JP7520171B2 - Agricultural machinery - Google Patents

Description

The present invention relates to an agricultural machine that automatically navigates through work areas.

As disclosed in Patent Document 1, some working machines (agricultural working machines) that travel through farm fields, which are the work sites, perform work while automatically traveling along a preset travel route.

Furthermore, some of these farm machinery limit the speed at which it travels when it is traveling automatically. For example, the speed may be reduced when turning, or the farm machinery may be temporarily stopped in the edge area of the work site.

JP 2015-112071 A

However, there is a demand for further improvements in the work efficiency of autonomous agricultural machinery.

In order to achieve the above-mentioned object, an agricultural work machine according to one embodiment of the present invention is an agricultural work machine that performs work while automatically traveling along a travel route within a set work site, and is provided with an automatic travel control unit that controls the automatic travel in a manned travel mode, which is a travel mode when a passenger is on board, or an unmanned travel mode, which is a travel mode when the passenger is not on board, and is provided with a boarding detection unit that detects whether the passenger is on board the boarding unit, and the automatic travel control unit sets the automatic travel to the manned travel mode when the boarding detection unit detects that the passenger is on board the boarding unit, and sets the automatic travel to the unmanned travel mode when the boarding detection unit detects that the passenger is not on board the boarding unit , the travel route includes a plurality of round-trip routes, and when it is determined that agricultural materials need to be replenished in the unmanned travel mode, the automatic travel control unit temporarily stops the machine in a terminal area of the round-trip route before heading to the next round-trip route, and in the manned travel mode, the automatic travel control unit temporarily stops the machine in the terminal area of the round-trip route, and approaches a ridge or changes direction to travel to the next process based on the operation of the passenger after the machine is temporarily stopped .
In addition, in order to achieve the above-mentioned object, an agricultural working machine according to one embodiment of the present invention is an agricultural working machine that performs work while automatically traveling along a travel route within a set work site, and is equipped with an automatic traveling control unit that controls the automatic traveling in a manned traveling mode, which is a traveling mode when a driver is on board, or an unmanned traveling mode, which is a traveling mode when the driver is not on board, and the automatic traveling control unit controls the traveling speed to be faster when set to the unmanned traveling mode than when set to the manned traveling mode.

In autonomous driving, the autonomous driving control unit takes into consideration the comfort of the driver, etc., and reduces the driving speed during turns and suppresses sudden starts and stops. However, when the driver is not on board, such control is not necessary. Therefore, by using the above configuration, it is possible to improve work efficiency by increasing the driving speed in unmanned mode while ensuring the comfort of the driver in manned driving mode.

The vehicle may also include a driving unit in which the driver sits, and a boarding detection unit that detects whether the driver is in the driving unit, and the automatic driving control unit may set the automatic driving to the manned driving mode when the boarding detection unit detects that the driver is in the driving unit, and may set the automatic driving to the unmanned driving mode when the boarding detection unit detects that the driver is not in the driving unit.

With this configuration, it is possible to accurately confirm that the driver is on board the driving section, and the vehicle can be appropriately set to a manned driving mode or an unmanned driving mode, thereby more appropriately improving work efficiency.

The vehicle may also include a driver's seat provided in the driver's section and in which the driver sits, and the boarding detection unit may determine that the driver is in the driver's section by detecting that the driver is seated in the driver's seat.

When a driver's seat is provided, the driver often sits in the driver's seat. Therefore, with the above configuration, it is possible to accurately confirm that the driver is in the driver's section, and to appropriately set the driver-operated driving mode or unmanned driving mode, thereby more appropriately improving work efficiency.

The vehicle may also include an operating tool for operating the autonomous driving, and the boarding detection unit may determine that the driver is on board the driving unit by detecting that the driver is touching the operating tool.

The driver is often in contact with the operating tools while driving for work. Therefore, with the above configuration, it is possible to accurately confirm that the driver is in the driving section, and to appropriately set the driving mode to manned or unmanned, thereby more appropriately improving work efficiency.

