CN108289408B - Working vehicle - Google Patents

Abstract

The work vehicle is provided with: a traveling machine body (C) having a traveling device (A); a planting device (W) for performing work on a field; a steering unit (U) capable of steering the traveling device (A); a receiving device (63) for acquiring the position information by the satellite positioning system; a main inertia measurement device (62) for measuring inertia information; a generation unit that generates a target route for causing the traveling machine body (C) to travel; and a control unit that controls the steering unit (U) so that the traveling body (C) travels along the target route, based on the position information and the inertia information. The receiving device (63) and the main inertia measuring device (62) are disposed at different positions of the traveling machine body (C).

Description

Working vehicle

Technical Field

The present invention relates to a working vehicle such as a farm working vehicle (hereinafter also referred to as a "farm working machine") and a construction working vehicle. The work vehicle includes, but is not limited to, a riding rice transplanter, a riding seeder, a tractor, a combine, and the like.

Background

[1] For example, JP 2001-161112 a describes a conventional work vehicle capable of performing automatic steering control of a travel machine body. This work vehicle includes a travel machine body having a travel device ("front wheels" and "rear wheels"), a work device ("seedling planting work device") for performing work on a field, and a steering unit ("power steering valve", "power steering cylinder", automatic control valve ", etc.) capable of steering the travel device. Further, this work vehicle is provided with a receiving device ("GPS receiver") for acquiring position information via a satellite positioning system, and a control unit ("controller") for controlling the steering means based on the acquired position information to move the travel machine body straight (the name in parentheses is the name of the component in JP 2001-161112 a). The work vehicle controls the steering unit only based on the position information acquired by the receiving device, and performs automatic steering control of the traveling body.

Further, US7346452B2 describes a measurement unit in which a reception device for acquiring position information by a satellite positioning system and an inertia measurement device for measuring inertia information are integrated.

[2] Among conventional riding rice transplanters, there is a rice transplanter having a traveling vehicle body having a riding type riding part, a seedling planting device connected to the rear part of the traveling vehicle body so as to be capable of being operated to move up and down, an armrest erected from the vehicle body part upward on the lateral side of the riding part, and a preliminary seedling storage device provided in front of the armrest (see, for example, JP 2013-074841 a).

The riding type rice transplanter comprises a riding driving part, a transverse handrail part (corresponding to a handrail), and a prepared seedling carrying device (corresponding to a prepared seedling accommodating device), wherein the prepared seedling carrying device can be switched to: in the folding state, the prepared seedling platform of the front movable frame and the prepared seedling platform of the rear movable frame are folded above the prepared seedling platform of the fixed frame; and an unfolding state, wherein the preparation seedling platform of the front movable frame is unfolded to the front side of the fixed frame, and the preparation seedling platform of the rear movable frame is unfolded to the rear side of the fixed frame.

[3] The work vehicle has the following structure: the vehicle is provided with a position detection means for detecting the position of the vehicle body and an orientation detection means for detecting the orientation of the vehicle body, and is configured so that the vehicle body travels along the target travel path based on the detection information.

Conventionally, a vehicle body of a work vehicle has a structure in which: a unit for satellite Positioning such as gps (global Positioning system) and a unit for inertial navigation as an example of a direction detection means; in a field as a working object, a target moving path along which a vehicle body is to travel is set in advance; performing steering control so that the position of the vehicle body detected by the satellite positioning system becomes a target position corresponding to the target movement path and the detected direction becomes a target direction corresponding to the target movement path; the target bearing is always set to a bearing corresponding to the target movement path (for example, refer to JP 2009-245002 a).

When the vehicle body is steered, it is not known which direction the vehicle body is currently moving in, based only on the position information obtained by the satellite positioning means. In addition, in some cases, it takes time to perform the measurement process by the satellite positioning unit, and in some cases, when the measurement process is applied to a work vehicle in which a vehicle body is moved and guided along a set path, it is difficult to perform steering control of the work vehicle with high accuracy only based on the positional information. Therefore, the current orientation of the vehicle body is detected by the orientation detection means, and steering control is performed based on the position information and the orientation information.

[4] Some agricultural working machines are configured to set a travel route using a positioning system using satellites such as a GPS to perform agricultural work. Such agricultural working machine has the following structure: the vehicle control device is configured to be capable of switching between manual travel performed by manual steering and automatic travel performed by automatic steering along a set travel route set in parallel with a reference travel route; the device is provided with a switch for switching between the manual travel and the automatic travel.

Conventionally, as such agricultural working machines, there are rice transplanting machines configured as follows: while measuring the position of the traveling body by the positioning system, the robot automatically travels on a set travel route and plants seedlings in a predetermined planting range (see, for example, JP 2008-092818A).

In order to automatically travel the rice transplanter, a reference travel route (referred to as teaching) as a reference of the travel route needs to be set in advance.

As a specific example of the teaching, after the travel machine body is made to travel in the field and reaches a position as a starting point of the reference travel route, the position information of the travel machine body at the position is read by the positioning system by operating a designation switch provided on the instrument panel and is input to the recording unit as the starting point position.

Then, the travel machine body is moved to a position that is the end point of the reference travel route, and similarly, the end point position information of the reference travel route can be recorded by operating the designation switch, and the reference travel route can be set by connecting the start point position and the end point position.

In addition, as the setting of the set travel route as an index for automatically traveling the traveling machine body, a plurality of line segments parallel to the reference travel route are assumed on the basis of the reference travel route by dividing the reference travel route by a constant interval size calculated from the number of plants of the traveling machine body and the like, and these parallel line segments are set as the set travel route.

The controller for controlling the automatic travel of the traveling machine body is configured to automatically travel the traveling machine body to the end position along a predetermined travel route. Further, control is performed so that the traveling machine body automatically turns (180 degrees) between the set traveling routes set adjacent to each other. The control unit is configured to repeat automatic travel along the set travel route from the start point of the adjacent set travel route.

[5] The field work vehicle has the following structure: the positioning device is provided with a traveling machine body traveling in a field while switching directions in a ridge area, a field working device working on the field, and a positioning means outputting positioning data indicating the position of the vehicle.

As an example of such a field working vehicle, a rice transplanter that automatically travels on a target route using position information measured by a GPS device is known from JP 2008-092818A. In this rice transplanter, a planting operation is performed while autonomously traveling on a linear target path, and if the driver confirms that the rice transplanter has reached a ridge area, also called a pillow, the driver operates a turning operation tool to switch the direction of the machine body in a desired direction, thereby automatically performing turning travel for switching the direction in the ridge area. If the direction is switched, the planting work is performed while autonomously traveling on the linear target path again.

Patent document 1: japanese patent laid-open No. 2001-161112 (JP 2001-161112A).

Patent document 2: U.S. patent No. 7346452 (US 7346452B 2).

Patent document 3: japanese patent laid-open publication No. 2013-074841 (JP 2013-074841A).

Patent document 4: japanese patent laid-open No. 2009-2458002 (JP 2009-245002A).

Patent document 5: japanese patent laid-open No. 2008-092818 (JP 2008-092818A).

Problems to be solved by the invention

[1] The problems corresponding to the background art [ 1 ] are as follows.

In the case where the positional information acquired from the receiver by the satellite positioning system is greatly deviated from the actual position, it is difficult to accurately perform the work by the working device by using the automatic steering control of the traveling body in the working vehicle described in JP 2001-161112 a. In addition, in a situation where radio interference or the like is likely to occur, the amount of information of the position information acquired by the receiving device becomes insufficient, and it is difficult to perform automatic steering control of the traveling machine body by itself.

Therefore, in the work vehicle described in JP 2001-161112 a, as described in US7346452B2, the following techniques have been studied: a measurement unit having a receiver for acquiring position information by a satellite positioning system and an inertia measurement device for measuring inertia information integrated therewith is mounted, and automatic steering control of a traveling body is performed based on the position information acquired by the receiver and the inertia information measured by the inertia measurement device, thereby further improving the accuracy of work performed by a working device.

However, the receiver device tends to display a characteristic that the accuracy of the acquired position information becomes high when the receiver device is disposed in a portion where the surrounding shielding object for shielding the radio wave is small and the fluctuation ratio is large, whereas the inertia measurement device tends to display a characteristic that the error of the inertia information becomes small when the inertia measurement device is disposed in a portion where the fluctuation ratio is small. Therefore, if the measurement unit in which the receiver device and the inertia measurement device are integrated is disposed at a part of the traveling machine body, there is a possibility that the characteristics of both the receiver device and the inertia measurement device cannot be sufficiently exhibited.

In view of the above, a work vehicle capable of accurately performing work by a work implement using automatic steering control of a traveling machine body is desired.

[2] The problems corresponding to the background art [ 2 ] are as follows.

In the riding-type rice transplanter described in JP 2013-074841 a, the preliminary seedling storage device is provided with a plurality of preliminary seedling stages, and the preliminary seedling storage device is configured to be switchable between a1 st state in which the plurality of preliminary seedling stages are arranged in the vertical direction of the traveling vehicle body and a2 nd state in which the plurality of preliminary seedling stages are arranged in the front-rear direction of the traveling vehicle body, whereby the preliminary seedling storage device can be switched to the 1 st state to store the plurality of preliminary seedling stages in a vertically multi-stage arrangement, or the plurality of preliminary seedlings can be stored in a vertically multi-stage arrangement, and the preliminary seedling storage device can be switched to the 2 nd state to store the plurality of preliminary seedlings in a vertically multi-stage arrangement.

By adopting the conventional technique, when the state 1 and the state 2 of the preliminary seedling housing device can be switched, the longer the length in the vehicle longitudinal direction of the upper end portion of the grip portion as the armrest, the more the preliminary seedling housing device is located on the vehicle front side. That is, when the preliminary seedling accommodation apparatus is switched to the 2 nd state, it is necessary to prevent the 1 st preliminary seedling stage from hitting the handrail.

Therefore, the following riding rice transplanter is desired: the length of the upper end portion of the armrest in the longitudinal direction of the vehicle body can be increased without bringing the preliminary seedling holding device to the front side of the vehicle body or even to a small extent.

[3] The following problems are problems according to the background art [ 3 ].

In the above configuration of JP 2009-245002 a, when steering control is performed based on the detection information of the satellite positioning means and the detection information of the azimuth detection means, the target azimuth is always set to the azimuth along the target travel path, and therefore, there is a disadvantage as follows.

That is, in the above-described conventional configuration, the control means operates the steering operation means so that the detection position of the vehicle body is located on the target movement path and the detection azimuth becomes the azimuth along the target movement path. If this is done, for example, when the position of the vehicle body is corrected in a traveling state in which the vehicle body is displaced laterally from the target travel path but the direction of the vehicle body is the same as the target azimuth, if the direction of travel of the vehicle body is changed to correct the position, the azimuth of the vehicle body is displaced from the target azimuth, and therefore, there is a case where an unnecessary operation is performed in response to the displacement from the target azimuth. As a result, it is possible to take time to return to the traveling state along the target moving path.

Therefore, it is desirable to quickly return to the traveling state along the target travel path when the vehicle body is displaced laterally from the target travel path and the vehicle body is oriented in the same direction as the target direction.

[4] The following problems are problems according to the background art [ 4 ].

According to the agricultural work machine such as JP 2008-092818A having the above configuration, the setting of each set travel route is set in parallel with the reference travel route at equal intervals. Therefore, the traveling machine body performs planting of seedlings while traveling on equally spaced traveling lines, regardless of differences in field conditions in the path of automatic travel (for example, undulation of the field, planting conditions of seedlings in the adjacent planting completion path, and the like).

However, the surface of the field where the traveling body travels is not necessarily limited to be flat, and therefore, for example, the following may be possible: in the field, there are some deviations in the passage path of the traveling body between a portion having some undulation and a portion other than such, and planting conditions such as the position and posture of the planted seedling vary.

In such a case, it is also preferable to deal with the situation of planting while observing the adjacent planting completion route, for example, while traveling in a lane close to the adjacent set travel line side (or a lane away from the adjacent set travel line side).

However, since the set travel route is set to be parallel to and at equal intervals from the reference travel route, in order to take the above-described measures, it is necessary to switch from automatic travel to manual travel by a switch and continue the manual travel while changing lanes by manual steering of the driver. This may prevent the driver from taking his/her hands away from the driving operation, and may make it difficult to perform other tasks on the traveling machine body in parallel.

Further, if the change-over switch is switched to the automatic travel again, the travel lane returns to the initially set travel route, and even if it is difficult to travel along the travel route matching the field situation, there is a problem that the subsequent travel is not reflected.

Therefore, an agricultural work machine is desired which can set a set travel route to a free lane and reduce the burden on the driver.

[5] The problem according to the background art [ 5 ] is as follows.

When positioning accuracy is required for adjacent operation regions (trajectories) such as rice planters, a high-level local position detection technique and an automatic steering control technique are required to automatically perform accurate positioning during turning under autonomous travel on a pillow. However, when such a direction change travel is performed by automatic steering or manual steering, it is important to accurately recognize the timing of starting the direction change travel, that is, the arrival of the transplanter at the ridge area, and the accurate alignment of the starting point for the subsequent work travel after the direction change travel, and this is a difficult driving operation for an unskilled person.

In view of such circumstances, the following field work vehicles are desired: at least the arrival of the moving body at a ridge area (a pillow-shaped land) where the direction of the moving body is changed is appropriately recognized, and the moving body is appropriately changed in direction.

Disclosure of Invention

[1] The solution corresponding to the problem [ 1 ] is as follows.

The work vehicle of the present invention includes: a traveling body having a traveling device; a working device for performing work on a field; a steering unit capable of steering the traveling device; a receiving device for acquiring position information by a satellite positioning system; an inertia measuring device for measuring inertia information; a generation unit that generates a target route for causing the traveling machine body to travel; and a control unit that controls the steering unit based on the position information and the inertia information so that the traveling body travels along the target route; the receiving device and the inertia measuring device are disposed at different locations of the traveling machine body.

