Work machine and automatic travel control system for work machine

Abstract

To provide an implement and an automatic travel control system for an implement which can preferably calculate a field shape.SOLUTION: The present invention includes: a satellite positioning unit which can detect a position of a travel body C using a navigation satellite; a work device having a plant / sow control clutch that transmits a motive force to a plant / sow device and that can plant and sow on a field; and an automatic work control part which can control the work device based on a position of the travel body C. When a circulation travel is performed along with a plant / sow work along an outer periphery S1, S2, S3, S4 of the field, the automatic work control part controls the work device such that a state of the plant / sow control clutch is switched between: a circulation travel along a feeding periphery S2, S4 among the outer periphery S1, S2, S3, S4 adjacent to a feeding position K1, K2 at which a feeding material is supplied; and a circulation travel along the outer periphery S1, S3 other than the feeding periphery S2, S4.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a work machine and an automatic travel control system for a work machine.

Background Art

[0002] For example, Patent Document 1 discloses a travel route generation system capable of setting a travel route of a work vehicle in a field. In this travel route generation system, a plurality of target travel routes (referred to as "outward work routes" in the document) and turning routes are set, and travel starts from the target travel route farthest from the entrance / exit (referred to as "entry / exit route" in the document), and the travel order of the target travel routes is set so that the vehicle body reciprocates toward the entrance / exit in order from this target travel route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there are often obstacles such as utility poles and water outlets at the edges of the field. Therefore, in order for the traveling machine body to automatically turn and travel to the next target travel route after traveling along the target travel route, the setting of the target travel route must be considered so as to avoid contact between such obstacles and the traveling machine body. In addition, while tractors and combines can travel through the already-worked area again, seeding and planting work machines are required to avoid traveling through the already-worked area so as not to trample and damage the seedlings. For this reason, in the automatic travel control of seeding and planting work machines, it is necessary to set the target travel route in consideration of such circumstances.

[0005] An object of the present invention is to provide a work machine capable of suitably calculating the field shape and an automatic travel control system for the work machine.

Means for Solving the Problems

[0006] The working machine or the automatic travel control system of the working machine according to the present invention includes a satellite positioning unit capable of detecting the position of the traveling body using a navigation satellite, and transmits power to a seeding and planting device Change the number of working strips at the same time a working device having a seeding and planting control clutch and capable of performing seeding and planting work on a farm field, and an automatic work control unit capable of controlling the working device based on the position of the traveling body. When the traveling body performs a circular travel along the outer periphery of the farm field while performing the seeding and planting work, the automatic work control unit performs the circular travel along the supply side adjacent to the supply position where the supply material can be provided among the outer peripheries, and the circular travel along the outer periphery other than the supply side. The working device is controlled so as to change the state of the seeding and planting control clutch. In addition, the automatic travel control system of the seeding and planting type working machine according to the present invention includes a satellite positioning unit capable of detecting the position of the traveling body using a navigation satellite, a working device capable of performing seeding and planting work of seedlings on a farm field, a route setting unit capable of setting a plurality of target travel routes along which the traveling body travels while performing the seeding and planting work in a state of being arranged in parallel with each other based on the shape of the farm field, an automatic work control unit capable of controlling the working device based on the position of the traveling body, traveling of the traveling body along the target travel route, and after the traveling body travels along the target travel route, turning travel to the next target travel route. An automatic travel control unit capable of automatic reciprocating travel control for controlling based on the position of the traveling body is provided, and the automatic travel control unit is configured to enable the turning travel based on the automatic reciprocating travel control at a position that is separated from the outer periphery of the farm field based on the farm field shape by a preset distance or more toward the inside of the farm field.

[0007] In addition, the technical features of the automatic driving control system according to the present invention are also applicable to the seeding and planting work machine itself. Therefore, the present invention can also target such a seeding and planting work machine. The seeding and planting work machine in that case includes a satellite positioning unit capable of detecting the position of the traveling machine body using a navigation satellite, a working device capable of performing seeding and planting work of seedlings on the field, a route setting unit capable of setting a plurality of target traveling routes along which the traveling machine body travels while performing the seeding and planting work to be parallel to each other based on the field shape, an automatic work control unit capable of controlling the working device based on the position of the traveling machine body, an automatic driving control unit capable of controlling the traveling of the traveling machine body along the target traveling route and the turning travel of the traveling machine body to the next target traveling route after traveling along the target traveling route, and the automatic driving control unit is configured to enable the turning travel based on the automatic reciprocating travel control at a position that is set distance or more away from the outer periphery of the field based on the field shape to the inside of the field.

[0008] According to the present invention, since the turning travel is performed at a location that is set distance or more away from the edge of the field, even when there are obstacles such as utility poles or water inlets at the edge of the field, the turning travel based on the automatic reciprocating travel control can be performed without contacting these obstacles. Further, according to the present invention, since the automatic reciprocating travel control is performed within the range of the inside of the field that is set distance or more away from the edge of the field, it is possible to leave an unworked area in the outer peripheral area of the field after the automatic reciprocating travel control is performed. For this reason, the seedlings for which the seeding and planting work has been completed inside the field are not trampled, and the remaining seeding and planting work is smoothly performed in the outer peripheral area of the field. Further, when there are obstacles at the edge of the field, since the automatic reciprocating travel control is performed within the range of the inside of the field, it is also possible to perform the seeding and planting work by manual operation only in the outer peripheral area of the field. As a result, a seeding and planting work machine and an automatic driving control system for a seeding and planting work machine capable of accurately performing automatic driving control while avoiding contact with obstacles are realized.

[0009] In the present invention, the "planting operation" means the general term for operations such as sowing seeds before germination in a field or transplanting seedlings after germination in a field. Also, the "planting operation machine" in the present invention means the general term for machines capable of sowing seeds or transplanting seedlings as described above. Further, the "seedlings" in the present invention includes seeds before germination and seedlings after germination. Also, the "automatic reciprocating travel control" in the present invention is included in one form of automatic travel control.

[0010] In the present invention, a storage unit capable of storing the working width of a harvesting machine for harvesting a harvested crop is provided. Outside the field than the inner working area where the planting operation is performed based on the automatic reciprocating travel control in the field, it is an outer peripheral area where the traveling machine body can perform circular travel. The automatic work control unit is preferably configured to be able to control the operating working width among the working widths of the working device so that the total actual working width of the working device when the planting operation is performed by circular travel in the outer peripheral area is an integer multiple of the working width of the harvesting machine. Also, in this configuration, it is also a suitable configuration that the route setting unit is configured to be able to set the target travel route so that the total actual working width of the working device when the planting operation is performed by circular travel in the outer peripheral area is an integer multiple of the working width of the harvesting machine.

[0011] When the harvesting machine harvests the harvested crop, first, the harvesting machine performs the harvesting operation while turning and traveling along the outer periphery of the field. Next, the harvesting operation is performed while alternately repeating the forward travel of the harvesting machine and the turning travel in which the traveling direction of the machine body is reversed inside the field. At this time, the interval of the planting operation of the seedlings often shifts at the boundary between the inner working area and the outer peripheral area. For this reason, when the harvesting operation by the harvesting machine is performed in a state of straddling this boundary, for example, it is conceivable that the divider of a self-threshing combine, which is an example of a harvesting machine, pushes down the harvested crop and a harvesting loss occurs. With this configuration, since the planting operation is performed in the outer peripheral area so as to be an integer multiple of the working width of the harvesting machine, the possibility of the above-mentioned inconveniences occurring when the harvesting machine harvests the harvested crop is reduced. Regarding the configuration for controlling the operating working width among the working widths of the working device, the case where all the working widths of the working device operate is also included.

[0012] In the present invention, it is preferable that the working device includes a leveling rotor capable of leveling the unevenness of the field, and the automatic working control unit is configured to be able to control the leveling rotor so as to level the unevenness of the field when the seeding and planting operation is performed at the location where the turning travel is performed.

[0013] It is considered that the leveling state of the field is rough due to the tracks left by the traveling body at the location where the turning travel is performed. If the transplanting operation is performed in this state, there is a risk of floating seedlings. Therefore, with this configuration, the transplanting operation is performed while leveling the unevenness of the field surface, and the risk of inconveniences such as floating seedlings is reduced.

[0014] In the present invention, the route setting unit is configured to be able to set at least two circumferential travel routes outside the field than the inner working area where the seeding and planting operation is performed based on the automatic reciprocating travel control in the field, and the automatic travel control unit is preferably configured to be able to perform automatic travel control to control the traveling body to travel along at least one circumferential travel route.

[0015] With this configuration, a sufficient turning travel space wider than the working width of the working device is ensured, and the automatic reciprocating travel control is efficiently performed without the traveling body contacting the obstacles at the edge of the field ridge. Further, with this configuration, even when a seeding and planting operation by manual operation is required, the area to be manually operated is limited to the area of the circumferential travel route on the outer peripheral side. Thereby, the seeding and planting operation by automatic travel control is utilized up to the outer peripheral side of the field as much as possible, and contact with the obstacles at the edge of the field ridge is surely avoided.

[0016] In the present invention, a field shape calculation unit capable of calculating the field shape based on the travel locus of the traveling machine body obtained by detecting the position of the traveling machine body over time is provided. The field shape calculation unit is configured to be able to calculate the field shape when the working device performs the planting operation and the traveling machine body travels in a circular path along the outer periphery of the field. It is preferable that the set distance includes the working width of the outer periphery already-worked area formed by the planting operation in the circular travel for calculating the field shape.

