Field implements

Abstract

To provide a technology capable of improving safety of a field work machine provided to be capable of driving on its own.SOLUTION: An exemplary field work machine is provided to be capable of driving on its own in a farm field. The field work machine comprises a driving seat that is arranged in a machine body, an armrest that is provided for the driving seat, and a control part for performing control associated with autonomous traveling. The control part prohibits the autonomous traveling by detecting a prescribed action performed for the armrest by an operator on the machine body.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a field working machine.

Background Art

[0002] There is known a working machine having an automatic steering function for automatically steering a steering so as to follow a target traveling path based on position information measured by a positioning unit (see, for example, Patent Document 1). In Patent Document 1, as an example of an automatic steering release condition, it is mentioned that the driver grips the steering wheel again from a state of having released the hand from the steering wheel.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional configuration, when the driver grips the steering wheel during automatic steering, the automatic steering is stopped. For this reason, when performing automatic steering, the driver cannot grip the steering wheel, and there is a possibility that the posture becomes unstable. Considering this point, it is conceivable to provide an armrest on the driver's seat. By providing the armrest, the driver can stabilize the posture by gripping the armrest or the like.

[0005] However, in configurations where an armrest is provided, it is convenient to have a configuration that allows the armrest to be flipped up, for example, to facilitate tasks such as transplanting seedlings. In such a configuration, there is a concern that the driver's posture may become unstable when automatic steering is performed with the armrest flipped up. Also, if the driver wants to emergency stop the automatic steering, they will need to operate the steering wheel while gripping the armrest, which may cause delays before the emergency stop can be achieved.

[0006] The present invention aims to provide a technology that can improve the safety of field implements that are capable of autonomous driving. [Means for solving the problem]

[0007] An exemplary field implement of the present invention is a field implement that is capable of automatically traveling in a field, comprising: a driver's seat located on the machine body; an armrest provided on the driver's seat; and a control unit that performs control related to the automatic travel. The control unit detects a predetermined movement of an operator on the machine body toward the armrest and prohibits the automatic travel. [Effects of the Invention]

[0008] According to an exemplary example of the present invention, the safety of field implements that are capable of autonomous driving can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] Side view showing the general configuration of a rice transplanter. [Figure 2] Plan view showing the general configuration of a rice transplanter. [Figure 3] Block diagram showing the general configuration of a rice transplanter. [Figure 4] A flowchart illustrating an example of the transition process from manual to automatic driving mode in a rice transplanter. [Figure 5] A flowchart illustrating an example of the transition process from automatic to manual driving mode in a rice transplanter. [Figure 6A] Diagram illustrating the configuration of the armrest. [Figure 6B] Diagram illustrating the configuration of the armrest. [Figure 7] A flowchart illustrating an example of controlling the driving mode related to the armrest in a rice transplanter. [Figure 8A] Diagram illustrating the configuration of the armrest in a modified example. [Figure 8B] Diagram illustrating the configuration of the armrest in a modified example. [Figure 9] Flowchart showing an example of controlling the driving mode using a seedling remaining amount detection sensor. [Figure 10] Figure 9 is a diagram explaining how to determine "N times". [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts will be denoted by the same reference numerals and will not be repeated in the description. In this specification, the direction perpendicular to the travel plane S on which the field implement 1 shown in Figure 1 travels is defined as the up-down direction, and the field implement 1 side is defined as being above the travel plane S. The direction in which the field implement 1 travels in a straight line is defined as the front-rear direction, and the front-rear direction is defined as the steering handle 20 being in front of the driver's seat 19. The direction perpendicular to the up-down and front-rear directions is defined as the left-right direction, and the side that is to the right when looking from rear to front is defined as right, and the side that is to the left is defined as left. These directions are merely names used for explanatory purposes and are not intended to limit the actual positional relationships and directions.

[0011] In this embodiment, the field implement 1 is a rice transplanter. Hereafter, the field implement 1 will be referred to as the rice transplanter 1. However, the field implement of the present invention may be something other than a rice transplanter. The field implement may be, for example, a combine harvester or a tractor. The field implement may also be a seeder that travels while sowing seeds in the field, a fertilizer spreader that travels while applying fertilizer to the field, or a pesticide sprayer that travels while spraying pesticides to the field, etc.

[0012] <1. Configuration of the rice transplanter> FIG. 1 is a side view showing a schematic configuration of a rice transplanter 1 according to an embodiment of the present invention. FIG. 1 is specifically a left side view. FIG. 2 is a plan view showing a schematic configuration of the rice transplanter 1 according to an embodiment of the present invention. FIG. 2 is specifically a top view.

[0013] The rice transplanter 1 is provided so as to be able to automatically travel in a field. The automatic travel means a state in which devices related to travel are automatically controlled by a control unit 50 (see FIG. 3 described later) provided in the rice transplanter 1, and at least steering is autonomously performed along a predetermined route. The automatic travel may be configured such that, in addition to steering, for example, the vehicle speed is autonomously controlled. The control of the vehicle speed may include control for stopping the travel of the rice transplanter 1.

[0014] While traveling in the field, the rice transplanter 1 performs a planting operation of planting seedlings on the ground of the field. As shown in FIGS. 1 and 2, the rice transplanter 1 includes a machine body 11 and a working device 12 disposed behind the machine body 11.

[0015] The machine body 11 includes a machine body frame 13 and a pair of traveling units 14 that support the machine body frame 13 and are arranged at intervals in the left - right direction. Each traveling unit 14 includes a front wheel 14a and a rear wheel 14b. A bonnet 15 is disposed on the front side of the machine body frame 13. An engine 16 is provided inside the bonnet 15. The power generated by the engine 16 is transmitted to at least one of the front wheel 14a and the rear wheel 14b via a transmission case 17 disposed below the machine body frame 13. The power generated by the engine 16 is also transmitted to the working device 12 via the transmission case 17 and a power take - off shaft (hereinafter referred to as "PTO shaft 18") disposed behind the machine body frame 13.

[0016] The machine body 11 further includes a driver's seat 19 and a plurality of operating members. That is, the rice transplanter 1 includes a driver's seat 19 arranged on the machine body 11. An operator boarding the machine body 11 can sit on the driver's seat 19. The driver's seat 19 is arranged between the front wheels 14a and the rear wheels 14b in the front-rear direction of the machine body 11. An armrest 191 is provided on the driver's seat 19. That is, the rice transplanter 1 includes an armrest 19 on the driver's seat 19. Details of the armrest 191 will be described later. The plurality of operating members include a steering handle 20, a speed change operation pedal 21, a main speed change lever 22, and a planting clutch lever 23.

[0017] The steering handle 20 is a handle for an operator to steer the rice transplanter 1. The speed change operation pedal 21 is a pedal for an operator to adjust the traveling speed of the rice transplanter 1. The main speed change lever 22 is, for example, a lever configured such that an operator can select "forward", "backward", "stop", etc. When the main speed change lever 22 is operated to the "forward" position, power is transmitted so that the wheels rotate in the direction of moving the rice transplanter 1 forward. On the other hand, when the main speed change lever 22 is operated to the "backward" position, power is driven so that the wheels rotate in the direction of moving the rice transplanter 1 backward. When the main speed change lever 22 is operated to the "stop" position, the transmission of power to the wheels is cut off. Note that "forward" may be divided into "low speed" for traveling in the field and "high speed" for traveling outside the field. The planting clutch lever 23 is a lever for an operator to switch between a transmission state in which the planting clutch transmits power to the PTO shaft 18 (that is, the planting device) and a cutoff state in which power is not transmitted.

