Work machine or automatic travel control system for work machine

Abstract

To provide an implement and an automatic travel control system for an implement which allow an automatic travel control while maintaining an easiness of moving in and out a field.SOLUTION: The present invention includes: a field shape calculation part which can calculate a field shape based on a circulation travel at which a work clutch state of the work device is changed in a partial travel distance related to a plant / sow work by the work device; a path setting part which can set a target travel path LM on which the travel body C travels while planting / sowing based on the field shape; and an automatic travel control part which allows an automatic travel control which controls a travel of the travel body C along the target travel path LM based on a position of the travel body C.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a working machine provided with an automatic driving control unit capable of automatic driving control for controlling a traveling machine body to travel along a target traveling route based on the position of the traveling machine body, or an automatic driving control system for a working machine.

Background Art

[0002] For example, in the traveling route generation device disclosed in Patent Document 1, a route setting unit (referred to as 'traveling route generation unit' in the document) is provided. The traveling route is composed of an inner traveling route consisting of a target traveling route (referred to as'straight traveling route' in the document) and a turning traveling route (referred to as 'U-turn route' in the document) connecting the target traveling routes, and a circular traveling route for traveling around the outer peripheral area of the farm field.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the case of a tractor or the like, it is often possible to travel through the already-worked area again, while a seeding and planting type working machine is required to avoid traveling through the already-worked area so as not to trample the already-seeded seedlings. For this reason, in a seeding and planting type working machine, it is necessary to secure a route so as to avoid the already-seeded seedlings even when entering and leaving the farm field.

[0005] In view of the above-described circumstances, an object of the present invention is to provide a working machine and an automatic driving control system for a working machine that can ensure ease of entering and leaving the farm field and enable automatic driving control.

Means for Solving the Problems

[0006] The work machine or the automatic driving control system of the work 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 work device capable of performing a seeding and planting operation on a field, and with respect to the seeding and planting operation by the work device, at a partial travel distance 、To change the working width of the above seeding and planting operation of the work device Clutch state a field shape calculation unit capable of calculating a field shape based on a circular travel in which is changed, a route setting unit capable of setting a target travel route along which the traveling body travels while performing the seeding and planting operation based on the field shape, and an automatic travel control unit capable of performing automatic travel control to control the traveling body to travel along the target travel route based on the position of the traveling body. The route setting unit is configured to be able to set the target travel route inside the outer peripheral already-worked area formed by the circular travel for calculating the field shape, and the automatic travel control by the automatic travel control unit includes controlling the traveling body to travel along a circular travel route. The route setting unit is configured to be able to set the circular travel route so that when the automatic travel control in the circular travel route is completed, it is located within a preset range from an entrance / exit through which the traveling body can enter and exit the field. The automatic travel control system for a work vehicle and a working machine according to the present invention includes a satellite positioning unit capable of detecting the position of a traveling body using a navigation satellite, a working device capable of performing work on a farm field, a field shape calculation unit capable of calculating a field shape based on the traveling locus of the traveling body obtained by detecting the position of the traveling body over time while the traveling body is performing a circular travel accompanied by the work by the working device, a route setting unit capable of setting a target travel route along which the traveling body travels while performing the work based on the field shape, and an automatic travel control unit capable of performing automatic travel control to control the traveling body to travel along the target travel route based on the position of the traveling body. The route setting unit is configured to be able to set the target travel route so as to secure a circular travel route inside the outer peripheral already-worked area formed by the work in the circular travel for calculating the field shape. The automatic travel control by the automatic travel control unit includes controlling the traveling body to travel along the circular travel route. The route setting unit is configured to be able to set the circular travel route so that the traveling body is located within a preset range from an entrance / exit through which the traveling body can enter and exit the farm field when the automatic travel control in the circular travel route is completed. Further, the automatic travel control system for a seeding and planting type working machine according to the present invention includes a satellite positioning unit capable of detecting the position of a 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 target travel route along which the traveling body travels while performing the seeding and planting work based on a field shape, and an automatic travel control unit capable of performing automatic travel control to control the traveling body to travel along the target travel route based on the position of the traveling body. The route setting unit is characterized in that it is configured to be able to set the target travel route inside the farm field rather than a circular travel route along which the traveling body travels around the farm field while the working device performs the seeding and planting work across the working width of the working device.

[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 seeding and planting work machines. The seeding and planting work machine in this case 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 seeds and seedlings on the field, a route setting unit capable of setting a target traveling route along which the traveling body travels while performing the seeding and planting work based on the field shape, and an automatic driving control unit capable of performing automatic driving control to control the traveling body to travel along the target traveling route based on the position of the traveling body. The route setting unit is configured to be able to set the target traveling route inside the field rather than a circular traveling route along which the traveling body travels around the field while the working device performs the seeding and planting work across the working width of the working device.