According to the present invention, the receiver for acquiring the position information by the satellite positioning system and the inertia measuring device for measuring the inertia information are disposed at different locations of the traveling machine body.

Therefore, for example, the receiver device can be disposed at a location where the yaw rate is relatively large, so that the accuracy of acquiring the positional information of the receiver device can be improved, and the inertia measuring device can be disposed at a location where the yaw rate is relatively small, so that the error of the inertial information measured by the inertia measuring device can be reduced. That is, both the accuracy of the position information acquired by the receiving device and the accuracy of the inertia information measured by the inertia measuring device are improved, and both the characteristics of the receiving device and the inertia measuring device can be exhibited.

Thus, the steering control of the steering unit can be performed using the highly accurate position information and the inertia information, and the traveling machine body and the working device can be made to travel along the target course by accurately performing the automatic steering control of the traveling machine body.

Therefore, according to the present invention, the work performed by the working device can be accurately performed using the automatic steering control of the traveling machine body.

In the above aspect, it is preferable that the inertia measuring device is disposed at a position near a center in a front-rear direction of the entire length of the travel machine body and the working device in the front-rear direction.

According to this aspect, the portion near the center in the front-rear direction of the entire length of the traveling machine body and the working device in the front-rear direction is, for example, a portion near a yaw axis (yaw axis) that is the turning center of the entire traveling machine body and the working device. By disposing the inertia measurement device at such a location, the error of the inertia information measured by the inertia measurement device is reduced, and accurate measurement of the inertia information is facilitated.

In the above aspect, it is preferable that the inertia measuring device is attached to an attachment member located in the vicinity of a rear axle of the traveling device.

According to this aspect, the mounting member located in the vicinity of the rear axle of the travel device is less likely to swing during travel of the travel machine body. By mounting the inertia measurement device on such a mounting member, the error of the inertia information measured by the inertia measurement device is reduced, and accurate measurement of the inertia information is facilitated.

In the above aspect, it is preferable that the working device is a seedling planting device capable of planting seedlings in a field; the disclosed device is provided with: a plurality of preliminary seedling stages on which preliminary seedlings to be supplied to the seedling planting device can be placed; a pair of right and left preliminary seedling stands for supporting the preliminary seedling stage; and a connecting frame which is connected across the upper parts of the left and right preliminary seedling frames; the receiving device is mounted on the connecting frame.

According to this aspect, since the receiver device is attached to the connecting frame provided at a relatively high position connecting the right and left preliminary seedling frames supporting the preliminary seedling stage, the receiver device can be disposed at a position where there is little shielding against radio waves. This makes it difficult for the position information acquired by the receiving device to be interrupted. Further, since the preliminary seedling frame and the connecting frame are relatively liable to swing during travel, for example, the accuracy of detecting the direction of the traveling body based on the position information acquired by the receiving device can be improved.

In the above aspect, preferably, the state of the coupling frame is changed to: in a use state, the receiving device is positioned above the upper end part of the preparation seedling frame; and a storage state in which the container is vertically reversed with respect to the use state, wherein the container is located below the upper end of the preliminary seedling frame.

According to this aspect, the receiver is located higher than the upper end of the preliminary seedling frame by placing the linking frame in the use state, so that the reception sensitivity of the radio wave can be improved when the receiver is used. On the other hand, since the receiving device is located at a position lower than the upper end portion of the preliminary seedling frame by bringing the linking frame into the storage state, the receiving device does not become an obstacle when the traveling machine body is stored in a warehouse or the like, and a trouble such as collision of the receiving device against the upper portion of the entrance of the warehouse or the like can be avoided.

In the above aspect, it is preferable that the connecting frame is supported by the right and left preliminary seedling frames so as to be able to rotate about right and left axes extending in the right and left directions and so as to be positionally fixed in the use state and the storage state.

According to this aspect, since the coupling frame is rotatable about the left and right axes, the state of the coupling frame can be easily changed to the use state in which the receiver is used and the storage state in which the receiver is stored.

In the above aspect, it is preferable that the connecting frame is detachable from the right and left preliminary seedling frames.

According to this aspect, since the connecting frame is detachable, the connecting frame in the use state can be detached from the preliminary seedling frame and the connecting frame can be attached to the preliminary seedling frame in the storage state without using the receiving device.

In the above aspect, it is preferable that the receiving device includes a connector portion to which the harness is connected; the connector portion extends outward from the receiving means in the left and right directions.

According to this aspect, since the connector portion to which the harness is connected in the receiving apparatus extends outward in the right-left direction from the receiving apparatus, it is less likely that the connector portion of the receiving apparatus collides with an obstacle such as a branch approaching from the front during travel, as compared with a case where the connector portion extends forward from the receiving apparatus, for example.

In the above aspect, it is preferable that the receiving device includes a connector portion to which the harness is connected; the connector includes a protection member for protecting the connector portion.

According to this aspect, the connector portion is appropriately protected by the shield member so that an obstacle such as a tree branch does not collide with the connector portion during traveling.

[2] The solution corresponding to the problem [ 2 ] is as follows.

The riding rice transplanter of the invention comprises: a traveling vehicle body having a riding type driving unit; a seedling planting device connected to the rear part of the advancing vehicle body in a lifting operation manner; an armrest erected upward from the vehicle body part on a lateral side of the driver's seat; and a preliminary seedling storage device provided in front of the handrail; the preliminary seedling storage device includes a plurality of preliminary seedling stages that are switchable between a1 st state in which the plurality of preliminary seedling stages are arranged in a vertical direction of the traveling vehicle body and a2 nd state in which the plurality of preliminary seedling stages are arranged in a front-rear direction of the traveling vehicle body; a free space is arranged below the upper end part of the handrail; in the 2 nd state of the preliminary seedling housing apparatus, a rear end side portion of the first 1 st preliminary seedling stage among the plurality of preliminary seedling stages enters the empty space, and the upper end portion overlaps the rear end side portion in a plan view.

According to this aspect, if the preliminary seedling storage device is switched to the 2 nd state, the preliminary seedling storage device enters the empty space from the rear end side portion of the 1 st preliminary seedling stage from the rear, so even if the length of the upper end portion of the handrail in the vehicle body longitudinal direction is increased, the preliminary seedling storage device is not brought close to the vehicle body front side, and the preliminary seedling storage device is not brought close as much as in the case of the conventional structure, it is possible to avoid collision between the preliminary seedling storage device and the handrail by entering the empty space from the rear end side portion of the 1 st preliminary seedling stage from the rear.

Therefore, the length of the upper end portion of the armrest in the vehicle longitudinal direction can be increased without bringing the preliminary seedling storage device closer to or too close to the vehicle front side, and even when the preliminary seedling storage device is switched to the 2 nd state, the preliminary seedling table does not protrude from the traveling vehicle body so far forward, and the like, whereby the traveling vehicle body can be easily handled, and the armrest can be easily used.

In the present invention, it is preferable that the 1 st preliminary seedling stage includes a preliminary seedling stage main body and an extension stage supported by the preliminary seedling stage main body so as to be capable of being changed in posture between a use posture in which the extension stage is extended rearward from the preliminary seedling stage main body and a storage posture in which the extension stage is stored inward of the preliminary seedling stage main body; the rear end side portion of the 1 st preliminary seedling stage is formed by the extension stage in the use posture.

According to this aspect, when the preliminary seedling accommodation apparatus is switched to the 2 nd state, the extension table is set to the use posture, so that the placement area of the first-from-1 st preliminary seedling placement table can be increased, and the preliminary seedling can be easily taken in and out of the preliminary seedling placement table. In this way, the placement area of the preliminary seedling placement table can be increased, and the length of the upper end portion of the armrest in the vehicle longitudinal direction can be increased without bringing the preliminary seedling storage device closer to or too close to the front side of the traveling vehicle body.

In the present invention, it is preferable that the rear end side portion of the 1 st preliminary seedling stage enters the entrance of the cab in the 2 nd state of the preliminary seedling accommodation apparatus.

According to this aspect, if the preliminary seedling housing apparatus is switched to the 2 nd state, the ascending/descending port can be closed or narrowed with a simple structure in which the closing member for the ascending/descending port is used from the rear end side portion of the 1 st preliminary seedling stage.

In the present invention, it is preferable that the upper end portion of the armrest includes a fixed portion fixed to a vehicle body portion and a movable portion switchable between a closed state in which the fixed portion extends forward from the fixed portion and a front end side portion closes an entrance of the cab and an open state in which the entrance is opened; the empty space is formed below the movable portion in the closed state.

According to this aspect, by bringing the movable portion into the closed state, the entrance can be closed or narrowed with a simple structure in which the movable portion is used as a closing member for the entrance.

In the present invention, it is preferable that the movable portion is supported by the fixed portion so as to be swingable between the closed state and the open state.

According to this aspect, the movable portion can be switched between the closed state and the open state simply by swinging the movable portion.

In the present invention, it is preferable that a tip end side portion of the movable portion is supported by a support column of the preliminary seedling holding device in the closed state of the movable portion.

According to this aspect, the movable section can be reliably supported in the closed state with a simple structure in which the support column of the preliminary seedling housing device is used as a member for supporting the distal end side portion of the movable section.

[3] The solution corresponding to the problem [ 3 ] is as follows.

A work vehicle according to the present invention includes: a steering operation mechanism capable of changing the direction of travel of the vehicle body; a path setting means for setting a target movement path along which the vehicle body should travel; a position detection unit for detecting a position of the vehicle body; an orientation detection means for detecting the orientation of the vehicle body; and a control means for executing automatic steering control for operating the steering operation means so that the detected position of the vehicle body detected by the position detection means becomes a position on the target movement path and the detected orientation of the vehicle body detected by the orientation detection means becomes a target orientation in the target movement path; the control means executes a positional deviation correction process of changing the target azimuth to an inclined target azimuth inclined toward the target movement path side and operating the steering operation means when the detection position is deviated in the lateral direction from the target movement path and the detection azimuth is the same as the target azimuth.

According to the present invention, when the detection position of the vehicle body detected by the position detection means deviates in the lateral direction from the target travel path and the detected azimuth of the vehicle body detected by the azimuth detection means is the same as the target azimuth (hereinafter, referred to as a reference target azimuth) in the target travel path when the automatic steering control is executed, the control means changes the target azimuth to the inclined target azimuth inclined toward the target travel path side and operates the steering operation means. That is, the control means operates the steering operation means so that the detected position of the vehicle body becomes a position on the target movement path and the detected azimuth of the vehicle body becomes the inclination target azimuth.

When the vehicle body travels in a direction inclined toward the target movement path side in order to correct the lateral positional deviation, the vehicle body travels in a posture along the reference target azimuth so that the positional deviation is reduced. That is, since the orientation of the vehicle body does not deviate from the inclination target orientation, wasteful operations are not performed in accordance with the deviation of the orientation.

As a result, when the vehicle body is displaced laterally from the target movement path and the orientation of the vehicle body is the same as the reference target orientation, wasteful operations are reduced, and the vehicle can be returned to the travel state along the target movement path extremely quickly.

In the present invention, it is preferable that the control means sets an inclination angle of the inclined target azimuth with respect to the target azimuth to a set upper limit value or less when the positional deviation correction processing is executed.

According to this aspect, the target azimuth is not changed excessively when the steering control is executed, and therefore the vehicle body is less likely to make a sharp turn, make the posture unstable, and the like.

In the present invention, it is preferable that a vehicle speed detection means for detecting a vehicle speed is provided; when the control means executes the positional deviation correction processing, the change operation speed when the steering operation means changes the advancing direction is reduced as the vehicle speed is increased.

When the positional deviation is corrected, if the steering operation is promptly performed when the vehicle speed is high, a sudden posture change operation is performed, and the vehicle body posture may become unstable. Therefore, in this aspect, when the positional deviation is corrected, the change operation speed when changing the advancing direction of the steering operation mechanism is made smaller as the vehicle speed is higher. As a result, the operation of changing the orientation of the vehicle body is performed relatively quickly, and the vehicle body posture is less likely to become unstable, so that the positional deviation correction can be performed smoothly.

In the present invention, it is preferable that a vehicle speed detection means for detecting a vehicle speed is provided; the control means decreases an inclination angle of the target azimuth inclined toward the target movement path side as the vehicle speed increases when the misalignment correction processing is executed.

When the positional deviation is corrected, if the steering operation is promptly performed when the vehicle speed is high, a sudden posture change operation is performed, and the vehicle body posture may become unstable. Therefore, in this aspect, the inclination angle for inclining the target azimuth toward the target movement path side is smaller as the vehicle speed is larger. As a result, the amount of change in the orientation of the vehicle body is reduced, and the vehicle body posture is less likely to become unstable, so that the positional deviation correction can be performed smoothly.

In the present invention, it is preferable that the control means maintains the tilted target azimuth as it is until the detected position reaches a position corresponding to the target movement path when the positional deviation correction processing is executed.

According to this aspect, in the positional deviation correction process, after the target orientation is once changed to the tilted target orientation, the tilted target orientation is maintained until the vehicle body reaches the position corresponding to the target movement path. As a result, the vehicle body moves to a position corresponding to the target movement path in a state where the azimuth of the vehicle body is along the inclined target azimuth, and therefore, the positional deviation can be corrected quickly with less wasteful movement.

In the present invention, it is preferable that the control means makes the inclination of the inclined target azimuth with respect to the target azimuth more gradual as the detection position approaches a portion corresponding to the target movement path when the positional deviation correction processing is executed.

According to this aspect, in the positional deviation correction process, first, the inclination target azimuth having a steep inclination with respect to the reference target azimuth is changed, but the inclination target azimuth changes in a state in which the inclination with respect to the reference target azimuth becomes gentler as the vehicle body approaches the portion corresponding to the target movement path.

In the misalignment correction process, if the steering operation is performed in a state where the inclination with respect to the reference target azimuth is steep, the vehicle body can be quickly brought close to a portion corresponding to the target movement path. However, if the vehicle travels in such a state where the inclination with respect to the reference target azimuth is steep, the return correction amount becomes large when the azimuth of the vehicle body is returned to the azimuth along the target travel path after the position corresponding to the target travel path is reached, and therefore, there is a disadvantage that it takes time to perform the re-correction operation.

