 is not performed, and it is possible to avoid a large change in the direction (attitude) of the aircraft 10 due to a sudden pivot turn.

[0130] Furthermore, when the first mode is applied, if the operation amount of the second operation unit 82 becomes equal to or greater than a predetermined value when the operation state of the first operation unit 81 satisfies a specific condition, a whirlpool turn is made possible by rotating the pair of crawlers 111L, 111R in the opposite directions. In this embodiment, as an example, the specific condition includes that the first operation unit 81 is operated toward the "forward position", that is, that the first operation unit 81 is in a forward operation (S15: Yes). In addition, the predetermined value set for the operation amount of the second operation unit 82 is 100%, and when the operation amount of the second operation unit 82 becomes equal to or greater than the predetermined value (100%) (S16: Yes), it is determined that the operation amount of the second operation unit 82 is equal to or greater than the predetermined value, and thus whirlpool turn is possible. However, the predetermined value is not limited to 100%, and if the predetermined value is 90%, for example, when the operation amount of the second operation unit 82 is in a range of 90% to 100% (for example, 95%), it is determined that the operation amount of the second operation unit 82 is equal to or greater than the predetermined value, and thus whirlpool turn is possible. Therefore, under certain circumstances, even when the first mode is applied, super-tight turning is possible, leading to further improvement in maneuverability.

[0131] Here, the specific condition is not limited to being in a forward movement operation, but may include, for example, the first operating unit 81 being operated regardless of whether the vehicle is moving forward or backward, the operation amount of the first operating unit 81 being equal to or greater than a predetermined value, or the first operating unit 81 being operated continuously for a predetermined period of time or more.

[0132] [4.3] Second mode Hereinafter, the control (S8) of the traveling unit 11 when the second mode is applied, particularly the process related to the turning operation, will be described in more detail with reference to FIG.

[0133] When the second mode is applied, the driving processing unit 72 of the control device 7 determines whether the second operation unit 82 is operated (S21). In this embodiment, the driving processing unit 72 determines whether the second operation unit 82 is operated based on the operation state of the second operation unit 82 by the operator (user). That is, if the second operation unit 82 is in a state in which it is determined that the second operation unit 82 is operated (S21: Yes), such as in a position other than the "neutral position," the driving processing unit 72 shifts the process to step S22. On the other hand, if the second operation unit 82 is in a state in which it is determined that the second operation unit 82 is not operated (S21: No), such as in the "neutral position," the driving processing unit 72 ends a series of processes related to the turning operation. Here, a predetermined range including the "neutral position" in the movable range of the second operating unit 82 may be assumed to be an insensitive range, and when the second operating unit 82 is in the insensitive range (i.e., when the amount of operation of the second operating unit 82 is small), it may be determined that the second operating unit 82 is in an unoperated state.

[0134] In step S22, the driving processing unit 72 of the control device 7 determines whether or not a forward operation has been performed. In this embodiment, the driving processing unit 72 determines whether or not a forward operation has been performed based on the operation state of the first operation unit 81 by the operator (user). That is, if the first operation unit 81 is in a state where it is operated from the "neutral position" to the "forward position", the driving processing unit 72 determines that a forward operation has been performed (S22: Yes) and shifts the processing to step S23. On the other hand, if the first operation unit 81 is in a state where it is not operated to the "forward position", such as in the "neutral position", the driving processing unit 72 determines that a forward operation has not been performed (S22: No) and shifts the processing to step S24.

[0135] In step S23, the travel processing unit 72 of the control device 7 performs deceleration control of the crawler 111 on the same side as the turning operation. For example, if the second operation unit 82 is operated to the "left turning position" side, the travel processing unit 72 performs a left turn as part of the gentle turning by driving the pair of crawlers 111L, 111R in the forward direction while setting the driving speed of the left crawler 111L lower than the driving speed of the right crawler 111R, as shown in the upper part of FIG. 12. On the other hand, if the second operation unit 82 is operated to the "right turning position" side, the travel processing unit 72 performs a right turn as part of the gentle turning by driving the pair of crawlers 111L, 111R in the forward direction while setting the driving speed of the right crawler 111R lower than the driving speed of the left crawler 111L, as shown in the lower part of FIG. 12.

