JPH09154316A - Apparatus for controlling working state of working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out changeover control of an operating state so that an operating part of a chemical spraying apparatus, etc., which is located at an operating place where operation has already finished does not carry out wasteful operation. SOLUTION: This operating vehicle is equipped with an operating part 6 (apparatus for spraying chemical) capable of changing over to operating state (chemical spraying state) and non-operative state (unspraying state) and moves in an operating place and the operating vehicle is equipped with an operating state detecting means 101 for detecting the operating state of the operating part 6, an operating part position detecting means 103 for detecting the position in an operating place of the operating part 6, an operation fishing position storing means 104 for storing the position of operation place where operation is finished, an operation state change over means 14 for changing over an end part on the outside of the vehicle of the operating part 6 to operating state and non-operating state, and a control means 100 for operating the operating state change over means 14 so as to keep a part on the end side of the operating part 6 located at the operating place to non-operating state based on the data of the operation fishing position storing-means 104 and the operating part position detecting means 103.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work state control device for a work vehicle that has a work unit that can be switched between a working state and a non-working state and that moves within a work area within a predetermined range.

[0002]

2. Description of the Related Art In a work state control device for a work vehicle, for example, a work vehicle equipped with a chemical spraying device (corresponding to a working unit) for spraying a chemical, which is fertilizer, on the rear side of a vehicle is manually driven. However, in order to perform the chemical spraying work over the entire field as a work area within a predetermined range, the spraying device is operated from the spraying stop state (non-working state) by operating a manual switch or the like at the start of work traveling. Working state),
When the work run is completed, the spraying is stopped manually.

[0003]

However, the working portion of the chemical spraying device or the like has a length in the lateral direction of the vehicle body as compared with the vehicle body width in order to shorten the traveling distance as much as possible to improve the work efficiency. When the work is formed to be long and adjacent to the work place where the work (medicine is sprayed) is performed, the end part of the work portion may be located at the work place where the work has been completed. In the technique, there is an inconvenience that the working unit located in the finished working place continues the work (the medicine is sprayed from the spraying device) and wastes the work. For example, in the case of the chemical spraying device, the chemicals are wastefully consumed, and more chemicals than necessary are sprayed at the same field position. It should be noted that when the work vehicle is manually driven, it is possible to drive the work vehicle so that the work unit is not located in the work area where the work has been completed, but the burden on the driver increases.

The present invention has been made in view of the above circumstances, and an object thereof is to solve the above-mentioned problems of the prior art such as the above-mentioned chemical spraying device or the like located at the work site where the work is completed. The working unit is to prevent useless work from being performed on the work site where the work has been completed.

[0005]

According to the structure of claim 1 of the present invention, the work vehicle provided with the work portion which can be switched between the working state and the non-working state by the working state switching means has a predetermined range of work. When moving in the ground, the working unit position detecting means detects the position of the working unit in the working ground, and the working state detecting unit detects whether or not the working unit is in the working state, and the working unit position is detected. The position of the work place where the work is finished is stored from the detection information and the work state detection information, and the work place is located at the work place where the work is finished based on the work end position storage information and the work section position detection information. While switching the end part of the working section on the lateral outside of the vehicle body from the working state to the non-working state,
When it is no longer located at the work site where the work has been completed, the work state switching means is operated so as to switch from the non-work state to the work state.

Therefore, when the work unit is located on the side of the work place where the work is completed while the work vehicle is moving in the work place, the end portion of the work unit located at the work place where the work is completed is automatically changed from the working state to the non-working state. Since the work state is switched to, the work unit located on the side of the finished work site does not perform wasteful work on the finished work site, unlike the conventional technology, in which workability is improved. An excellent work condition control device for a work vehicle is obtained.

Further, according to the structure of claim 2, in the above-mentioned claim 1, the work is completed in the working part constituted by a plurality of working parts having a set width along the lateral width direction of the vehicle body. When located at the work site, the work part located on the work site side where the work has been completed among the plurality of work parts is switched from the work state to the non-work state.

Therefore, for example, when the working part is composed of one continuous working part along the lateral direction of the vehicle body, only the part located on the work site side where the work has been completed is put into the non-working state. Compared to the complicated mechanism required for switching, a simple operation of selecting a predetermined work part from multiple work parts makes it possible to perform non-working only on the part located on the work site side where the work has been completed. The state can be switched appropriately, and the preferred means of the constitution of the above-mentioned claim 1 can be obtained.