Therefore, when the misalignment correction process is executed, the vehicle body can be quickly brought close to a portion corresponding to the target movement path by changing to the tilted target azimuth having a steep tilt at the initial stage of the large misalignment amount. The vehicle body is changed to an inclined target azimuth in which the inclination with respect to the reference target azimuth is more gradual as it approaches a portion corresponding to the target movement path. As a result, when a portion corresponding to the target movement path is reached, the angular deviation between the tilted target azimuth and the azimuth along the target movement path becomes small, so that the return correction amount becomes small, and the re-correction operation can be performed promptly.

Therefore, the vehicle body can be brought close to the portion corresponding to the target travel path as quickly as possible, and the re-correction operation for returning to the direction along the target travel path can be performed in a short time without waste.

In the present invention, it is preferable that the portion corresponding to the target movement path has regions having a predetermined width in the lateral direction on both left and right sides of the position corresponding to the target movement path.

In the positional deviation correction process, if the positional deviation correction process is performed until the position of the vehicle body reaches the position corresponding to the target travel path, there is a disadvantage that, when the orientation of the vehicle body is returned to the orientation along the target travel path after the position of the vehicle body reaches the position corresponding to the target travel path, a delay occurs in the return operation and time is taken for the re-correction operation. Therefore, in this aspect, since the portion corresponding to the target movement path has the area of the predetermined width, the orientation of the vehicle body can be returned to the orientation along the target movement path just before the position of the vehicle body reaches the position corresponding to the target movement path, and the re-correction operation can be performed with little response delay.

In the present invention, it is preferable that the vehicle body alternately repeats straight travel in which work is performed while traveling along the target travel path and turn travel in which work is performed while turning toward a next target travel path parallel to the target travel path at an end position of the target travel path; when the positional deviation correction process is executed in a state where the vehicle body is deviated to a working area side, the control means sets the tilt target azimuth by tilting the vehicle body to a greater extent toward the target movement path than in a state where the vehicle body is deviated to a non-working area side.

According to this aspect, the vehicle body travels so as to alternately repeat straight travel and turning travel, and work is performed during the straight travel. When the positional deviation correction processing is executed in a state where the vehicle body is displaced toward the working area side, the inclination of the inclined target azimuth with respect to the target azimuth is made larger than in a state where the vehicle body is displaced toward the non-working area side.

In the case of a working vehicle that performs work for planting crop seedlings in a field while traveling, since the crop seedlings are already planted in the working area, it is necessary to avoid intrusion of the vehicle body into the working area. Therefore, when the vehicle body is displaced toward the working area side, the position can be corrected as quickly as possible by performing the steering operation in a direction inclined largely, and the vehicle body can be prevented from entering the working area.

In the present invention, it is preferable that the vehicle body alternately repeats straight travel in which work is performed while traveling along the target travel path and turn travel in which work is performed while turning toward a next target travel path parallel to the target travel path at an end position of the target travel path; when the positional deviation correction process is executed in a state where the vehicle body is deviated to a non-working area side position, the control means sets the tilt target azimuth by tilting the vehicle body to a greater extent toward the target movement path side than in a state where the vehicle body is deviated to a working area side position.

According to this aspect, the vehicle body travels so as to alternately repeat straight travel and turning travel, and work is performed during the straight travel. When the positional deviation correction processing is executed in a state where the vehicle body is deviated to the non-working area side position, the inclination of the inclination target azimuth with respect to the reference target azimuth is made larger than in a state where the vehicle body is deviated to the working area side position.

In the case of a work vehicle that performs work such as harvesting a planted crop while traveling, the planted crop is present in an inoperable area, and therefore, it is necessary to avoid intrusion of the vehicle body into the inoperable area. Therefore, when the vehicle body is displaced toward the non-working area side, the position can be corrected as quickly as possible by steering in a direction that is largely inclined, and the vehicle body can be prevented from entering the non-working area.

In the present invention, it is preferable that the vehicle body alternately repeats straight travel in which work is performed while traveling along the target travel path and turn travel in which work is performed while turning toward a next target travel path parallel to the target travel path at an end position of the target travel path; the control means does not execute the positional deviation correction processing during a period immediately after the vehicle body starts the straight advance after the turning advance and before a predetermined determination condition is satisfied.

Immediately after the straight travel is started after the turning travel, the traveling state may be unstable, and the vehicle body may be laterally deviated from the target travel path. As a result, immediately after the start of the straight travel, it is not necessarily limited that the vehicle body can travel in a stable state on the target movement path immediately.

Therefore, in this aspect, the positional deviation correction process is not executed during the period immediately after the start of the straight traveling and before the predetermined determination condition is satisfied, so that unnecessary steering operation can be avoided. As the predetermined determination condition, for example, various conditions such as a set time elapsed from turning, a set travel distance, and an approach of the orientation of the vehicle body to a predetermined orientation may be considered. In short, the conditions are used to stabilize the traveling state.

In the present invention, it is preferable that: a manual steering operation tool for commanding a change in the direction of travel of the vehicle body based on a manual operation; and a manual operation detection means for performing a manual operation with respect to the manual steering operation tool; the control means reduces the operation force at the time of operating the steering operation means in the automatic steering control if the manual operation is detected by the manual operation detection means.

According to this aspect, the steering operation mechanism can be operated by manual operation to change the traveling direction of the vehicle body. And, if the manual operation is detected by the manual operation detection means, the control means reduces the operation force at the time of operating the steering operation means in the automatic steering control.

As a result, the steering operation mechanism can be operated by a manual operation in preference to the automatic steering control, and for example, in a case where there is a possibility of contact with an obstacle, contact with the obstacle can be avoided by a steering operation by a manual operation instead of an operation accompanied by the automatic steering control.

In the present invention, it is preferable that the control means reduces the operating force if the manual operation is detected by the manual operation detection means, and maintains the state in which the operating force is reduced even if the manual operation is no longer detected by the manual operation detection means.

According to this aspect, after the manual operation is detected and the operating force of the steering operating mechanism is reduced, the state is maintained without the manual operation, so that if the manual operation is intermittently repeated, the operation by the manual operation can be performed, and the usability is excellent.

In the present invention, it is preferable that the control means reduces the operation force if the manual operation is detected by the manual operation detection means, and returns the operation force to the original magnitude if the manual operation is no longer detected by the manual operation detection means.

According to this aspect, after the manual operation is detected and the operating force of the steering operating mechanism is reduced, if the manual operation is not performed any more, the operating force of the steering operating mechanism is restored, so if the manual operation is performed only 1 time and then the manual operation is not performed, the automatic steering control is performed next, and therefore, the usability is good.

In the present invention, it is preferable that: a manual steering operation tool for commanding a change in the direction of travel of the vehicle body based on a manual operation; and a manual operation detection means for detecting that a manual operation is performed with respect to the manual steering operation tool; the control means stops the automatic steering control if a change command by the manual steering operation tool is continuously commanded for a set time or longer.

According to this aspect, if the manual operation is continued for a long time equal to or longer than the set time, it is determined that the steering operation by the manual operation has been continued, and the automatic steering control is stopped. As a result, the operation in the direction contrary to the intention of the manual operator is not performed with the automatic steering control, and the manual operation is easily performed.

In the present invention, it is preferable that: a manual steering operation tool for commanding a change in the direction of travel of the vehicle body based on a manual operation; and a manual operation detection means for detecting that a manual operation is performed with respect to the manual steering operation tool; when the manual operation is detected by the manual operation detection means, the control means stops the automatic steering control and executes an assist control for operating the steering operation means so as to be in a traveling state corresponding to a change command by the manual steering operation tool.

According to this aspect, the steering operation mechanism can be operated by manual operation to change the traveling direction of the vehicle body. And, if the manual operation is detected by the manual operation detection means, the control means stops the automatic steering control and executes the assist control. That is, the steering operation mechanism is operated so as to be in a steering state corresponding to a change command by the manual steering operation tool.

Therefore, when the steering operation is performed by the manual operation, the steering operation mechanism is operated in a direction intended by the manual operator, so that the manual operation can be easily performed with a small operation load.

In the present invention, it is preferable that the position detecting means is a satellite positioning unit that receives radio waves from a satellite and detects the position of the vehicle body.

According to this configuration, since the position of the vehicle body is detected by receiving radio waves from satellites by means of a satellite positioning unit such as a GPS, the absolute position on the earth can be measured. Therefore, the position of the work vehicle in the field can be accurately detected.

[4] The solution corresponding to the problem [ 4 ] is as follows.

The present invention is characterized by comprising: a travel machine body that can freely switch between manual travel performed by manual steering and automatic travel performed by automatic steering along a set travel route set in parallel with a reference travel route; a switch for switching the manual travel and the automatic travel freely; and a starting point setting unit that sets a plane position of the travel machine body at a time point when the switch switches from the manual travel to the automatic travel, as a starting point of the set travel route.

According to the present invention, since the starting point setting unit for the point can be set as the starting point of the set travel route only by switching the manual travel to the automatic travel by the switch, the driver can freely set the set travel route to a desired position while observing the field conditions.

Further, since the setting operation of the travel route by the driver is an operation of switching the selector switch from the manual travel to the automatic travel, the travel is performed automatically after the switching operation of the selector switch, and the burden on the driver can be reduced.

In the present invention, it is preferable that the selector switch is provided in a shift operation tool that is operated to swing in a front-rear direction of the traveling machine body, and an operation direction of the selector switch is set in a left-right direction of the traveling machine body.

According to this aspect, since the change-over switch is provided in the change-over operation tool, the change-over switch can be operated in a state where the hand is placed on the change-over operation tool, and the change-over switch can be operated efficiently without moving the hand to another position or changing the grip.

Further, since the operation direction (front-rear direction) of the shift operation tool is different from the operation direction (left-right direction) of the selector switch, when one of the shift operation tool and the selector switch is operated, it is easy to prevent the other from being erroneously operated.

In the present invention, it is preferable that a shift switch for shifting the set traveling line in parallel is provided.

According to this aspect, even in the middle of automatic travel along the set travel route, the set travel route can be shifted in parallel by operating the shift switch.

Therefore, during automatic travel, the driver can automatically travel in a more preferable lane by shifting the set travel line in parallel to the side closer to (or away from) the adjacent set travel line on which planting has been completed, for example, while observing the field conditions (for example, the undulation of the field, the planting condition of seedlings in the adjacent planting completion path, and the like).

Therefore, agricultural work well matching the field situation can be performed.

In the present invention, it is preferable that the shift switch also serves as an instruction switch for inputting the plane position of the travel machine body to the recording unit during the manual travel when the reference travel route is set.

According to this aspect, the instruction switch used for setting the reference travel route can be used as the shift switch, and therefore, the number of switches is reduced, and, for example, a switch panel or the like can be configured to be easy to see.

In the present invention, it is preferable that the shift switch includes a right shift switch for shifting the set route to the right and a left shift switch for shifting the set route to the left at different positions.

According to this aspect, since the right shift switch and the left shift switch are provided at different positions, respectively, it is difficult for an erroneous operation to occur, and the travel machine body can be accurately shifted in the direction intended by the driver.

In the present invention, it is preferable that the right shift switch is provided at a position on the right side of the travel machine body with respect to the front side of the travel machine body.

According to this aspect, since the right shift switch is disposed on the right side and the left shift switch is disposed on the left side in the relative positional relationship between the right shift switch and the left shift switch, the direction in which the travel machine body is shifted is aligned with the left-right arrangement of the corresponding shift switches, and it is easy to prevent an erroneous operation.

As a result, the shift operation of setting the travel route can be performed more accurately.

In the present invention, it is preferable that the shift control device further includes an operation canceling unit that does not reflect the operation of the shift switch for the predetermined number of times in the initial stage of the operation to the shift switch in the shift control for setting the travel route.

According to this aspect, even when the shift switch is erroneously touched to perform the on operation, for example, the number of operations is within the predetermined number set by the operation canceling unit, and the number of operations is not reflected in the shift control for setting the travel route, so that malfunction prevention can be achieved.

Therefore, more accurate travel control can be performed in accordance with the operation intention of the driver.

Further, if the number of operations of the shift switch exceeds the predetermined number of operations set by the operation canceling unit, the shift operation in the desired direction is reflected, and the set traveling line can be shifted in the direction indicated by the shift operation.

In the present invention, it is preferable that an operation canceling unit is provided, and if the shift switch is operated, the operation canceling unit does not reflect the operation of the shift switch in the shift control of the set travel route until a set time elapses from the operation of the shift switch.

According to this aspect, for example, when the shift switch is operated once, but the on operation is performed consecutively in a plurality of times by mistake, if the elapsed time from the first operation is within the predetermined time set by the operation canceling unit, the second and subsequent operations are not reflected in the shift control for setting the travel route, and therefore malfunction prevention can be achieved.

Thus, more accurate travel control can be performed in accordance with the operation intention of the driver.

Further, if the operation elapsed time of the shift switch exceeds the predetermined time set by the operation canceling unit, the next switch operation is reflected in the shift control, and the set traveling line can be shifted in the direction indicated by the operation elapsed time.

In the present invention, it is preferable that an operation canceling unit is provided which, if the shift switch is operated, prevents the operation of the shift switch from being reflected in the shift control of the set travel route until the travel machine body reaches an error region of a predetermined width set around the set travel route after the shift.

According to this aspect, even when the shift switch is continuously turned on a plurality of times, for example, the operation canceling unit does not reflect the operation of the shift switch in the shift control until the error range of the predetermined width set around the target set route is reached while the travel machine body is automatically traveling toward the target set route set by the first operation shift, and therefore, it is possible to prevent malfunction, abrupt route change, and the like.

Thus, more accurate travel control can be performed in accordance with the operation intention of the driver.

[5] The solution corresponding to the problem [ 5 ] is as follows.