[0008] According to the present invention, since the target traveling route is set inside the field, a space for the circular traveling route is secured outside the field. Therefore, after the seeding and planting work is completed along the target traveling route inside the field, by performing the seeding and planting work along the circular traveling route, it is possible to avoid the already-worked area so as not to trample the seeded seeds and seedlings and travel. From this, a route is secured to avoid the seeded seeds and seedlings even when entering and leaving the field. As a result, a seeding and planting work machine capable of automatic driving control while ensuring ease of entering and leaving the field and an automatic driving control system for the seeding and planting work machine are realized.

[0009] Note that the "seeding and planting work" in the present invention means the general term for work such as sowing seeds before germination or transplanting seedlings after germination on the field. Also, the "seeding and planting work machine" in the present invention means the general term for work machines capable of performing the above sowing and work machines capable of transplanting seedlings. Further, the "seeds and seedlings" in the present invention includes seeds before germination and seedlings after germination.

[0010] In the present invention, an automatic work control unit capable of controlling the work device in conjunction with the automatic driving control is provided, the automatic driving control is performed along the target driving route inside the circumferential driving route, and when there is an overlapping width that overlaps with the work width based on the circumferential driving route among the work widths of the work device, it is preferable that the automatic work control unit is configured to be able to control the work device so as to stop the operation of the work device by the overlapping width among the work widths of the work device.

[0011] In many cases, the width of the area of the seeding operation inside the circumferential driving route is different from an integer multiple of the work width of the work device. With this configuration, when there is an overlapping width that overlaps with the work width based on the circumferential driving route, seeding operations across the overlapping width are not performed, so an area of the circumferential driving route is secured by the work width of the work device. As a result, the traveling machine body C can travel along the circumferential driving route while avoiding the seeded seedlings and can easily exit the field.

[0012] In the present invention, the field shape has a pair of opposing first sides and a pair of second sides located between the pair of first sides and shorter than the pair of first sides, and the route setting unit is configured to be able to set a plurality of the target driving routes extending along at least one of the pair of first sides and to set a turning driving route connecting each of the target driving routes in the area of the circumferential driving route on the pair of second sides.

[0013] With this configuration, compared to a configuration in which each of the target driving routes is set to run along the second side, which is the short side of the field, the number of target driving routes and turning driving routes is reduced, and the turning frequency of the traveling machine body is reduced. As a result, the areas where the leveling state of the field is damaged by turning driving are reduced.

[0014] In the present invention, it is preferable that the route setting unit is configured to be able to set the target driving route so that the traveling machine body is located within a preset range from an entrance / exit through which the traveling machine body can enter and exit the field when the automatic driving control inside the field is completed on the inner side of the circumferential driving route.

[0015] With this configuration, after the seeding operation is completed, the traveling body can directly leave the field, so that the seeding operation in the field is performed more efficiently.

[0016] In the present invention, it is preferable that at least two laps of the circular traveling route are set, and the automatic traveling control by the automatic traveling control unit includes controlling the traveling body to travel along at least one lap of the circular traveling route.

[0017] With this configuration, a sufficient turning space wider than the working width of the working device is secured, and the automatic traveling control is efficiently performed without the traveling body contacting an obstacle at the edge of the field ridge. Moreover, with this configuration, even when a seeding operation by manual operation is required, the area to be manually operated is limited to the area of the outer peripheral circular traveling route. As a result, the seeding operation by automatic traveling control is utilized up to the outer periphery of the field as much as possible, and contact with obstacles at the edge of the field ridge is surely avoided.

[0018] In the present invention, a field shape calculation unit capable of calculating the field shape based on the traveling locus of the traveling body obtained by detecting the position of the traveling 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 seeding operation and the traveling body travels in a circle along the outer periphery of the field. The route setting unit is preferably configured to be able to set the target traveling route so as to secure the circular traveling route inside the outer peripheral already-worked area formed by the seeding operation in the circular traveling for calculating the field shape.

[0019] With this configuration, the field shape is calculated by the traveling machine body traveling along the outer periphery of the field first, and the seeding and planting operation is performed during this travel. Therefore, compared with a configuration in which the seeding and planting operation is not performed when the traveling machine body first travels along the outer periphery of the field, the seeding and planting operation is performed efficiently. In addition, since the edge of the field has already completed the seeding and planting operation as the outer periphery already-worked area, a circular travel path is set inside the field rather than in the outer periphery already-worked area. As a result, even when automatic travel control is performed along the circular travel path, the automatic travel control is performed without the traveling machine body contacting an obstacle at the edge of the field.