According to the structure of claim 3, the GP installed at the reference position on the ground side according to claim 1 or 2 above.
At the S reference station, the carrier signal from the GPS satellite is received, and the carrier phase information at the reference station is transmitted to the work vehicle side, while on the work vehicle side, the carrier signal from the GPS satellite is received at the GPS mobile station. While the transmission information from the reference station is received, based on the dual phase difference information obtained from both carrier phase information in the mobile station and the reference station, the position of the working unit relative to the reference position is a time series of a predetermined time interval. Is calculated as GPS position data, and the position change amount of the working unit is calculated as time-series inertial navigation position data at predetermined time intervals. Then, the working unit position detecting means obtains the position of the working unit at the current time within the work site from the GPS position data set time before the current time and the inertial navigation position data at the current time.

Therefore, an inertial navigation system that can detect a position change in a short time with good response but an error accumulates in a detection in a long time, and a carrier wave from a GPS satellite that has a detection delay but can accurately detect a position. The position of the work place where the work is completed is detected and stored based on the work part position information obtained by combining with the GPS position detection system based on the double phase difference information of the signal, and the work part has completed the work. Since it is detected that it is located at the work site, for example, the light beam projected so as to become a mark along the boundary between the worked and unworked sites is received by the light receiving sensor on the working unit side In the technology to detect that is located on the side of the working place,
Compared with the need for a beam light projection device on the ground side, which has a large facility configuration and is troublesome to move the beam position, the ground side facility is a simple facility for receiving satellite signals. Alternatively, a suitable means having the configuration of 2 can be obtained.

Further, according to the structure of claim 4, in the above-mentioned claim 1, 2 or 3, when the manually operated steering means provided in the work vehicle is operated to move the work vehicle within the work area. The position of the work place where the work is finished is stored, and when the work unit is located at the work place where the work is finished, the work unit located at the work place where the work is finished is switched to the non-working state.

Therefore, when the driver of the work vehicle manually drives the work vehicle to run in the work site, for example, along the ridges so as not to step on the crops planted in the work site, which is farmland. The driver who is traveling does not need to drive so that the working unit is not located in the work area where the work has been completed, and the burden on the driver is reduced. Therefore, the configuration according to claim 1, 2 or 3 is preferable. Means are obtained.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention will be described, in which a work vehicle V for spraying a chemical sprays a drug as a fertilizer to a field while traveling in a field as a work site in a predetermined range. The case of performing will be described.

For example, in a local horizontal coordinate system E (east direction), N (north direction), H (height direction from the center of the earth) in which the horizontal direction with respect to the gravity direction at that point is expressed as east-west and north-south directions. It is installed at a reference position on the ground side where the position (coordinate values in the above E, N, H coordinate system) is known with high accuracy,
As shown in FIG. 3, an antenna 19a for a GPS reference station R (hereinafter, also simply referred to as reference station R) that receives spread spectrum modulated radio waves (carrier signals) from at least four GPS satellites 2, and reception of this antenna 19a As a ground side communication means including a GPS receiver 19 for processing a signal to obtain phase information of a carrier wave and a transmission antenna 20a for transmitting the carrier wave phase information from the GPS receiver 19 toward the work vehicle V side. Transceiver 20 is provided.

The structure of the work vehicle V will be described with reference to FIGS. A drug spraying device 6 as a working unit is provided at a rear portion of a vehicle body 5 having a pair of left and right front wheels 3 and rear wheels 4, and a supply tank 21 for supplying a drug to the drug spraying device 6 under pressure is installed. ing. The chemical spraying device 6
Is configured to include a plurality of injection nozzles 6a as a working portion having a set width in the lateral direction of the vehicle body, and the plurality of injection nozzles 6a can be turned on and off individually, that is, injection can be performed separately. It is configured to be switchable between a state and an injection stopped state. Here, each injection nozzle 6a
The set width of corresponds to the injection width in the lateral width direction of the vehicle body in which the injection ranges from the adjacent nozzles 6a in the field scene do not overlap as much as possible and no space is created between them.