The vehicle may also include a speed setting unit that selects a maximum speed for the automated driving from a plurality of candidate speeds, and when the manned driving mode is set, the automated driving control unit controls the automated driving so that the selected candidate speed becomes the maximum speed, and when the unmanned driving mode is set, the automated driving control unit controls the automated driving so that the fastest candidate speed becomes the maximum speed.

With this configuration, the driving speeds in the manned and unmanned driving modes are appropriately set, and the driving speed in the unmanned driving mode is controlled to be appropriately faster than the driving speed in the manned driving mode, thereby more appropriately improving work efficiency.

In addition, even in the unmanned driving mode, the automatic driving control unit may reduce the driving speed when changing direction and turning at the edge of a field in the work area.

This configuration prevents the destruction of work land. Also, there may be people on the edge of the field, and changing direction or turning at a fast driving speed may make those people feel uneasy. By slowing down the driving speed, especially when changing direction or turning at the edge of the field, it is possible to reduce the sense of uneasiness felt by people on the edge of the field.

The vehicle may also include a material detection unit that detects the remaining amount of materials used during the automatic driving, the automatic driving travels along a round-trip route that travels between two opposing perimeters of the work area and a circular route that connects the two round-trip routes, the materials are replenished at an arbitrary first perimeter among the perimeters of the work area, and when the material detection unit detects that the materials are no longer remaining, the automatic driving control unit controls the vehicle to stop without performing circular driving in an area close to the first perimeter, and when the material detection unit detects that the materials remain, the automatic driving control unit controls the vehicle to perform the circular driving without stopping.

With this configuration, the automatic driving control unit can control the vehicle to continue work driving when there is no need to replenish materials, and to stop the vehicle before turning only when materials need to be replenished, so that the vehicle waits in a state where operations necessary to replenish materials can be performed. As a result, unnecessary stops in driving can be suppressed, improving work efficiency.

In addition, when traveling in the outer periphery of the work area, the automatic driving control unit may reduce the driving speed.

There are often obstacles in the outer perimeter of the work area. Therefore, with the above configuration, the travel speed is reduced in areas with many obstacles, making it easier to maneuver to avoid obstacles and improving work efficiency.

The vehicle may also include an obstacle detection unit that detects an obstacle, and when the obstacle detection unit detects the obstacle, the automatic driving control unit may control the vehicle to stop.

This configuration helps to avoid collisions with obstacles and allows the robot to then avoid the obstacles with appropriate operations, improving work efficiency.

FIG. 1 is a side view of a rice transplanter, which is an example of an autonomously-traveling agricultural machine. FIG. 2 is an explanatory diagram showing division of a field into areas in which a travel route is set. This is an explanatory diagram explaining the circular driving route set in the outer periphery area and the driving of the rice transplanter. FIG. 11 is an explanatory diagram illustrating the round-trip travel path set in the central area and the travel of the rice transplanter. FIG. 2 is a functional block diagram showing a control system of the rice transplanter.

The following describes an embodiment of the agricultural machine of the present invention, taking as an example a rice transplanter that travels through a farm field (corresponding to a "working area").

[Overall structure]
As shown in Fig. 1, the rice transplanter is equipped with a riding type four-wheel drive traveling machine body (hereinafter referred to as machine body 1). The machine body 1 is equipped with a link mechanism 11 of a parallel four-link type connected to the rear of the machine body 1 so as to be able to rise and fall and swing, a hydraulic lifting cylinder 11a that drives the link mechanism 11 to swing, a seedling planting device 3 connected to the rear end region of the link mechanism 11 so as to be able to roll, and a fertilizer applicator 4 installed from the rear end region of the machine body 1 to the seedling planting device 3. The seedling planting device 3 and the fertilizer applicator 4 are examples of working devices.

The vehicle 1 is equipped with wheels 12, an engine 13, and a hydraulically variable transmission 14 as mechanisms for traveling. The wheels 12 include left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. The engine 13 and the variable transmission 14 are mounted on the front of the vehicle 1. Power from the engine 13 is supplied to the front wheels 12A, rear wheels 12B, working equipment, etc. via the variable transmission 14, etc.