[0018] The working device 12 specifically includes a planting device 24 and a fertilizer application device 25. That is, the rice transplanter 1 includes a planting device 24 and a fertilizer application device 25.

[0019] The planting device 24 is connected to the rear of the machine body 11 via a lifting link mechanism 26. The lifting link mechanism 26 consists of parallel links including a top link 26a and a lower link 26b. In the lifting link mechanism 26, the lower link 26b is connected to the lifting cylinder 27 of the lifting device. The lifting device can raise and lower the planting device 24 relative to the machine body 11 by extending and retracting the lifting cylinder 27.

[0020] The planting device 24 has a seedling tray 28. The planting device 24 has a planting input case section 29, a plurality of planting units 30, and a plurality of floats 31. The planting device 24 sequentially supplies seedlings from the seedling tray 28 to each planting unit 30, and continuously plants seedlings.

[0021] Each planting unit 30 has a planting transmission case section 32 and a rotating case section 33. Power is transmitted to the planting transmission case section 32 via a PTO shaft 18 and a planting input case section 29. The rotating case section 33 is rotatably attached to the planting transmission case section 32. The rotating case sections 33 are positioned on both sides of the planting transmission case section 32 in the left-right direction. Two planting claws 34 are attached to one side of each rotating case section 33 in the left-right direction. The two planting claws 34 are arranged in the front-rear direction of the rice transplanter 1. The two planting claws 34 are displaced as the rotating case section 33 rotates. The displacement of the two planting claws 34 is used to plant one row of seedlings.

[0022] The seedling tray 28 is positioned in front of and above the multiple planting units 30. The seedling tray 28 can hold seedling mats. The seedling tray 28 can supply seedlings from the seedling mats placed on it to each set of planting claws 34 (two planting claws 34 constitute one set of planting claws). The seedling tray 28 can hold a predetermined number of seedling mats for each set of planting claws 34 (i.e., each row). In this embodiment, the seedling tray 28 is, for example, a seedling tray for planting six rows. The seedling tray 28 can hold a predetermined number of seedling mats (for example, two) for each of the six sets of planting claws 34.

[0023] Specifically, the seedling tray 28 is configured to move laterally in a reciprocating motion (i.e., to slide laterally). In other words, the planting device 24 is provided with a seedling tray lateral movement mechanism for moving the seedling tray 28 laterally. The seedling tray 28 is also configured to intermittently transport the seedling mat downwards vertically at the reciprocating end of the seedling tray 28. In other words, the planting device 24 is provided with a seedling vertical transport mechanism for transporting the seedling mat on the seedling tray 28 vertically. The seedling tray lateral movement mechanism and the seedling vertical transport mechanism may be known configurations.

[0024] The float 31 is pivotably mounted at the bottom of the planting device 24. When the lower surface of the float 31 contacts the field surface, the planting posture of the planting device 24 is stabilized relative to the field surface.

[0025] During the seedling planting operation, the seedling tray 28 is moved laterally from side to side by the seedling tray lateral feeding mechanism, and one seedling from the seedling mat near the seedling removal opening (located at the lower end of the seedling tray 28) is scraped off by the planting claws 34. This scraped-off seedling is then planted on the leveled field surface (field surface) by the float 31. When the seedling tray 28, which has been moved laterally by the seedling tray lateral feeding mechanism, reaches the left-right end of the movement, the seedling vertical feeding mechanism activates the seedling vertical feeding belt 35 (see Figure 2), and the seedling mat on the seedling tray 28 is transported in the seedling removal direction (downward and backward). When the seedling vertical feeding operation by the seedling vertical feeding belt 35 is completed and the seedling vertical feeding belt 35 stops, the seedling tray lateral feeding mechanism moves the seedling tray 28 laterally again toward the opposite left-right end of the movement. This operation is repeated during the seedling planting operation.

[0026] The fertilizer applicator 25 is positioned on the machine frame 13 behind the driver's seat 19. That is, the rice transplanter 1 is equipped with a fertilizer applicator 25 supported by the machine body 11. The fertilizer applicator 25 has multiple fertilizer units (not shown) arranged in a left-right direction. The fertilizer applicator 25 has an openable and closable lid 25a. When the lid 25a, which is positioned on the upper surface of the main body 25b, is opened, the fertilizer units positioned inside the main body 25b are exposed. Each fertilizer unit has a hopper for containing granular fertilizer, a supply device for supplying a predetermined amount of granules from the hopper, and a hose connected to the bottom of the supply device. The other end of each hose extends to the side of the planting position of each row of the planting device 24. A fan 36 is provided on one side of the fertilizer unit, and air from the fan 36 is sent into the hose. The granular material supplied from the supply device is transported to the vicinity of the planting site by air blown into the hose and then discharged into the field.

[0027] A spare seedling tray 37 is positioned at the front of the machine body 11. In other words, the rice transplanter 1 is equipped with a spare seedling tray 37 for holding spare seedlings. Specifically, the spare seedling trays 37 are provided on the left and right sides at the front of the machine body 11. In addition, multiple spare seedling trays 37 are provided on each of the left and right sides. The spare seedling trays 37 are positioned on the left and right outer sides of the bonnet 15. The spare seedling trays 37 can carry seedling boxes containing spare seedling mats. When the seedling mats on the seedling tray 28 run out, the operator transfers the seedling mats from the spare seedling tray 37 to the seedling tray 28.

[0028] The support frames 37a of the left and right spare seedling trays 37 are connected by connecting frames 38 that extend in the vertical and horizontal directions. A housing 39 is provided in the center of the connecting frame 38 in the horizontal direction. A positioning antenna 40, an inertial measuring device 41, and a communication antenna 42 are arranged inside the housing 39.

[0029] The positioning antenna 40 receives radio waves (positioning signals) from positioning satellites that constitute the Global Navigation Satellite System (GNSS). The inertial measurement device 41 includes a 3-axis angular velocity sensor and a 3-axis acceleration sensor. The communication antenna 42 is an antenna for wireless communication with a portable communication terminal (not shown) that can be brought into or taken away from the rice transplanter 1 by an operator. Wireless communication may utilize Wi-Fi® or other wireless LAN (Local Area Network) and Bluetooth® or other short-range wireless communication technologies. The portable communication terminal is not a required component and may be omitted. In other words, the communication antenna 42 is not a required component and may be omitted. The rice transplanter 1 may also be equipped with a portable communication antenna for communication using a mobile phone line and the internet. The aforementioned portable communication terminal may be a mobile phone.

[0030] Figure 3 is a block diagram illustrating the schematic configuration of the rice transplanter 1. Note that Figure 3 shows the components necessary to explain the features of the embodiment, and general components are omitted.

[0031] As shown in Figure 3, the rice transplanter 1 is equipped with a control unit 50. The control unit 50 broadly controls the overall operation of the rice transplanter 1. In this embodiment, the control unit 50 performs control related to automatic driving.

[0032] The control unit 50 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 51. The arithmetic unit is a processor or microprocessor, etc. The storage unit 51 is a main memory such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 51 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 51. The arithmetic unit reads various programs from the storage unit 51 and executes them.

[0033] Through the cooperation of the above hardware and software, the control unit 50 can be operated as a driving mode control unit 52, a driving control unit 53, a work device control unit 54, and a notification control unit 55. The control unit 50 may consist of a single piece of hardware, or it may consist of multiple pieces of hardware that can communicate with each other.