The front and rear wheels 3, 4 are composed of a pair of left and right wheels so that they can be individually operated for steering. Hydraulic cylinders 7, 8 for steering are provided.
And electromagnetically operated control valves 9 and 10 and a handle 15 for manual operation. That is, depending on the state of the manually operated steering changeover switch 13, the front wheels 3
Alternatively, a two-wheel steering system that steers only one of the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase and at the same angle You can select one of three types of steering, parallel steering type,
Reference numeral 4 constitutes a manually operated steering means that is operated by a handle 15 for manual operation.

In the work vehicle V, an engine E, a hydraulic continuously variable transmission 11 for shifting the output from the engine E to drive the front and rear wheels 3, 4 simultaneously, an accelerator pedal 12 for shifting the same, A nozzle drive unit 14 including a plurality of solenoid valves for turning on / off the plurality of injection nozzles 6a is provided. That is, the nozzle drive unit 14 switches the plurality of injection nozzles 6a of the drug spraying device 6 into the spraying state (working state) and the spraying stop state (non-working state) separately, so that the vehicle body of the drug spraying device 6 is changed. A working state switching means is provided for switching the lateral outer side end portion between a jetting state (working state) and a jetting stopped state (non-working state).

Reference numeral 16 denotes a control device using a microcomputer for controlling the traveling of the work vehicle V and the operation of the chemical spraying device 6, and the control valves 9 and 9 are controlled on the basis of information detected by various sensors described later. 10 and the nozzle drive unit 14 and the like are controlled. The sensors mounted on the work vehicle V will be described. As shown in FIG. 1, a steering wheel operation angle detection sensor R0 using a potentiometer for detecting an operation angle of the steering wheel 15 for manual steering, and front and rear wheels 3, 4 are used. Steering angle detection sensors R1 and R2 using a potentiometer for detecting respective steering angles, a vehicle speed sensor R3 using a potentiometer for indirectly detecting a forward / rearward traveling state and a vehicle speed based on a shift state of the transmission 11, An encoder S3 for counting the number of rotations of the output shaft of the device 11 and detecting the traveling distance is provided.

Further, using the control device 16, a working state detecting means 101 for detecting whether or not the medicine spraying device 6 (each injection nozzle 6a) is in a working state is constructed. That is, since the drive signal for the nozzle drive unit 14 is output from the control device 16, the working state of the drug spraying device 6 (each injection nozzle 6a) can be detected depending on whether or not the drive signal is output. become.

The work vehicle V includes a geomagnetic direction sensor S4 for detecting the vehicle body direction, a gyro device S5 for detecting angular velocities around the three-dimensional axes of the vehicle body 5 (vehicle front-rear direction, lateral width and vertical direction). Acceleration sensor S for detecting acceleration in each of the three-dimensional directions of the vehicle body 5 (front and rear direction of the vehicle body, lateral width, and vertical direction)
6 are provided. Then, by using the gyro device S5, the acceleration sensor S6, and the control device 16, the position change amount of the vehicle body of the work vehicle V, that is, the drug spraying device 6 is obtained as time-series inertial navigation position data at predetermined time intervals. The navigation system INS is constructed. The inertial navigation position data is, specifically, data in which the amount of position change within a predetermined measurement time interval (for example, 0.1 seconds) is labeled with measurement times at predetermined time intervals (for example, 0.1 second). Is required as.

On the side of the work vehicle V, an antenna 17a for a GPS mobile station I (hereinafter also simply referred to as a mobile station I) for receiving radio waves (carrier signals) from the GPS satellites 2 is provided. GPS receiver 17 for processing received signals to obtain phase information of carrier waves, and transceiver 2 on the ground side
There is provided a transceiver 18 as a work vehicle side communication means having an antenna 18a for receiving the transmission information from 0.

As shown in FIG. 4, the GPS receivers 19 and 17 of the reference station R and the mobile station I have substantially the same structure, and the radio signals received by the respective antennas 19a and 17a are First, it is input to the high frequency signal processing units 30 and 40 and converted into a low frequency. The low-frequency converted signal has its satellite number and the like decoded by C / A code analysis units 31 and 41, and carrier phase measurement units 33 and 43.
At, the carrier wave is reproduced in correlation with the C / A code created according to the satellite number, and the phases of the carrier wave are measured at the set time intervals by the built-in clocks 34 and 44. At the same time, based on the information from the C / A code analysis units 31 and 41, the satellite route information decoding units 32 and 42 determine satellite position information and the like. Then, the information from each of the above units is input to the respective control computers 35 and 45 to obtain the carrier phase information at each reference station R and mobile station I.