[0136] Furthermore, the deceleration amount of the crawler 111 that is the target of the deceleration control is determined according to the operation amount of the second operation unit 82. That is, the greater the operation amount of the second operation unit 82, the greater the deceleration amount of the crawler 111 that is the target of the deceleration control, and if the operation amount of the second operation unit 82 is the upper limit value (100%), the crawler 111 that is the target of the deceleration control stops. Therefore, if the second operation unit 82 is operated to the limit position on the "left turn position" side, the traveling processing unit 72 performs a right turn as part of the pivot turn by stopping the drive of the right crawler 111R and driving the left crawler 111L in the forward direction, as shown in the lower part of Fig. 14.

[0137] In step S24, the driving processing unit 72 of the control device 7 determines whether or not a reverse operation has been performed. In this embodiment, the driving processing unit 72 determines whether or not a reverse operation has been performed based on the operation state of the first operation unit 81 by the operator (user). That is, if the first operation unit 81 is in a state where it is operated from the "neutral position" to the "reverse position", the driving processing unit 72 determines that a reverse operation has been performed (S24: Yes) and shifts the processing to step S25. On the other hand, if the first operation unit 81 is in a state where it is not operated to the "reverse position", such as in the "neutral position", the driving processing unit 72 determines that a reverse operation has not been performed (S24: No) and ends a series of processing related to the turning operation.

[0138] In step S25, the travel processing unit 72 of the control device 7 performs deceleration control of the crawler 111 on the opposite side to the turning operation. For example, if the second operation unit 82 is operated to the "left turning position" side, the travel processing unit 72 performs a left turn as part of the gentle turning by driving the pair of crawlers 111L, 111R in the backward direction while setting the drive speed of the right crawler 111R lower than the drive speed of the left crawler 111L, as shown in the lower part of FIG. 13. On the other hand, if the second operation unit 82 is operated to the "right turning position" side, the travel processing unit 72 performs a right turn as part of the gentle turning by driving the pair of crawlers 111L, 111R in the backward direction while setting the drive speed of the left crawler 111L lower than the drive speed of the right crawler 111R, as shown in the upper part of FIG. 13.

[0139] Furthermore, the deceleration amount of the crawler 111 that is the target of the deceleration control is determined according to the operation amount of the second operation unit 82. That is, the larger the operation amount of the second operation unit 82, the larger the deceleration amount of the crawler 111 that is the target of the deceleration control, and if the operation amount of the second operation unit 82 is the upper limit value (100%), the crawler 111 that is the target of the deceleration control stops. Therefore, if the second operation unit 82 is operated to the limit position on the "left turn position" side, the traveling processing unit 72 performs a left turn of the pivot turn by stopping the driving of the left crawler 111L and driving the right crawler 111R in the forward direction, as shown in the upper part of FIG. 14. The traveling processing unit 72 ends a series of processes related to the turning operation at step S13.

[0140] In this way, in the second mode, the rotation direction (left turn or right turn) of the vehicle 10 in a plan view in response to the same operation of the second operating unit 82 is the same when the vehicle 10 is moving forward and when it is moving backward. In other words, if the second mode is not applied, as described in step S18 of the first mode, even if the second operating unit 82 is operated to the "left turning position" side in the same way, a left turn is performed during a forward operation, whereas a right turn is performed during a backward operation. On the other hand, if the second mode is applied, if the second operating unit 82 is operated to the "left turning position" side in the same way, a left turn is performed whether during a forward operation or a backward operation. Therefore, in the second mode, when "turning" is performed while switching between forward and backward, the operator can intuitively perform a turning operation of the vehicle 10, and it is possible to avoid unintended changes in the direction (attitude) of the vehicle 10.

[0141] Furthermore, in the second mode, unlike the first mode, even if the first operation unit 81 is not operated, the operation of the second operation unit 82 is not invalidated. Therefore, when the second operation unit 82 is operated (S21: Yes) and the first operation unit 81 is not operated (S22: No and S24: No), the driving processing unit 72 performs a pivot turn.