[0020] In the present invention, when a supply position capable of providing supply materials is adjacent to the outside of the field rather than at least one side forming the outer periphery of the field shape, it is preferable that the width of the outer periphery already-worked area corresponding to the side adjacent to the supply position is formed narrower than the width of the outer periphery already-worked area corresponding to the side not adjacent to the supply position.

[0021] If, in a part adjacent to the supply position on the outer periphery of the field shape, the seeding and planting operation is performed over the working width of the working device and the width of the outer periphery already-worked area is wide, it becomes difficult for the traveling machine body to approach the supply position during supply, which may hinder the supply operation. With this configuration, since the width of the outer periphery already-worked area corresponding to the side adjacent to the supply position is formed narrower than the width of the outer periphery already-worked area corresponding to the side not adjacent to the supply position, it becomes easier for the traveling machine body to approach the supply position during supply, and the supply operation is performed smoothly.

[0022] In the present invention, the automatic travel control by the automatic travel control unit includes controlling the traveling machine body to travel along the circular travel path, and when the automatic travel control in the circular travel path is completed, the path setting unit is configured to be able to set the circular travel path so that it is located within a preset range from an 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 aircraft moves forward when the automatic driving control is completed, the aircraft can directly exit the field from the entrance / exit.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Embodiments for Carrying Out the Invention

[0025] 〔Basic Configuration of Seeding and Planting Type Working Machine〕 Embodiments of the present invention will be described with reference to the drawings. The “seeding and planting operation” in the present invention means a general term for operations such as sowing seeds before germination in a field or transplanting seedlings after germination to the field. Further, the “seeding and planting type working machine” in the present invention means a general term for working machines capable of performing the above-described sowing or transplanting of seedlings. Further, the “seeds and seedlings” in the present invention includes seeds before germination and seedlings after germination. Here, as an example of the seeding and planting type working 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 transplantation work (a form of seeding and planting work) 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 transplantation work and a non-working state in which it rises above the field surface and does not perform transplantation work.

[0027] At the front of the traveling body C, an opening and closing bonnet 12 is provided. An engine 13 is provided inside the bonnet 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 wheel 10 or the rear wheels 11, or both. The power of the engine 13 is transmitted to the steering wheel 10 and the rear wheels 11 through the transmission mechanism provided in the body, and the power after transmission is transmitted to the seedling planting device W through 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 bonnet 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 supplying 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 bonnet 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 frame 30 supports each normal spare seedling table 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 the well-known GPS (Global Positioning System). In the present embodiment, the satellite positioning unit 80A uses RTK-GPS (Real Time Kinematic GPS: interference 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 in 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 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 the satellite positioning unit 80A and the inertial measurement unit 80B.

[0031] In the central portion 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 operating tools such as a main transmission lever 44, for example. The driver's seat 41 is provided in the central portion of the traveling machine body C and is configured such 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 the forward and backward movement of the traveling machine body C and the operation of changing 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 operating tools in the passenger compartment 40.

[0032] Although not shown in the drawing, the passenger compartment 40 is equipped with a tablet computer that can be attached to and detached 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 configured to be data communicably connected to 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 edge of 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. The planting mat-like seedlings are 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 each rotary case 23 by the power transmitted from the transmission case 22 while driving the seedling placing table 26 to reciprocate laterally 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 drawing, 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. The furrow opener 34D forms a groove on the field surface, and the fertilizer sent to the furrow opener 34D is supplied to the groove on 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 connected to the upper part of the main body case 35A for storing 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 for feeding out the chemicals stored in the chemical hopper 35B and a diffusion mechanism 35D for realizing the spraying of the chemicals while diffusing the chemicals fed out by the feeding mechanism 35C obliquely 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 every 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 the monitor or the 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, a braking device (not shown), and the like. The working device group 72 includes control devices for a seedling planting device W (including each row clutch not shown) as shown in FIG. 1, a fertilizer application device 34, a chemical spraying device 35, and the like.

[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 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, a chemical spraying device 35 as shown in FIG. 1, and the like.

[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 wheel 43, a main transmission lever 44, a mode operation tool 90A, an automatic start operation tool 90B, and the like. 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 traveling to the control unit 5. In FIG. 2, only one automatic start operation tool 90B is shown. However, in order to prevent misoperation, a plurality of automatic start operation tools 90B may be provided, and a configuration may be adopted in which a final automatic start command is 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 shift from the automatic traveling mode to the manual traveling mode may be automatically performed by software. For example, when a situation in which automatic driving is impossible occurs, the control unit 5 forcibly executes the shift 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, and the like.