Further, the carrier phase information at the reference station R output from the reference station R-side computer 35 is transmitted from the transmitting antenna 20a via the ground transceiver 20 and received by the work vehicle antenna 18a for transmission / reception. Machine 18
Is input to the computer 45 on the mobile station I side, and the computer 45 on the mobile station I side obtains the double phase difference information based on the phase information of both carriers in the reference station and the mobile station. Then, using the GPS receiver 17, based on the carrier phase information at the mobile station I and the double phase difference information obtained from the carrier phase information at the reference station R received by the transceiver 18, the reference position is determined. That is, the position of the mobile station I with respect to the reference station R, that is, the position of the work vehicle V (medicine spraying device 6) is obtained as time series GPS position data at predetermined time intervals G
The PS position data calculating means 102 is configured. Then, the GPS position data obtained by the GPS receiver 17 is input to the control device 16.

Here, the outline of the double phase difference information will be described. The two carrier wave signals from two different satellites 2 are used.
Received by each of the two receiving stations (the reference station R and the mobile station I),
The two phase differences corresponding to each satellite 2 are obtained, and the difference between these two phase differences is called a double phase difference. As a result, the influence of the phase disturbance of the transmission signal in each satellite 2 is removed, and the influence of the synchronization shift of the clock for measuring the phase of each receiving station is removed. Accurate phase difference information with less influence of errors can be obtained. In order to obtain the position vector r, which will be described later, actually three independent double phase differences are obtained based on the carrier signals from the four different satellites 2.

The position detection of the vehicle body 5 (medicine spraying device 6) based on the three double phase difference information by the GPS position data calculating means 102 will be specifically described. First, the work vehicle V is positioned at a position where the position coordinate values are known with high accuracy in the local horizontal coordinate systems E, N, H, and the GPS receivers 17, 19 on the mobile station side and the reference station side are respectively arranged. Since the three double phase differences are calculated from the received information and the relative position between the reference station R and the work vehicle V is known, the uncertainty of an integral multiple of the carrier wavelength included in the double phase difference information (integer value Bias) is confirmed. Next, as shown in FIG. 5, from the reference station R to the vehicle body 5, that is, GP, from the three double phase difference information when the work vehicle V is moved to an arbitrary point in the field F.
The position vector r of the S mobile station I to the antenna 17a is obtained, and the position of the GPS antenna 17a of the vehicle body 5 is determined from the reference position of the reference station R and the obtained position vector r. Then, the fixed positional relationship of the drug spraying device 6 with respect to the GPS antenna 17a (as represented by the position vector r0 toward the center of the drug spraying device 6 in the lateral direction of the vehicle body as shown in FIG. 5), and the vehicle body direction by the geomagnetic direction sensor S4. The position of the chemical spraying device 6 in the field F is determined based on the information.

Information of the field F is stored in the control device 16. Specifically, the information on the field F is prepared as coordinate data in the E, N, H coordinate system on the ground side. For example, the longitudinal direction of the field F shown in FIG. In order to give the coordinate values at the four corners of the field, assuming that it is along the E axis), data in which two E coordinate values are paired with one N coordinate value is prepared.

However, in the position detection based on the GPS reception information, it takes time (for example, about 2 seconds) to measure the carrier phase at each station, communicate the phase information, calculate the double phase difference, etc. The position at the time cannot be detected in real time. Therefore, the vehicle body 5 (medicine spraying device 6)
Position information of time series GP at a predetermined time interval (1 second interval)
Obtained as S position data. Therefore, the time-series GPS position data at the 1-second intervals is data corresponding to the vehicle body position of the work vehicle V 2 seconds before.