A field work vehicle according to the present invention includes: a traveling body that travels in the field while performing direction conversion in the ridge region; a field working device for working on the field; a positioning unit that outputs positioning data indicating a position of the vehicle; an artificial steering unit for steering the traveling body based on an artificial operation; an automatic steering unit for automatically steering the traveling body; and a ridge detection module for detecting the condition that the travelling body reaches the ridge area based on the position of the vehicle.

According to this aspect, since the Positioning data indicating the position of the vehicle is obtained from the Positioning means using a GNSS (Global Navigation Satellite System), a GPS (Global Positioning System), or the like, the ridge detection module can detect that the traveling body has reached the ridge area by setting the position of the ridge area in advance, and can communicate the detection to the driver or the control System for automatic steering. As a result, the arrival of the traveling body at the ridge area, which has been visually confirmed by the driver in the past, can be stably and accurately detected, and the burden on the driver can be reduced.

One of the methods for setting the position of a ridge region in advance is to provide map data of a field including the ridge region, and to set the ridge region in advance in the map data. The position of the traveling field work vehicle in the field is calculated in real time by matching a field map based on the map data with the position of the vehicle obtained from the positioning unit. Therefore, the time point when the traveling body reaches the ridge area can be reported to the control system for automatic steering or the driver. In one preferred embodiment of the present invention, the ridge detection module detects that the traveling body has reached the ridge area by performing map matching using the vehicle position and the map data.

In actual field work performed by a field work vehicle, the vehicle operation differs between travel in a non-ridge region (work region: usually a region other than the pincushion region of a field) where work is performed on a field and travel in a ridge region where direction change is performed. The operation of the vehicle includes the operation of the travel machine body and the operation of the field working device. In particular, by detecting the vehicle motion occurring at the time of entry from the non-ridge region to the ridge region and the vehicle motion occurring at the time of entry from the ridge region to the non-ridge region and combining them with the vehicle position at the detection time point, the boundary point between the ridge region and the non-ridge region can be obtained. In a normal field, the interval between adjacent boundary points is substantially equal to the operation width, which is the interval between trajectories that are traveling in the reciprocating operation, and therefore the next boundary point can be estimated from the boundary point obtained first. In view of this, in one preferred embodiment of the present invention, the vehicle operation recording unit is provided that records, as the vehicle operation, the operation of the traveling machine body, the field working device, or both of them in association with the position of the traveling machine body; the ridge detection module detects the condition that the advancing machine body reaches the ridge area based on the vehicle action.

The vehicle operation that occurs when entering from the non-ridge region to the ridge region, the vehicle operation that occurs when entering from the ridge region to the non-ridge region, and the vehicle operation that occurs when entering from the ridge region to the non-ridge region differ depending on the type of field work vehicle and the work content. In planting work and seeding work by a rice transplanter, tilling work by a tractor, and harvesting work by a combine, the common vehicle operations include start and stop of work by a field working device, transfer of the field working device to a working position and to a non-working position, and start and stop of direction change travel of a travel machine body. In one preferred embodiment of the present invention, the vehicle operation recording unit records the start and stop of the operation of the field working device as the vehicle operation. In another embodiment, the vehicle operation recording unit records the transition of the field working device to the working position and the transition to the non-working position as the vehicle operation. In still another embodiment, the vehicle operation recording unit records start and stop of the direction change travel of the travel machine body as the vehicle operation. Of course, these embodiments may be applied in any combination.

Further, the boundary point between the non-ridge region and the ridge region may be determined manually. Therefore, in one embodiment of the present invention, a travel mode switching operation means is provided, which is manually operated at the time of transition between travel in the ridge region (ridge travel mode) and travel outside the ridge region (non-ridge travel mode); the vehicle operation recording unit records an operation of the travel mode switching operation tool as the vehicle operation.

As described above, when the boundary between the non-ridge region and the ridge region is determined based on the vehicle operation, the boundary between the non-ridge region and the ridge region in the subsequent step can be estimated, and therefore, in one preferred embodiment of the present invention, the ridge detection module includes a ridge estimation unit that estimates the arrival timing of the traveling machine body in the next step to the ridge region from the vehicle operation on the traveling path of the preceding work adjacent thereto. Thus, the state of approach to the ridge region can be calculated while the non-ridge region is moving, and appropriate and necessary control can be performed before or after the ridge region is reached.

For example, if an approach notification command for notifying the approach to the ridge area is output before the arrival timing estimated by the ridge estimation unit, the driver can perform operations and confirmation necessary for the ridge area with time. In order to avoid a trouble associated with an unexpected approach of the traveling machine body to the ridge area, an embodiment may be adopted in which a deceleration command for decelerating the traveling machine body is output before the arrival timing estimated by the ridge estimation unit. Further, an embodiment may be adopted in which a vehicle stop command for stopping the traveling machine body is output when the traveling machine body has traveled a predetermined distance from the arrival timing estimated by the ridge estimation unit, or a vehicle stop command for stopping the traveling machine body may be output in response to the arrival timing estimated by the ridge estimation unit.

In the travel in the non-ridge area and the travel in the ridge area where the direction is switched, steering is performed completely differently. Therefore, whether the 2 different courses are performed by automatic steering or manual steering differs depending on the type of field work vehicle, the type of field work, the skill level of the driver, and the like. In view of this, one preferred embodiment of the present invention includes a steering mode management unit that manages an artificial steering mode in which artificial steering by the artificial steering unit is performed and an automatic steering mode in which automatic steering by the automatic steering unit is performed. In this scheme, if an appropriate algorithm is incorporated in advance, automatic steering and artificial steering can be appropriately assigned according to the traveling condition and the surrounding condition.

For example, when steering for automatically performing direction change travel is technically a burden, the following scheme may be adopted: the steering mode management unit selects an artificial steering mode in the ridge area and selects an automatic steering mode outside the ridge area.

Further, in the case of flexibly applying automatic steering and artificial steering, it is preferable to adopt the following embodiments: the control device is provided with a steering mode switching operation means for manually selecting the automatic steering mode and the manual steering mode.

In a positioning unit using radio waves from satellites, such as GNSS and GPS, if a malfunction occurs due to a deterioration in reception conditions or the like, positioning data cannot be obtained. Therefore, in a preferred embodiment of the present invention, a travel distance calculation unit is provided that calculates a travel distance based on the rotation speed of the wheel; when the position measuring unit is not operated, the ridge detection module detects that the traveling body reaches the ridge area based on the traveling distance calculated by the traveling distance calculating unit. Thus, even if the positioning means temporarily becomes inoperable, the traveling body is detected to have reached the ridge area. In this case, when the travel distance calculation unit detects that the ridge area is reached due to the positioning means being inoperable, the travel machine body may be stopped at that point in time.

In particular, when traveling with automatic steering, it is difficult for an automatic steering control system to travel while grasping various conditions of the vehicle. One of the vehicle conditions important for traveling in a field is the posture of a traveling body. The posture of the traveling body is substantially determined by the inclination of the traveling body with respect to the ground. In particular, a predetermined pitch angle or roll angle adversely affects traveling. Therefore, in one preferred embodiment of the present invention, a posture determining unit that determines the posture of the traveling machine body is provided, and when the posture deviates from a predetermined condition, a braking command (including a stop command or a deceleration command) for decelerating or stopping the traveling machine body is output.

Other features and advantageous effects thereof will become apparent upon reading the following description with reference to the accompanying drawings.

Drawings

Fig. 1 is a diagram showing embodiment 1 (hereinafter, the same goes through fig. 8), and is a side view showing a rice transplanter as an example of a working vehicle.

FIG. 2 is a plan view showing the rice transplanter.

FIG. 3 is a front view showing the rice transplanter.

Fig. 4 is a schematic view schematically showing a steering unit.

Fig. 5 is a block diagram showing a control structure relating to the automatic steering control.

Fig. 6 is a top view for explaining the operation of the automatic steering control.

Fig. 7 is a top view for explaining generation of a target line and the like.

Fig. 8 is a side view showing another embodiment.

Fig. 9 is a view showing embodiment 2 of the present invention (hereinafter, the same goes through fig. 22), and is a left side view showing the whole of a riding type rice transplanter in which the preliminary seedling housing device of the lower stage is in the 2 nd state.

Fig. 10 is a left side view of the entire riding type rice transplanter illustrating the preliminary seedling storage device in the lower stage in the 1 st state.

Fig. 11 is a plan view showing the whole of the riding type rice transplanter in which the preliminary seedling storage device of the lower stage is in the 2 nd state.

Fig. 12 is a front view of the traveling vehicle body.

Fig. 13 is a left side view showing a rear part of the preliminary seedling container in the lower left stage in the 2 nd state.

Fig. 14 is a front view showing the rear guard.

Fig. 15 is a perspective view showing the rear guard.

Fig. 16 is a perspective view showing an upper end portion of the seedling stage.

Fig. 17 is a longitudinal sectional view showing the partition plate.

Fig. 18 is a left side view showing an armrest having the structure according to embodiment 2.

Fig. 19 is a left side view showing an armrest having the structure according to embodiment 3.

Fig. 20 is a left side view showing a rear guard provided with another embodiment of the structure of fig. 1.

Fig. 21 is a front view showing a rear guard provided with another embodiment of fig. 2.

Fig. 22 is a front view showing a rear guard provided with another embodiment of the structure of fig. 3.

Fig. 23 is a view showing embodiment 3 (hereinafter, the same applies to fig. 32), and is an overall side view of a rice transplanter as an example of a working vehicle.

FIG. 24 is an overall plan view of the rice transplanter.

FIG. 25 is a front view of the rice transplanter.

Fig. 26 is a diagram showing the steering unit.

Fig. 27 is a block diagram showing a control structure.

Fig. 28 is an explanatory diagram of the entire field surface as viewed in plan for explaining the operation of the automatic steering control.

Fig. 29 is a plan view of the rice transplanter for explaining the operation of the automatic steering control.

Fig. 30 is an explanatory view of a rice transplanter as viewed from above for explaining the operation of the automatic steering control.

Fig. 31 is an explanatory view of a rice transplanter as viewed from above for explaining the operation of the automatic steering control.

Fig. 32 is a plan view of the rice transplanter for explaining the operation of the automatic steering control.

Fig. 33 is a diagram showing embodiment 4 (the same applies to fig. 42 hereinafter), and is a side view showing a rice transplanter as an example of an agricultural working machine or an agricultural working vehicle.

FIG. 34 is a plan view showing a rice transplanter.

Fig. 35 is a schematic view schematically showing a steering unit.

Fig. 36 is a block diagram showing a control structure relating to the automatic steering control.

Fig. 37 is a plan view showing the periphery of the instrument panel.

Fig. 38 is a top-view explanatory diagram for explaining generation of a travel route and the like.

Fig. 39 is an explanatory diagram illustrating a top view of the parallel shift operation of setting the travel route.

Fig. 40 is a flowchart of parallel shift control for setting a travel route.

Fig. 41 is a block diagram showing a control configuration of automatic steering control according to another embodiment.

Fig. 42 is a top view for explaining a parallel shift operation for setting a travel route according to another embodiment.

Fig. 43 is a diagram showing embodiment 5 (the same applies to fig. 49 below), and is a schematic diagram for explaining a basic principle of vehicle control employed in a field working vehicle.

Fig. 44 is a schematic diagram illustrating the basic principle of vehicle control employed in a field work vehicle.

Fig. 45 is a side view of a rice transplanter as one embodiment of a field working vehicle.

Fig. 46 is a plan view of a rice transplanter as one embodiment of a field work vehicle.

FIG. 47 is a schematic view showing a steering system of the rice transplanter.

FIG. 48 is a functional block diagram showing the function of travel control of the rice transplanter.

Fig. 49 is an explanatory diagram showing an example of the recorded vehicle behavior.

Detailed Description

[ embodiment 1 ]

As shown in fig. 1 to 3, a riding rice transplanter (an example of a "working vehicle") as a paddy field working vehicle for planting in an agricultural working vehicle includes a travel machine body C having a travel device a and a working device for performing work on a field. The working device of the rice transplanter is a planting device W capable of planting seedlings in a field. In fig. 2, arrow F indicates "front" of the traveling body C, "arrow B indicates" rear "of the traveling body C," arrow L indicates "left" of the traveling body C, and arrow R indicates "right" of the traveling body C.

As shown in fig. 1, the traveling device a includes a pair of left and right front wheels 10 and a pair of left and right rear wheels 11. The traveling machine body C includes a steering unit U capable of steering the left and right front wheels 10 of the traveling device a.

As shown in fig. 1 to 3, an openable engine hood 12 is provided at the front of the travel machine body C. An engine 13 is provided in the engine cover 12. A rod-shaped center indicator 14 for confirming an indication line LN (see fig. 6) is provided at the front end position of the engine hood 12. As shown in fig. 1 and 3, the traveling body C includes a frame-shaped body frame 15 extending in the front-rear direction. A support column frame 16 is erected at the front of the machine body frame 15.

[ concerning the seedling planting device ]

As shown in fig. 1, the seedling planting device W is connected to the rear end of the travel machine body C so as to be liftable and lowerable via a link mechanism 21, and the link mechanism 21 is lifted and lowered by the telescopic operation of a lifting cylinder 20 constituted by a hydraulic cylinder.

As shown in fig. 1 and 2, the seedling planting device W includes 4 transmission cases 22, rotation boxes 23 rotatably supported on the left and right side portions of the rear portion of each transmission case 22, a pair of rotary planting arms 24 provided at both end portions of each rotation box 23, a plurality of leveling floats 25 for leveling the field surface of the field, a seedling stage 26 on which a mat-like seedling for planting is placed, and the like. That is, the planting device W is configured as an 8-row planting pattern.

The seedling planting device W configured as described above drives the seedling support 26 to be fed laterally and reciprocally in the left-right direction, while rotationally driving the rotary boxes 23 by power transmitted from the transmission box 22, and alternately takes out seedlings from the lower portion of the seedling support 26 by the various planting arms 24 to plant the seedlings on the field surface of the field.