[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 acquired over time by the satellite positioning unit 80A. The azimuth data is acquired over time by the inertial measurement unit 80B. The vehicle speed data is acquired 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 the storage unit 59 composed of, 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 locus acquisition unit 55A and a field shape calculation unit 55B are provided. The travel locus acquisition unit 55A is configured to be able to acquire a travel locus based on the set of own-vehicle positions stored in the storage unit 59. In short, the travel locus acquisition unit 55A is configured to be able to acquire the travel locus of the traveling machine body C based on the detection of the own-vehicle position over time. Further, the field shape calculation unit 55B is configured to be able to calculate the field shape based on the travel locus of the traveling machine body C.

[0046] The travel locus acquired by the travel locus 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. Further, the travel locus 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 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 travel mode is set, and when performing manual driving, a manual travel 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 work 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 be able to perform 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. 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 performs non-working travel in the field, by outputting a control signal for stopping the fertilizer application device 34 and the chemical spraying device 35 by the automatic operation control unit 52B, the risk of overlapping application of fertilizer and chemicals is prevented.

[0052] The route setting unit 54 generates the target travel route LM by itself using a route calculation algorithm. Note that the route setting unit 54 may not generate the target travel route LM by itself, and may be configured to download and use the target travel route LM generated by the above-described 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 guidance purposes so that the rice transplanter travels along the target travel route LM even during manual driving.

[0054] 〔Automatic Travel Control of Planting and Sowing Work Machines in the Case of Obtaining the Field Shape〕 Based on FIGS. 4 to 8, the automatic travel control of the planting and sowing work machine in the case of obtaining the field shape will be described. In the fields 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 fields shown in FIGS. 4 to 8 are longer in the vertical direction V than in the horizontal direction H, and are 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 first sides S1, S3 facing each other, and a pair of second sides S2, S4 located between the pair of first sides S1, S3 and shorter than the pair of first sides S1, S3. The first sides S1, S3 and the second sides S2, S4 form four-sided ridges on the field. Farm roads K1, K2 are adjacent to each of the upper and lower pairs of 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 circulating inside 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 from the farm road K2 via the entrance / exit E, the rice transplanter can go straight along the first side S1. When attempting to run the traveling machine body C along the second side S4 inside 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, skilled skills are often required for the manual turning of the traveling machine body C. The route of running along the first side S1 is a route that can be easily entered without being affected by the driving skills 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 the own-vehicle positions. Further, 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] FIG. 5 shows, as the already-worked areas in the outer peripheral region 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. 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 and 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] Of 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, based on FIGS. 1 and 5, in the second side S2 and the fourth side S4, by each row clutch of the seedling planting device W, the rotating case 23 closer to the inside of the field among the plurality of rotating cases 23 is stopped, and only the rotating case 23 outside the field operates. 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 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 an operator working on the agricultural road K1 or the agricultural road K2 hands over the supply materials to the passenger 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, it becomes easy to hand over these supply materials.

[0062] Even if the field shape has been previously acquired based on the circumferential travel of a tractor, combine, or the like in the field, the planting and seeding work machine requires an even higher-precision field shape. Therefore, it is conceivable that the traveling machine body C travels around the field again to acquire a high-precision field shape. Such a case will be described with reference to FIGS. 2 and 5. It is conceivable that the previously acquired field shape has been received via the communication unit 66 before the above-described circumferential travel by manual operation. In this case, the operator of the traveling machine body C or the field monitor may be configured to be able to set, before the circumferential travel, which area in the outer peripheral region 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 to be reduced may be possible, for example, by operating the above-described management computer 6, or may be possible by operating a mobile terminal operated by the field monitor or the operator of the field work 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 that form 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 by 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 to be 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 travel by manual operation is completed, as shown in FIG. 6, a plurality of target travel routes LM and a plurality of turning travel routes TM are set by a route setting unit 54 (see FIGS. 2 and 3). In the embodiment shown in FIG. 6, the longitudinal directions of the respective target travel routes LM are set to be parallel to each other so as to be along the vertical direction V of the field. In other words, in the inner work area CA, the target travel routes LM are set at equal intervals in the horizontal direction H.

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

[0066] As shown in FIG. 6, each of the turning travel routes TM is set at a position separated from the outer periphery of the field based on the field shape by a preset set distance D toward 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 travel for calculating the field shape. The automatic travel control unit 51B is configured to enable turning travel based on automatic reciprocating travel control at a position separated from the outer periphery of the field based on the field shape by a preset set distance D toward 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 so that the seedling planting device W performs a transplanting operation 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 the transplanting operation is performed based on automatic reciprocating travel control, and the traveling machine 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 a distance 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 that the traveling machine 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 that the traveling machine 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 machine 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 operation 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 machine body C compared to the already-worked areas in this outer peripheral area SA. That is, the areas where the working 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 concrete walls, utility poles, and transmission line towers 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 for turning, the risk of the traveling machine body C coming into contact with such obstacles is reduced.

[0069] In this embodiment, "working travel" means that while the traveling body C travels along the target traveling path 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 traveling path LM, the traveling body C moves to the next target traveling path LM along the turning travel path TM.