As an example, the seedling planting device 3 is configured for eight rows of planting. The seedling planting device 3 is equipped with a seedling loading platform 31, a planting mechanism 32 for eight rows, etc. Note that the seedling planting device 3 can be changed to a two-row, four-row, six-row, etc. planting format by controlling the clutch for each row (not shown).

The seedling platform 31 is a platform on which eight rows of mat-shaped seedlings are placed. The seedling platform 31 moves back and forth in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedlings, and the vertical feed mechanism 33 vertically feeds each mat-shaped seedling on the seedling platform 31 toward the lower end of the seedling platform 31 at a predetermined pitch each time the seedling platform 31 reaches the left-right stroke end. The eight planting mechanisms 32 are rotary type and are arranged in the left-right direction at a constant interval corresponding to the spacing between the planting rows. Then, each planting mechanism 32 cuts one seedling from the lower end of each mat-shaped seedling placed on the seedling platform 31 using power from the machine body 1 and plants it in the muddy soil after the land is leveled. As a result, when the seedling planting device 3 is in operation, the seedlings can be taken out of the mat-shaped seedlings placed on the seedling platform 31 and planted in the muddy soil of the paddy field.

As shown in FIG. 1, the fertilizer application device 4 includes a horizontally long hopper 41, a dispensing mechanism 42, an electric blower 43, multiple fertilizer application hoses 44, and a furrow former 45 for each row. The hopper 41 stores granular or powdered fertilizer. The dispensing mechanism 42 is operated by power transmitted from the engine 13, and dispenses a predetermined amount of fertilizer from the hopper 41 for two rows.

The blower 43 is powered by a battery (not shown) mounted on the machine body 1 and generates a transport wind that transports the fertilizer dispensed by each dispensing mechanism 42 toward the muddy surface of the field. By intermittently operating the blower 43, etc., the fertilizer applicator 4 can be switched between an operating state in which a predetermined amount of fertilizer stored in the hopper 41 is supplied to the field at a time, and a non-operating state in which supply is stopped.

The fertilizer hoses 44 guide the fertilizer transported by the conveying wind to the furrow formers 45. Each furrow former 45 is attached to each leveling float 15. Each furrow former 45 rises and falls together with each leveling float 15, and when the leveling floats 15 are on the ground during work travel, they form fertilizer furrows in the muddy parts of the rice paddy and guide the fertilizer into the furrows.

As shown in FIG. 1, the vehicle body 1 is provided with a driving section 20 in the rear side area. The driving section 20 is provided with a steering wheel 21 (corresponding to an "operating tool") for steering the front wheels, a main speed change lever 22 (corresponding to an "operating tool") for adjusting the vehicle speed by operating the continuously variable transmission 14, a sub-speed change lever 23 (corresponding to an "operating tool") for enabling the sub-speed change operation, a work operation lever 25 (corresponding to an "operating tool") for enabling the seedling planting device 3 to be raised and lowered and its operating state to be switched, a general-purpose terminal 9 having a touch panel that displays (notifies) various information and notifies (outputs) it to the operator and accepts input of various information, and a driver's seat 16 for the operator (driver). In addition, a spare seedling frame 17 for storing spare seedlings is provided in front of the driving section 20.

The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21.

[Route]
The travel path used in the seedling planting work (one example of field work) by this rice transplanter will be described below. As shown in Fig. 2, the field is divided into an outer periphery area where a circular travel path is set, and a central area where a reciprocating travel path is set. The rice transplanter first performs seedling planting work in the central area along the reciprocating travel path, and then performs seedling planting work in the outer periphery area along the circular travel path.