[0034] The functional units 52-55 of the control unit 50 may be implemented by having a program executed by the arithmetic unit, i.e., by software, as described above, but they may also be implemented by other methods. Each functional unit 52-55 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, each functional unit 52-55 may be implemented by hardware using a dedicated IC or the like. Furthermore, each functional unit 52-55 may be implemented using a combination of software and hardware. Moreover, each functional unit 52-55 is a conceptual component. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into one component.

[0035] In addition to the inertial measuring device 41 mentioned above, the control unit 50 is electrically connected to a position acquisition unit 61, an automatic driving operation unit 62, a steering actuator 63, a supply amount setting unit 64, a notification unit 65, and various sensors. The various sensors include a vehicle speed sensor 71, a steering angle sensor 72, a planting clutch sensor 73, a seedling remaining amount detection sensor 74, a spare seedling sensor 75, a seating sensor 76, an armrest position detection sensor 77, and a cover sensor 78.

[0036] The position acquisition unit 61 acquires the position of the rice transplanter 1, for example, as latitude and longitude information, using positioning signals received by the positioning antenna 40 from positioning satellites. The position acquisition unit 61 may, for example, receive positioning signals from a reference station (not shown) in an appropriate manner and then perform positioning using the known RTK-GNSS (Real Time Kinematic GNSS) method. The reference station is installed at a known location around the field. Alternatively, the position acquisition unit 61 may perform positioning using the DGNSS (Differential GNSS) method. Alternatively, the position acquisition unit 61 may acquire the position based on radio wave strength such as that of a wireless LAN, or by inertial navigation using the measurement results of the inertial measuring device 41.

[0037] The automatic driving control unit 62 includes an operating unit that enables the automatic driving to be turned on and off. This operating unit may consist of, for example, buttons, levers, dials, or touch panels. In this embodiment, the automatic driving control unit 62 is installed on the rice transplanter 1. However, the automatic driving control unit 62 may be installed on the portable communication terminal described above. That is, the automatic driving control unit 62 may be installed in a location away from the rice transplanter 1 so that it can be operated.

[0038] The steering actuator 63 enables automatic steering of the steering wheel 20. The steering actuator 63 may, in detail, be a motor (steering motor). The motor is connected to the steering shaft (not shown), to which the steering wheel 20 is attached, via a gear mechanism (not shown). The motor is capable of controlling the direction of rotation, rotational speed, and rotational angle. When the motor's rotation axis rotates, power is transmitted via the gear mechanism, causing the steering shaft to rotate automatically. In other words, the steering wheel 20 can be automatically steered using the motor.

[0039] The supply amount setting unit 64 is provided for setting the amount of fertilizer supplied by the fertilizer applicator 25. That is, the fertilizer applicator 25 has a supply amount setting unit 64 for setting the amount of fertilizer supplied. The supply amount setting unit 64 may be located, for example, on or near the main body 25b of the fertilizer applicator 25. Alternatively, the supply amount setting unit 64 may be located, for example, on or around the steering handle 20.

[0040] The notification unit 65 is a means for notifying workers of matters to be communicated, such as warnings, under the control of the control unit 50. The notification unit 65 may be, for example, a sound generating means such as a buzzer, a voice generating means such as a speaker, a display means such as a monitor, a light emitting means such as a warning light, or a communication means for distributing emails, etc. The notification unit 65 may be configured to include at least one of these means.

[0041] The vehicle speed sensor 71 measures the vehicle speed of the rice transplanter 1. The vehicle speed sensor 71 is installed on the axle of the front wheel 14a or the like. When the vehicle speed sensor 71 is installed on the axle of the front wheel 14a, the vehicle speed sensor 71 generates pulses corresponding to the rotation of the axle of the front wheel 14a. The measurement results obtained by the vehicle speed sensor 71 are output to the control unit 50.

[0042] The steering angle sensor 72 measures the steering angle of the front wheel 14a. The steering angle sensor 72 is installed, for example, on the kingpin of the front wheel 14a. However, the steering angle sensor 72 may also be installed on the steering wheel 20 or the like. The measurement result obtained by the steering angle sensor 72 is output to the control unit 50.

[0043] The planting clutch sensor 73 detects the position or operation of the planting clutch lever 23. The detection result obtained by the planting clutch sensor 73 is output to the control unit 50. Based on the detection result of the planting clutch sensor 73, the control unit 50 can determine whether or not the planting device 24 is performing planting work. Alternatively, the control unit 50 may determine whether or not planting work is being performed based on the state of another component (for example, whether or not the PTO shaft 18 downstream of the planting clutch is rotating) instead of the planting clutch lever 23.

[0044] The seedling remaining quantity detection sensor 74 detects the remaining quantity of seedlings placed on the seedling tray 28. The seedling remaining quantity detection sensor 74 may be a sensor that directly detects the remaining quantity or a sensor that detects it indirectly. The seedling remaining quantity detection sensor 74 outputs the detection result regarding the remaining quantity of seedlings to the control unit 50. The remaining quantity of seedlings may be given, for example, by the weight of the seedlings, in which case the seedling remaining quantity detection sensor 74 may be a weight sensor. In this embodiment, the seedling tray 28 is a seedling tray for planting multiple rows. For this reason, it is preferable that the seedling remaining quantity detection sensor 74 be provided so as to be able to detect the remaining quantity of seedlings for each row. Multiple seedling remaining quantity detection sensors 74 may be provided.

[0045] In this embodiment, the seedling remaining amount detection sensor 74 is provided on the planting device 24. That is, the planting device 24 has a seedling remaining amount detection sensor 74 that detects the amount of seedlings remaining on the seedling tray 28. The seedling remaining amount detection sensor 74 of the planting device 24 is composed of a sensor different from the weight sensor. The seedling remaining amount detection sensor 74 is composed of a seedling detection sensor and an edge alignment detection sensor. The method for detecting the amount of seedlings remaining using the seedling detection sensor and the edge alignment detection sensor will be described later.

[0046] The spare seedling sensor 75 detects the presence or absence of a seedling mat on the spare seedling stand 37. The spare seedling sensor 75 outputs the detection result of the seedling mat to the control unit 50. A spare seedling sensor 75 is provided on each spare seedling stand 37. That is, each spare seedling stand 37 has a spare seedling sensor 75 that detects the presence or absence of a seedling mat on the stand. The spare seedling sensor 75 may be a mechanical switch that switches on when a seedling mat is present and off when a seedling mat is absent. For example, the spare seedling sensor 75 may consist of a detection piece that moves in and out of an opening formed in the spare seedling stand 37, and a switch body whose contacts are switched based on the displacement of the detection piece.

[0047] The seating sensor 76 detects when an operator sits in the driver's seat 19. That is, the rice transplanter 1 is equipped with a seating sensor 76 that detects when an operator sits in the driver's seat 19. The seating sensor 76 outputs the seating detection result to the control unit 50. The seating sensor 76 may include at least one of a camera, a pressure sensor, and a light sensor. The light sensor may be configured to detect, for example, the legs of an operator sitting in the driver's seat 19. The seating sensor 76 may also be a physical switch or an ultrasonic sensor, etc.

[0048] If the seating sensor 76 is a camera, the camera may be configured to capture still images or video. The camera may be a camera fixed to the rice transplanter 1 or a camera built into a portable device (for example, a smartphone or tablet). The camera should be positioned to capture a certain range including the driver's seat 19. The system may be configured to detect the presence of a worker by comparing an image previously captured by the camera with the current image. Alternatively, the system may be configured to detect the presence of an object that can be identified as a person within a predetermined range of the image captured by the camera. Using a camera to detect seating reduces false detections compared to using sensors that are easily affected by environmental factors such as temperature and light intensity. Furthermore, using a camera for seating sensor 76 allows for the detection of someone other than a pre-registered person sitting in the driver's seat 19, which can be used for theft prevention. Additionally, recording the video captured by the camera makes it possible to use it for investigating the cause of accidents.