[ relating to preliminary seedling table ]

As shown in fig. 1 to 3, the right and left side portions of the engine cover 12 on the traveling machine body C are provided with a plurality of (for example, 4) normal preliminary seedling stages 28 ("an example of preliminary seedling stage") on which preliminary seedlings to be supplied to the seedling planting device W can be placed, and 1 rail-type preliminary seedling stage 29 ("an example of preliminary seedling stage") on which preliminary seedlings to be supplied to the seedling planting device W can be placed. Further, the right and left side portions of the engine cover 12 on the traveling machine body C are provided with a pair of right and left preliminary seedling racks 30 that support the normal preliminary seedling stage 28 and the rail-type preliminary seedling stage 29, and a connecting frame 31 that extends over the upper portions of the right and left preliminary seedling racks 30 and is connected thereto. The connecting frame 31 has a U-shape when viewed from the front. The left and right ends of the connecting frame 31 are connected to the upper parts of the left and right preliminary seedling frames 30 via connecting brackets 32.

[ concerning marker devices ]

As shown in fig. 1, marker devices 33 for forming an indication line LN (see fig. 6 and 7) on the field surface of the field are provided on the left and right side portions of the planting device W, respectively. The left and right marker devices 33 are configured to be operable to an operating posture in which the ground is grounded on the field surface of the field and the indication line LN is formed on the field surface of the field along with the travel of the travel machine body C, and a storage posture in which the ground is separated upward from the field surface of the field.

As shown in fig. 1, the left and right marker devices 33 are respectively provided with a marker arm 34 and a rotating body 35, the marker arm 34 is supported by the seedling planting device W so as to be vertically swingable, and the rotating body 35 is supported by the tip end portion of the marker arm 34 so as to be freely rotatable, and has a plurality of protruding bodies in the circumferential direction. Further, an electric motor for a marker (not shown) for operating the left and right marker devices 33 in the operating posture and the storage posture is provided. When the marker devices 33 are set to the action posture, the rotating body 35 rotates on the ground in accordance with the steering of the travel machine body C, and a dotted line-shaped indication line LN (see fig. 6) is formed in a plan view.

[ for the steering division ]

As shown in fig. 1 to 3, a driving unit 40 for performing various driving operations is provided at the center of the travel machine body C. The steering unit 40 includes a driver seat 41 on which a driver can sit, a steering tower 42, a steering handle 43 formed of a steering wheel for manual steering operation of the front wheels 10, a main shift lever 44 and an operation lever 45 that can perform switching operation of forward and backward movement and change operation of traveling speed. The driver seat 41 is provided in the center of the travel machine body C. The steering tower 42 is provided with a steering handle 43, a main shift lever 44, an operation lever 45, and the like so as to be operable. A riding step 46 is provided at a foot portion of the cab 40. Auxiliary steps 47 are provided at left and right outer positions of the boarding step 46. On both left and right sides of the engine cover 12, a landing step 48 as a landing passage connected to the landing step 46 without a step is provided. Left and right preliminary seedling frames 30 are disposed laterally outside the ascending and descending steps 48.

[ in respect of operating levers ]

An operation lever 45 shown in fig. 2 and 3 is provided on the right lateral side of the lower side of the steering handle 43. Although not shown in detail, the operation lever 45 is configured to be operable in a cross direction from a neutral position to an upward rising position, a downward falling position, a rear right marker position, and a front left marker position, and is biased to the neutral position.

When the operation lever 45 is operated to the raised position, the planting clutch (not shown) is operated to the off state, the seedling planting device W is raised, and the left and right marker devices 33 (see fig. 1) are operated to the storage posture. When the operation lever 45 is operated to the lowered position, the planting clutch (not shown) is operated to the off state, the left and right marker devices 33 are operated to the storage posture, and the planting device W is lowered. If the center floating member 25 is grounded on the land surface of the field, the planting device W is grounded on the land surface of the field and is stopped.

When the operation lever 45 is operated to the right marker position, the right marker device 33 is changed from the storage posture to the action posture. When the operation lever 45 is operated to the left marker position, the marker device 33 on the left side is changed from the storage posture to the action posture.

The steering tower 42 of the cab 40 is provided with a push-operated automatic steering switch 50 (see fig. 5). The automatic steering switch 50 is configured to be capable of switching on/off of the automatic steering of the steering unit U. The main shift lever 44 is provided with a registration switch 52 (see fig. 5) for registering a teaching direction TA (see fig. 6) for automatic steering control of the steering unit U. The registration switch 52 includes a first registration button 52A of a push operation type and a second registration button 52B of a push operation type.

[ concerning steering unit ]

As shown in fig. 4, the steering unit U includes the steering handle 43, the steering operation shaft 54 linked to the steering handle 43, the steering arm 55 that swings as the steering operation shaft 54 rotates, the left and right link mechanisms 56 linked to the steering arm 55, the steering motor 58, the gear mechanism 57 linking the steering motor 58 to the steering operation shaft 54, and the like.

The steering shaft 54 is linked to the left and right front wheels 10 via a steering rocker arm 55 and left and right link mechanisms 56, respectively. The amount of rotation of the steering shaft 54 is detected by a steering angle sensor 60 (see fig. 5), and the steering angle sensor 60 is provided at the lower end of the steering shaft 54 and is constituted by a rotary encoder.

In the case of performing manual steering of the steering unit U, an assist force corresponding to the operation of the steering handle 43 by the steering motor 58 is applied to the operation force by which the driver operates the steering handle 43 to rotate the steering operation shaft 54, thereby changing the steering angle of the front wheels 10. On the other hand, when the steering unit U is automatically steered, the steering motor 58 is driven, the steering shaft 54 is rotationally operated by the driving force of the steering motor 58, and the steering angle of the front wheels 10 is changed.

[ concerning a measurement unit and an inertial measurement unit having a receiver ]

As shown in fig. 1 to 3 and 5, the traveling machine body C includes: a measurement unit 61 having a receiver 63 for acquiring position information via a satellite positioning system and a sub-inertia measurement device 64 capable of mainly detecting the tilt (pitch angle, roll angle) of the traveling body C; and a main inertia measurement device 62 (corresponding to an "inertia measurement device") that measures inertia information.

Each of the main inertia Measurement device 62 and the sub inertia Measurement device 64 is constituted by an IMU (Inertial Measurement Unit).

The measurement unit 61 having the receiver 63 and the sub inertia measurement device 64 and the main inertia measurement device 62 are disposed at different positions of the traveling body C. The measurement unit 61 having the receiver 63 and the sub inertia measurement device 64, and the main inertia measurement device 62 are disposed on the left and right center lines CL of the traveling body C.

A representative example of the above-mentioned Satellite Positioning System (GNSS) is GPS (Global Positioning System). The GPS is a system for measuring the position of a receiver device 63 using a plurality of GPS satellites orbiting the earth, a control office for tracking and controlling the GPS satellites, and the receiver device 63 provided in an object (traveling body C) for positioning. The receiver 63 is used for acquiring the position information of the traveling body C by the satellite positioning system.

As shown in fig. 1 to 3, the measurement unit 61 having the receiving device 63 is attached to the connecting frame 31 via a plate-shaped support plate 65. The measurement unit 61 having the receiver 63 is disposed at a front position of the travel machine body C (particularly, on the front side of the front wheels 10). Therefore, when the traveling body C changes the traveling direction, the amount of displacement in the left-right direction of the front position of the traveling body C is larger than the rear position of the traveling body C, and the change in the own position NM of the traveling body C acquired by the receiver 63 can be detected with high sensitivity.

As shown in fig. 3 and the like, the coupling frame 31 can be changed in state: in the use state S1, the measurement unit 61 having the receiving device 63 is positioned above the upper end of the preliminary seedling frame 30; and a storage state S2 in which the receiving device 63 is positioned below the upper end of the preliminary seedling rack 30 by being turned upside down with respect to the use state S1. To be described, the linking frame 31 is rotatable about a left and right axis X along the left and right direction, and is supported by the linking bracket 32 so as to be positionally fixed to the left and right preliminary seedling frames 30 in each of the use state S1 and the storage state S2.

As shown in fig. 1, 3, and the like, since the receiving device 63 is supported at a high position by the connecting frame 31 and the preliminary seedling frame 30 by setting the connecting frame 31 to the use state S1, the receiving device 63 is easily swung by the bending of the preliminary seedling frame 30 and the connecting frame 31 in accordance with the travel of the travel machine body C, and the detection of the own position NM and the own orientation NA of the travel machine body C based on the position information acquired by the receiving device 63 can be accurately performed. Further, since the receiving device 63 is located at the highest position of the traveling machine body C by setting the connecting frame 31 to the use state S1, the reception sensitivity of the radio wave of the receiving device 63 can be improved, and radio wave interference is less likely to occur in the receiving device 63.

As shown in fig. 2 and 3, the receiving device 63 of the measurement unit 61 is provided with a connector portion 67 to which the harness 66 is connected. The connector 67 extends outward from the receiver 63 of the measurement unit 61 in the left and right directions. The harness 66 is routed along the connecting frame 31 and the preliminary seedling frame 30. Further, a shield member 68 for protecting the connector portion 67 is provided. The shield member 68 is mounted on the support plate 65. The shield member 68 protects the front side of the connector portion 67.

As shown in fig. 1, the main inertia measuring device 62 is disposed in a position near the center in the front-rear direction of the entire length in the front-rear direction of the travel machine body C and the seedling planting device W. To explain this, the main inertia measuring device 62 is disposed near the turning center (the axial center of the yaw axis of the traveling machine body C) in the traveling direction of the traveling machine body C.

Specifically, a rear axle carrier 73 (corresponding to an "attachment member") is provided at the rear of the travel machine body C to rotatably support a rear axle 72 that transmits driving force to the rear wheels 11. The rear axle carrier 73 is a rigid member located in the vicinity of the rear axle 72 of the traveling device a. Main inertia measuring device 62 is attached to rear axle carrier 73.

As shown in fig. 1 and 2, the main inertia measuring device 62 is located near the seedling planting device W. Main inertia measuring device 62 is located below and behind driver seat 41.

As shown in fig. 5, the main inertia measurement device 62 mainly includes a gyro sensor 70 capable of detecting an angular velocity of a yaw angle of the traveling body C (a turning angle of the traveling body C), and an acceleration sensor 71 capable of detecting an acceleration in a 3-axis direction orthogonal to each other. That is, the inertial information measured by the main inertial measurement unit 62 includes azimuth change information detected by the gyro sensor 70 and position change information detected by the acceleration sensor 71. As described above, since the main inertia measurement device 62 is disposed in the vicinity of the turning center in the traveling direction of the traveling machine body C, the accumulated error of the azimuth change information generated in the gyro sensor 70 can be suppressed to be small, and the detection accuracy of the position change information obtained by the acceleration sensor 71 can be improved.

[ concerning control structure ]

As shown in fig. 5, the traveling machine body C includes a control device 75 for controlling the automatic steering of the steering unit U. The control device 75 includes an information storage unit 76, a teaching storage unit 77, a turn detection unit 78, a start determination unit 79, an information correction unit 80, a generation unit 81 that generates a target line LM for causing the traveling body C to travel, a state detection unit 82, and a control unit 83 that controls the steering unit U based on the position information and the inertia information so as to cause the traveling body C to travel along the target line LM.

The control device 75 receives information from the reception device 63, the sub inertia measurement device 64, the gyro sensor 70 in the main inertia measurement device 62, the acceleration sensor 71, the steering angle sensor 60, the automatic steering switch 50, the registration switch 52, and the like.

The information storage unit 76 is configured to store the position information acquired from the receiving device 63 in accordance with time.

The teaching storage unit 77 is configured to calculate the teaching direction TA using the 2-point position information in the position information stored in the information storage unit 76, based on the operation of the registration switch 52.

The turning detection unit 78 is configured to detect the start of turning of the traveling machine body C and the end of turning of the traveling machine body C based on the steering angle information of the steering shaft 54 of the steering unit U input from the steering angle sensor 60.

The start determination unit 79 is configured to determine whether or not to start the automatic steering control of the traveling body C.

The information correction unit 80 is configured to correct an accumulated error of the information detected by the gyro sensor 70 in the inertia information measured by the main inertia measurement device 62, based on the position information acquired by the reception device 63 and the information measured by the sub inertia measurement device 64, every time the automatic steering control of the traveling body C is started.

The generation unit 81 is configured to generate the target line LM based on the teaching direction TA, and the own position NM and own azimuth NA at the start of the automatic steering control of the traveling body C.

The state detection unit 82 is configured to detect a distance deviation (deviation distance) between the local position NM of the traveling machine body C and the target line LM, and an angle deviation (deviation angle) between the local azimuth NA of the traveling machine body C and the teaching direction TA, in the automatic steering control of the traveling machine body C.

The control unit 83 is configured to control driving of the steering motor 58 of the steering unit U based on information input from the state detection unit 82.

[ concerning automatic steering control ]

As an example, a case where a planting operation of seedlings is performed in a paddy field having a square shape in a plan view will be described.

As shown in fig. 6, first, the travel machine body C is positioned at the first position Q1 where ridges are present in the field, and the first registration button 52A of the registration switch 52 is operated (see fig. 5). Next, the seedling planting device W is raised, and the travel body C is moved straight along the straight shape of the ridge on the side from the first position Q1 in a state where the floating body 25 is grounded, and after moving to the second position Q2 near the ridge on the opposite side, the second registration button 52B of the registration switch 52 is operated (see fig. 5). Thus, the teaching direction TA as a direction connecting the first position Q1 and the second position Q2 is generated from the position information acquired by the receiving device 63 at the first position Q1 and the position information acquired by the receiving device 63 at the second position Q2.

Next, as shown in fig. 6, the travel machine body C is manually turned by the operation of the steering handle 43. When the start of turning of the traveling body C is detected by the steering angle sensor 60, the seedling planting device W, the leveling float 25, and the marker device 33 are automatically raised from the field surface of the field. If the turning of the traveling body C is ended, the turning end position Q3 of the traveling body C is detected based on the detection result of the steering angle sensor 60.