Figure 3 shows a circular travel path. The circular travel path consists of a circular straight line path that extends parallel to the field boundary line (bank) and a direction change path that incorporates forward and backward movement to connect the circular straight line paths. In Figure 3, the circular straight line path is given the symbol R1, and the direction change path is given the symbol R2. Figure 4 shows a round trip travel path. The round trip travel path consists of a number of round trip paths that are approximately parallel to each other and a turning path (U-turn path) that connects the round trip paths. In Figure 4, the round trip path is given the symbol R3, and the turning path is given the symbol R5. In Figures 3 and 4, the transition path for transitioning from the round trip travel path to the circular travel path is given the symbol R4. In this example, the transition path is similar to the turning path. Furthermore, in Figures 3 and 4, the working width of the rice transplanter is indicated by the symbol W, and the entrance/exit GA of the rice transplanter to the field is drawn with diagonal lines. FIG. 4 shows the start guide path (denoted by the symbol R6) from the entrance/exit GA to the travel start position S of the round-trip travel path. On the turning path, direction change path, start guide path, and transition path, the rice transplanter travels without performing work, so these paths are shown with dotted lines. On the straight circulating path and round-trip path, the rice transplanter travels while performing work, so these paths are shown with solid lines.

[Control system]
Next, the control system of the rice transplanter will be described using FIG. 5 while referring to FIG.

The control unit 6, which is the core of the rice transplanter's control system, receives signals from the positioning unit 8, seating sensor 26 (corresponding to the "boarding detection unit"), automatic changeover switch 27, travel sensor group 28, work sensor group 29, and speed setting unit 30. The control unit 6 outputs control signals to the travel equipment group 1A, the work equipment group 1B, and the general-purpose terminal 9.

The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 .
The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS), and an inertial measurement module 8B that detects the three-axial tilt and acceleration of the aircraft 1.

The seating sensor 26 is a sensor that detects whether the driver is seated in the driver's seat 16. The automatic changeover switch 27 is provided in the driver's section 20 and is a switch that selects between an automatic driving mode in which the machine body 1 is driven automatically and a manual driving mode in which the machine body 1 is driven manually. The driving sensor group 28 includes various sensors that detect the steering angle, the operating positions of the main shift lever 22 and the sub shift lever 23, the vehicle speed, the engine RPMs, and other conditions and their corresponding settings. The work sensor group 29 includes various sensors that detect the conditions of the link mechanism 11, the seedling planting device 3, and the fertilizer applicator 4 and their corresponding settings.

The traveling equipment group 1A includes, for example, the front wheels 12A and the continuously variable transmission 14. Based on a control signal from the control unit 6, the steering angle of the front wheels 12A is controlled, and the continuously variable transmission 14 is operated to control the vehicle speed.

The work equipment group 1B includes, for example, a lifting cylinder 11a, a seedling planting device 3, and a fertilizer applicator 4. Based on a control signal from the control unit 6, the seedling removal amount of the seedling planting device 3 is adjusted, and the amount of fertilizer applied by the fertilizer applicator 4 is also adjusted.

The speed setting unit 30 is provided in the driving unit 20, and during autonomous driving, a candidate speed selected from a number of candidate speeds can be set as the maximum speed. As described below, the driving speed during autonomous driving is controlled according to the set maximum speed.

The control unit 6 includes a driving control unit 61, an operation control unit 62, a vehicle position calculation unit 63, a driving route setting unit 64, and an operation parameter setting unit 65. The control unit 6 includes a processor such as an ECU or a CPU.

The vehicle position calculation unit 63 calculates the map coordinates (vehicle position) of the vehicle 1 based on the satellite positioning data successively sent from the positioning unit 8.

This rice transplanter is capable of automatic and manual driving. Therefore, the driving control unit 61 performs control in an automatic driving mode in which automatic driving is performed or in a manual driving mode in which manual driving is performed based on a command from the automatic changeover switch 27. The driving control unit 61 includes an automatic driving control unit 611 and a manual driving control unit 612, and the automatic driving control unit 611 operates in the automatic driving mode, and the manual driving control unit 612 operates in the manual driving mode. In the automatic driving mode, the automatic driving control unit 611 calculates a steering control amount so as to reduce the lateral deviation and azimuth deviation based on the lateral deviation and azimuth deviation calculated by comparing the vehicle position with the target driving route.
The steering angle of the front wheels 12A is adjusted based on the steering control amount. The automatic driving control unit 611 also controls the driving speed so that the vehicle travels at a speed equal to or lower than the maximum speed selected by the speed setting unit 30. In the manual driving mode, the manual driving control unit 612 adjusts the steering angle of the front wheels 12A based on the operation amount of the steering wheel 21. The manual driving control unit 612 controls the continuously variable transmission 14 and the like so that the vehicle travels at a driving speed according to the operation positions of the main speed change lever 22 and the sub speed change lever 23.