[0049] The armrest position detection sensor 77 detects the position of the armrest 191 provided on the driver's seat 19. The armrest position detection sensor 77 outputs the detected position of the armrest 191 to the control unit 50. Details of the armrest position detection sensor 77 will be described later.

[0050] The lid sensor 78 detects the opening and closing of the lid 25a of the fertilizer applicator 25. The lid sensor 78 outputs the detection result regarding the opening and closing of the lid 25a to the control unit 50. The lid sensor 78 may be, for example, a physical switch. For example, the lid sensor 78 may be configured such that the switch turns on when the lid 25a is opened and turns off when the lid 25a is closed.

[0051] The driving mode control unit 52 controls the switching between manual driving mode and automatic driving mode. Details of this switching control will be described later. Manual driving mode is a mode in which an operator sitting in the driver's seat 19 of the rice transplanter 1 operates the rice transplanter 1. Automatic driving mode is a mode in which the rice transplanter 1 is driven automatically within the field. In automatic driving mode, for example, the operation of the steering handle 20 is controlled automatically, while the operation of the vehicle speed and the operation of the work device 12 are controlled manually by the operator sitting in the driver's seat 19. As another example, in automatic driving mode, the operator may be seated on the rice transplanter 1, and the machine may be configured to perform work by driving straight and turning automatically. In this configuration, for example, it may be possible to switch between automatic and manual control of the vehicle speed and the operation of the work device 12.

[0052] If the driving mode is manual driving mode, the driving control unit 53 controls the driving of the rice transplanter 1 in accordance with the manual operation of the operator sitting in the driver's seat 19. If the driving mode is automatic driving mode, the driving control unit 53 automatically controls at least a part of the driving system of the rice transplanter 1. For example, the driving control unit 53 automatically controls the steering so that the rice transplanter 1 travels along a predetermined path. When automatic steering is performed, the driving control unit 53 controls the steering to bring the current steering angle detected by the steering angle sensor 72 closer to a target steering angle. Steering angle control is achieved by driving control of the steering actuator 63. Also, when the vehicle speed is automatically controlled, the driving control unit 53 controls the steering to bring the current vehicle speed detected by the vehicle speed sensor 71 closer to a target vehicle speed. Vehicle speed control is achieved by changing at least one of the gear ratio of the transmission in the transmission case 17 or the rotational speed of the engine 16.

[0053] The driving control unit 53 performs control related to the engine 16. The control related to the engine 16 may include a control that reduces the rotation speed of the engine 16 when an incoming call is received on the mobile phone (smartphone, etc.) of the operator riding the rice transplanter 1 while the machine is in operation. This reduces engine noise, making it easier for the operator to recognize that an incoming call has been received on their mobile phone. It also makes it easier to hear the voice of the person on the other end of the call. Furthermore, it reduces the inconvenience of manually operating the rotation speed of the engine 16. To realize such control, the mobile phone and the control unit 50 are configured to be able to communicate wirelessly. For example, Bluetooth may be used for wireless communication. In addition, the engine 16 may be configured to automatically return to its original rotation speed when the call on the mobile phone ends.

[0054] If the operation of the work device 12 is performed manually, the work device control unit 54 controls the planting device 24 in accordance with manual operation such as the operation lever provided on the rice transplanter 1. If the operation of the work device 12 is performed automatically, the work device control unit 54 automatically controls, for example, the raising and lowering of the planting device 24. In addition, the work device control unit 54 controls the fertilizer applicator 25 to supply fertilizer according to the setting of the supply amount setting unit 64.

[0055] The notification control unit 55 controls the notification unit 65. The notification control unit 55 causes the notification unit 65 to perform a notification operation when predetermined conditions are met. These predetermined conditions are met, for example, when it is determined that a situation has occurred in the rice transplanter 1 that warrants warning the operator. Detailed examples of these predetermined conditions will be described later.

[0056] <2. Control related to driving modes> [2-1. Manual driving mode → Automatic driving mode] Figure 4 is a flowchart showing an example of the transition process from manual driving mode to automatic driving mode in a rice transplanter 1 according to an embodiment of the present invention. Normally, the rice transplanter 1 is in manual driving mode when the engine 16 is started.

[0057] In step S1, the control unit 50 (driving mode control unit 52) ​​monitors whether or not a command to start the automatic driving mode has been received. In this embodiment, the start command is realized by an operator operating the automatic driving operation unit 62. If a start command is received (Yes in step S1), the process proceeds to the next step S2. If there is no start command (No in step S1), the process in step S1 continues.

[0058] In step S2, the control unit 50 (driving mode control unit 52) ​​determines whether the conditions for starting automatic driving are met. There may be only one condition for starting automatic driving, but in this embodiment there are multiple conditions. The conditions for starting automatic driving include that a route for the field in which automatic driving will be performed has been set. The conditions for starting automatic driving also include that the reception level of the positioning antenna 40 is good (above a predetermined level).

[0059] In this embodiment, the conditions for starting automatic driving include the detection result of the armrest position detection sensor 77 satisfying predetermined conditions. The position of the armrest 191 and the control of the corresponding driving mode will be described later.

[0060] In addition, the conditions for starting automatic driving may include the operator being seated in the driver's seat 19. That is, the control unit 50 (driving mode control unit 52) ​​may be configured to make the operator being seated in the driver's seat 19 a condition for starting automatic driving. With such a configuration, it is possible to prevent automatic driving from starting when the operator riding in the rice transplanter 1 is away from the driver's seat 19, thereby improving the safety of the rice transplanter 1. Whether or not the operator is seated in the driver's seat 19 can be determined from the output information from the seating sensor 76.

[0061] Furthermore, the conditions for starting automatic driving may include the supply amount setting unit 64 of the fertilizer applicator 25 being in an unoperated state. That is, the control unit 50 (driving mode control unit 52) ​​may be configured to make the unoperated state of the supply amount setting unit 64 a condition for starting automatic driving. For example, if the supply amount setting unit 64 is located on or near the main body 25b of the fertilizer applicator 25, the operator who operates the supply amount setting unit 64 will be in a position other than the driver's seat 19. If the unoperated state of the supply amount setting unit 64 is made a condition for starting automatic driving, it is possible to prevent automatic driving from starting in such a state, thereby improving safety. Note that the term "operator" here may include not only the person who operates the rice transplanter 1, but also persons who ride in the rice transplanter 1 to provide work assistance (hereinafter referred to as "assistant workers"). Furthermore, whether or not the supply amount setting unit 64 is in an unoperated state may be determined by monitoring fluctuations in the set value of the supply amount. For example, if the set value of the supply amount remains constant for a predetermined period, the supply amount setting unit 64 may be determined to be in an unoperated state.

[0062] Furthermore, the conditions for starting automatic driving may include the lid 25a of the fertilizer applicator 25 being closed. That is, the control unit 50 (driving mode control unit 52) ​​may be configured to use the closed state of the lid 25a as a condition for starting automatic driving. With such a configuration, for example, it is possible to prevent automatic driving from starting when an operator is adding fertilizer to the hopper of the fertilizer applicator 25. In other words, safety in the rice transplanter 1 can be improved. Note that whether or not the lid 25a is in the closed state can be determined by the output information from the lid sensor 78.

[0063] In addition, the conditions for starting automatic driving may include the detection by the spare seedling sensor 75 that a seedling mat is placed on the spare seedling tray 37.