Therefore, in order to detect the position of the drug spraying device 6 in real time, the control device 16 is used to
Calculated by the GPS position data calculation means 102,
Working unit position detecting means for obtaining the position of the drug spraying device 6 at the current time based on the GPS position data before the set time before the current time and the inertial navigation position data at the current time obtained by the inertial navigation system INS. 103 is configured. That is, the position of the chemical spraying device 6 in the field F is obtained in real time by interpolating the inertial navigation position data with respect to the GPS position data having a detection delay.

The work vehicle V is operated by a driver who operates the steering wheel 15 or the like, and as shown in FIG. 5, is linear from the start point St on the end side of the field F along the longitudinal direction of the field. The vehicle is made to travel to the terminal end portion so as to draw the traveling locus L, and when it reaches the terminal end portion, a turning operation of 180 degrees is performed from the terminal end point, and this time, the reciprocating traveling is repeated in the opposite direction along the longitudinal direction of the field. Then, the work vehicle V is driven so as to travel over the entire range of the field F. At this time, the intervals of the travel loci L are adjusted so that the non-dispersion region does not occur in the spraying range of the medicine spraying device 6 and the travel loci L are adjusted so as not to overlap.

Using the control device 16, an operation for storing the position of the field F where the operation (medicine spraying) is completed based on the information of the operation part position detecting means 103 and the operation state detecting means 101. The end position storage means 104 is configured. More specifically, referring to FIG. 6, for example, while spraying the chemicals by spraying all the spray nozzles 6a, while performing straight travel so as to draw the straight travel locus L, injection in the lateral direction of the vehicle body The area portion F1 (shaded area in the figure) through which the spraying device 6 having the width h has passed is stored as the position of the field F where the chemical spraying work has ended. When all the ejection nozzles 6a are not in the ejection state, the work end position is stored corresponding to the ejection width of the nozzles 6a in the ejection state.

Further, by using the control device 16, the position in the field F1 where the work (medicine spraying) has been completed based on the information of the work end position storage means 104 and the work part position detection means 103. The nozzle drive unit 1 is arranged so that the end side portion of the chemical spraying device 6 that is operating is in a non-working state.
The control means 100 which operates 4 is comprised. More specifically, referring to FIG. 6, for example, the spraying width h of the spraying device 6 is sandwiched between the area F1 on which the medicine has been sprayed and the ridge Fa.
When traveling on a field portion F2 having a width narrower than that, when the ridge-side end portion of the spraying device 6 is caused to travel along the ridge Fa, the other end side portion of the spraying device 6 is a region portion F on which the chemical has been sprayed.
Located in 1. Here, since the position of the drug spraying device 6 (the center position in the vehicle body width direction indicated by the vector r0) is detected and the distance h / 2 from the center position to the left and right ends is determined, Area F1 that has been scattered
Whether it is located at or not and its width can also be determined. Therefore,
Of the plurality of spray nozzles 6a, the spray nozzle 6a located in the area F1 where the medicine has been sprayed is brought into the spray stop state.

Next, the control operation of the control device 16 will be described. In a main flow (not shown), the information of the steering wheel operation angle detection sensor R0 is changed while switching the three steering types based on the input information from the steering changeover switch 13. Based on the steering control for controlling the steering angles of the front and rear wheels 3 and 4, based on the operation state control flow shown in FIG. 7, time-series GPS position data and INS position data are respectively taken in The current position of the working unit (medicine spraying device 6) at the current time is calculated, and it is determined whether the working unit is located in the field F1 where the spraying work has been completed. Here, if it is located in the worked field F1, the injection of the spray nozzle 6a located in the worked part is stopped, and if it is not located in the worked field F1, the spray nozzle 6a in the spray stopped state. To inject the fuel. Next, a storage process is performed for the field portion where the spraying of the nozzle 6a in the spraying state has been performed and the chemical spraying work has been completed.

[Other Embodiments] In the above embodiment, the work vehicle V provided with the drug spraying device 6 for spraying a drug to the field, which is the work site, has been described, but other work vehicles for agricultural work are described. Also, the present invention can be applied to various work vehicles other than those for agricultural work, and the concrete configuration of each part such as the work unit 6 and the work state switching means 14 and the work place at that time are the purpose and work conditions of the work vehicle. It is appropriately changed according to the above.

In the above embodiment, the working unit position detecting means 10
3 is configured by combining the position detection based on the radio wave (carrier wave) signal from the GPS satellite and the position detection by the inertial navigation system, but the present invention is not limited to this.
It may be a means for detecting the position by receiving an electromagnetic signal from an AC signal line buried in the ground.