[0070] Each of the turning travel paths TM is set as a turning travel path TM that connects adjacent end portions of adjacent target traveling paths LM, LM. The turning travel path TM shown in FIG. 6 is set in a state of being adjacent to each of the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4. A farm road K1 is adjacent to the outside of the field than the second outer peripheral already-worked area SA2, and a farm road K2 is adjacent to the outside of the field than the fourth outer peripheral already-worked area SA4. For this reason, when replenishing the traveling body C with replenishment materials from the farm roads K1, K2, the replenishment work can be performed while the traveling body C is stopped during the turning of the turning travel path TM. As a result, the trouble of the traveling body C moving away from the target traveling path LM and the turning travel path TM to a dedicated replenishment position is omitted.

[0071] Each of the target traveling paths 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 traveling paths 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 traveling paths LM and the turning travel paths 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 already-worked area in the outer peripheral area SA is disturbed 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 body 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 body 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 field side is completed from the circumferential driving route LML, the driving body C is located within a preset range from the entrance / exit E where the driving body 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 body C reaches the end position G, the planting of seedlings in the inner working area CA is completed at the same time. For this reason, the start position ST at which the automatic driving control is started 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 circumferential driving counterclockwise is performed along the ridges on the four sides of the field in the order of the first side S1 to the second side S4, the driving body 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 rut is left on the field surface as the traveling track of the traveling machine body C. 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. Thereby, the overlapping work of fertilizer application and chemical spraying on the final turning area SA5 is avoided.

[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 peripheral already-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 is facing 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 moving backward 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 traveling 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 traveling route LML described later in the subsequent process, if the traveling body C travels again on this rut, it is conceivable that the steering wheels 10 and the rear wheels 11 will get stuck in the rut depression and slippage will easily occur. To avoid such inconveniences, 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 traveling 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 transplanting work in the subsequent process.

[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 work travel in the inner work area CA and the turning travel outside the inner work area CA are completed, seedlings are planted in the inner work area CA as shown in FIG. 8. If the traveling body C travels in the inner work area CA with the seedlings planted in the inner work area CA, the seedlings will be trampled down. Therefore, in the subsequent travel after the seedlings are planted in the inner work area CA, the automatic travel control unit 51B outputs a control signal so that the traveling body C does not travel in the inner work area CA. An unworked area, i.e., a final turning area SA5, is left between the inner working area CA and the already-worked area in the outer peripheral area SA. 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, which is outside the inner working area CA and inside the already-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. As described above, 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] In the final turning area SA5, in the locations between the second outer peripheral already-worked area SA2 and the inner working area CA and between the fourth outer peripheral already-worked area SA4 and the inner working area CA, the non-working travel of the traveling machine body C to the start position ST and the above-described turning travel are performed. For this reason, it is considered that the field leveling state is rough at these locations in the final turning area SA5. This case will be described based on FIGS. 1, 2, 3, and 8. When transplanting work is performed in the final turning area SA5, the leveling 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 leveling rotor 27. That is, the automatic work control unit 52B outputs a control signal for operating the leveling 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 leveling 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 turning area SA5, or may be configured to be performed only at the locations where the above-described non-working travel and turning travel have been performed. As described above, the automatic work control unit 52B is configured to be able to control the leveling 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 circular run. After this transplanting work is completed, the traveling machine body C exits the field from the entrance / exit E of the field, and the transplanting work in the field is completed.

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

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

[0083] [Planting control using each clutch and setting of the target traveling path] 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 rotating cases 23 and a plurality of planting arms 24 over the entire work width of the seedling planting device W.

[0084] When the working travel is performed in the inner working area CA, the working travel is performed so that the working width of the seedling planting device W is secured in the final turning area SA5. For this reason, it is ideal that the width in the lateral direction H in the inner working area CA has a width equal to an integral multiple of the working width of the seedling planting device W. When the width in the lateral direction H in the inner working area CA does not have a width equal to an integral multiple of the working 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 working area CA.

[0085] Fig. 9 shows a state in which the transplanting work is performed on the last target travel route LM2 in the inner working area CA. In Fig. 9, a boundary line BL is shown as a boundary between the area of the transplanting work based on the target travel route LM2 and the final turning area SA5. While the automatic travel control of the traveling machine body C is being performed along this target travel route LM2, there is a width that overlaps with the final turning area SA5, that is, the working width based on the turning travel route LML, within the working width of the seedling planting device W. This width is referred to as the 'overlap width OW'. When the transplanting work 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 working area CA, and it becomes impossible to secure the working width of the seedling planting device W in the final turning area SA5. For this reason, each row 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 working 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 working 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 path LM1 is set so that the working width of the seedling planting device W falls within the area of the inner working area CA. Therefore, in the working travel based on the first target travel path LM1, transplanting work is performed over eight rows, and the transplanting work over eight rows is performed up to before the last target travel path LM2. And in the working travel based on the last target travel path LM2, a state is shown in which the seedling planting device W operates only over 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 last target travel path LM2, transplanting work is not performed on the area of the overlapping width OW in the final turning area SA5, 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, transplanting work of eight rows, which is the working width of the seedling planting device W, is performed.