[0064] If it is determined that the conditions for starting automatic driving are met (Yes in step S2), the driving mode control unit 52 switches the driving mode from manual driving mode to automatic driving mode. This starts automatic driving. On the other hand, if it is determined that the conditions for starting automatic driving are not met (No in step S2), the process proceeds to step S3.

[0065] In step S3, the control unit 50 (notification control unit 55) uses the notification unit 65 to notify the operator that automatic driving cannot be started. Preferably, the notification unit 65 also notifies the operator of the reason why automatic driving cannot be started. This allows the operator to quickly find out what to do to start automatic driving.

[0066] [2-2. Automatic driving mode → Manual driving mode] Figure 5 is a flowchart showing an example of the transition process from automatic driving mode to manual driving mode in a rice transplanter 1 according to an embodiment of the present invention. At the start of Figure 5, the rice transplanter 1 is driving automatically, and the driving mode is automatic driving mode.

[0067] In step S11, the control unit 50 (driving mode control unit 52) ​​monitors the operator performing a predetermined action. This monitoring is performed, for example, at regular intervals. The predetermined action to be monitored may be one type or multiple types. If there are multiple predetermined actions to be monitored, the operator performing any one of the predetermined actions is detected as having performed the predetermined action. The operator referred to here may include not only the person operating the rice transplanter 1 but also the aforementioned auxiliary operators.

[0068] In this embodiment, the predetermined actions include the operator operating the automatic driving control unit 62 to issue a command to cancel the automatic driving state. The predetermined actions also include the operator stopping the engine 16. The predetermined actions also include the operator on the machine body 11 operating the steering handle 20. The predetermined actions also include the operator on the machine body 11 setting the main gear lever 22 to "high speed" (travel speed) or "reverse". The predetermined actions also include the operator on the machine body 11 performing a first action on the armrest 191. The first action and the control of automatic driving associated with the first action will be described later.

[0069] In addition, the predetermined operation may include a second operation by an operator on the machine body 11 with respect to the fertilizer applicator 25. The operator referred to here may include not only the person operating the rice transplanter 1 but also the aforementioned auxiliary operators. The second operation may include an operation by the operator to operate the supply amount setting unit 64. The operation on the supply amount setting unit 64 can be detected by the control unit 50 by monitoring changes in the set value. The second operation may also include an operation by the operator to open the lid 25a from a closed state. Whether or not the lid 25a has been opened from a closed state can be detected using the lid sensor 78. The second operation may also include an operation to add fertilizer to the hopper of the fertilizer applicator 25. The addition of fertilizer to the hopper can be detected, for example, by monitoring the weight of the fertilizer in the hopper. That is, the operation to add fertilizer to the hopper may be detected when the weight of the fertilizer in the hopper increases.

[0070] Furthermore, the predetermined operation may include the operation of the operator changing from a seated state to an unseaten state in the driver's seat 19. Whether or not the operator has changed from a seated state to an unseaten state can be detected using the seating sensor 76.

[0071] Furthermore, the predetermined operation may include a third operation by the operator on the machine body 11 with respect to the spare seedling tray 37. The operator referred to here may include not only the person operating the rice transplanter 1 but also the aforementioned auxiliary operators. The third operation may include the operator removing the seedling mat from the spare seedling tray 37. The operator removing the seedling mat from the spare seedling tray 37 can be detected using the spare seedling sensor 75.

[0072] If the worker's prescribed action is detected (Yes in step S11), the process proceeds to step S13. On the other hand, if the worker's prescribed action is not detected (No in step S11), the process proceeds to step S12.

[0073] In step S12, the control unit 50 (driving mode control unit 52) ​​determines whether or not predetermined prohibition conditions are met. The predetermined prohibition conditions are conditions that should prohibit automatic driving, and are set in advance separately from the predetermined actions of the operator described above. There may be only one predetermined prohibition condition, but in this embodiment there are multiple. If even one of the multiple prohibition conditions is met, it is determined that the predetermined prohibition conditions have been met.

[0074] In this embodiment, the predetermined prohibition conditions include the rice transplanter 1 deviating from a predetermined distance (e.g., 60 cm) or more from a pre-set path. The predetermined prohibition conditions also include a decrease in the reception level of the positioning antenna 40 (falling below a predetermined level). Furthermore, the predetermined prohibition conditions include the machine body 11 tilting significantly forward / backward or left / right (tilting above a threshold). Finally, the predetermined prohibition conditions include the number of seedlings on the seedling tray 28 being below a predetermined amount. The method for determining whether the number of seedlings is below a predetermined amount will be described later.

[0075] If the predetermined prohibition conditions are met (Yes in step S12), the process proceeds to step S13. On the other hand, if the predetermined prohibition conditions are not met (No in step S12), the process returns to step S11.

[0076] In step 13, the control unit 50 (driving mode control unit 52) ​​performs a process to prohibit automatic driving. The process to prohibit automatic driving may be either a process that returns the automatic driving mode to manual driving mode while continuing the driving of the rice transplanter 1 (first process), or a process that stops the driving of the rice transplanter 1 and returns the automatic driving mode to manual driving mode (second process). Depending on the reason for prohibiting automatic driving, either the first or second process may be selected. If automatic driving is prohibited from a safety standpoint, it is preferable to perform the second process. In the following, the stopping of the driving of the rice transplanter 1 by the second process will be referred to as stopping automatic driving.

[0077] As can be seen from the above, in this embodiment, the control unit 50 detects a first action by the operator on the machine body 11 toward the armrest 191 and prohibits automatic driving. With this configuration, the operator can stop automatic driving by performing an action toward the armrest 191, which is likely to be where the operator seated in the driver's seat 19 has their hand during automatic driving. This allows the operator to quickly stop automatic driving. In other words, the safety of the rice transplanter 1 can be improved. Details of the first action will be described later.

[0078] Furthermore, in this embodiment, the control unit 50 prohibits automatic travel when it determines that the number of seedlings on the seedling tray 28 is below a predetermined amount. With this configuration, automatic travel can be stopped before all the seedlings on the seedling tray 28 are gone. A detailed example of the control method for the travel mode according to the remaining amount of seedlings will be described later.

[0079] Furthermore, the control unit 50 may detect a second action performed by an operator on the machine body 11 on the fertilizer applicator 25 and prohibit automatic travel. With this configuration, it is possible to prevent automatic travel from continuing while an operator (including an assistant operator) is performing work on the fertilizer applicator 25. In other words, the safety of the rice transplanter 1 can be improved. Specifically, the control unit 50 may stop automatic travel when it detects that an operator is operating the supply amount setting unit 64. After automatic travel has stopped, if it is detected that the supply amount setting unit 64 is not being operated and other conditions for starting automatic travel are met, automatic travel may be resumed. Furthermore, the control unit 50 may stop automatic travel when it detects that an operator has changed the lid 25a from a closed state to an open state. After automatic travel has stopped, if it is detected that the lid 25a is in a closed state and other conditions for starting automatic travel are met, automatic travel may be resumed. Furthermore, the control unit 50 may stop automatic travel when it detects that an operator is adding fertilizer to the hopper. Furthermore, if it is detected that no additional fertilizer has been added after the automatic driving has stopped, and other conditions for starting automatic driving are met, automatic driving may be resumed.