[0017] With this configuration, first, the field shape is calculated by the traveling machine body traveling along the outer periphery of the field, and the planting operation is performed during this travel. Therefore, compared with a configuration in which the planting operation is not performed when the traveling machine body first travels along the outer periphery of the field, the planting operation is performed efficiently. Also, with a configuration in which the outer periphery already-worked area is included in the set distance, when a monitor of the field or a passenger on the traveling machine body monitors the automatic travel of the planting work machine, the monitor or the passenger can visually recognize the outer periphery already-worked area as a guide for the set distance.

[0018] In the present invention, when a supply position capable of providing supply materials is adjacent to the outside of the field with respect to at least one side of the sides forming the outer periphery of the field shape, it is preferable that the automatic operation control unit is configured to be able to control the working device so that only the width outside the field of the working width of the working device operates in the planting operation on the side adjacent to the supply position.

[0019] If the planting operation is performed over the working width of the working device at a location adjacent to the supply position on the outer periphery of the field shape, it becomes difficult for the traveling machine body to approach the supply position during supply, which may interfere with the supply work. According to this configuration, at the location adjacent to the supply position, since the inner-field portion of the working device does not operate and the planting operation is not performed, it becomes easier for the traveling machine body to approach the supply position during supply, and the supply work is performed smoothly.

[0020] In the present invention, the path setting unit is configured to be able to set the target travel path so that the work device performs the seeding and planting work over the working width of the work device and the traveling machine body travels around the field while ensuring a circular travel path between the outer peripheral existing work area and the inner work area where the seeding and planting work is performed based on the automatic reciprocating travel control. It is preferable that the automatic travel control unit is configured to enable automatic travel control to control the traveling machine body to travel along the circular travel path.

[0021] With this configuration, since the edge of the field is an area where the seeding and planting work has already been completed as the outer peripheral existing work area, automatic travel control is performed without the traveling machine body contacting the obstacles at the edge of the field.

[0022] In the present invention, it is preferable that the path setting unit is configured to be able to set the circular travel path so that when the automatic travel control in the circular travel path is completed, the traveling machine body is located within a preset range from the entrance / exit through which the traveling machine body can enter and exit the field, and the traveling direction of the traveling machine body is along the inclination direction of the entrance / exit.

[0023] With this configuration, if the traveling machine body moves forward when the automatic travel control is completed, the traveling machine body can directly exit the field from the entrance / exit. Further, it is preferable that the automatic work control unit changes the state of the seeding and planting control clutch so that the portion of the work device located inside the field stops during the circular travel along the supply side. Further, a path setting unit capable of setting a target travel path along which the traveling machine body travels while performing the seeding and planting work is provided. The path setting unit is configured to be able to set the target travel path closer to the inside of the field than the circular travel path along which the circular travel involving the seeding and planting work over the working width of the work device is performed. And when there are overlapping portions in the travel path including the target travel path and the circular travel path, the travel path of the subsequent process is set to be displaced laterally with respect to the traveling direction of the traveling machine body so that the wheels do not travel again on the rut formed by the travel of the traveling machine body. It is preferable that it is configured as such.

Brief Description of the Drawings

[0024]

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Best Mode for Carrying Out the Invention

[0025] 〔Basic Configuration of Planting and Sowing Machine〕 Embodiments of the present invention will be described with reference to the drawings. The "planting and sowing operation" in the present invention means the general term for operations such as sowing seeds before germination in a field or transplanting seedlings after germination in a field. Further, the "planting and sowing machine" in the present invention means the general term for a working machine capable of sowing seeds or a working machine capable of transplanting seedlings described above. Further, the "seeds and seedlings" in the present invention includes seeds before germination and seedlings after germination. Here, as an example of the planting and sowing machine, a riding type rice transplanter will be described as an example. In FIG. 1, the arrow "F" is on the front side of the machine body of the traveling machine body C, and the arrow "B" is on the rear side of the machine body of the traveling machine body C.

[0026] As shown in FIG. 1, the riding type rice transplanter is provided with a traveling machine body C having a pair of left and right steering wheels 10, 10 and a pair of left and right rear wheels 11, 11. Further, a seedling planting device W as a working device is connected to the rear part of the traveling machine body C so as to be vertically movable, and the seedling planting device W is configured to enable the transplanting operation (one form of the planting and sowing operation) of seedlings (seeds and seedlings) to the field. The pair of left and right steering wheels 10 are provided at the front part of the machine body of the traveling machine body C and are configured to be able to change the direction of the traveling machine body C, and the pair of left and right rear wheels 11 are provided at the rear part of the machine body of the traveling machine body C. The seedling planting device W is connected to the rear end of the traveling machine body C via a link mechanism 21 so as to be vertically movable. The link mechanism 21 is vertically operated by the expansion and contraction operation of a lifting hydraulic cylinder 20. Thereby, the seedling planting device W is configured to be switchable between a working state in which it descends to the field surface for transplanting work and a non-working state in which it rises above the field surface and does not perform transplanting work.

[0027] At the front of the traveling body C, an opening / closing hood 12 is provided. An engine 13 is provided inside the hood 12. Although not described in detail, a known HST (Hydraulic Static Transmission, not shown) is provided as a transmission mechanism for transmitting the power of the engine 13 to the steering wheels 10 or the rear wheels 11, or both. The power of the engine 13 is transmitted to the steering wheels 10 and the rear wheels 11 via a transmission mechanism provided in the body, and the power after transmission is transmitted to the seedling planting device W via an electric motor-driven planting clutch (not shown). The traveling body C is provided with a body frame 15 extending along the front-rear direction, and a support strut frame 16 is erected at the front of the body frame 15.

[0028] On the left and right side portions of the hood 12 in the traveling body C, a plurality (for example, four) of normal spare seedling tables 28 and a spare seedling table 29 are provided. The normal spare seedling tables 28 and the spare seedling table 29 are configured to be able to place spare seedlings for replenishing the seedling planting device W. A pair of left and right spare seedling frames 30 are provided on the left and right side portions of the hood 12 in the traveling body C, and the upper portions of the left and right spare seedling frames 30 are connected by a connecting frame 31. The spare seedling frames 30 support each of the normal spare seedling tables 28 and the spare seedling table 29. A satellite positioning unit 80A is attached to the upper portion of the connecting frame 31.

[0029] The satellite positioning unit 80A is configured to be able to detect the position of the traveling body C by receiving radio waves transmitted from a plurality of navigation satellites orbiting the earth's atmosphere. That is, as an example of a satellite positioning system (GNSS: Global Navigation Satellite System), the position of the satellite positioning unit 80A is measured by using a well-known technology, GPS (Global Positioning System). In the present embodiment, the satellite positioning unit 80A uses RTK-GPS (Real Time Kinematic GPS: interferometric positioning method), but it is also possible to use DGPS (Differential GPS: relative positioning method). Note that the satellite positioning unit 80A may be configured to be detachable from the connecting frame 31.

[0030] In addition to the satellite positioning unit 80A, as an azimuth detection means for detecting the azimuth of the traveling machine body C, for example, an inertial measurement unit 80B having an IMU (Inertial Measurement Unit) (see FIGS. 2 and 3) is provided on the traveling machine body C. Although not shown, the inertial measurement unit 80B is provided, for example, at a low position in the center in the lateral width direction of the traveling machine body C, and can measure the angular velocity of the turning angle of the traveling machine body C, the angular velocity of the left and right inclination angles of the traveling machine body C, the angular velocity of the front and rear inclination angles of the traveling machine body C, and the like. By integrating this angular velocity, it is possible to calculate the azimuth change angle of the machine body. The inertial measurement unit 80B may be configured to include a gyro sensor and an acceleration sensor. In the present embodiment, the own vehicle position detection module 80 includes a satellite positioning unit 80A and an inertial measurement unit 80B.

[0031] In the central part of the traveling machine body C, a passenger compartment 40 where various driving operations are performed is provided. The passenger compartment 40 is provided with a driver's seat 41, a steering wheel 43, and various operation tools such as a main transmission lever 44, for example. The driver's seat 41 is provided in the central part of the traveling machine body C and is configured so that a passenger can sit. The steering wheel 43 is configured to enable the steering operation of the steering wheels 10 by manual operation. The switching operation of forward and backward movement of the traveling machine body C and the change operation of the traveling speed can be performed by operating, for example, the main transmission lever 44, and the raising and lowering operation of the seedling planting device W and the like can be performed by various operation tools in the passenger compartment 40.

[0032] Although not shown in the drawings, the passenger compartment 40 is provided with a tablet computer that is detachable from the traveling body C. This tablet computer has a touch panel type liquid crystal screen and is configured to be able to display various information. Note that at least a part of the configuration of the control unit 5 described later may be mounted on the tablet computer. In this case, the satellite positioning unit 80A and the tablet computer may be connected so as to be capable of data communication with each other in a state where they are removed from the traveling body C. And, for example, a field monitor or a passenger on a field working machine may be able to walk along the ridge while carrying the satellite positioning unit 80A and the tablet computer, and measure the position information.

[0033] The seedling planting device W is provided with a plurality (for example, four) of transmission cases 22, a plurality (for example, eight) of rotary cases 23, a leveling float 25, a seedling placing table 26, and a leveling rotor 27. The rotary cases 23 are rotatably supported on the left and right sides of the rear part of each transmission case 22, respectively. A pair of rotary type planting arms 24 are provided at both ends of each rotary case 23. The leveling float 25 levels the field surface and a plurality of them are provided in the seedling planting device W. A mat-shaped seedling for planting is placed on the seedling placing table 26. The leveling rotor 27 is configured to be able to level the unevenness of the field.