After a predetermined time has elapsed from the detection of the turning end position Q3 of the travel machine body C, and until the deviation angle between the own vehicle heading NA and the teaching direction TA falls within a predetermined range, a dead band is set in which the operation input of the automatic steering switch 50 is not accepted. That is, during the period in which the travel machine body C is in the non-induction zone state, the automatic steering control is not started even if the automatic steering switch 50 is operated. While the traveling body C is in the non-sensing zone state, the driver can manually steer the steering unit U to align the traveling body C such that the indication line LN coincides with the front end of the line of sight observing the front end of the center indicator 14.

If the state of the traveling body C is out of the non-inductive zone, the operation input of the automatic steering switch 50 is received, and if the automatic steering switch 50 is operated, the control start position Q4 stores the own position NM and the own azimuth NA of the traveling body C based on the position information in the receiving device 63. Then, a linear target line LM parallel to the teaching direction TA is generated from a position separated by a predetermined distance from the position where the receiving device 63 is installed in the direction of the own azimuth NA of the travel machine body C. At the same time, the information measured by the main inertia measurement device 62 is corrected based on the position information of the own position NM acquired by the reception device 63 and the own azimuth NA calculated based on the position information of the own position NM acquired by the reception device 63 and the position information of the previous position.

Note that, in fig. 6, the indication line LN formed by the marker device 33 and the target line LM are slightly shifted for the sake of illustration, but actually, the target line LM is generated so as to substantially coincide with the indication line LN because the driver's sight line is manually aligned so as to coincide with the distal end portion of the center indicator 14 and the indication line LN.

At the same time, the automatic steering control of the traveling machine body C mainly by the main inertia measurement device 62 is started. That is, in the automatic steering control, the main inertia measurement device 62 is mainly used, and the receiver 63 is used for correction of the main inertia measurement device 62. Specifically, the current local position NM and the local azimuth NA are obtained from the local position NM and the local azimuth NA based on the position information acquired by the receiver 63 at the control start position Q4, the azimuth change information obtained by integrating the angular velocity measured by the gyro sensor 70 of the main inertia measurement device 62, and the position change information obtained by integrating the acceleration measured by the acceleration sensor 71 of the main inertia measurement device 62. Then, the steering unit U automatically steers and the traveling machine body C is automatically steered so that the current local position NM and local azimuth NA coincide with the target line LM and teaching direction TA.

In the automatic steering control of the traveling machine body C, the steering unit U is not steered when there is no angular deviation (deviation angle) between the machine direction NA and the teaching direction TA, or when there is no distance deviation (deviation distance) between the machine position NM and the target line LM.

In the automatic steering control of the traveling body C, when there is an angular deviation (deviation angle) between the own vehicle orientation NA and the teaching direction TA and there is no distance deviation (deviation distance) between the own vehicle position NM and the target line LM, the steering unit U is steered in a direction in which the angular deviation (deviation angle) between the own vehicle orientation NA and the teaching direction TA is eliminated.

In the automatic steering control of the traveling body C, when there is an angular deviation (deviation angle) between the own vehicle orientation NA and the teaching direction TA and a distance deviation (deviation distance) between the own vehicle position NM and the target line LM, the steering unit U is steered in a direction in which the angular deviation (deviation angle) between the own vehicle orientation NA and the teaching direction TA is eliminated.

In the automatic steering control of the traveling body C, when there is no angular deviation (deviation angle) between the own vehicle orientation NA and the teaching direction TA and there is a distance deviation (deviation distance) between the own vehicle position NM and the target line LM, the steering unit U is steered in a direction in which the distance deviation (deviation distance) between the own vehicle position NM and the target line LM is eliminated.

Thereby, the traveling body C accurately travels along the target line LM.

In this way, since the position information acquired by the receiver 63 is not essential in the automatic steering control of the traveling machine body C, even if radio wave interference or the like occurs in the receiver 63 during the automatic steering control of the traveling machine body C, the automatic steering control of the traveling machine body C can be continued based on the inertia information measured by the main inertia measuring device 62, and the planting of the seedling by the seedling planting device W can be accurately performed along the target line LM.

When the traveling body C approaches the ridge, the driver operates the automatic steering switch 50 to stop the automatic steering control of the traveling body C and switch to the manual steering. Then, the same turning operation is performed on the ridge, and the same operation is repeated to plant the seedlings in the field. Thus, the driver does not need to manually operate the steering handle 43 to plant seedlings in the field by the seedling planting device W, and can perform the seedling planting operation more accurately and more easily.

[ setting about local position ]

As shown in fig. 7, the receiver 63 is disposed at the front of the traveling machine body C, but the local position NM as a reference for data processing is set at a position near the main inertia measurement device 62, not the actual installation position of the receiver 63. The setting of the local position NM as a reference for data processing is determined based on the distance from the receiver 63 to the part that is the local position NM and the local orientation NA calculated by the receiver 63 and the main inertia measurement device 62. Since the seedling planting device W is intended to travel accurately along the target line LM, the automatic steering control of the travel machine body C can be performed by setting the local position NM in the vicinity of the seedling planting device W in such a manner that the seedling planting device W travels accurately along the target line LM.

[ relation between preliminary seedling stands, preliminary seedling stands in general, and rail-type preliminary seedling stands ]

As shown in fig. 3, the left and right preliminary seedling racks 30 are provided with fixing portions 85 fixed to the support post frames 16, inclined portions 86 extending upward from the fixing portions 85 and inclined inward in the left and right direction, and vertical portions 87 extending upward from the inclined portions 86, respectively. That is, the vertical portion 87 of the preliminary seedling frame 30 is offset to the left and right inside by the predetermined distance D with respect to the support pillar frame 16 and the fixing portion 85 of the preliminary seedling frame 30.

As shown in fig. 1 to 3, each of the plurality of normal preliminary seedling stages 28 is supported by the preliminary seedling frame 30 so as to be swingable about a front-rear axis Y that is provided in the vertical portion 87 of the preliminary seedling frame 30, extends in the front-rear direction, and is inclined inward in the left-right direction as it goes forward. The preliminary seedling stage 28 is normally configured to be changeable in posture to the horizontal posture E1 and the vertical posture E2.

As shown in fig. 1 to 3, if the normal preliminary seedling stage 28 is set to the horizontal posture E1, the placement surface of the normal preliminary seedling stage 28 is substantially horizontal. On the other hand, when the normal preliminary seedling table 28 is changed from the horizontal posture E1 to the vertical posture E2, each normal preliminary seedling table 28 is swung around the front-rear axis Y to be oriented vertically. Accordingly, each of the normal preliminary seedling stages 28 in the vertical posture E2 is in a state of being compact in the right-left direction close to the vertical portion 87 side of the preliminary seedling frame 30.

The rail-type preliminary seedling table 29 shown in fig. 1 to 3 includes a front table 88, a center table 89, and a rear table 90. The center table 89 is fixed to the support column frame 16 via a pair of support brackets 91. The front mounting table 88 is connected to the front end of the center mounting table 89 so as to be swingable about a front horizontal axis P1 extending in the left-right direction. The rear mounting table 90 is connected to a rear end portion of the center mounting table 89 to be swingable about a rear horizontal axis P2 along the left-right direction. As shown in fig. 1, the track-type preliminary seedling stage 29 is configured to be changeable between an expanded state F1 and a folded state F2. When the rail-type preliminary stage 29 is brought into the extended state F1, the front stage 88 is extended forward of the center stage 89 and the rear stage 90 is extended rearward of the center stage 89, with the center stage 89 as the center. That is, if the rail-type preliminary stage 29 is set to the deployed state F1, the front stage 88, the center stage 89, and the rear stage 90 are sequentially arranged in the front-rear direction.

As shown in fig. 1, when the rail-mounted preliminary stage 29 is brought from the unfolded state F1 to the folded state F2, the front table 88 is swung around the front lateral axis P1 located at the front end of the center table 89, the front table 88 is folded so as to be located above the center table 89, the rear table 90 is swung around the rear lateral axis P2 located at the rear end of the center table 89, and the rear table 90 is located above the center table 89. This allows the rail-type preliminary seedling table 29 to be folded into a compact state F2 in the front-rear direction.

As shown in fig. 1, a plurality of normal preliminary seedling stages 28 are arranged in a vertical row, and a rail-type preliminary seedling stage 29 is arranged below the lowest normal preliminary seedling stage 28.

That is, as is understood from fig. 1 to 3, in addition to the vertical portion 87 of the preliminary seedling frame 30 being shifted to the left and right inner sides by the predetermined distance D with respect to the support column frame 16 and the fixing portion 85 of the preliminary seedling frame 30, the plurality of normal preliminary seedling tables 28 can be shifted to the left and right inner sides by changing the posture to the vertical posture E2 which is a state of being compact in the left and right direction on the vertical portion 87 side of the preliminary seedling frame 30, and thereby the rail-type preliminary seedling tables 29 can be changed from the expanded state F1 to the folded state F2 without interference with the preliminary seedling frame 30 and the normal preliminary seedling tables 28. Further, by providing the plurality of normal preliminary seedling stages 28 to be able to be shifted to the right and left inner sides, the right and left width of the entire traveling machine body C can be made smaller than, for example, by shifting the rail-type preliminary seedling stage 29 to the right and left outer sides.

[ other modes for carrying out the embodiment 1 ]

Hereinafter, another embodiment of embodiment 1 will be described. A plurality of the other embodiments described below may be combined and applied to the above embodiments as long as no contradiction occurs. The scope of the present invention is not limited to the embodiments.

(1) In the above embodiment, the following case is exemplified: the automatic steering control of the traveling body C is performed mainly based on the inertia information measured by the main inertia measurement device 62, and the inertia information measured by the main inertia measurement device 62 is corrected based on the position information acquired by the reception device 63, but the present invention is not limited thereto. For example, the automatic steering control of the traveling body C may be performed mainly based on the position information acquired by the receiver 63, and the position information acquired by the receiver 63 may be corrected based on the inertia information measured by the main inertia measurement device 62.

(2) In the above embodiment, the following case is exemplified: the linking frame 31 is rotatable about a left and right axis X along the left and right direction, and is supported in a fixed position on the left and right preliminary seedling frames 30 in the use state S1 and the storage state S2, but the present invention is not limited thereto. For example, the seedling support may be detachable from the right and left preliminary seedling frames 30. In this case, the connecting frame 31 in the use state S1 is detached from the preliminary seedling frame 30, turned upside down, and attached to the preliminary seedling frame 30 again, whereby the connecting frame 31 is in the storage state S2.

(3) In the above embodiment, the case where the receiving apparatus 63 is fixed to a fixed position has been exemplified, but the present invention is not limited thereto. For example, as shown in fig. 8, the receiver 63 may be disposed in a state of being movable in the front-rear direction on a rail member 100, and the rail member 100 may be attached to and fixed to the preliminary seedling frame 30 and extend in the front-rear direction of the travel machine body C. Thus, by moving the receiver 63 between 2 points on the rail member 100, the own azimuth NA of the traveling machine C can be obtained based on the 2-point position information acquired by the receiver 63 while the traveling machine C is stopped.

(4) In the above embodiment, the case where only one receiving device 63 is provided is exemplified, but the present invention is not limited to this. For example, two or more receiving devices 63 may be provided. In this way, even when the traveling machine body C is stopped, the local azimuth NA of the traveling machine body C can be obtained based on the position information acquired by one receiving device 63 and the position information acquired by the other receiving device 63.

(5) In the above embodiment, the case where the connector portion 67 extends outward in the left-right direction from the side surface of the receiving device 63 has been exemplified, but the present invention is not limited thereto. For example, the connector portion 67 may extend upward from the upper surface portion of the receiving device 63, downward from the lower surface portion of the receiving device 63, forward from the front surface portion of the receiving device 63, or rearward from the rear surface portion of the receiving device 63. In this case, it is preferable that the shield member 68 for protecting the connector portion 67 is also provided at the portion of the connector portion 67.

(6) In the above embodiment, the case where the shield member 68 is attached to the support plate 65 is exemplified, but the present invention is not limited thereto. For example, the shield member 68 may be mounted on the receiver 63 itself.

(7) In the above embodiment, the case where the seedling planting device W is provided as the working device has been exemplified, but the present invention is not limited thereto. For example, the working device may include a fertilizer applicator, a chemical agent dispenser, and the like in addition to the seedling planting device W.

(8) The present invention can be used not only in the riding-type rice transplanter having a planting device as a working device but also in various working vehicles such as a riding-type seeder as a planting paddy field working vehicle having a seeding device as a working device, a tractor having a plow or the like as a working device, an agricultural working vehicle such as a combine harvester having a harvesting unit or the like as a working device, or a construction working vehicle having a bucket or the like as a working device.

[ 2 nd embodiment ]

Hereinafter, embodiment 2 will be described. In the following description, the 1 st to 3 rd embodiments of embodiment 2 will be referred to as "example 1", "example 2", and "example 3" in this order.

[ example 1 ]

Fig. 9 is a left side view of the entire riding type rice transplanter illustrating the lower preliminary seedling housing device 150 in the 2 nd state. Fig. 11 is a plan view showing the whole of the riding type rice transplanter in which the preliminary seedling storage device 150 in the lower stage is in the 2 nd state. The direction [ F ] shown in fig. 9 and 11 is defined as the [ front side ] of the traveling vehicle body 104, [ B ] is defined as the [ rear side ] of the traveling vehicle body 104, [ L ] is defined as the [ left side ] of the traveling vehicle body 104, and [ R ] is defined as the [ right side ] of the traveling vehicle body 104.