[0080] Furthermore, the control unit 50 may detect when the operator on the machine body 11 changes from a seated state to an unseaten state in the driver's seat 19 and prohibit automatic driving. With this configuration, automatic driving can be stopped when the operator (including assistant operators) is not seated in the driver's seat 19. In other words, the safety of the rice transplanter 1 can be improved. After automatic driving has stopped, if the operator is detected to be seated in the driver's seat 19 and other conditions for starting automatic driving are met, automatic driving may be resumed.

[0081] Furthermore, the control unit 50 may detect a third action by the operator on the machine body 11 toward the spare seedling tray 37 and prohibit automatic driving. With this configuration, it is possible to prevent automatic driving from continuing when there is a high probability that the operator (including an assistant operator) has left the driver's seat 19. In other words, the safety of the rice transplanter 1 can be improved. Specifically, the control unit 50 may stop automatic driving when it detects the operator taking a seedling mat off the spare seedling tray 37. After the seedling mat has been taken off the spare seedling tray 37, if it is detected that the seedling mat has been placed back on the spare tray 37 and other conditions for starting automatic driving are met, automatic driving may be resumed.

[0082] <3. Details of control related to the armrest> [3-1. Armrest Configuration] Figures 6A and 6B are diagrams illustrating the configuration of the armrest 191 according to an embodiment of the present invention. The posture of the armrest 191 differs between Figure 6A and Figure 6B.

[0083] As shown in Figures 6A and 6B, the driver's seat 19 has a seat portion 19a and a backrest portion 19b. The seat portion 19a is the part on which the worker rests their buttocks. The backrest portion 19b is the part on which the worker leans back. The driver's seat 19 is provided with a pair of left and right armrests 191. Each armrest 191 is rod-shaped and is provided so that the worker sitting in the driver's seat 19 can rest their arms on it.

[0084] A pair of armrests 191 are mounted in positions symmetrical with respect to the driver's seat 19. The left armrest 191L, located to the left of the driver's seat 19, is mounted on the left side of the backrest 19b. Specifically, one longitudinal end of the left armrest 191L ​​is mounted on the left side of the backrest 19b so as to be rotatable around an axis AX extending in the left-right direction. The right armrest 191R, located to the right of the driver's seat 19, is mounted on the right side of the backrest 19b. Specifically, one longitudinal end of the right armrest 191R is mounted on the right side of the backrest 19b so as to be rotatable around an axis AX extending in the left-right direction.

[0085] The left and right armrests 191L ​​and 191R are used in a position where their longitudinal direction extends in the front-to-back direction. That is, Figure 6A shows the left and right armrests 191L ​​and 191R in their usage positions. When the left and right armrests 191L ​​and 191R are in their usage positions, the left armrest 191L ​​and the right armrest 191R are positioned symmetrically with respect to the driver's seat 19.

[0086] In this embodiment, the armrest 191 is used by lowering its tip (the other end in the longitudinal direction) to its lowest position. The left and right armrests 191L ​​and 191R cannot be rotated downward from the use position shown in Figure 6A. The left and right armrests 191L ​​and 191R are placed in a non-use position by rotating them upward from the use position. In this embodiment, the armrest 191 can be rotated approximately 90° upward from the use position. Figure 6B shows the left armrest 191L ​​rotated approximately 90° upward from the use position. In Figure 6B, the left armrest 191L ​​is flipped up, so that its longitudinal direction extends vertically.

[0087] As can be seen from the above, the armrest 191 of this embodiment is provided so that its orientation can be changed between a usage position and a non-usage position. In this embodiment, the left and right armrests 191L ​​and 191R are configured to be able to be changed between a usage position and a non-usage position, but this is just an example. It is also possible to configure it so that only one of the left or right armrests can be changed between a usage position and a non-usage position.

[0088] When the armrest 191 is in the usable position, the user sitting in the driver's seat 19 can hold onto the armrest 191. Therefore, during automated driving when the user cannot grip the steering wheel 20, the user can hold onto the armrest 191 to stabilize their posture. By flipping the armrest 191 up from the usable position, the user can easily move from the driver's seat 19 without being obstructed by the armrest 191.

[0089] [3-2. Armrest position detection sensor] The armrest position detection sensor 77 (see Figure 3) is provided to detect whether the armrest 191 is in the usage position or the non-usage position. The armrest position detection sensor 77 can be configured, for example, using a potentiometer. Alternatively, the armrest position detection sensor 77 can be configured using a limit switch. In a configuration using a limit switch, for example, the limit switch may be turned on when the armrest 191 is in the usage position and turned off when the armrest 191 rotates from the usage position to the non-usage position.

[0090] [3-3. Control of Driving Modes] As described above, the control unit 50 detects a first action by the operator on the machine body 11 toward the armrest 191 and prohibits automatic driving. Specifically, the first action includes the operator changing the armrest 191 from the usage position to the non-usage position. With this configuration, it is possible to prevent automatic driving from occurring when the operator cannot firmly grip the armrest 191. In other words, the safety of the rice transplanter 1 can be improved. The position of the armrest 191, whether it is in the usage position or the non-usage position, is determined using the armrest position detection sensor 77.

[0091] Furthermore, in this embodiment, the control unit 50 sets the condition for starting automatic driving as the armrest 191 being in the usage position. This prevents automatic driving from being performed when the operator cannot firmly grip the armrest 191. In other words, the safety of the rice transplanter 1 can be improved.

[0092] Figure 7 is a flowchart illustrating an example of controlling the travel mode related to the armrest 191 in the rice transplanter 1. Note that the process shown in Figure 7 assumes that all conditions for starting automatic travel, except those related to the armrest 191, are met. At the start of the process shown in Figure 7, the travel mode is manual travel mode. Furthermore, the example shown in Figure 7 is a modified version that differs from the example shown in Figure 4.

[0093] In step S21, the control unit 50 (driving mode control unit 52) ​​determines whether the armrest 191 is in an unused position. This determination is made using the armrest position detection sensor 77. The unused position broadly includes any state in which the armrest 191 is not in the used position, but for example, the armrest 191 may be in a flipped-up position. Also, if the left and right armrests 191L ​​and 191R can be changed between the used position and the unused position, if either one is in the unused position, it is determined that the armrest 191 is in an unused position. If the armrest 191 is in an unused position (Yes in step S21), the process proceeds to the next step S22. If the armrest 191 is in the used position (No in step S21), the process proceeds to step S23.

[0094] In step S22, the control unit 50 (notification control unit 55) notifies the notification unit 65 that "to start automatic driving, please lower the armrest." In other words, the control unit 50 performs a process to inform the operator that automatic driving cannot be started because the posture (position) of the armrest 191 is not appropriate. If the process in step S22 is performed, the manual driving mode is maintained.

[0095] In step S23, the control unit 50 (driving mode control unit 52) ​​determines whether or not there is a command to start automatic driving. The command to start automatic driving is given by an operator operating the automatic driving operation unit 62. If there is a command to start automatic driving (Yes in step S23), the process proceeds to the next step S24. If there is no command to start automatic driving (No in step S23), the manual driving mode is maintained.

[0096] In step S24, the control unit 50 (driving mode control unit 52) ​​switches the driving mode from manual driving mode to automatic driving mode. This initiates automatic driving. Once the vehicle switches to automatic driving mode, the process proceeds to the next step S25.

[0097] In step S25, the control unit 50 (notification control unit 55) notifies the operator, "Please use the armrest." In other words, it informs the operator of the recommended posture during automatic driving. This increases the likelihood that the operator will grasp the armrest 191. Once the notification process is complete, or in parallel with the notification process, the process in step S26 is performed.