[0034] The seedling planting device W rotates and drives each rotary case 23 by the power transmitted from the transmission case 22 while reciprocatingly driving the seedling placing table 26 horizontally to the left and right, and alternately takes out seedlings from the lower part of the seedling placing table 26 by each planting arm 24 and plants them on the field surface. Although not shown in the drawings, the seedling planting device W is configured to plant seedlings by the planting arms 24 provided on a plurality of rotary cases 23. When there are four rotary cases 23, it is a four-row planting type, when there are six rotary cases 23, it is a six-row planting type, when there are eight rotary cases 23, it is an eight-row planting type, and when there are 10 rotary cases 23, it is a ten-row planting type.

[0035] A fertilizer applicator 34 is provided as part of the seedling planting device W, and the fertilizer applicator 34 supplies fertilizer to the seedlings planted in the field. The fertilizer applicator 34 is provided with a hopper 34A, a feeding section 34B, a hose 34C, a furrow opener 34D, and a blower 34E. The hopper 34A stores fertilizer. The fertilizer stored in the hopper 34A is fed out by the feeding section 34B and sent to the furrow opener 34D via the hose 34C by the blowing of the blower 34E. A furrow is formed in the field surface by the furrow opener 34D, and the fertilizer sent to the furrow opener 34D is supplied to the furrow in the field surface.

[0036] A chemical spraying device 35 is provided as part of the seedling planting device W behind the seedling placing table 26. The chemical spraying device 35 is provided with a main body case 35A and a chemical hopper 35B that is connected to the upper part of the main body case 35A and stores chemicals such as herbicides. The main body case 35A of the chemical spraying device 35 is supported by the seedling planting device W. Inside the main body case 35A, a feeding mechanism 35C that feeds out the chemicals stored in the chemical hopper 35B and a diffusion mechanism 35D that realizes the spraying of the chemicals while diffusing the chemicals fed out by the feeding mechanism 35C diagonally backward and downward in the left - right direction are provided.

[0037] The feeding mechanism 35C and the diffusion mechanism 35D are driven by an electric motor (not shown). The feeding mechanism 35C is configured to feed out a set amount of chemicals each time it operates. The diffusion mechanism 35D is provided with a diffusion plate. The chemical spraying device 35 is controlled to drive the feeding mechanism 35C and the diffusion mechanism 35D for a set time to spray chemicals each time a set number of plants are planted by the seedling planting device W.

[0038] 〔Configuration of Automatic Travel Control〕 Next, a configuration for performing automatic driving control will be described based on FIGS. 1 to 3. FIGS. 2 and 3 show a control system of a field working machine that uses the automatic driving control system according to the present invention. The control system of the field working machine is composed of a control unit 5 and various input / output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. The control unit 5 is a core element of this control system and is shown as an aggregate of electronic control units called a number of ECUs (Electronic Control Units). Signals from the satellite positioning unit 80A and the inertial measurement unit 80B are input to the control unit 5 through the in-vehicle LAN.

[0039] The control unit 5 is connected to a communication unit 66. The communication unit 66 is used for data exchange between the control unit 5 and the management computer 6. The communication unit 66 and the management computer 6 are connected by a network such as the Internet. The management computer 6 may be, for example, the above-described tablet computer, a mobile terminal such as a smartphone carried by a monitor or a work plan determiner, or a computer installed in the home or management office of a monitor or a work plan determiner. Further, the management computer 6 is a remote operation terminal having remote operation means for the traveling body C and the seedling planting device W as a working device. The remote operation means may be a touch panel, a keyboard or a mouse for a computer, or a dedicated panel switch, a rotary switch, or a seat key switch.

[0040] The control unit 5 includes an output processing unit 58 and an input processing unit 57 as input / output interfaces. The output processing unit 58 is connected to various operating devices 70 via a device driver 65. The operating devices 70 include a traveling device group 71 which is a traveling-related device and a working device group 72 which is a working-related device. The traveling device group 71 includes, for example, steering motors (not shown) of the steering wheels 10, 10, a control device for the engine 13, the control device for the above-described HST, and a braking device (not shown). The working device group 72 includes control devices for a seedling planting device W (including each row clutch not shown), a fertilizer application device 34, and a chemical spraying device 35 as shown in FIG. 1.

[0041] Connected to the input processing unit 57 are a traveling state sensor group 63, a working state sensor group 64, a traveling operation unit 90 operable by a monitor, and the like. The traveling state sensor group 63 includes a vehicle speed sensor 63A, an obstacle detection unit 63B, a steering angle sensor 63C, and also includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, and the like. The vehicle speed sensor 63A is configured to detect the vehicle speed based on, for example, the rotational speed of a transmission shaft in a transmission mechanism for the rear wheels 11. The obstacle detection unit 63B is provided at the front part and both left and right side parts of the traveling machine body C and is configured to be able to detect, for example, the ridges of a field using a light wave ranging type distance sensor or an image sensor. The working state sensor group 64 includes sensors for detecting the driving states of a seedling planting device W, a fertilizer application device 34, and a chemical spraying device 35 as shown in FIG. 1.

[0042] The traveling operation unit 90 is a general term for operation tools manually operated by the passengers. An operation signal based on the manual operation of the traveling operation unit 90 is input to the control unit 5. The traveling operation unit 90 includes a steering handle 43, a main shift lever 44, a mode operation tool 90A, an automatic start operation tool 90B, etc. The mode operation tool 90A has a function of outputting a signal to the control unit 5 for switching the traveling mode of the control unit 5 between an automatic traveling mode in which automatic driving is performed and a manual traveling mode in which manual driving is performed. The automatic start operation tool 90B has a function of giving a final automatic start command for starting automatic driving to the control unit 5. In FIG. 2, only one automatic start operation tool 90B is shown, but in order to prevent misoperation, a plurality of automatic start operation tools 90B may be provided, and a final automatic start command may be output when the plurality of automatic start operation tools 90B are operated simultaneously. Note that, regardless of the operation by the mode operation tool 90A, the transition from the automatic traveling mode to the manual traveling mode may be automatically performed by software. For example, when a situation where automatic driving is impossible occurs, the control unit 5 forcibly executes the transition from the automatic traveling mode to the manual traveling mode.

[0043] The control unit 5 is provided with a traveling control unit 51, a work control unit 52, a traveling mode management unit 53, a route setting unit 54, a self-position calculation unit 55, a notification unit 56, a storage unit 59, etc.

[0044] The self-position calculation unit 55 calculates the self-position, which is the map coordinates (or field coordinates) of a specific location of the traveling machine body C set in advance, based on the positioning data, the azimuth data, and the vehicle speed data. The positioning data is obtained over time by the satellite positioning unit 80A. The azimuth data is obtained over time by the inertial measurement unit 80B. The vehicle speed data is obtained over time by the vehicle speed sensor 63A. As the self-position, the position of a reference point of the traveling machine body C (for example, the center of the vehicle body, the center of the seedling planting device W shown in FIG. 1, etc.) can be set.

[0045] The own-vehicle position calculation unit 55 stores the own-vehicle position in a storage unit 59 configured by, for example, a RAM (Random Access Memory) over time. The storage unit 59 is configured to be able to store the own-vehicle position as position information over time. As a configuration of the own-vehicle position calculation unit 55, a travel trajectory acquisition unit 55A and a field shape calculation unit 55B are provided. The travel trajectory acquisition unit 55A is configured to be able to acquire a travel trajectory based on a set of own-vehicle positions stored in the storage unit 59. In short, the travel trajectory acquisition unit 55A is configured to be able to acquire the travel trajectory of the traveling machine body C based on the detection of the own-vehicle position over time. Also, the field shape calculation unit 55B is configured to be able to calculate the field shape based on the travel trajectory of the traveling machine body C.

[0046] The travel trajectory acquired by the travel trajectory acquisition unit 55A and the field shape calculated by the field shape calculation unit 55B are configured to be storable in the storage unit 59. Also, the travel trajectory and the field shape stored in the storage unit 59 are configured to be transferable to the management computer 6 via the communication unit 66.

[0047] The notification unit 56 generates notification data based on commands and the like from each functional unit of the control unit 5 and gives it to the notification device 62. Examples of the notification device 62 include a buzzer, a speaker, a lamp, an instrument, etc. Note that the notification unit 56 may be configured to transmit the notification data to the management computer 6 via the communication unit 66 in addition to the notification device 62.

[0048] The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, etc., and gives a control signal to the travel device group 71. The work control unit 52 gives a control signal to the work device group 72 in order to control the movements of the seedling planting device W, the fertilizer application device 34, and the chemical spraying device 35 shown in FIG. 1.

[0049] The rice transplanter in this embodiment can travel in the field in both automatic driving for transplanting operations and manual driving for transplanting operations. Therefore, the travel control unit 51 includes a manual travel control unit 51A and an automatic travel control unit 51B. Also, the work control unit 52 includes a manual work control unit 52A and an automatic work control unit 52B. When performing automatic driving, an automatic driving mode is set, and when performing manual driving, a manual driving mode is set. The switching of the travel mode is managed by the travel mode management unit 53. That is, the travel mode management unit 53 is configured to be able to switch the travel mode of the control unit 5 between an automatic travel mode for executing automatic travel and a manual travel mode for executing manual travel. Thereby, the control unit 5 is configured to be able to switch between an automatic travel mode in which automatic travel control is executed and a manual travel mode in which automatic travel control is not executed.