[0087] Thus, when automatic travel control is performed along the target travel path LM inside the turning travel path LML, and there is an overlapping width OW that overlaps with the working width based on the turning travel path LML among the working widths of the seedling planting device W, the automatic work control unit 52B is configured to be able to control the seedling planting device W so as to stop the operation of the seedling planting device W by only the overlapping width OW among the working widths of the seedling planting device W.

[0088] Regarding the spraying work of the fertilizer application device 34 and the chemical spraying device 35 shown in FIG. 1 as well, in the working travel along the last target travel path LM2, based on the control by the automatic work control unit 52B (see FIGS. 2 and 3), fertilizing work and spraying work on the area of the overlapping width OW in the final turning area SA5 are not performed. For this reason, the fertilizing work of the fertilizer application device 34 and the spraying work of the chemical spraying device 35 are performed only on the inner working area CA. Then, in the turning travel along the final turning area SA5, fertilizing work and spraying work of eight rows, which is the working width of the seedling planting device W, are performed. Thereby, duplication of fertilizing work and spraying work on the area of the overlapping width OW is avoided.

[0089] When the transplanting operation is performed along the final target travel path LM2, the steering wheel 10 and the rear wheel 11 on one side (the left side in the traveling direction of the traveling body C in FIG. 9, that is, the right side of the traveling body C in the drawing) of the traveling body C are located outside the inner work area CA. For this reason, the traveling tracks of the steering wheel 10 and the rear wheel 11 located outside the inner work area CA are left as ruts RT. The area of the rut RT is muddier than the left and right areas thereof. Then, in the circular travel along the final circular area SA5, when the steering wheel 10 and the rear wheel 11 on the other side of the traveling body C travel on this rut RT, it is considered that the steering wheel 10 and the rear wheel 11 are likely to get stuck in the mud of the rut RT and slip. In order to avoid such inconvenience, the target travel path LM as shown in FIG. 10 is set.

[0090] FIG. 10 shows a state where the transplanting operation is performed on the first target travel path LM1 and a state where the transplanting operation is performed on the final target travel path LM2 in the inner work area CA. The first target travel path LM1 is set so that the working widths of two out of the working widths of the seedling planting device W are located outside the inner work area CA. The traveling body C travels along the first target travel path LM1, and the transplanting operation is performed with the working width of six out of the working widths of the seedling planting device W. Therefore, compared with the configuration in which the first target travel path LM1 is set so that the working width of the seedling planting device W enters the area of the inner work area CA, the target travel path LM is displaced to the right by a total of two in the drawing of FIG. 10. Then, in the final target travel path LM2, the transplanting operation is performed 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 wheel tracks RT of the steering wheels 10 and the rear wheels 11 on the side where the final turning area SA5 is located are positioned at a substantially boundary between the inner working area CA and the final turning area SA5. For this reason, during the turning travel along the final turning area SA5, transplanting work that avoids this wheel track RT becomes possible. Thus, when there are overlapping portions in the travel route of the field, the route setting unit 54 ensures that the wheels do not travel again on the wheel track RT formed by the travel of the traveling machine body C based on the previously set travel route. A travel route for a subsequent process that is laterally displaced with respect to the traveling direction of the traveling machine body C is set. In addition, if seedlings are planted on the wheel track RT during the transplanting work in the subsequent process, there is a risk that the seedlings will become floating seedlings. For this reason, the amount of displacement in the lateral direction of the traveling machine body C is set in consideration of preventing the seedlings from being planted on the wheel track RT during the transplanting work in the subsequent process.

[0092] 〔Automatic Travel Control of Planting and Sowing Work Machines Without Acquisition of Field Shape〕 For example, if the field shape has already been acquired based on the turning travel of the field by a rice transplanter before the previous year and the shape of the field 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 work before the previous year is directly reused, as shown in FIG. 11, the inner working area CA is set first, and the target travel route LM is set parallel to the inner working area CA.

[0093] When there are a plurality of fields around the traveling body C that directly reuse the map information of the field shape used in the transplantation work before the previous year, the field closest to the traveling body C may be automatically selected, or the configuration may be such that the operator of the traveling body C or the supervisor of the field can select the target field. The method by which the supervisor or the operator selects the target field may be, for example, operating the management computer 6 described above, or moving the traveling 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 supervisor or the operator may select one field from among the map screens.