The automatic driving control unit 611 performs different control during automatic driving in unmanned driving mode and in manned driving mode. Specifically, as described below, the automatic driving control unit 611 controls the driving speed to be faster in unmanned driving mode than in manned driving mode. The automatic driving control unit 611 sets the automatic driving mode to the manned driving mode when the seating sensor 26 detects that the driver is seated in the driver's seat 16, and sets the automatic driving mode to the unmanned driving mode when the seating sensor 26 does not detect that the driver is seated in the driver's seat 16.

The driving route setting unit 64 sets a driving route, which is a target driving route for automatic driving, and provides it to the automatic driving control unit 611.

The work parameter setting unit 65 sets the adjustment amount of the planting mechanism 32 and transmits it to the work control unit 62. In the automatic travel mode, the adjustment amount of the planting mechanism 32 is set according to the work performed by the work equipment group 1B, which is set according to the travel position of the target travel route, and in the manual travel mode, it is set according to the setting value detected by the work sensor group 29. The work control unit 62 controls the work equipment group 1B based on the signal received from the work parameter setting unit 65.

[Autonomous Driving]
Next, the driving control in the automatic driving mode will be described with reference to FIG. 1, FIG. 4 and FIG.

As described above, the automatic driving control unit 611 controls automatic driving. In the manned driving mode, the driving speed is changed depending on the driving route. For example, in the circular driving route, the driving speed is reduced on the direction change route R2 compared to the circular straight route R1. Also, in the round-trip driving route, the driving speed is reduced on the turning route R5 compared to the round-trip route R3.

Since there is a difference in travel speed between the turning route R5 and the round trip route R3, the machine body 1 accelerates and decelerates. Also, the machine body 1 may accelerate and decelerate depending on the work travel.
In consideration of the comfort of the driver and the stability of the vehicle 1 while traveling, acceleration and deceleration are performed slowly in the manned traveling mode.

The automatic driving control unit 611 also determines the driving speed taking into consideration the maximum speed selected and set by the speed setting unit 30. For example, the automatic driving control unit 611 controls the vehicle to travel at the set maximum speed when traveling on the circular linear route R1 and the round trip route R3, and controls the vehicle to travel at a speed slower than the maximum speed when traveling on the direction change route R2 and the turning route R5.

Furthermore, the automatic driving control unit 611 can make the travel speed when traveling on the circular straight-line path R1' in the outer periphery of the field slower than the travel speed on the other circular straight-line paths R1. There may be obstacles in the outer periphery of the field. If the vehicle 1 collides with an obstacle while traveling, it may be damaged. By reducing the travel speed on the circular straight-line path R1' in the outer periphery of the field, it is possible to avoid collisions between the vehicle 1 and obstacles and reduce damage to the vehicle 1.

When the unmanned driving mode is set according to the detection result of the seat sensor 26, the automatic driving control unit 611 controls the driving speed to be faster than that in the manned driving mode. For example, regardless of the candidate speed selected by the speed setting unit 30, the automatic driving control unit 611 sets the fastest candidate speed among the selectable candidate speeds as the maximum speed. Then, the automatic driving control unit 611 controls the vehicle to travel at the set maximum speed when traveling on the circular straight line route R1 and the round trip route R3. Furthermore, the automatic driving control unit 611 may slow down the driving speed when traveling on the direction change route R2 and the turning route R5, but may also control the vehicle to travel at the set maximum speed when traveling on the direction change route R2 and the turning route R5. When the driving speed is slowed down, the field is prevented from being destroyed by the turning trace, and when the driving speed is not slowed down, the work efficiency is improved. In addition, there may be a person on the edge of the field, and changing direction and turning at a high driving speed may make the person feel uneasy. In particular, by slowing down the travel speed when changing direction or turning at the edge of a field, it is possible to reduce the sense of anxiety felt by people at the edge of a field. In addition, the automatic travel control unit 611 may make the acceleration and deceleration in the unmanned travel mode steeper than the acceleration and deceleration in the manned travel mode. It is preferable that the acceleration and deceleration in the unmanned travel mode be as steep as possible within the range in which the vehicle 1 can travel stably.