[0050] The automatic travel control unit 51B generates a control signal for changing the vehicle speed including automatic steering and stopping, and controls the travel device group 71. Although details will be described later, the route setting unit 54 sets a plurality of target travel routes LM in the inner working area CA and sets a turning travel route TM that connects the ends of the target travel routes LM in the outer peripheral area SA, as shown in FIG. 6, for example. The own vehicle position is calculated by the own vehicle position calculation unit 55. Then, the automatic travel control unit 51B outputs a control signal so that the positional deviation and the azimuth deviation between the own vehicle position and the target travel route LM are eliminated. That is, the automatic travel control unit 51B is configured to enable automatic travel control to control the travel body C to travel along the target travel route LM based on the position of the travel body C. As a control method for outputting a control signal, for example, known PID control is used.

[0051] The automatic operation control unit 52B is configured to be able to control the seedling planting device W in conjunction with the automatic driving control based on the automatic driving control unit 51B. In other words, the automatic operation control unit 52B is configured to be able to control the seedling planting device W based on the position of the traveling machine body C. For example, when the traveling machine body C travels in the field without transplanting work (hereinafter referred to as "non-working travel"), the automatic operation control unit 52B outputs a control signal to raise the seedling planting device W. Further, the automatic operation control unit 52B is also configured to be able to output control signals for the fertilizer application device 34 and the chemical spraying device 35. For example, when the traveling machine body C travels non-working in the field, by the automatic operation control unit 52B outputting a control signal to stop the fertilizer application device 34 and the chemical spraying device 35, the possibility of overlapping spraying of fertilizers and chemicals is prevented.

[0052] The route setting unit 54 generates the target travel route LM by itself according to the route calculation algorithm. Note that the route setting unit 54 may be configured not to generate the target travel route LM by itself, but to download and use the target travel route LM generated by the above-mentioned management computer 6 or the like by the route setting unit 54.

[0053] When the manual driving mode is selected, based on the operations by the monitor or the passenger, the manual driving control unit 51A outputs the steering amount, the shift command, etc., and controls the traveling equipment group 71, thereby realizing manual driving. Note that the target travel route LM calculated by the route setting unit 54 can be used for the purpose of guiding the rice transplanter to travel along the target travel route LM even in the case of manual driving.

[0054] 〔Automatic driving control of the planting and seeding work machine in the case of acquiring the field shape〕 Based on FIGS. 4 to 8, the automatic driving control of the planting and seeding work machine in the case of acquiring the field shape will be described. In the field shown in FIGS. 4 to 8, the horizontal direction of the paper surface is the horizontal direction H of the field, and the vertical direction of the paper surface is the vertical direction V of the field. The field shown in FIGS. 4 to 8 is longer in the vertical direction V than in the horizontal direction H, and is formed in a so-called vertically long shape.

[0055] The field shapes shown in FIGS. 4 to 8 are formed in a quadrilateral shape. The field has a pair of opposing first sides S1, S3, and a pair of second sides S2, S4 that are located between the pair of first sides S1, S3 and are shorter than the pair of first sides S1, S3. The first sides S1, S3 and the second sides S2, S4 form four-sided ridges around the field. Farm roads K1, K2 are adjacent to each of the pair of upper and lower second sides S2, S4, and each of the farm roads K1, K2 extends in the horizontal direction of the paper along the second sides S2, S4 above and below the paper of the field shown in FIGS. 4 to 8. An entrance / exit E of the field is provided at the ridge on the lower right of the paper surface of the second side S2, and the traveling machine body C can enter and exit the farm road K2 and the field through this entrance / exit E. The ground of the entrance / exit E slopes so that it is higher on the side where the farm road K2 is located along the vertical direction V.

[0056] FIG. 4 shows a state where the traveling machine body C performs a transplanting operation while traveling around the field along the ridges of the field. The first round-trip travel in this field is performed by manual operation. In this embodiment, after the traveling machine body C enters the field via the entrance / exit E from the farm road K2, the rice transplanter can travel straight along the first side S1. When attempting to run the traveling machine body C along the second side S4 in the field via the entrance / exit E from the farm road K2, a turning operation of the traveling machine body C is required. However, since the entrance / exit E is on a slope, a skilled skill is often required for the manual turning of the traveling machine body C. The path of running along the first side S1 is a path that can be easily entered without being affected by the driving skill of the passenger. In this embodiment, the round-trip travel by manual operation is first performed along the first side S1. Then, in the order of the second side S2, the first side S3, and the second side S4, a counterclockwise round-trip travel is performed along the ridges on the four sides of the field.

[0057] Referring to FIGS. 2 to 4, while the circular running by manual operation is being performed, the own-vehicle position is calculated over time by the own-vehicle position calculation unit 55, and a running locus is acquired based on the set of own-vehicle positions. Also, while the circular running is being performed, the seedling planting work is simultaneously performed, and the seedlings are planted along the edge of the field. And the field shape calculation unit 55B is configured to be able to calculate the field shape by the seedling planting device W performing the transplanting work and the traveling machine body C performing the circular running along the outer periphery of the field.

[0058] In FIG. 5, as the already-worked areas in the outer peripheral area SA, a first outer peripheral already-worked area SA1, a second outer peripheral already-worked area SA2, a third outer peripheral already-worked area SA3, and a fourth outer peripheral already-worked area SA4 are shown. The first outer peripheral already-worked area SA1 is an already-worked area where seedlings are planted along the first side S1. The second outer peripheral already-worked area SA2 is an already-worked area where seedlings are planted along the second side S2. The third outer peripheral already-worked area SA3 is an already-worked area where seedlings are planted along the first side S3. The fourth outer peripheral already-worked area SA4 is an already-worked area where seedlings are planted along the second side S4.

[0059] In the embodiment shown in FIG. 5, among the areas where seedlings are transplanted along the four sides of the field, the first outer peripheral already-worked area SA1 and the third outer peripheral already-worked area SA3 along the vertical direction V have a width extending over the working width of the seedling planting device W. That is, the first sides S1, S3 are circular paths corresponding to the edges of the two sides along the vertical direction V, and in this path, the seedlings are planted over the working width of the seedling planting device W.

[0060] Among the areas where seedlings are planted along the four sides of the field, the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4 along the horizontal direction H have widths narrower than the working width of the seedling planting device W. That is, the second side S2 and the fourth side S4 are circumferential paths corresponding to the edges of the two sides along the horizontal direction H, and in this path, the seedlings are planted only by a part of the seedling planting device W. That is, referring to FIGS. 1 and 5 for explanation, in the second side S2 and the fourth side S4, the rotation cases 23 closer to the inside of the field among the plurality of rotation cases 23 are stopped by each row clutch of the seedling planting device W, and only the rotation cases 23 outside the field operate. For this reason, the number of rows of seedlings planted in the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4 is less than the number of rows of seedlings planted in the first outer peripheral already-worked area SA1 and the third outer peripheral already-worked area SA3. In the present embodiment, the number of rows of seedlings planted in the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4 is set to two rows, and this number of rows of planting can be changed as appropriate.

[0061] An agricultural road K1 is adjacent to the outside of the field relative to the second outer peripheral already-worked area SA2, and an agricultural road K2 is adjacent to the outside of the field relative to the fourth outer peripheral already-worked area SA4. These agricultural roads K1 and K2 are prepared so that vehicles loaded with supply materials such as supplementary seedlings and supplementary fuel can pass. That is, the agricultural roads K1 and K2 are adjacent to the field as supply positions capable of providing supply materials. For example, when an operator supplies supply materials from the agricultural road K1 or the agricultural road K2 to the traveling machine body C, the traveling machine body C stops in a state of being adjacent to the second outer peripheral already-worked area SA2 or the fourth outer peripheral already-worked area SA4 from the inside of the field, and it is conceivable that an operator working on the agricultural road K1 or the agricultural road K2 hands over the supply materials to the passengers on the traveling machine body C. In such a case, by planting two rows of seedlings instead of eight rows in the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4, the handing over of these supply materials becomes easy.

[0062] Even if the field shape has been acquired in advance based on the circumferential travel of the field by a tractor, combine, etc., the seeding and planting work machine requires an even more accurate field shape. Therefore, it is conceivable that the traveling body C travels around the field again to acquire the accurate field shape. Such a case will be described with reference to FIGS. 2 and 5. It is conceivable that the field shape acquired in advance has been received via the communication unit 66 before the circumferential travel by the above-described manual operation is performed. In this case, the operator of the traveling body C or the field monitor may be configured to be able to set, before the circumferential travel, which area in the outer peripheral area SA should have a reduced number of planting rows. Then, the automatic work control unit 52B outputs a control signal corresponding to the above-described setting of the number of planting rows, and the number of planting rows of the seedling planting device W is adjusted via each row clutch. The setting of the area where the number of planting rows is reduced may be, for example, settable by operating the above-described management computer 6, or may be settable by operating a mobile terminal operated by a field monitor or an operator of the field working machine.

[0063] As described above, when the supply position where the supply material can be provided is adjacent to the outside of the field rather than at least one of the first sides S1, S3 and the second sides S2, S4 forming the outer periphery of the field shape, the automatic work control unit 52B is configured to be able to control the seedling planting device W so that the seedling planting device W operates only in the width outside the field in the working width of the seedling planting device W in the transplanting work on the side adjacent to the supply position. For this reason, the widths of the second outer peripheral already-worked areas SA2 and the fourth outer peripheral already-worked areas SA4 corresponding to the second sides S2, S4 adjacent to the farm roads K1, K2 as the supply positions are formed narrower than the widths of the first outer peripheral already-worked areas SA1 and the third outer peripheral already-worked areas SA3 corresponding to the first sides S1, S3 not adjacent to the farm roads K1, K2.