As shown in fig. 9 and 11, a traveling vehicle body 104 is provided at a lower portion of a vehicle body frame 101, and the traveling vehicle body 104 is provided with a pair of left and right front wheels 102 and a pair of left and right rear wheels 103. A prime mover 106 having an engine 105 is provided at the front of the traveling vehicle body 104. The traveling vehicle body 104 travels by driving the front wheels 102 with a driving force transmitted from the engine 105 to a transmission 107 and driving the rear wheels 103 with a driving force transmitted from the engine 105 to a rear wheel drive box 109 via the transmission 107 and a rotary shaft 108. A riding type driver section 111 having a driver seat 110 is provided at the rear of the traveling vehicle body 104. The traveling vehicle body 104 is configured as a passenger type so as to be operated by riding on the driver section 111.

A seedling planting device 120 is connected to the rear part of the traveling vehicle body 104 via a link mechanism 112. The link mechanism 112 is supported by the vehicle body frame 101 so as to be vertically swingable. The seedling planting device 120 is operated to swing by the hydraulic cylinder 113 through the link mechanism 112, and is operated to ascend and descend in a descending operation state in which the ground floating body 121 is grounded on the field surface S and in an ascending non-operation state in which the ground floating body 121 ascends relatively high from the field surface S.

As shown in fig. 9 and 11, the seedling planting device 120 includes 8 seedling planting mechanisms 122 and 1 seedling stage 123, and the 8 seedling planting mechanisms 122 are arranged in the lateral width direction of the traveling vehicle body 104. As shown in fig. 11, the seedling stage 123 includes 8 seedling placement portions 123a for placing mat-like seedlings in a row in the lateral width direction of the traveling vehicle body 104. The seedling stage 123 reciprocates in the lateral width direction of the traveling vehicle body 104 in a state of being interlocked with the seedling planting movement of the seedling planting mechanism 122, and seedlings are supplied from the seedling stage 123a to each seedling planting mechanism 122.

The riding type rice transplanter performs a planting operation capable of planting 8 plants by the planting device 120 by moving the traveling vehicle body 104 in a state where the planting device 120 is lowered to a lowered operation state.

As shown in fig. 9 and 11, a receiving device 114 is provided at the front of the traveling vehicle body 104. As shown in fig. 9, 11, and 12, the support frame 115 of the receiving device 114 is connected to the support columns 141 of the right and left preliminary seedling storage devices 140 and 150, which will be described later. The receiving device 114 is a device that: the position information of the traveling vehicle body 104 is acquired by a satellite positioning system, and the acquired position information is input to an automatic steering control device (not shown) of the traveling vehicle body 104.

As shown in fig. 16 and 17, an extended seedling stage 124 extends from each seedling stage portion 123a of the seedling stage 123. A pair of right and left partition plates 125 are provided upright at both lateral ends of the seedling stage 123. Right and left partition plates 125 at both lateral ends of the seedling stage 123 are provided across the seedling placing section 123a at the outermost lateral end of the seedling stage 123 and the extended seedling placing table 124 corresponding to the seedling placing section 123 a. The left and right partition plates 125 extend from partition walls 123b located on the lateral sides of the seedling stage 123a toward the upper side of the seedling stage 123, and extend from the partition walls 123b toward the upper side of the extended seedling stage 124.

When the mat-like seedlings are replenished to the seedling placing parts 123a at the lateral ends of the seedling stage 123, the mat-like seedlings can be replenished while being appropriately guided to the seedling placing parts 123a by the left and right partition plates 125 even when the seedling stage 123 is in the horizontal transfer. That is, it is possible to avoid the mat-like seedlings from the seedling placing parts 123a at the lateral ends being displaced laterally outward and replenished by the lateral transfer of the seedling stage 123. In the present embodiment, the partition plate 125 is provided only on the seedling placing sections 123a at the lateral ends, but may be provided on all of the seedling placing sections 123 a.

As shown in fig. 9 and 11, a working step 116 is provided in a portion of the traveling vehicle body 104 that spans both lateral sides of the driver seat 110 and the rear of the driver seat 110. Armrests 130 are provided on both lateral sides of the cab 111. The left and right handrails 130 are erected upward from the ascending/descending step ladder as the body portion of the traveling body 104 and the working step ladder as the body portion of the traveling body 104. The upper end 131 of the left and right handrails 130 is located at the following positions: the rear side of the entrance 111a of the cab 111 is located above the lateral edge of the working step 116. As shown in fig. 9, 11, 14, and 15, a rear guard 117 extending in the lateral direction of the running vehicle body 104 is provided behind the driver seat 110. The rear guard 117 is disposed above the trailing edge portion of the working step 116. The rear guard 117 is coupled across the left lateral armrest 130 and the right lateral armrest 130. The left and right handrails 130 can be used when riding on the cab 111, when getting off the cab 111, or when being positioned on the working steps 116. The rear guard 117 may be used as a handrail when positioned at the working steps 116. In the present embodiment, the fertilizer tank and the fertilizer feeding mechanism of the fertilizer application device are not provided behind the driver seat 110, but may be implemented by providing the fertilizer tank and the fertilizer feeding mechanism.

As shown in fig. 9 and 15, a vacant space 200 is provided below the upper end 131 of the left and right armrests 130. The empty space 200 is provided by being constituted by a pipe member that bends the handrail 130 to be shaped.

As shown in fig. 9, 11, and 12, preliminary seedling storage devices 140 and 150 are provided in two stages at both lateral sides of the traveling vehicle body 104. The two upper and lower stages of preliminary seedling storage devices 140 and 150 on the left side are disposed in front of the left handrail 130. The right upper and lower preliminary seedling holding devices 140 and 150 are provided in front of the right handrail 130.

As shown in fig. 9 and 12, the upper left preliminary seedling storage device 140 includes 4 upper and lower preliminary seedling stages 142. The 4-stage preliminary seedling stage 142 is supported by a pair of front and rear support columns 141. The front pillar 141 is erected upward from an engine support frame in the traveling vehicle body 104. The rear pillar 141 is erected upward from the ascending/descending step ladder in the traveling vehicle body 104.

The right upper preliminary seedling holding device 140 has the same configuration as the left upper preliminary seedling holding device 140. The preliminary seedling storage devices 140 on the upper left and the preliminary seedling storage devices 140 on the upper right can store 4 prepared mat-like seedlings supplied to the seedling planting device 120 in a vertical direction of the traveling vehicle body 104.

The preliminary seedling storage device 150 at the lower left stage includes 3 preliminary seedling stages 151, 152, and 153 as shown in fig. 9, 10, and 11. The 3 preliminary seedling stages 151, 152, 153 include stages 151a, 152a, 153a and preliminary seedling stage bodies 151b, 152b, 153 b. The preliminary seedling table bodies 151b, 152b, and 153b are supported by the tables 151a, 152a, and 153a in a fixed state. Extension tables 152c and 153c are provided on 2 preliminary seedling tables 152 and 153 out of the 3 preliminary seedling tables 151, 152 and 153. The extension tables 152c and 153c are slidably supported by the preliminary seedling table bodies 152b and 153b and the placement tables 152a and 153 a.

Of the 3 preliminary seedling stages 151, 152, 153, the preliminary seedling stage 151 is fixed to the front and rear support columns 141 by the stage frame 151a, and is fixed to the front and rear support columns 141 with the seedling stage surface facing upward. Hereinafter, the preliminary seedling stage 151 will be referred to as a fixed preliminary seedling stage 151.

Of the 3 preliminary seedling stages 151, 152, and 153, the preliminary seedling stage 152 has one end portion of the stage 152a rotatably supported via the connecting shaft 154 on the tip end side of the stage 151a on which the preliminary seedling stage 151 is fixed. The preliminary seedling stage 152 is capable of swinging operation with respect to the fixed preliminary seedling stage 151 about a shaft core 154a of a coupling shaft 154 extending in the transverse direction of the traveling vehicle body as a swing center. Hereinafter, the preliminary seedling table 152 is referred to as a front movable preliminary seedling table 152. By swinging the front movable preliminary seedling stage 152, the mounting posture of the front movable preliminary seedling stage 152 can be switched to: a storage posture in which the movable preliminary seedling table 152 is folded upward on the side of the seedling placement surface of the fixed preliminary seedling table 151 and the seedling placement surface of the front movable preliminary seedling table is downward, as shown in fig. 10 and 12; and a use posture in which the seedling placing surface faces upward while extending from the fixing preliminary seedling placing table 151 to the front side of the traveling vehicle body as shown in fig. 9 and 11.

Of the preliminary seedling stages 153 of the 3 preliminary seedling stages 151, 152, 153, an end portion of the stage frame 153a opposite to the side where the extension stage 153c is positioned is rotatably supported via a coupling shaft 155 on the rear end side of the stage frame 151a on which the preliminary seedling stage 151 is fixed. The preliminary seedling stage 153 is configured to be capable of swinging with respect to the fixed preliminary seedling stage 151 about a shaft core 155a of the connecting shaft 155 extending in the transverse direction of the traveling vehicle body as a swinging center. Hereinafter, the preliminary seedling stage 153 will be referred to as a rear movable preliminary seedling stage 153. By swinging the rear movable preliminary seedling stage 153, the mounting posture of the rear movable preliminary seedling stage 153 can be switched to: a storage posture in which, as shown in fig. 10 and 12, the movable preliminary seedling table 152 is folded above the movable preliminary seedling table 152 on the front side, the movable preliminary seedling table 152 on the front side is folded above the fixed preliminary seedling table 151, and the seedling placing surface of the movable preliminary seedling table 153 on the rear side faces downward; and a use posture in which the seedling support surface of the movable preliminary seedling support 153 at the rear side is directed upward while extending from the fixed preliminary seedling support 151 to the rear side of the traveling vehicle body as shown in fig. 9 and 11.

In the use posture of the movable preliminary seedling stage 153 on the rear side, the attachment posture of the extension stage 153c can be switched to: in the use posture, as shown in fig. 9 and 11, the movable preliminary seedling stage 153 extends rearward from the rear, in a state of extending in the front-rear direction of the rear movable preliminary seedling stage 153; and a storage posture, which is stored inside the movable preliminary seedling stage 153 at the rear.

As shown in fig. 10 and 12, the lower left preliminary seedling housing device 150 is in the state 1 in which the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 are switched to the housing postures, and the fixed preliminary seedling stage 151, the front movable preliminary seedling stage 152, and the rear movable preliminary seedling stage 153 are aligned in the vertical direction of the traveling vehicle body 104 and housed therein.

As shown in fig. 9 and 11, the lower left preliminary seedling housing apparatus 150 is configured to be able to place mat-like seedlings on the fixed preliminary seedling table 151, the front movable preliminary seedling table 152, and the rear movable preliminary seedling table 153 in the 2 nd state by switching the front movable preliminary seedling table 152 and the rear movable preliminary seedling table 153 to the use positions so that the fixed preliminary seedling table 151, the front movable preliminary seedling table 152, and the rear movable preliminary seedling table 153 are arranged in the front-rear direction of the traveling vehicle body 104.

The preliminary seedling storage device 150 in the lower right stage has the same configuration as the preliminary seedling storage device 150 in the lower left stage, as shown in fig. 11 and 12. By switching the left lower preliminary seedling storage device 150 and the right lower preliminary seedling storage device 150 to the 2 nd state, the 3 prepared mat-like seedlings supplied to the seedling planting device 120 can be stored in the left lower preliminary seedling storage device 150 and the right lower preliminary seedling storage device 150 in a state aligned in the front-rear direction of the traveling vehicle body 104.

In the preliminary seedling housing device 150 on the left lower stage and the preliminary seedling housing device 150 on the right lower stage, as shown in fig. 9, 11, and 13, when the preliminary seedling housing device 150 is switched to the 2 nd state, the extension table 153c is set to the use posture, and the rear end side portion 153r of the rear movable preliminary seedling table 153 (the 1 st preliminary seedling table from the rear) is formed by the extension table 153c and the rear portion of the preliminary seedling table main body 151b of the rear movable preliminary seedling table 153, and the rear end side portion 153r enters the empty space 200, and overlaps the upper end portion 131 in a plan view. The rear end side portion 153r enters the entrance 111 a. The rear end side portion 153r can be used as a closing member to close the entrance 111 a.

In the upper left-hand preliminary seedling housing device 140 and the upper right-hand preliminary seedling housing device 140, as shown in fig. 9 and 12, the end portions of the upper and lower 4-stage preliminary seedling stages 142 on the inner side of the traveling vehicle body transverse direction are rotatably connected to the front and rear support columns 141 via connecting shafts (not shown). The upper and lower 4-stage preliminary seedling stages 142 are supported so as to be swingable about a shaft center Y of a connecting shaft extending in the vehicle body longitudinal direction, and are supported so as to straddle a lowered use position, such as the upper right-stage preliminary seedling stage 142 shown in fig. 12, and a raised storage position, such as the upper left-stage preliminary seedling stage 142 shown in fig. 12. The front and rear support columns 141 are formed in a curved state in which the upper part of the preliminary seedling container 140 supporting the upper stage is positioned more inward in the lateral direction of the traveling vehicle than the lower part of the preliminary seedling container 150 supporting the lower stage. That is, when the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 are swung between the storage posture and the use posture, the preliminary seedling stage 142 is switched to the ascending storage posture, so that the movement paths of the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 can be retracted from the moving paths to the inside of the traveling vehicle body so as not to be caught by the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153.

[ example 2 ]

Fig. 18 is a left side view showing a portion where an armrest 130 of the riding rice transplanter having the configuration of embodiment 2 is disposed. In the riding rice transplanter having the configuration of embodiment 2, the upper end 131 of the arm rest 130 includes a fixed part 131a and a movable part 131 b.

The fixed portion 131a is fixed to a body portion of the traveling vehicle body 104. The rear portion of the fixing portion 131a includes a support portion 132. The rear end of the movable portion 131b is rotatably coupled to the support portion 132 via a coupling shaft 133. The movable portion 131b is supported so as to be swingable about an axial core 133a of the connecting shaft 133 extending in the traveling vehicle body transverse direction, between a lowered use state protruding forward from the fixed portion 131a as indicated by a solid line in fig. 18 and a raised storage state stored in the rear portion of the fixed portion 131a as indicated by a two-dot chain line in fig. 18.