With the above configuration, in unmanned driving mode, the driving speed can be increased without considering the comfort of the driver, etc., which makes it possible to improve work efficiency.

Furthermore, even when the unmanned driving mode is set, the automatic driving control unit 611 may make the driving speed when driving the circular linear path R1' in the outer periphery of the field slower than the driving speed on other circular linear paths R1. This makes it possible to reduce damage to the machine body 1.

[Another embodiment]
(1) The sensor used as a trigger for switching between the unmanned driving mode and the manned driving mode is not limited to the seating sensor 26, and various boarding detectors (corresponding to the "boarding detection unit") may be used. The boarding detector only needs to be able to determine whether or not the driver is in the driving unit 20, and the manned driving mode is set when the driver is in the driving unit 20. For example, the boarding detector is a sensor that detects whether or not the driver is touching an operating tool such as the main shift lever 22 or the steering wheel 21. Even with this configuration, it is possible to detect that the driver is in the driving unit 20.

Furthermore, a manned/unmanned changeover switch (not shown) may be provided instead of or together with a boarding detector such as the seating sensor 26. The driver operates the manned/unmanned changeover switch to manually switch between the unmanned and manned driving modes. When a manned/unmanned changeover switch is provided together with the boarding detector, even if the unmanned driving mode is selected by the manned/unmanned changeover switch, if a boarding detector such as the seating sensor 26 detects that the driver is in the driver's section 20, the mode is automatically set to the manned driving mode. As a result, the unmanned driving mode and manned driving mode can be appropriately switched over, and work efficiency can be improved more reliably.

(2) When replenishing mat-shaped seedlings to the seedling loading platform 31, the machine 1 moves to one of the outer perimeters L (corresponding to the "first outer perimeter") of the field where the entrance/exit GA is provided, and while the machine 1 is stopped along this outer perimeter L, mat-shaped seedlings are replenished from the ridge to the seedling loading platform 31. At this time, the machine 1 travels along the round-trip route R3 toward the outer perimeter L, and then heads straight toward the outer perimeter L without traveling along the turning route R5. During automatic travel in manned travel mode, the machine 1 stops for a predetermined time near the end of the round-trip route R3 traveling toward the outer perimeter L so that the driver or supervisor can decide whether or not to replenish mat-shaped seedlings. While the machine 1 is stopped, the driver or supervisor decides whether or not to replenish mat-shaped seedlings, and if it is decided to replenish mat-shaped seedlings, performs an operation to move the machine 1 to a position along the outer perimeter L by automatic or manual travel. In addition, the outer perimeter L where the mat-shaped seedlings are replenished is not limited to the outer perimeter where the entrance/exit GA is provided, and can be any outer perimeter.

In consideration of such mat-shaped seedling supplying operation, in each of the above embodiments, the rice transplanter according to this embodiment may further include a seedling detection unit (corresponding to a "material detection unit") 40 that detects whether a predetermined amount of mat-shaped seedlings remain on the seedling loading platform 31. In automatic driving in the unmanned driving mode, the automatic driving control unit 611 checks the detection result of the seedling detection unit 40 when the machine body 1 approaches the end area of the round-trip route R3 traveling toward the outer perimeter L. Then, if it is determined that there are fewer seedlings than the predetermined amount and mat-shaped seedlings need to be replenished, the automatic driving control unit 611 stops the machine body 1 near the end of the round-trip route R3 traveling toward the outer perimeter L. If there are sufficient seedlings remaining, the automatic driving control unit 611 continues automatic driving without stopping the machine body 1 at the end of the round-trip route R3 traveling toward the outer perimeter L.

This will reduce unnecessary downtime and improve work efficiency during automated driving.