[0064] After the circular running by manual operation is completed, as shown in FIG. 6, a plurality of target running paths LM and a plurality of turning running paths TM are set by a path setting unit 54 (see FIGS. 2 and 3). In the embodiment shown in FIG. 6, the longitudinal directions of the respective target running paths LM are set in parallel with each other so as to be along the vertical direction V of the field. In other words, in the inner working area CA, the target running paths LM are arranged at equal intervals in the horizontal direction H.

[0065] The inner working area CA is an area where transplanting work is performed based on automatic reciprocating running control as a form of automatic running control in the field. The outer peripheral area SA is outside the field than the inner working area CA, and is an area where the traveling machine body C can perform circular running.

[0066] As shown in FIG. 6, each of the turning running paths TM is set at a position separated by a preset set distance D from the outer periphery of the field based on the field shape to the inside of the field. The set distance D may be the width of the second outer peripheral already worked area SA2 or the width of the fourth outer peripheral already worked area SA4, or may be the working width of the seedling planting device W. That is, the set distance D includes the working widths of the second outer peripheral already worked area SA2 and the fourth outer peripheral already worked area SA4 formed by the transplanting work in the circular running for calculating the field shape. The automatic running control unit 51B is configured to enable turning running based on automatic reciprocating running control at a position separated by a preset set distance D from the outer periphery of the field based on the field shape to the inside of the field.

[0067] The path setting unit 54 shown in FIGS. 2 and 3 is configured to be able to set a target travel path LM such that the seedling planting device W performs transplanting work across the working width of the seedling planting device W between the first to fourth outer peripheral already-worked areas SA1 to SA4 and the inner working area CA where transplanting work is performed based on automatic reciprocating travel control, and the traveling body C travels around the field. Both ends of the target travel path LM are set at positions separated from the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4 by distances corresponding to the working width of the seedling planting device W, respectively. There is an extra separation of a distance corresponding to the working width of the seedling planting device W between the first target travel path LM1 on which the traveling body C first travels and the third outer peripheral already-worked area SA3. There is an extra separation of a distance corresponding to the working width of the seedling planting device W between the last target travel path LM2 on which the traveling body C first travels and the first outer peripheral already-worked area SA1. From this, a final turning area SA5 is secured as an area where the traveling body C can travel between the target travel path LM and the already-worked areas in the outer peripheral area SA, and a turning travel path LML described later is set in this final turning area SA5. That is, the path setting unit 54 is configured to be able to set the target travel path LM so as to secure the turning travel path LML inside the first to fourth outer peripheral already-worked areas SA1 to SA4 formed by the transplanting work in the turning travel for calculating the field shape.

[0068] Also, since the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4, which are already-worked areas, exist outside the field compared to the turning travel path TM, the turning travel is performed inside the traveling body C compared to the already-worked areas in this outer peripheral area SA. That is, the areas where the work travel and the turning travel are performed are limited to the inner area of the field away from the field edge. For this reason, even when there are obstacles such as a concrete wall, a utility pole, or a transmission line tower at the field edge, since the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4 exist as a margin area for turning, the risk of the traveling body C coming into contact with this obstacle or the like is reduced.

[0069] In this embodiment, "working travel" means that while the traveling body C travels along the target travel route LM, transplanting work is performed by the seedling planting device W. Further, "turning travel" means that after the completion of the working travel along one target travel route LM, the traveling body C moves to the next target travel route LM along the turning travel route TM.

[0070] Each of the turning travel routes TM is set as a turning travel route TM that connects adjacent ends of adjacent target travel routes LM, LM. The turning travel route TM shown in FIG. 6 is set in a state of being adjacent to the second outer peripheral worked area SA2 and the fourth outer peripheral worked area SA4, respectively. A farm road K1 is adjacent to the outside of the field than the second outer peripheral worked area SA2, and a farm road K2 is adjacent to the outside of the field than the fourth outer peripheral worked area SA4. For this reason, when replenishing the traveling body C with replenishment materials from the farm roads K1, K2, it is possible to perform the replenishment work while the traveling body C is stopped during the turning of the turning travel route TM. Thereby, the trouble of the traveling body C moving out of the target travel route LM and the turning travel route TM to a dedicated replenishment position is omitted.

[0071] Each of the target travel routes LM is set so as to be along the longitudinal direction V which is the longitudinal direction of the field. Thereby, compared with the configuration in which each of the target travel routes LM is set so as to be along the lateral direction H which is the lateral direction of the field, the number of the target travel routes LM and the turning travel routes TM is reduced, and the turning frequency of the traveling body C is reduced. As a result, the possibility that the soil preparation state of the area between the inner working area CA and the worked area in the outer peripheral area SA is damaged is reduced.

[0072] The driving order of the target driving route LM is set to drive in order from the start position ST in the first target driving route LM1 located on the side away from the entrance / exit E. That is, the target driving route LM2 set closest to the entrance / exit E is the target driving route LM that the driving aircraft C drives last among the plurality of target driving routes LM. Also, the target driving route LM and the turning driving route TM are set so that the driving aircraft C drives the last target driving route LM2 toward the side where the entrance / exit E is located. From this, among the last target driving route LM2, the end on the side opposite to the side where the entrance / exit E is located is connected to the turning driving route TM, and the turning driving route TM is not provided at the end on the side where the entrance / exit E is located in the last target driving route LM2. As shown in FIGS. 6 and 7, an end position G is set at the end on the side where the entrance / exit E is located in the last target driving route LM2. The end position G is located within a preset range from the entrance / exit E (for example, within 5 meters from the entrance / exit E). That is, the route setting unit 54 is configured to be able to set the target driving route LM so that when the automatic driving control in the inner work area CA is completed inside the field than the circular driving route LML, the driving aircraft C is located within a preset range from the entrance / exit E where the driving aircraft C can enter and exit the field.

[0073] In this way, the target driving route LM and the turning driving route TM are set so that when the driving aircraft C reaches the end position G, the planting of seedlings in the inner work area CA is completed at the same time. For this reason, the start position ST where the automatic driving control starts is set as shown in FIGS. 6 and 7. In the embodiment shown in FIG. 6, since the number of target driving routes LM is even, the start position ST is set at the end on the side where the end position G is located in the first target driving route LM1. In the embodiment shown in FIG. 7, since the number of target driving routes LM is odd, the start position ST is set at the end on the side opposite to the side where the end position G is located in the first target driving route LM1.

[0074] As described with reference to FIG. 4, after the counterclockwise circular driving is performed along the ridges of the four sides of the field in the order of the first side S1 to the second side S4, the driving aircraft C is located near the entrance / exit E. In this state, when a passenger or a field monitor operates the automatic start operation tool 90B (see FIG. 2), the automatic driving control is started. Based on FIGS. 6 and 7, first, the traveling machine body C moves to the start position ST. When the traveling machine body C moves within the area of the inner working area CA before the transplanting operation during the movement to the start position ST, a running track of the traveling machine body C remains as a rut on the field surface. If seedlings are planted at this rut location, there is a risk of floating seedlings occurring at that location. To avoid this inconvenience, the automatic driving control unit 51B (see FIGS. 2 and 3) outputs a control signal so that the traveling machine body C moves to the start position ST while detouring outside the inner working area CA. Therefore, the traveling machine body C moves from the vicinity of the entrance / exit E via the final turning area SA5 to the start position ST. At this time, the seedling planting device W is in the raised state, that is, the non-working state. Also, while the seedling planting device W is rising, the fertilizer application device 34 and the chemical spraying device 35 are also stopped, and the fertilizer application work and the chemical spraying work are not performed. This avoids the overlapping work of fertilizer application and chemical spraying on the final turning area SA5.

[0075] In the embodiment shown in FIG. 6, the traveling machine body C moves to the start position ST while traveling in the area between the fourth outer periphery worked area SA4 and the inner working area CA in the final turning area SA5. When the circular traveling described with reference to FIG. 4 is completed, the front part of the traveling machine body C faces the side where the entrance / exit E is located. It may be a moving method in which the traveling machine body C moves to the start position ST after making a 180-degree turn at this location, or it may be a moving method in which the traveling machine body C moves to the start position ST while reversing from this location.

[0076] The traveling machine body C moves to the start position ST while traveling in the final turning area SA5. Since the transplanting operation is performed in a later process in the final turning area SA5, the traveling machine body C travels in the final turning area SA5 again later. The running track after the traveling machine body C has traveled once remains on the field surface as a rut. Therefore, when the traveling body C travels along the circular travel route LML described later in the subsequent process and the traveling body C travels on this rut again, it is conceivable that the steering wheels 10 and the rear wheels 11 will get stuck in the depression of the rut and slippage is likely to occur. To avoid such inconvenience, the automatic travel control unit 51B outputs a control signal to move the traveling body C to the start position ST so that the traveling body C is displaced to either the left or the right from the route along which the traveling body C travels along the circular travel route LML. At this time, the amount of displacement of the traveling body C to either the left or the right is set in consideration of preventing the seedlings from being planted on the rut during the subsequent transplanting work.

[0077] After the traveling body C reaches the start position ST, while the automatic reciprocating travel control as a form of automatic travel control is being performed, the traveling body C performs work travel in the inner work area CA shown in FIG. 6 (or FIG. 7) in the field, and performs turning travel in the area between the inner work area CA and the second outer peripheral worked area SA2. In the inner work area CA, the automatic reciprocating travel control alternately repeats work travel and turning travel.