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

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

[0096] In the transplanting work performed in the second round, the transplanting work is performed across the working width of the seedling planting device W. Therefore, as shown in FIG. 13, in the transplanting work based on the automatic driving control along the first-round circular travel route LM11, the outer peripheral area SA11 is formed as the already-worked area, and the adjustment of the number of planting rows using each row clutch is performed. As a result, a circular area across 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 one time by the combine harvester is taken into consideration.

[0097] In the actual harvesting work of the combine harvester in the field, as shown in FIG. 14, when the combine harvester enters the field (#a), manual steering is used to perform two or three rounds of peripheral cutting travel, and the standing grain 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 by the working travel in the inner working area CA (inner working areas CA1, CA2, CA3) and the seedlings planted by the circumferential travel in the outer peripheral area SA (outer peripheral areas SA11, SA12) are shifted near the boundary between the inner working area CA and the outer peripheral area SA. If the combine harvesting operation is performed without considering this, it is conceivable that the planted grain straws will be stabbed into the divider of the combine at the location where the planting intervals are shifted, resulting in a harvesting loss. For this reason, when the seedlings planted by the rice transplanter are harvested by the combine as planted grain straws (harvested crops), it is preferable that the traveling direction when the rice transplanter performs the transplanting operation is the same as the traveling direction when the combine performs the harvesting operation.

[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 to be planted in the outer peripheral area SA is set to an integer multiple of the number of rows that can be harvested by the combine at one time. The setting of the number of rows that can be harvested by the combine 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 performed across the working width of the seedling planting device W. Therefore, in the transplantation work performed in the first round in the outer peripheral region SA, the number of planting rows using each strip clutch is adjusted. Specifically, the number of planting rows in the first round and the number of planting rows in the second round are 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 one time. In the embodiment shown in FIG. 15, the working width that the combine can cut at one time is six rows, and the working width of the seedling planting device W is defined as eight rows. In this case, in the first round (outer peripheral region SA11), four rows of seedlings are planted, and in the second round (outer peripheral region SA12), eight rows of seedlings are planted across the working width of the seedling planting device W. Therefore, in total for the first and second rounds, 12 rows of seedlings corresponding to twice the working width of the combine are planted. Alternatively, for example, when the working width that the combine can cut at one time is five rows and the working width of the seedling planting device W is eight rows, two rows of seedlings are planted in the first round and eight rows of seedlings are planted in the second round. As a result, in total for the first and second rounds, 10 rows of seedlings corresponding to twice the working width of the combine are planted. Also, when the working width that the combine can cut at one time is six rows and the working width of the seedling planting device W is six rows, six rows of seedlings 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 transplantation work is performed by the circumferential running 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 situation 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 farm field was rectangular in shape, but it is not limited to this embodiment. For example, the farm 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 regions of the circular travel paths LML and L11 (see FIGS. 8 and 12) on the pair of second sides S2 and S4. Also, the shape of the farm field 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 farm field showing a state in which the seedling planting operation is performed with the seedling planting device W straddling the boundary between the outer peripheral region SA and the inner working region CA. Depending on the shape of the farm field shown in FIG. 16, the boundary line BL indicating the boundary between the inner working region CA and the final circular region SA5 (outer peripheral region SA) is inclined to the left with respect to the traveling direction of the traveling 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 circular region SA5. For this reason, when the seedling planting device W straddles the boundary between the outer peripheral region SA and the inner working region CA, a configuration in which the transplanting operation is performed only on the inner working region CA by using each row clutch of the seedling planting device W may be adopted.

[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 inner side 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 vertical 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 control unit 5 is provided with the field shape calculation unit 55B, and the field shape is calculated by the traveling machine body C first performing 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 path LM12 is for the seeding operation based on manual operation, but the seeding operation may be performed while the automatic travel control is performed along the circular travel path LM12. In this case, the path setting unit 54 may be configured such that when the automatic travel control on the circular travel path LM12 is completed, the circular travel path LM12 is set so as to be 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 path LM11 and the circular travel path LM12 are set, but a configuration in which three or more such circular travel paths are provided may be employed. Further, the circular travel path LML shown in FIG. 8 may be a travel path along which the traveling body C can make two or more rounds. Based on such a configuration, for example, the path setting unit 54 may be configured such that the target travel path LM is set so that the total actual working width of the seedling planting device W during the transplanting operation by the circular travel in the outer peripheral region SA is an integral multiple of the working width of the 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 in which three or four rows of seedlings are planted may be employed. For example, when the ridge edge is a concrete ridge, a case where three or more planting rows are suitable may be considered. Further, for example, when the replenishment position is either one of the farm road K1 and the farm road K2, a configuration in which two rows of seedlings are planted only in either one of the second outer peripheral already-worked area SA2 and the fourth outer peripheral already-worked area SA4 may be employed.