[0142] [5] Variations Below, we will list some modified examples of the embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0143] The control device 7 in the present disclosure includes a computer system. The computer system mainly comprises one or more processors and one or more memories as hardware. The processor executes a program recorded in the memory of the computer system to realize the function of the control device 7 in the present disclosure. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. In addition, some or all of the functional units included in the control device 7 may be configured with electronic circuits.

[0144] Furthermore, it is not essential for the control device 7 that at least some of the functions of the control device 7 are concentrated in one housing, and the components of the control device 7 may be distributed across multiple housings. Conversely, in the control device 7, functions that are distributed across multiple devices (e.g., the control device 7 and the operating device 8) may be concentrated in one housing. Furthermore, at least some of the functions of the control device 7 may be realized by the cloud (cloud computing) or the like.

[0145] The sprayer 1 may be used not only in orchards such as vineyards or apple orchards, but also in other fields F1 or in work target areas other than the field F1. Furthermore, the material sprayed by the sprayer 1 is not limited to chemical solutions, but may be, for example, water, fertilizer, disinfectant or other liquids, or powders. Similarly, the target object to which the material is sprayed is not limited to grape trees, but may be other crops or objects other than crops (including inorganic substances). Furthermore, the sprayer 1 is not limited to unmanned vehicles that operate by automatic operation, but may be configured to operate by operation (including remote operation) by a person (operator), for example, a riding type (manned vehicle) on which an operator can ride. Even in this case, an antenna 21 or the like is provided on the sprayer 1 in order to grasp the current position of the sprayer 1.

[0146] In addition, it is not essential that the first mode and the second mode are switchable between being applied and not being applied. For example, at least one of the first mode and the second mode may be always applied, or may not be always applied. In this case, the switching processing unit 73 may be omitted.

[0147] Furthermore, the support frame 3 only needs to be attached to one end of the machine body 10 in the front-rear direction D3, and may be attached to the front of the machine body 10. In this case, the working unit (spraying nozzle 41) supported by the support frame 3 is also disposed in the front of the machine body 10, not in the rear.

[0148] The spreader 1 may also be provided with a pair of spraying devices 4 aligned in the front-rear direction D3. This allows the spreader 1 to perform work (spraying work) in each of the pair of spraying devices 4 (working devices) aligned in the front-rear direction D3, improving work efficiency compared to when work is performed using only one of the spraying devices 4. The spreader 1 may also be provided with a rotation drive device that generates a rotational force that rotates the support frame 3 relative to the machine body 10 about the rotation axis Ax1.

[0149] Furthermore, the machine body 10 only needs to have the first block 10L and the second block 10R arranged side by side in the left-right direction D2, and the first block 10L and the second block 10R may be reversed left-right. That is, the first block 10L in which the power source 63 and the like are provided may be located on the right side, and the second block 10R in which the user interface 61 and the like are provided may be located on the left side.

[0150] The traveling unit 11 is not limited to a crawler type traveling device, and may be configured to have one or more wheels and travel by rotating the wheels. The traveling unit 11 is not limited to a configuration driven by a hydraulic motor, and may be configured to be driven by an electric motor, for example.

[0151] Furthermore, the sprayer 1 is not limited to an air-assisted type sprayer as in the first embodiment, but may be, for example, an electrostatic sprayer, or a combination of an air-assisted type and an electrostatic sprayer, etc. If the sprayer 1 is an electrostatic sprayer, the airflow generating unit 5 can be omitted.

[0152] Furthermore, the power source 63 is not limited to an engine, and may have, for example, a motor (electric motor), or may be a hybrid power source including an engine and a motor.

[0153] Furthermore, the sprayer 1 may be configured such that the machine body 10 does not have a gate-shaped configuration, and the entire machine body 10 travels between a pair of adjacent crop rows Vr1 (work passage). In this case, the sprayer 1 travels through each work passage without straddling the crop rows Vr1. In this case, the spraying device 4 performs spraying work by switching between a spraying pattern in which the chemical solution is sprayed in both the left and right directions D2, a spraying pattern in which the chemical solution is sprayed only to the left, and a spraying pattern in which the chemical solution is sprayed only to the right.