[0098] In step S26, the control unit 50 (driving mode control unit 52) ​​monitors whether the armrest 191 has been changed to the non-use position. If the armrest 191 is in the non-use position (Yes in step S26), the process proceeds to the next step S27. If the armrest 191 remains in the use position (No in step S26), the automatic driving mode is maintained. That is, automatic driving continues.

[0099] In step S27, the control unit 50 (driving mode control unit 52) ​​stops automatic driving and switches the driving mode from automatic driving mode to manual driving mode. Once the driving mode is set to manual driving mode, the process proceeds to the next step S28.

[0100] In step S28, the control unit 50 (notification control unit 55) notifies the notification unit 65 that "To start automatic driving, please lower the armrest." In other words, the control unit 50 performs a process to inform the operator of the action necessary to start automatic driving. If the process in step S28 is performed, the manual driving mode is maintained.

[0101] If, after the processing in step S28, it is detected that the armrest 191 has changed its orientation from a non-use position to a use position, automatic driving may be resumed. In this case, operation of the automatic driving control unit 62 may be required to resume automatic driving.

[0102] [3-4. Variations of Armrest Configuration] Figures 8A and 8B illustrate the configuration of the modified armrest 191A. In Figures 8A and 8B, the armrest 191A is shown in a vertical cross-sectional view. The armrest 191A shown in Figures 8A and 8B is an armrest located on the left side of the driver's seat 19. The armrest located on the right side of the driver's seat 19 may have the same configuration as the left armrest. In the modified version as well, the armrest 191A is provided so as to be rotatable around an axis extending in the left-right direction, and can be changed between the horizontal position shown in Figure 6A and the vertical position shown in Figure 6B.

[0103] Inside the armrest 191A are a switch 1911 and a biasing member 1912. The switch 1911 has a base portion 1911a and a movable portion 1911b. The base portion 1911a is fixed to the driver's seat 19. The movable portion 1911b is provided to move up and down relative to the base portion 1911a. When the movable portion 1911b moves downward, the switch 1911 is turned ON. The switch 1911 is an example of an armrest position detection sensor 77, and can detect the usage position and non-usage position of the armrest 191A. The biasing member 1912 is, for example, a compression spring. The upper side of the biasing member 1912 is attached to the base portion 1911a and the lower side is attached to the movable portion 1911b. The biasing member 1912 biases the movable portion 1911b upward.

[0104] When the armrest 191A is tilted from its vertical position, it assumes the position shown in Figure 8A. When the armrest 191A is in the position shown in Figure 8A, the internal wall surface 1913 of the armrest 191A comes into contact with the movable part 1911b. However, the position of the movable part 1911b is maintained by the biasing force of the biasing member 1912. In other words, the switch 1911 does not turn on. To put it another way, supported by the movable part 1911b which is biased upward by the biasing member 1912, the armrest 191A is in a position higher than its lower limit.

[0105] When the worker's arm 100 is placed on the armrest 191A in the state shown in Figure 8A, a downward load is applied to the armrest 191A. This causes the armrest 191A to lower to its lowest position. At the same time, the movable part 1911b of the switch 1911 lowers, and the switch 1911 turns ON. The control unit 50 detects that the armrest 191A is in use when the switch 1911 turns ON. When the downward load on the armrest 191A is removed, the biasing force of the biasing member 1912 lifts the armrest 191A together with the movable part 1911b (returning to the state shown in Figure 8A). As a result, the switch 1911 turns OFF. The control unit 50 detects that the armrest 191A is in non-use position when the switch 1911 turns OFF.

[0106] As can be seen from the above, the modified rice transplanter 1 is equipped with a biasing member 1912 that biases the armrest 191A, which is in use, to a non-use position. With the modified configuration, even if the armrest 191A, which is in a vertical position (flip-up), falls over on its own, the armrest position detection sensor 77 does not detect that the armrest 191A is in use. In other words, it is possible to prevent the armrest 191A, which is not actually being used, from being detected as being in use. In addition, the operator can easily change the armrest 191A to a non-use position simply by removing the arm 100 that is resting on the armrest 191A from the armrest 191A. In other words, the operator can quickly stop the automatic driving using the armrest 191A.

[0107] <4. Details of driving mode control using seedling remaining amount detection sensor> This section describes an example of controlling the travel mode when the seedling remaining amount detection sensor 74 is composed of seedling detection sensors and edge-alignment detection sensors provided on the seedling tray 28. The seedling detection sensor is a sensor that detects the presence or absence of seedlings at a position slightly below the middle of the vertical direction of the seedling tray 28. The seedling detection sensor is provided in each area where seedlings for each row are placed. In this embodiment, since the rice transplanter 1 is for 6 rows, 6 seedling detection sensors are provided. The seedling detection sensor is composed of, for example, a mechanical switch. The edge-alignment detection sensor is a mechanical sensor that turns on when the seedling tray 28 reaches one of the moving ends on the left or right.

[0108] Figure 9 is a flowchart showing an example of controlling the travel mode using the seedling remaining amount detection sensor 74. Figure 9 assumes that the rice transplanter 1 is automatically traveling at the start of the flow.

[0109] In step S31, the control unit 50 (driving mode control unit 52) ​​determines whether the seedling detection sensor is off or not. The seedling detection sensor is turned off when there are no seedlings at the location where the sensor (switch) is placed, and turned on when there are seedlings. For example, the seedling detection sensor is turned off when the vertical length of the seedling mat on the seedling tray 28 is 510 mm or less. If the seedling detection sensor is off (Yes in step S31), the process proceeds to the next step S32. If the seedling detection sensor is on (No in step S31), the process in step S31 is repeated.

[0110] In step S32, the control unit 50 (notification control unit 55) causes the notification unit 65 to issue a seedling transplanting alarm. Once the seedling transplanting alarm is issued, the process proceeds to the next step S33.

[0111] In step S33, the control unit 50 (driving mode control unit 52) ​​determines whether the seedling detection sensor remains off. If the seedling detection sensor remains off (Yes in step S33), the process proceeds to the next step S34. If the seedling detection sensor is on (No in step S33), the process returns to step S31.

[0112] In step S34, the control unit 50 (driving mode control unit 52) ​​determines whether the number of times the switch constituting the edge-alignment detection sensor (hereinafter referred to as the edge-alignment switch) has been pressed is N or more. N is a predetermined number of times. The method for determining N will be explained with reference to Figure 10. Figure 10 is a diagram for explaining how to determine "N" in Figure 9. Figure 10 shows a part of the seedling tray 28 (a diagram showing the area on which one row of seedlings can be placed). In Figure 10, reference numeral 200 denotes the seedling detection sensor.

[0113] If automatic operation is performed when the seedling tray is empty, there will be sections where seedlings cannot be planted. To prevent such sections from occurring, in this example, automatic operation is stopped when the remaining amount of seedlings is equivalent to one lateral movement of the seedling tray 28. In this case, N is the number of times the end-alignment switch is pressed from the time the seedling detection sensor 200 is turned off until the remaining amount of seedlings is equivalent to one lateral movement. α shown in Figure 10 is the amount of seedlings taken vertically. The amount of seedlings taken vertically is the length in the vertical direction of the seedlings transported in the seedling removal direction by the seedling vertical feeding operation of the seedling vertical feeding belt 35 (see Figure 2). β shown in Figure 10 is the length in the vertical direction of the seedling mat when the seedling detection sensor 200 is turned off. As mentioned above, β is, for example, 510 mm. Since there is one end-alignment switch on one side in the left-right direction of the seedling tray 28, the end-alignment switch is pressed once for each lateral movement. For this reason, N is derived as follows. α × 2 × N = β - α × 2 N = (β - 2α) / 2α

[0114] An internal variable, the edge-aligning count counter, is set. The edge-aligning count counter is set to zero when the seedling detection sensor 200 is on. The edge-aligning count counter starts incrementing when the seedling detection sensor is turned off, and increases by 1 each time the edge-aligning switch is pressed. The edge-aligning count counter counts the number of times the edge-aligning switch is pressed. If the number of times the edge-aligning switch is pressed is N or more (Yes in step S34), it is determined that the remaining amount of seedlings is extremely low, and automatic travel is stopped. On the other hand, if the number of times the edge-aligning switch is pressed is less than N (No in step S34), it is determined that there is sufficient remaining amount of seedlings, and the process returns to step S33.