[0078] When the working travel in the inner working area CA and the turning travel outside the inner working area CA are completed, seedlings are planted in the inner working area CA as shown in FIG. 8. When the traveling machine body C travels in the inner working area CA with the seedlings planted therein, the seedlings will be trampled down. Therefore, in the travel after the seedlings are planted in the inner working area CA, the automatic travel control unit 51B outputs a control signal so that the traveling machine body C does not travel in the inner working area CA. A final turning area SA5 as an unworked area is left between the inner working area CA and the worked area in the outer peripheral area SA, and the final turning area SA5 has a width corresponding to the working width of the seedling planting device W. For this reason, a turning travel route LML for one round is set by the route setting unit 54 along the final turning area SA5 outside the inner working area CA and inside the worked area in the outer peripheral area SA. Then, the automatic travel control unit 51B outputs a control signal so that the traveling machine body C travels along the turning travel route LML. Thereby, automatic travel control is performed in which the traveling machine body C travels along the turning travel route LML. Thus, the automatic travel control unit 51B is configured to enable automatic travel control for controlling the traveling machine body C to travel along the turning travel route LML.

[0079] Among the final lap area SA5, at the location between the second outer periphery completed work area SA2 and the inner work area CA, and at the location between the fourth outer periphery completed work area SA4 and the inner work area CA, the non-working travel of the traveling machine body C to the start position ST and the above-mentioned turning travel were performed. For this reason, it is considered that the soil preparation state of the field is rough at these locations in the final lap area SA5. This case will be described based on FIGS. 1, 2, 3, and 8. When transplanting work is performed in the final lap area SA5, the soil preparation rotor 27 is operated based on the control signal of the automatic work control unit 52B, and the transplanting work is performed while the unevenness of the field surface is leveled by the soil preparation rotor 27. That is, the automatic work control unit 52B outputs a control signal for operating the soil preparation rotor 27 with respect to the locations where non-working travel or turning travel has been performed, based on the self-machine position calculated by the self-machine position calculation unit 55. The operation of the soil preparation rotor 27 based on the control signal of the automatic work control unit 52B may be configured to be performed over the entire area of the final lap area SA5, or may be configured to be performed only at the locations where the above-mentioned non-working travel and turning travel have been performed. Thus, the automatic work control unit 52B is configured to be able to control the soil preparation rotor 27 to level the unevenness of the field when transplanting work is performed at the locations where turning travel has been performed.

[0080] In the final lap area SA5, the traveling machine body C performs transplanting work while making a turning travel. After this transplanting work is completed, the traveling machine body C exits the field from the field entrance E, and the transplanting work in the field is completed.

[0081] When the traveling body C exits the field from the field entrance E, it is preferable that the traveling body C moves forward without turning or only moves forward with a slight turning angle of the steering wheel 10 (for example, greater than 0 degrees and less than or equal to 15 degrees) so that the traveling body C can exit the field from the field entrance E. For this reason, in the present embodiment, at the time when the circular traveling in the final circular area SA5 is completed, the traveling body C is located within a preset range (for example, within 4 meters from the entrance E) from the entrance E, and the traveling direction of the traveling body C is along the inclination direction of the entrance E. Thus, the circular traveling route LML in the final circular area SA5 is set. Therefore, the circular traveling route LML shown in FIG. 8 is set clockwise. In the present embodiment, the circular traveling route LML is set in the circular direction opposite to the circular direction of the first manually operated circular traveling (see FIG. 4).

[0082] In this way, when the automatic traveling control in the circular traveling route LML is completed, the route setting unit 54 is configured to be able to set the circular traveling route LML such that the traveling body C is located within a preset range from the entrance E through which the traveling body C can enter and exit the field and the traveling direction of the traveling body C is along the inclination direction of the entrance E.

[0083] [Planting control using each row clutch and setting of target traveling route] The automatic work control unit 52B is configured to be able to control the operating work width among the work widths of the seedling planting device W. In normal transplanting work, the automatic work control unit 52B operates a plurality of rotary cases 23 and a plurality of planting arms 24 over the entire width of the work width of the seedling planting device W.

[0084] When the work traveling is performed in the inner work area CA, the work traveling is performed so that the work width of the seedling planting device W is secured in the final circular area SA5. For this reason, it is ideal that the width of the lateral direction H in the inner work area CA has a width equal to an integral multiple of the work width of the seedling planting device W. When the width of the lateral direction H in the inner work area CA does not have a width equal to an integral multiple of the work width of the seedling planting device W, each row clutch (not shown, the same applies hereinafter) is used for the transplanting work in the inner work area CA.

[0085] FIG. 9 shows a state in which a transplanting operation is performed on the final target travel route LM2 in the inner work area CA. In FIG. 9, a boundary line BL is shown as a boundary between the area of the transplanting operation based on the target travel route LM2 and the final turning area SA5. While the automatic travel control of the traveling body C is being performed along this target travel route LM2, there is a width that overlaps with the final turning area SA5 among the working widths of the seedling planting device W, that is, the working width based on the turning travel route LML. This width is referred to as the "overlap width OW". When the transplanting operation is performed over the working width of the seedling planting device W along this target travel route LM2, seedlings are planted over the overlap width OW also outside the inner work area CA, and the working width of the seedling planting device W cannot be secured in the final turning area SA5. For this reason, each bar clutch corresponding to the rotary case 23 and the planting arm 24 (both refer to FIG. 1, the same applies hereinafter) located outside the inner work area CA of the seedling planting device W is disengaged, and the rotary case 23 and the planting arm 24 corresponding to this location stop. Only the rotary case 23 and the planting arm 24 located within the range of the inner work area CA of the seedling planting device W operate.

[0086] In the embodiment shown in FIG. 9, the seedling planting device W has a working width for eight rows. Also, in the embodiment shown in FIG. 9, the first target travel route LM1 is set so that the working width of the seedling planting device W enters the area of the inner work area CA. For this reason, in the working travel based on the first target travel route LM1, a transplanting operation for eight rows is performed, and the transplanting operation for eight rows is performed up to before the final target travel route LM2. Then, in the working travel based on the final target travel route LM2, a state is shown in which the seedling planting device W operates only for a width of four rows out of the working width of eight rows in the seedling planting device W. In the working travel along the final target travel route LM2, the transplanting operation for the area of the overlap width OW in the final turning area SA5 is not performed, and a working width of eight rows is secured in the final turning area SA5. Then, in the turning travel along the final turning area SA5, a transplanting operation for eight rows, which is the working width of the seedling planting device W, is performed.

[0087] In this way, when the automatic driving control is performed along the target driving route LM inside the circular driving route LML, and there is an overlapping width OW that overlaps with the working width based on the circular driving route LML in the working width of the seedling planting device W, the automatic working control unit 52B is configured to be able to control the seedling planting device W to stop the operation of the seedling planting device W by the overlapping width OW in the working width of the seedling planting device W.

[0088] Regarding the spraying operations of the fertilizer applicator 34 and the chemical spraying device 35 shown in FIG. 1, also in the working travel along the last target travel route LM2, based on the control by the automatic working control unit 52B (see FIGS. 2 and 3), the fertilizer application operation and the spraying operation for the area of the overlapping width OW in the final circular area SA5 are not performed. For this reason, the fertilizer application operation of the fertilizer applicator 34 and the spraying operation of the chemical spraying device 35 are performed only for the inner working area CA. Then, in the circular travel along the final circular area SA5, the fertilizer application operation and the spraying operation, which are the working width of the seedling planting device W, are performed. Thereby, the overlap of the fertilizer application operation and the spraying operation for the area of the overlapping width OW is avoided.

[0089] When the transplanting operation is performed along the last target travel route LM2, the steering wheels 10 and the rear wheels 11 on one side (the left side in the traveling direction of the traveling machine body C, that is, the right side of the traveling machine body C in the drawing) of the left and right of the traveling machine body C are located outside the inner working area CA. For this reason, the traveling tracks of the steering wheels 10 and the rear wheels 11 located outside the inner working area CA are left as ruts RT. The area of the ruts RT is softer than the areas on its left and right. Then, when the steering wheels 10 and the rear wheels 11 on the other side of the left and right of the traveling machine body C travel on this rut RT in the circular travel along the final circular area SA5, it is considered that these steering wheels 10 and rear wheels 11 are likely to get stuck in the softness of the rut RT and slip. To avoid such inconveniences, the target travel route LM as shown in FIG. 10 is set.

[0090] FIG. 10 shows a state in which transplanting work is carried out on the first target travel route LM1 and a state in which transplanting work is carried out on the last target travel route LM2 in the inner working area CA. The first target travel route LM1 is set such that the working width of two out of the working widths of the seedling planting device W is located outside the inner working area CA. The traveling body C travels along the first target travel route LM1, and transplanting work is carried out with a working width of six out of the working widths of the seedling planting device W. From this, compared with the configuration in which the first target travel route LM1 is set so that the working width of the seedling planting device W enters the area of the inner working area CA, the target travel route LM is displaced to the right by a total of two lines on the plane of FIG. 10. Then, on the last target travel route LM2, transplanting work is carried out with a working width of six, which is two more than the case shown in FIG. 9.

[0091] In the embodiment shown in FIG. 10, among the steering wheels 10, 10 and the rear wheels 11, 11, the tire tracks RT of the steering wheels 10 and the rear wheels 11 on the side where the final turning area SA5 is located are located at the approximate boundary between the inner working area CA and the final turning area SA5. For this reason, it is possible to perform transplanting work while avoiding this tire track RT by turning along the final turning area SA5. In this way, when there are overlapping portions in the travel route of the field, the route setting unit 54 sets a travel route for the subsequent process that is displaced in the lateral direction of the machine body with respect to the traveling direction of the traveling body C so that the wheels do not travel again on the tire track RT formed by the travel of the traveling body C based on the previously set travel route. In addition, if the seedlings are planted on the tire track RT during the subsequent transplanting work, there is a risk that the seedlings will become floating seedlings. For this reason, the amount of displacement of the traveling body C in the lateral direction of the machine body is set in consideration of preventing the seedlings from being planted on the tire track RT during the subsequent transplanting work.