(3) In each of the above embodiments, the rice transplanter according to this embodiment may further include an obstacle detection unit 46. The obstacle detection unit 46 detects whether or not there is an obstacle ahead of the machine body 1 while traveling, and notifies the automatic traveling control unit 611 of the detection result. When the automatic traveling control unit 611 receives a notification from the obstacle detection unit 46 that an obstacle is present in the traveling direction of the machine body 1, it decelerates the machine body 1 and then stops it.

This configuration makes it possible to prevent the vehicle 1 from colliding with obstacles during autonomous driving. In particular, when autonomous driving is performed in unmanned driving mode, the driving speed is fast, there is no driver on board, and it is difficult to avoid obstacles. By providing an obstacle detection unit 46 and stopping the vehicle 1 when an obstacle is detected, it is possible to increase the driving speed to improve work efficiency while preventing the vehicle 1 from colliding with obstacles during autonomous driving.

(4) In each of the above embodiments, the circular linear paths R1, R1' and the round trip path R3 are not limited to being straight lines, and may be partially or entirely gently curved, or may be zigzag or meandering paths.

(5) The driving control unit 61, the work control unit 62, the vehicle position calculation unit 63, the driving route setting unit 64, and the work parameter setting unit 65 included in the control unit 6 may be divided into such functional blocks, or a functional block having one or more of these functions may be combined together or divided into multiple functional blocks. In addition, all or part of the functions of the control unit 6 may be realized by software. The software (program) is stored in an arbitrary storage unit not shown, and is executed by a processor included in the control unit 6 or another processor.

The agricultural machine of the present invention is not limited to a rice transplanter, but may be an agricultural machine such as a combine harvester or a tractor that performs work while automatically traveling on a work site, and can be applied to various types of machines that perform work while automatically traveling on a specific work site.

16 Driver's seat 20 Driver's section 25 Work operation lever (operating tool)
26 Seat sensor (boarding detection unit)
30 Speed setting unit 611 Automatic driving control unit L Outer perimeter (first outer perimeter)
R3 Round trip route R5 Turning route

Claims (6)

An agricultural machine that performs work while automatically traveling along a set travel route within a work site,
an automatic driving control unit that controls the automatic driving in a manned driving mode, which is a driving mode when a passenger is on board, or an unmanned driving mode, which is a driving mode when the passenger is not on board;
A boarding detection unit is provided to detect whether or not the passenger is boarding the boarding section,
the automatic driving control unit sets the automatic driving to the manned driving mode when the boarding detection unit detects that the passenger is boarding in the boarding section, and sets the automatic driving to the unmanned driving mode when the boarding detection unit detects that the passenger is not boarding in the boarding section ,
The travel route includes a plurality of round trip routes,
When it is determined that agricultural materials need to be replenished in the unmanned traveling mode, the automatic traveling control unit stops the vehicle at a terminal area of the round-trip route before heading to the next round-trip route,
The automatic driving control unit, in the manned driving mode, stops the vehicle at the terminal area of the round trip route, and, based on the operation of the occupant after the vehicle has stopped, approaches a ridge or changes direction to the next process . The agricultural machine according to claim 1, wherein the boarding detection unit includes at least one of a seating sensor that detects a passenger sitting in a seat provided in the boarding unit, a sensor that detects the passenger's contact with an operation target provided on the machine body, and a non-contact passenger detector. 3. The agricultural machine according to claim 1 or 2, wherein even when the unmanned mode is selected based on a manned/unmanned switching operating device, the agricultural machine is set to the manned driving mode when the boarding detection unit detects that the passenger is on board the boarding section. The travel route includes a round-trip route and a turning route connecting the round-trip routes,
The agricultural machine according to claim 1 , wherein in the unmanned traveling mode, the automatic traveling control unit performs deceleration when traveling along the turning path. The agricultural machine according to any one of claims 1 to 4, wherein in the manned driving mode, the automatic driving control unit changes the driving speed according to the driving route, and reduces the driving speed when changing direction compared to other driving routes. The agricultural machine according to any one of claims 1 to 5, wherein the automatic driving control unit changes the speed of the machine body more slowly in the manned driving mode than in the unmanned driving mode.

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