[0115] If the seedling detection sensor 200 is detected to be ON after automatic driving has stopped, automatic driving may be resumed. However, in order to prevent automatic driving from starting abruptly, it is preferable that automatic driving be resumed only when the seedling detection sensor 200 is ON AND the automatic driving operation unit 62 is operated.

[0116] <5. Things to keep in mind> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, the multiple embodiments and modifications shown herein may be combined as possible.

[0117] The present invention can also be applied, for example, to rice transplanters that are driven by a power source other than an engine.

[0118] <6. Addendum> An exemplary field implement of the present invention is a field implement that is capable of automatically traveling in a field, comprising a driver's seat located on the machine body, an armrest provided on the driver's seat, and a control unit that performs control related to the automatic travel, wherein the control unit may be configured to detect a first action by an operator on the machine body toward the armrest and prohibit the automatic travel (first configuration).

[0119] In the field implement of the first configuration described above, the armrest may be provided so as to be able to change its position between a working position and a non-working position, and the first operation may include the operation of the operator changing the armrest from the working position to the non-working position (second configuration).

[0120] The field implement according to the first or second configuration described above may be equipped with a fertilizer applicator supported by the machine body, and the control unit may be configured to detect a second action by the operator toward the fertilizer applicator and prohibit automatic driving (third configuration).

[0121] In the field implement of the third configuration described above, the fertilizer application device may have a supply amount setting unit for setting the amount of fertilizer to be supplied, and the second operation may include the operation of the operator operating the supply amount setting unit (fourth configuration).

[0122] In the field implement of the third or fourth configuration described above, the fertilizer applicator may have a lid that can be opened and closed, and the second operation may include the operation of the operator to open the lid from a closed state. (Fifth configuration)

[0123] A field implement having any of the configurations described in the first to fifth above may be equipped with a seating sensor that detects when the operator is seated in the driver's seat, and the control unit may be configured to detect when the operator changes from a seated state to an unseat state in the driver's seat and prohibit automatic driving (sixth configuration).

[0124] In the field implement of the sixth configuration described above, the seating sensor may be configured to include at least one of a photographic device, a pressure sensor, and a light sensor (seventh configuration).

[0125] A field implement having any of the above configurations 1 to 7 may be equipped with a spare seedling tray for holding spare seedlings, and the control unit may be configured to detect the operator's third action on the spare seedling tray and prohibit the automatic driving (configuration 8).

[0126] In the field implement of the eighth configuration described above, the spare seedling stand may have a spare seedling sensor that detects the presence or absence of a seedling mat on the stand, and the third operation may include the operation of the operator removing the seedling mat from the spare seedling stand (the ninth configuration).

[0127] Any of the first to ninth field implements described above may include a planting device having a seedling tray, the planting device having a seedling remaining amount detection sensor for detecting the amount of seedlings remaining on the seedling tray, and the control unit may be configured to prohibit automatic driving when it determines that the amount of seedlings on the seedling tray is less than or equal to a predetermined amount (configuration of the tenth).

[0128] In the field implement of the second configuration described above, the control unit may be configured such that the starting condition for automatic driving is that the armrest is in the usage position (the 11th configuration).

[0129] The field implement of the 11th configuration described above may have a configuration (12th configuration) that includes a biasing member that biases the armrest, which is in the use position, to the non-use position.

[0130] In the field implement of the fourth configuration described above, the control unit may be configured such that the start condition for automatic driving is that the supply amount setting unit is in an unoperated state (the 13th configuration).

[0131] In the field implement of the fifth configuration described above, the control unit may be configured such that the closing state of the lid is the starting condition for the automatic driving (the 14th configuration).

[0132] In the field implement according to the sixth or seventh configuration described above, the control unit may be configured such that the operator sitting in the driver's seat is the starting condition for the automatic driving (the fifteenth configuration). [Explanation of symbols]

[0133] 1. Rice transplanter (field work machine) 11...Aircraft 19. Driver's seat 24...planting device 25... Fertilizer application equipment 25a... Lid 28... Seedling stand 37. Spare seedling stand 50... Control Unit 64...Supply amount setting section 74. Seedling remaining quantity detection sensor 75... Spare seedling sensor 76. Seat sensor 191, 191A... Armrest 191L... Left armrest 191R...Right armrest 1912... Biasing member

Claims

1. A field implement that is capable of automatically traveling in a field, The cockpit located inside the aircraft, The driver's seat is provided with an armrest that can be adjusted to a position for use and a position for non-use, A control unit that performs the aforementioned control related to automatic driving, Equipped with, The control unit detects a first action, which is the action of a worker on the machine body to change the armrest from the position in use to the position not in use, and prohibits the automatic driving of the field implement.

2. The machine is equipped with a fertilizer application device supported by the aforementioned body, The field implement according to claim 1, wherein the control unit detects the operator's second action toward the fertilizer application device and prohibits the automatic operation.

3. The fertilizer application device has a supply amount setting unit for setting the amount of fertilizer to be supplied, The field implement according to claim 2, wherein the second operation includes the operation of the operator to set the supply amount.

4. The fertilizer application device has a lid that can be opened and closed, The field implement according to claim 2, wherein the second operation includes the operation by the operator to move the lid from a closed state to an open state.

5. The system includes a seating sensor that detects when the worker is seated in the driver's seat, The field implement according to claim 1, wherein the control unit detects that the operator has changed from a seated state to an unseaten state in the driver's seat and prohibits the automatic driving.

6. The field work machine according to claim 5, wherein the seating sensor includes at least one of a photographing device, a pressure sensor, and a light sensor.

7. It is equipped with a spare seedling stand for placing spare seedlings. The field work machine according to claim 1, wherein the control unit detects a third action by the operator toward the reserve seedling tray and prohibits the automatic driving.

8. The aforementioned spare seedling stand has a spare seedling sensor that detects the presence or absence of a seedling mat on the stand, The field work machine according to claim 7, wherein the third operation includes the operation of the operator removing the seedling mat from the spare seedling stand.

9. Equipped with a planting device that has a seedling tray, The planting device has a seedling remaining amount detection sensor that detects the amount of seedlings remaining on the seedling tray, The field work machine according to claim 1, wherein the control unit prohibits the automatic driving when it determines that the number of seedlings on the seedling tray is below a predetermined amount.

10. The field implement according to claim 1, wherein the control unit uses the armrest being in the usage position as the start condition for the automatic driving.

11. The field implement according to claim 1, further comprising a biasing member for biasing the armrest, which is in the use position, to the non-use position.

12. The field implement according to claim 3, wherein the control unit uses the non-operation state of the supply amount setting unit as the start condition for the automatic driving.

13. The field implement according to claim 4, wherein the control unit uses the closed state of the lid as the start condition for the automatic driving.

14. The field implement according to claim 5, wherein the control unit uses the operator sitting in the driver's seat as the start condition for the automatic driving.

Images