[0113] (8) In the above-described embodiment, the traveling machine body C enters and exits the field while traveling straight or substantially straight in the vicinity of 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, immediately after the traveling machine body C enters the field, it may make a large left turn, and the traveling machine body C may travel around the field clockwise, so that the calculation of the field shape and the planting operation may be performed. Further, in addition to those illustrated in FIGS. 8, 12, and 13, the circular traveling path LML, the circular traveling path LM11, and the circular traveling path LM12 may be counterclockwise circular paths. In this case, after the traveling machine body C travels around the circular traveling path LML or the circular traveling path LM12 counterclockwise, it may exit 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 machine 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, the transplanting operation may be performed on the area of the overlapping width OW in the final circular area SA5. Further, in the working travel based on the last target travel path LM2, the transplanting operation may be performed on the area of the overlapping width OW in the final circular area 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 traveling path LML, the seedlings that have been transplanted earlier in the area of the overlapping width OW will be trampled by the travel of the traveling machine body C, but the transplanting operation may be performed over the entire width of the seedling planting device W to replant the seedlings.

[0116] Also in the embodiment shown in FIG. 12, when the working travel is performed along the circumferential travel path LM11, the transplanting work may be performed over the entire width of the seedling planting device W. In this case, the outer peripheral region SA11 as the already-worked region shown in FIG. 13 spreads to the outside of the field, and the width of the outer peripheral region SA12 is narrowed. Even in this case, when the working travel is performed along the circumferential travel path LM12, the region where the seedlings have been trampled by the travel of the traveling 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 includes a spraying device for chemical liquid or the like in a ride-on type management machine. In this case, the “planting and seeding work” in the present invention also includes the spraying work of chemical liquid or the like.

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

[0119] (13) The technical features of the automatic travel 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 applicable to a rice transplanter, a seeding machine, and a ride-on type management machine, and is also applicable to an automatic travel control system for a rice transplanter, a seeding machine, and a ride-on type management machine. That is, the planting and seeding type working machine includes a ride-on type rice transplanter, a ride-on type seeding machine, a ride-on type management machine, and the like.

[0120] Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. In addition, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, 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 seeding and planting work machine that automatically travels in a field and an automatic travel control system for the seeding and planting work machine.

Explanation of Signs

[0122] 51B: Automatic travel control unit 52B: Automatic work control unit 54: Route setting unit 55B: Field shape calculation unit 80A: Satellite positioning unit C: Traveling body E: Entrance / exit K1: Farm road (refueling position) K2: Farm road (refueling position) LM: Target travel route TM: Turning 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) SA1: First outer peripheral already-worked area (outer peripheral already-worked area) SA2: Second outer peripheral already-worked area (outer peripheral already-worked area) SA3: Third outer peripheral already-worked area (outer peripheral already-worked area) SA4: Fourth outer peripheral already-worked area (outer peripheral already-worked area) W: Seedling planting device (working device)

Claims

1. A satellite positioning unit capable of detecting the position of a traveling machine body using navigation satellites, A working device capable of performing a seeding and planting operation of seeds on a field, A field shape calculation unit capable of calculating a field shape based on circular travel in which the clutch state of the working device is changed to change the working width of the seeding and planting operation at a partial travel distance with respect to the seeding and planting operation by the working device, A route setting unit capable of setting a target travel route along which the traveling machine body travels while performing the seeding and planting operation based on the field shape, An automatic travel control unit capable of automatic travel control for controlling the traveling machine body to travel along the target travel route based on the position of the traveling machine body, and is provided, The route setting unit is configured to be able to set the target travel route inside the outer peripheral already-worked area formed by the circular travel for calculating the field shape, The automatic travel control by the automatic travel control unit includes controlling the traveling machine body to travel along a circular travel route, The route setting unit is configured to be able to set the circular travel route so that when the automatic travel control in the circular travel route is completed, it is located within a preset range from an entrance / exit through which the traveling machine body can enter and exit the field. A working machine or an automatic travel control system for a working machine.

2. A spare seedling frame for supporting a spare seedling table, Further comprising an inertial measurement unit capable of detecting the orientation of the traveling machine body, The working device is a seedling planting device, and the satellite positioning unit is supported above the spare seedling frame. The working machine or the automatic travel control system for a working machine according to claim 1.

3. Further comprising a chemical spraying device for spraying a chemical, The chemical spraying device sprays the chemical every time a predetermined number of plants are planted. The working machine or the automatic travel control system for a working machine according to claim 2.

4. The working machine or the automatic travel control system for a working machine according to any one of claims 1 to 3, further comprising a ridge edge detection sensor capable of detecting the ridge edge of the field.

Images