[0092] 〔Automatic Travel Control of Planting and Sowing Type Working Machines Without Acquisition of Field Shape〕 For example, if the field shape has already been acquired based on the circumferential travel of the field by a rice transplanter before the previous year, and the field shape has not changed (or has hardly changed) compared to the previous year, there is no need to acquire the field shape as described with reference to FIGS. 4 and 5. That is, when the map information of the field shape used in the transplanting operation before the previous year is directly reused, as shown in FIG. 11, the inner working area CA is first set, and the target travel path LM is set in parallel with the inner working area CA.

[0093] When there are a plurality of fields around the traveling machine body C that directly reuse the map information of the field shape used in the transplanting operation before the previous year, the configuration may be such that the field closest to the traveling machine body C is automatically selected, or the configuration may be such that the operator of the traveling machine body C or the monitor of the field can select the target field. The method by which the monitor or the operator selects the target field may be, for example, to operate the management computer 6 described above, or to move the traveling machine body C to the field to be selected. In this case, a map screen including a plurality of fields may be displayed on the display screen of the monitor of this management computer 6, and the monitor or the operator may select one field from among the map screens.

[0094] After the target travel path LM is set parallel to the inner working area CA, the above-described automatic reciprocating travel control is executed within the inner working area CA. That is, the work travel for performing the transplanting work along the target travel path LM and the turning travel in which the traveling body C moves to the next target travel path LM while turning in an area outside the inner working area CA are alternately repeated. After completion of the transplanting work for the inner working area CA, as shown in FIG. 12, circular travel paths LM11 and LM12 that enable circular travel are set in the outer peripheral area SA by the path setting unit 54. With the circular travel paths LM11 and LM12, the traveling body C can circularly travel in the outer peripheral area SA for two rounds. That is, the path setting unit 54 is configured to be able to set at least two rounds of circular travel paths LM11 and LM12 outside the field compared to the inner working area CA where the transplanting work is performed based on the automatic reciprocating travel control in the field. For this reason, at least two rounds of circular travel paths LM11 and LM12 are set.

[0095] Among the two-round circular travel paths LM11 and LM12, in the first-round circular travel path LM11, transplanting work based on automatic travel is performed along the outer periphery of the inner working area CA, and in the second-round circular travel path LM12, transplanting work by manual operation of the rice transplanter is performed along the edge of the field. That is, the automatic travel control by the automatic travel control unit 51B includes controlling the traveling body C to travel along at least one round of the circular travel path LM11. In other words, the automatic travel control unit 51B is configured to enable automatic travel control for controlling the traveling body C to travel along at least one round of the circular travel path LM11.

[0096] In the transplanting work performed in the second round, the transplanting work is performed over the working width of the seedling planting device W. For this reason, as shown in FIG. 13, the outer peripheral area SA11 is formed as a previously worked area by the transplanting work based on the automatic travel control along the first-round circular travel path LM11, and the adjustment of the number of planting rows using each row clutch is performed. As a result, a circular area over the working width of the seedling planting device W remains in the outer peripheral area SA12. Here, in the transplanting work in the two-round circular travel, the number of rows that can be cut at once by the combine, which is a harvesting machine, is considered.

[0097] In the harvesting operation of the combine in an actual field, as shown in FIG. 14, when the combine enters the field (#a), manual steering is used to perform two or three rounds of peripheral cutting runs, and the planted cereal straws in the outer peripheral area SA of the field are cut (#b).

[0098] As an example shown in FIG. 15, the planting intervals of the seedlings planted in the working runs in the inner working area CA (inner working areas CA1, CA2, CA3) and the seedlings planted in the circumferential runs in the outer peripheral area SA (outer peripheral areas SA11, SA12) are displaced near the boundary between the inner working area CA and the outer peripheral area SA. If the harvesting operation of the combine is performed without considering this, it is conceivable that the planted cereal straws will be pierced by the divider of the combine at the displaced portion of the planting interval, resulting in a harvesting loss. For this reason, when the seedlings planted by the rice transplanter are cut by the combine as planted cereal straws (harvested crops), it is preferable that the traveling direction when the rice transplanter performs the transplanting operation and the traveling direction when the combine performs the cutting operation are the same.

[0099] In FIG. 15, in the outer peripheral areas SA11 and SA12, since the traveling machine body C advances along the lateral direction H, it is desirable that the traveling direction of the combine in the outer peripheral areas SA11 and SA12 is also in the direction along the lateral direction H. Further, in the inner working areas CA1 to CA3, since the traveling machine body C advances along the longitudinal direction V, it is desirable that the traveling direction of the combine in the inner working areas CA1 to CA3 is also in the direction along the longitudinal direction V.

[0100] From this, the number of rows of seedlings planted in the outer peripheral area SA is set to an integer multiple of the number of rows that the combine can cut at one time. The setting of the number of rows that the combine can cut at one time may be set, for example, by operating the above-described management computer 6, or may be configured to be set by operating a mobile terminal operated by a field monitor or a passenger on the field working machine.

[0101] In the transplanting operation performed in the second round, the transplanting operation is carried out across the working width of the seedling planting device W. Therefore, in the outer peripheral region SA, the number of planting rows using each row clutch is adjusted in the transplanting operation performed in the first round. Specifically, the number of planting rows in the seedling planting device W is adjusted so that the sum of the number of planting rows in the first round and the number of planting rows in the second round is equal to an integer multiple of the number of rows that the combine can cut at once. In the embodiment shown in FIG. 15, the working width that the combine can cut at once is for six rows, and the working width of the seedling planting device W is defined as for eight rows. In this case, in the first round (outer peripheral region SA11), seedlings for four rows are planted, and in the second round (outer peripheral region SA12), seedlings for eight rows across the working width of the seedling planting device W are planted. For this reason, in total for the first and second rounds, seedlings for 12 rows corresponding to twice the working width of the combine are planted. Otherwise, for example, when the working width that the combine can cut at once is for five rows and the working width of the seedling planting device W is for eight rows, seedlings for two rows are planted in the first round and seedlings for eight rows are planted in the second round. Thereby, in total for the first and second rounds, seedlings for 10 rows corresponding to twice the working width of the combine are planted. Also, when the working width that the combine can cut at once is for six rows and the working width of the seedling planting device W is for six rows, seedlings for six rows are planted in each of the first and second rounds.

[0102] In this way, the automatic operation control unit 52B is configured to be able to control the operating working width among the working widths of the seedling planting device W so that the total of the actual working widths of the seedling planting device W when the transplanting operation is performed by the circular travel in the outer peripheral region SA becomes an integer multiple of the working width of the harvesting machine. Note that the meaning of "controlling the operating working width among the working widths of the seedling planting device W" does not exclude the case where all of the working widths of the seedling planting device W operate.

[0103] 〔Alternative Embodiment〕 The present invention is not limited to the configurations exemplified in the above-described embodiments. Hereinafter, representative alternative embodiments of the present invention will be exemplified.

[0104] (1) In the above-described embodiment, the field was rectangular in shape, but it is not limited to this embodiment. For example, the field may be square in shape, or may be trapezoidal as shown in FIG. 16. In FIG. 16, each target travel path LM is set in the direction along the first side S1, but each target travel path LM may be set in the direction along the first side S3 that faces the first side S1. That is, the path setting unit 54 is configured to set a plurality of target travel paths LM extending along at least one of the pair of first sides S1 and S3, and to set turning travel paths TM connecting each of the target travel paths LM in the areas of the circumferential travel paths LML and L11 (see FIGS. 8 and 12) on the pair of second sides S2 and S4. Further, the field shape may be triangular, or may be a polygon with five or more sides.

[0105] The portion surrounded by the two-dot chain line in FIG. 16 is shown in FIG. 17. FIG. 17 is a plan view of the field showing a state in which the planting operation is performed with the seedling planting device W straddling the boundary between the outer peripheral area SA and the inner working area CA. Depending on the shape of the field shown in FIG. 16, the boundary line BL indicating the boundary between the inner working area CA and the final circumferential area SA5 (outer peripheral area SA) is inclined to the left with respect to the traveling direction of the traveling machine body C. Even in such a case, it is preferable that a width corresponding to the working width of the seedling planting device W remains in the final circumferential area SA5. For this reason, when the seedling planting device W straddles the boundary between the outer peripheral area SA and the inner working area CA, the transplanting operation may be performed only on the inner working area CA by using each row clutch of the seedling planting device W.

[0106] In the embodiment shown in FIG. 17, the right side of the seedling planting device W is located in the inner working area CA, and as the traveling machine body C moves forward, the proportion of the part of the seedling planting device W located in the inner working area CA increases. For this reason, when the right end of the seedling planting device W enters the inside of the inner working area CA, only each row clutch at the right end of the seedling planting device W is in a transmission state, and as the traveling machine body C moves forward, each row clutch on the left side may be sequentially switched to the transmission state. Thereby, even when the boundary between the inner working area CA and the outer peripheral area SA (the part indicated by the boundary line BL) is inclined with respect to the traveling direction of the traveling machine body C, the transplanting work can be performed without gaps.