In the above embodiment, the work state detecting means 101
Is configured by utilizing the control device 16 that controls the operation of the working unit 6 (that is, by determining whether or not the operation information to the working unit 6 is output). It may be a means such as a sensor for directly detecting the working state of.

In the above embodiment, the working unit 6 is composed of a plurality of working portions 6a, and the working state switching means 14 switches the plurality of working portions 6a between working state and non-working state separately. However, depending on the function of the working unit and the like, the working unit does not necessarily have to be composed of a plurality of working units whose working states can be switched separately.

In the above embodiment, the manually operated steering means on the side of the work vehicle is constituted by the wheels 3 and 4 which are steered by the steering wheel, but it is not limited to the wheels. The work vehicle V is
It may be one that automatically travels along a set route.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control configuration of a work vehicle.

FIG. 2 is a schematic side view showing a work vehicle and a reference station.

FIG. 3 is a schematic plan view of a work vehicle.

FIG. 4 is a block diagram showing the configuration of a GPS receiving system.

FIG. 5 is a schematic plan view showing a traveling locus of a work site and a work vehicle.

FIG. 6 is a plan view illustrating a work state switching operation.

FIG. 7 is a flowchart of work state switching control.

[Explanation of symbols]

 6 Working unit V Working vehicle 103 Body position detecting means 101 Working state detecting means 104 Working end position storing means 14 Working state switching means 100 Control means 6a Working part R GPS reference station 20 Ground side communication means I GPS mobile station 18 Working vehicle side Communication means 102 GPS position data calculation means INS Inertial navigation system 3, 4 Steering means

Claims (4)

[Claims] 1. A work state control device for a work vehicle, comprising a work unit (6) which can be switched between a working state and a non-working state, and which moves in a work area within a predetermined range, said working vehicle (V). A working unit position detecting means (103) for detecting the position of the working unit (6) in the working area; and a working state detecting means (103) for detecting whether or not the working unit (6) is in a working state. 101), and the work end position storage means (104) for storing the position of the work place where the work is completed based on the information of the work part position detection means (103) and the work state detection means (101). And a work state switching means (14) for switching an end portion of the working portion (6) on the lateral outer side of the vehicle body between a working state and a non-working state.
And an end-side portion of the working unit (6) located at the work site where the work is completed, based on the information of the work end position storage unit (104) and the work unit position detection unit (103). And a control means (100) for operating the work state switching means (14) so as to bring the work state into a non-working state. 2. The working portion (6) is composed of a plurality of working portions (6a) having a set width in the lateral direction of the vehicle body, and the working state switching means (14) comprises a plurality of working portions. The work state control device for a work vehicle according to claim 1, wherein the work portion (6a) is configured to be switched between a working state and a non-working state separately. 3. A GPS installed at a reference position on the ground side
GPS reference station (R) that receives carrier signals from satellites
And a ground side communication means (20) for transmitting the carrier phase information at the GPS reference station (R) to the working vehicle (V) side. The working vehicle (V) is provided with a carrier signal from a GPS satellite. GPS mobile station (I) for receiving the information, working vehicle side communication means (18) for receiving transmission information of the ground side communication means (20), carrier phase information at the mobile station (I) and the working vehicle Based on the double phase difference information obtained from the carrier phase information at the GPS reference station (R) received by the side communication means (18), the position of the working unit (6) with respect to the reference position is set at a predetermined time interval. G obtained as a series of GPS position data
A PS position data calculating means (102) and an inertial navigation system (INS) for obtaining the position change amount of the working unit (6) as time-series inertial navigation position data at predetermined time intervals are provided, and the working unit position detection is performed. The means (103) calculates the GPS position data calculated by the GPS position data calculating means (102) before the set time before the current time, and the inertia at the current time calculated by the inertial navigation system (INS). The working unit (6) at the current time according to the navigation position data
The work state control device for a work vehicle according to claim 1 or 2, wherein the work state control device is configured to obtain the position of. 4. The work state control device for a work vehicle according to claim 1, 2 or 3, wherein the work vehicle (V) is provided with a manually operated steering means (3, 4).