[0154] The antennas 21 and 22 are not limited to antennas for position identification, but may be antennas for wireless communication, for example. The antennas 21 and 22 are not limited to antennas for reception, but may be antennas for transmission, or for reception and transmission.

[0155] Furthermore, the user interface 61 may have a means for presenting information to the user, for example, by audio output, in addition to or instead of the display unit 611. Furthermore, at least one of the adjustment items (flow rate, pressure, etc.) may be automatically adjusted by the control device using the operation unit 612 of the user interface 61. In this case, the operation unit 612 may be omitted as appropriate, and the user interface 61 may simply display the adjustment result on the display unit 611.

[0156] In addition, in the first embodiment, the spreader 1 has been described as an example of a work machine, but the work machine is not limited to the spreader 1. For example, the work machine may be a top-pinching machine, in which case a top-pinching unit that performs the top-pinching work is an example of a working unit, and is supported by the support frame 3. [Explanation of symbols]

[0157] 1 Sprayer (work machine) 8 Control device 10 Aircraft 11 Running part 71 Acquisition processing unit 72 Driving processing unit 80 Storage area 81 1st operation section 82 2nd operation section 111(111L,111R) Crawler D2 Left / right direction

Claims

1. A control method for a work machine having a traveling unit including a pair of crawlers aligned in a left-right direction, Acquiring an operation signal from an operating device having a first operating unit for moving a body of the work machine forward and backward and a second operating unit for turning the body left and right; and controlling the traveling unit according to the operation signal by applying at least one of a first mode in which the operation of the second operation unit is disabled when the first operation unit is not operated, and a second mode in which a rotation direction in a plan view of the vehicle in response to the same operation of the second operation unit is made the same when the vehicle is moving forward and when the vehicle is moving backward. A method for controlling a work machine.

2. When the first mode is applied, when an operation state of the first operation unit satisfies a specific condition, if an operation amount of the second operation unit becomes equal to or greater than a predetermined value, a pivot turn is enabled in which the pair of crawlers are rotated in opposite directions. A method for controlling a work machine according to claim 1.

3. The control device further includes switching between an effective state for enabling the operation of the control device and an ineffective state for disabling the operation of the control device, depending on an operation state of the control device. A control method for a work machine according to claim 1 or 2.

4. The operating device is operable outside the aircraft. A control method for a work machine according to any one of claims 1 to 3.

5. The machine body is provided with a storage section capable of storing the operation device, and the automatic traveling of the work machine is started only when the operation device is stored in the storage section. A method for controlling a work machine according to claim 4.

6. Further, for at least one of the first operating unit and the second operating unit, a control amount corresponding to the operation amount is corrected so that a change amount of the control amount of the traveling unit with respect to a change amount of the operation amount becomes larger as the operation amount becomes larger. A method for controlling a work machine according to any one of claims 1 to 5.

7. Whether or not at least one of the first mode and the second mode is applied is switched by a user operation. A control method for a work machine according to any one of claims 1 to 6.

8. Whether or not at least one of the first mode and the second mode is applied is switched depending on the running speed of the aircraft. A control method for a work machine according to any one of claims 1 to 7.

9. A control method for a work machine according to any one of claims 1 to 8, A work machine control program for execution by one or more processors.

10. The aircraft and A traveling unit including a pair of crawlers aligned in the left-right direction; an acquisition processing unit that acquires an operation signal from an operation device having a first operation unit for moving the airframe forward and backward and a second operation unit for turning the airframe left and right; a travel processing unit that controls the traveling unit according to the operation signal by applying at least one of a first mode in which the operation of the second operation unit is disabled when the first operation unit is not operated, and a second mode in which a rotation direction in a plan view of the vehicle in response to the same operation of the second operation unit is made the same when the vehicle is moving forward and backward; Working machinery.

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