[0107] (2) When the field shape has an elongated shape such as a paddy field, for example, it is conceivable that the length of any of the first sides S1, S3 and the second sides S2, S4 is too short. In such a case, the field shape calculation unit 55B may be configured not to calculate the field shape. In this case, it may be configured that it is transmitted to the management computer 6 via the notification unit 56 that the field shape cannot be calculated.

[0108] (3) In the above-described embodiment, the longitudinal direction of the target travel route LM is set along the longitudinal direction V of the field, that is, the longitudinal direction of the vertically long field, but it is not limited to this embodiment. For example, the target travel routes LM may be arranged in parallel such that the longitudinal direction of the target travel route LM is along the short side direction of the field. This configuration is particularly useful when the farm roads K1 and K2 are located adjacent to the first sides S1, S3.

[0109] (4) In the above-described embodiment, the field shape calculation unit 55B is provided in the control unit 5, and the field shape is calculated by first causing the traveling machine body C to perform a circular travel, but it is not limited to this embodiment. For example, the field shape calculation unit 55B may be configured to calculate the field shape based on map information acquired from the management computer 6 or a network site.

[0110] (5) In the above-described embodiment, the circular travel route LM12 is for seeding operations based on manual operation, but a configuration may be adopted in which seeding operations are performed while automatic travel control is carried out along the circular travel route LM12. In this case, when the automatic travel control on the circular travel route LM12 is completed, the route setting unit 54 may be configured to be able to set the circular travel route LM12 such that it is located within a preset range from the entrance / exit E where the traveling body C can enter and exit the field and the traveling direction of the traveling body C follows the inclination direction of the entrance / exit E.

[0111] (6) In the above-described embodiment, the circular travel route LM11 and the circular travel route LM12 are set, but a configuration may be adopted in which three or more such circular travel routes are provided. Also, the circular travel route LML shown in FIG. 8 may be a travel route along which the traveling body C can make two or more rounds. Based on such a configuration, for example, the route setting unit 54 may be configured to be able to set the target travel route LM such that the total actual working width of the seedling planting device W during transplanting operations by circular travel in the outer peripheral region SA is an integer multiple of the working width of a harvester (for example, a self-threshing combine).

[0112] (7) In the above-described embodiment, two rows of seedlings are planted in the second outer peripheral already-worked area SA2 adjacent to the farm road K1 and the fourth outer peripheral already-worked area SA4 adjacent to the farm road K2, but the present invention is not limited to this embodiment. For example, one row of seedlings may be planted in each of the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4, or a configuration may be adopted in which three or four rows of seedlings are planted. For example, when the ridge edge is a concrete ridge, a configuration with three or more planting rows may be suitable. Also, for example, when the supply position is either the farm road K1 or the farm road K2, a configuration may be adopted in which two rows of seedlings are planted only in either the second outer peripheral already-worked area SA2 or the fourth outer peripheral already-worked area SA4.

[0113] (8) In the above-described embodiment, the traveling body C enters and exits the field in a state of going straight or substantially straight near the entrance / exit E, but the present invention is not limited to this embodiment. For example, in addition to those illustrated in FIGS. 4 and 5, a configuration may be adopted in which, immediately after the traveling body C enters the field, it makes a large left turn, and the traveling body C makes a clockwise turn around the field, whereby the calculation of the field shape and the seeding and planting operation are performed. Further, in addition to those illustrated in FIGS. 8, 12, and 13, the circular travel path LML, the circular travel path LM11, and the circular travel path LM12 may be counterclockwise circular paths. In this case, a configuration may be adopted in which the traveling body C makes a counterclockwise circular travel along the circular travel path LML or the circular travel path LM12 and then exits the field while making a large right turn toward the entrance / exit E.

[0114] (9) The above-described satellite positioning unit 80A is not limited to a configuration that directly receives radio waves transmitted from navigation satellites. For example, base stations for receiving radio waves transmitted from navigation satellites may be provided at a plurality of locations around the work vehicle, and the position information of the traveling body C and the seedling planting device W may be specified by network communication processing with the base stations at the plurality of locations.

[0115] (10) In the embodiments shown in FIGS. 9 and 10, the operating working width among the working widths of the seedling planting device W is controlled by each row clutch, but the present invention is not limited to this embodiment. For example, in the working travel based on the first target travel path LM1, transplanting work may be performed on the region of the overlapping width OW in the final circular region SA5. Further, in the working travel based on the last target travel path LM2, transplanting work may be performed on the region of the overlapping width OW in the final circular region SA5. That is, in the embodiments shown in FIGS. 9 and 10, the operating working width among the working widths of the seedling planting device W may extend over the entire width of the seedling planting device W. In this case, when the working travel is performed along the circular travel path LML, the seedlings that have been transplanted earlier in the region of the overlapping width OW will be trampled by the travel of the traveling body C, but a configuration may be adopted in which the transplanting work is performed over the entire width of the seedling planting device W and the seedlings are replanted.

[0116] Even in the embodiment shown in FIG. 12, when the work running is performed along the circular running path LM11, the transplanting work may be performed over the entire width of the seedling planting device W. In this case, the outer peripheral area SA11 as the already-worked area shown in FIG. 13 spreads to the outside of the field, and the width of the outer peripheral area SA12 is narrowed. Even in this case, when the work running is performed along the circular running path LM12, the area where the seedlings have been trampled by the running of the running machine body C may be replanted by performing the transplanting work over the entire width of the seedling planting device W.

[0117] (11) In the above-described embodiment, the seedling planting device W is shown as the working device, but the working device may be a seeding device, a fertilizer application device 34, or a chemical spraying device 35. Of course, the working device also includes a spraying device for chemicals or the like in a riding type management machine. In this case, the "planting and seeding work" in the present invention also includes the spraying work of chemicals or the like.

[0118] (12) Although the target running path LM described above is linear, the target running path LM may be set to be curved.

[0119] (13) The technical features of the automatic running control system according to the present invention are also applicable to the planting and seeding type working machine itself. Therefore, the present invention can also target such a planting and seeding type working machine. Accordingly, the present invention is also applicable to a rice transplanter, a seeding machine, or a riding type management machine, and is also applicable to an automatic running control system for a rice transplanter, a seeding machine, or a riding type management machine. That is, the planting and seeding type working machine includes a riding type rice transplanter, a riding type seeding machine, a riding type management machine, and the like.

[0120] Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. In addition, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited to this, and can be appropriately modified within the scope not departing from the object of the present invention.

Industrial Applicability

[0121] The present invention is applicable to a planting work machine that automatically travels in a field and an automatic travel control system for the planting work machine.

Explanation of Signs

[0122] 27: Land preparation rotor 51B: Automatic travel control unit 52B: Automatic work control unit 54: Route setting unit 55B: Field shape calculation unit 59: Storage unit 80A: Satellite positioning unit C: Traveling machine body W: Seedling planting device (working device) CA: Inner working area CA1: Inner working area CA2: Inner working area CA3: Inner working area D: Set distance E: Entrance / exit K1: Farm road (supply position) K2: Farm road (supply position) LM: Target travel route LM11: Circular travel route LM12: Circular travel route LML: Circular travel route S1: First side (side) S2: Second side (side) S3: First side (side) S4: Second side (side) SA: Outer peripheral area SA11: Outer peripheral area SA12: Outer peripheral area SA1: First outer peripheral worked area (outer peripheral worked area) SA2: Second outer peripheral worked area (outer peripheral worked area) SA3: Third outer peripheral worked area (outer peripheral worked area) SA4: Fourth outer peripheral worked area (outer peripheral worked area) SA5: Final circular area (outer peripheral area)

Claims

1. A satellite positioning unit capable of detecting the position of a traveling machine body using navigation satellites, a working device having a seeding control clutch that transmits power to a seeding device and changes the number of working rows, and capable of performing seeding work on a farm field, and an automatic work control unit capable of controlling the working device based on the position of the traveling machine body, wherein the automatic work control unit, when performing a circular travel involving the seeding work along the outer periphery of the farm field, controls the working device to change the state of the seeding control clutch between the circular travel along a supply side adjacent to a supply position where replenishment materials can be provided among the outer periphery and the circular travel along the outer periphery other than the supply side. A working machine or an automatic travel control system for a working machine.

2. The working machine or the automatic travel control system for a working machine according to claim 1, wherein the automatic work control unit changes the state of the seeding control clutch so that a portion of the working device located inside the farm field stops during the circular travel along the supply side.

3. A route setting unit capable of setting a plurality of target travel routes along which the traveling machine body travels while performing the seeding work in a state of being arranged parallel to each other, and an automatic travel control unit capable of controlling, based on the position of the traveling machine body, the traveling of the traveling machine body along the target travel route and the turning travel of the traveling machine body to the next target travel route after traveling along the target travel route. The working machine or the automatic travel control system for a working machine according to claim 1 or 2, wherein the automatic travel control unit is configured to execute the turning travel based on the automatic reciprocating travel control at a position separated from the supply side by a preset set distance inside the farm field.

4. A route setting unit capable of setting a target travel route along which the traveling machine body travels while performing the seeding work is provided, wherein the route setting unit is configured to be able to set the target travel route inside the farm field rather than a circular travel route along which the circular travel involving the seeding work over the working width of the working device is performed, and when there are overlapping portions in the travel route including the target travel route and the circular travel route, the travel route of the subsequent process is set to be displaced in the lateral direction of the machine body with respect to the traveling direction of the traveling machine body so that the wheels do not travel again on the rut formed by the traveling of the traveling machine body. The working machine or the automatic travel control system for a working machine according to claim 1 or 2.

Images