When the movable portion 131b is brought into the lowered use state, the front end side portion 131f enters the entrance 111a, and the entrance 111a is closed by the front end side portion 131 f. When the movable portion 131b is lowered to be used, the front end side portion 131f of the movable portion 131b projects forward from the fixed portion 131a, and a free space 200 is formed below the front end side portion 131 f. When the movable portion 131b is in the lowered use state, a portion of the movable portion 131b located on the free end side of the connecting shaft 133 is received and supported by the support portion 134, and the movable portion 131b can be held in the lowered use state. The movable portion 131b is positioned behind the entrance 111a if it is in the raised and stored state, and is in an open state in which the entrance 111a is opened.

By switching the movable portion 131b to the raised and stored state, the movable portion 131b can release the closing of the entrance 111a, and the fixed portion 131a can be used as an armrest to get on the cab 111 or get off the cab 111. When the movable portion 131b is switched to the lowered use state other than when boarding or disembarking the cab 111, the movable portion 131b can be used as a closing member to close the boarding/disembarking opening 111 a.

[ example 3 ]

Fig. 19 is a left side view showing a portion where an armrest 130 of the riding type rice planting machine having the 3 rd embodiment is disposed. In the riding rice transplanter having the configuration of embodiment 3, the upper end 131 of the arm rest 130 includes a fixed part 131a and a movable part 131 b.

The support section 134 is provided on the support column 141 on the rear side of the preliminary seedling container 150. When the movable portion 131b is switched to the open state, the front end side portion 131f of the movable portion 131b is supported by the support portion 134 and supported by the support post 141 on the rear side.

[ other modes for carrying out the invention in embodiment 2 ]

(1) Fig. 20 is a left side view showing a rear guard 117 having another structure according to embodiment 1. As shown in fig. 20, the rear guard 117 having the structure according to the other embodiment 1 is supported by the front leg 131c of the front and rear legs 131c of the left armrest 130 and the right armrest 130.

(2) Fig. 21 is a front view showing a rear guard 117 having another embodiment of fig. 2. As shown in fig. 21, the rear guard 117 having the structure according to the second embodiment 2 includes a rear guard 117u serving as an upper layer of the rear armrest, a middle-layer rear guard 117n, and a lower-layer rear guard 117 d.

(3) Fig. 22 is a front view showing a rear guard 117 having another embodiment of the structure of fig. 3. As shown in fig. 22, the rear guard 117 having the structure according to the other embodiment of fig. 3 includes a rear guard 117u serving as an upper layer of the rear armrest, a rear guard 117d serving as a lower layer, and a pair of left and right side guard plates 118. The left and right side guard plates 118 are connected to the upper rear guard 117u and the lower rear guard 117d at positions located rearward of both lateral sides of the driver seat 110.

(4) In the above embodiment, the preliminary seedling storage device 150 is provided with 3 preliminary seedling stages 151, 152, and 153, but the number is not limited to 3, and the preliminary seedling storage device may be provided with 2, 4, or more.

(5) In the above embodiment, the example in which the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 are switched between the storage posture and the use posture by swinging has been described, but the present invention is not limited to this configuration, and the following configuration may be adopted: by replacing the movable preliminary seedling table 152 on the front side and the movable preliminary seedling table 153 on the rear side with the fixed preliminary seedling table 151 and the support column 141, the preliminary seedling tables 151, 152, 153 are switched between a state aligned in the vertical direction of the vehicle body and a state aligned in the longitudinal direction of the vehicle body. Further, the following structure may be adopted: the plurality of preliminary seedling stages are supported by a link mechanism supported by the support column 141 so as to be swingable, and are switched between a state of being arranged in the vertical direction of the vehicle body and a state of being arranged in the longitudinal direction of the vehicle body by a swing operation of the link mechanism.

(6) In the above embodiment, the state in which the preliminary seedling stages 151, 152, and 153 are stored is described as the 1 st state of the preliminary seedling storage device 150, but a configuration may be adopted in which a plurality of preliminary seedling stages are arranged in the vertical direction of the traveling vehicle body in a state in which the preliminary seedlings can be stored and placed, as the 1 st state of the preliminary seedling storage device 150.

(7) In the above embodiment, the extension table 153c is provided on the rear movable preliminary seedling stage 153, but the extension table 153c may not be provided, and the rear end side portion of the preliminary seedling stage main body 151b of the rear movable preliminary seedling stage 153 may be configured to enter the empty space 200.

(8) In the above embodiment, the example in which the upper preliminary seedling storage device 140 is provided is described, but the present invention may be implemented by providing only the preliminary seedling storage device 150 that can be switched between the 1 st state and the 2 nd state without providing the upper preliminary seedling storage device 140.

(9) The present invention is not limited to a riding type rice transplanter to which the seedling planting device 120 capable of 8-row planting is connected, and can be applied to a riding type rice transplanter to which a seedling planting device capable of 8-row less seedling planting such as 4-row and 6-row planting or a seedling planting device capable of 8-row more seedling planting is connected. The present invention is also applicable to a riding rice transplanter equipped with a fertilizer application device having a fertilizer tank and a fertilizer delivery device provided behind the operator's seat 110.

[ embodiment 3 ]

Hereinafter, embodiment 3 will be described. Here, a description will be given taking a riding type rice transplanter as an example of a working vehicle.

As shown in fig. 23 to 25, a riding-type rice transplanter includes a traveling vehicle body 300 having a pair of left and right front wheels 210 operable to change the direction of the traveling device and a pair of left and right rear wheels 211 fixed in the direction, and a seedling planting device W as a working device capable of planting seedlings in a field. The seedling planting device W is connected to the rear end of the traveling vehicle body 300 so as to be able to ascend and descend via a link mechanism 221, and the link mechanism 221 is operated to ascend and descend by the expansion and contraction operation of the ascending and descending hydraulic cylinder 220.

In this embodiment, arrow F shown in fig. 24 indicates the body front side of the traveling vehicle body 300, arrow B indicates the body rear side of the traveling vehicle body 300, arrow L indicates the body left side of the traveling vehicle body 300, and arrow R indicates the body right side of the traveling vehicle body 300.

As shown in fig. 23 to 25, an openable hood 212 is provided at the front of the traveling vehicle body 300. An engine 213 is provided in the engine cover 212. A rod-shaped center indicator 214 serving as a positioning mark for traveling along an indication line LN (see fig. 28) drawn on a field is provided at the front end position of the engine cover 212. The traveling vehicle body 300 includes a frame-shaped body frame 215 extending in the front-rear direction, and a support column frame 216 is erected on the front portion of the body frame 215.

As shown in fig. 23 and 24, the seedling planting device W includes 4 transmission boxes 222, a total of 8 rotation boxes 223 rotatably supported on the left and right side portions of the rear portion of each transmission box 222, a pair of rotary planting arms 224 provided at both end portions of each rotation box 223, a plurality of leveling floats 225 for leveling the field surface of the field, a seedling support 226 for supporting mat seedlings for planting, a marker device 233 for forming an indication line LN (see fig. 28) on the field surface of the field, and the like.

The seedling planting device W configured as described above drives the seedling support 226 to be fed laterally in a reciprocating manner in the left-right direction, and rotationally drives the respective rotary boxes 223 by power transmitted from the transmission box 222, so that seedlings are alternately taken out from the lower portion of the seedling support 226 by the various planting arms 224 and planted on the field surface of the field. Thus, the planting device W is configured as an 8-row planting pattern in which the seedlings are planted by the planting arms 224 equipped on the 8 rotating boxes 223. Although not described in detail, the marker device 233 is provided on the left and right side portions of the seedling planting device W, and is configured to be operable between an operating posture in which it is grounded on the field surface of the field, and a storage posture in which it is separated upward from the field surface of the field by forming the indication line LN on the field surface corresponding to the next working stroke as the travel vehicle body 300 travels. The posture of the marker device 233 is switched by an electric motor not shown.

As shown in fig. 23 to 25, the traveling vehicle body 300 includes a plurality of (e.g., 4) normal preliminary seedling stages 228 on which preliminary seedlings to be supplied to the seedling planting device W can be placed, and 1 rail-type preliminary seedling stage 229 on which preliminary seedlings to be supplied to the seedling planting device W can be placed, on the left and right side portions of the engine cover 212. A pair of right and left preliminary seedling frames 230 for supporting the normal preliminary seedling stage 228 and the rail-type preliminary seedling stage 229 are provided on the right and left side portions of the engine cover 212 on the traveling vehicle body 300, and the upper portions of the right and left preliminary seedling frames 230 are connected to each other by a connecting frame 231.

As shown in fig. 23 to 25, a driving unit 240 for performing various driving operations is provided in the center of the traveling vehicle body 300. The steering unit 240 includes a driver seat 241 on which a driver can sit, a steering tower 242, a steering wheel 243 as a manual steering operation tool configured by a steering wheel for manual steering operation of the front wheels 210, a main shift lever 244 capable of switching forward and backward and changing a traveling speed, an operation lever 245, and the like. The driver seat 241 is provided in the center of the traveling vehicle body 300. The steering tower 242 is provided with a steering handle 243, a main shift lever 244, an operation lever 245, and the like, which are operable. A riding step 246 is provided below the feet of the cab 240. Auxiliary steps 247 are provided at left and right outer positions of the boarding step 246. The ride step 246 also extends to the left and right of the hood 212.

As shown in fig. 23 to 25, the operation lever 245 is provided on the right lateral side of the lower side of the steering handle 243. Although not shown in detail, the operation lever 245 is configured to be movable in the cross direction from a neutral position at the center to each of a raised position, a lowered position, a right marker position, and a left marker position, and is biased to the neutral position.

When the operation lever 245 is operated to the raised position, the transmission to the seedling planting device is cut off, the seedling planting device W is raised, and the left and right marker devices 233 (see fig. 23) are operated to the storage posture. When the operation lever 245 is operated to the lowered position, the planting device W is lowered to be grounded on the field surface, and is stopped. If the operation lever 245 is operated to the right marker position in this lowered state, the right marker device 233 is brought from the storage posture to the action posture. When the operation lever 245 is operated to the left marker position, the left marker device 233 changes from the storage posture to the action posture.

When the driver starts the seedling planting operation, the driver operates the operation lever 245 to lower the seedling planting device W, and starts the transmission with respect to the seedling planting device W to start the seedling planting operation. When the seedling planting operation is stopped, the operation lever 245 is operated to raise the seedling planting device W and the transmission to the seedling planting device W is cut off.

A display device 248 capable of displaying various information using a liquid crystal display is provided above the steering tower 242 of the steering unit 240. Further, the following states are equipped: a start point setting switch 249A used in automatic steering control described later is located on the right side of the display device 248, and an end point setting switch 249B is located on the left side of the display device 248.

A push-operated automatic steering switch 250 is provided at a grip portion of the main shift lever 244. The automatic steering switch 250 is set to an automatic return type, and instructs on/off switching of automatic steering control for each pressing operation. The automatic steering switch 250 is disposed at a position that can be pressed by, for example, a thumb in a state where the grip portion of the main shift lever 244 is held by a hand.

As shown in fig. 26, the traveling vehicle body 300 includes a steering unit U capable of steering the left and right front wheels 210. The steering unit U includes a steering operation shaft 254 linked to the steering handle 243, a steering arm 255 that swings as the steering operation shaft 254 rotates, left and right link mechanisms 256 linked to the steering arm 255, a steering motor 258, a gear mechanism 257 linking the steering motor 258 to the steering operation shaft 254, and the like.

The steering shaft 254 is linked to the left and right front wheels 210 via a steering rocker arm 255 and a left and right link mechanism 256, respectively. A steering angle sensor 260 formed of a rotary encoder is provided at a lower end portion of the steering shaft 254, and the amount of rotation of the steering shaft 254 is detected by the steering angle sensor 260. A torque sensor 261 as a manual operation detection means for detecting a torque acting on the steering handle 243 is provided in the middle of the steering shaft 254. For example, when the steering motor 258 is rotated in a predetermined direction, if the steering handle 243 is manually operated in a direction opposite to the rotating direction, this can be detected by the torque sensor 261.

When the steering unit U is automatically steered, the steering motor 258 is driven, the steering shaft 254 is rotated by the driving force of the steering motor 258, and the steering angle of the front wheels 210 is changed. Thus, the steering motor 258 corresponds to a steering operation mechanism. The steering unit U can be rotationally operated by a manual operation of the steering handle 243 without performing automatic steering.

Next, a configuration for performing automatic steering control will be described.

A traveling vehicle body is provided with a position detection mechanism for detecting the position of the vehicle body by using a GPS (Global Positioning System) which is a well-known technique, as an example of a GNSS (Global Navigation Satellite System) for detecting the position of the vehicle body by receiving radio waves from satellites.

Specifically, as the position detection means, a position measurement unit 264 (an example of a satellite positioning unit) having a receiver 263 is mounted on the object (traveling vehicle body 300) to be measured, and the position of the position measurement unit 264, which is the receiver 263, can be measured based on information of the received radio waves, and the receiver 263 is provided with an antenna 262 that receives radio waves emitted from a plurality of GPS satellites that are above the earth.

As shown in fig. 23 to 25, the position measuring unit 264 is attached to the connecting frame 231 via a plate-shaped support plate 265 in a state of being positioned at the front portion of the traveling vehicle body 300. As shown in fig. 25, the state of the coupling frame 231 can be changed to: in the use state S1, the position measurement unit 264 is positioned above the upper end of the preliminary seedling frame 230; and a storage state S2 in which the receiving device 263 is vertically inverted with respect to the use state S1 and is positioned below the upper end of the preliminary seedling frame 230. The linking frame 231 is supported by the left and right preliminary seedling frames 230 via the linking bracket 232 so as to be rotatable about the left and right axial centers X along the transverse direction of the machine body and so as to be positionally fixed in each of the use state S1 and the storage state S2.

As shown in fig. 23 and 25, the receiving device 263 is supported at a high position by the connecting frame 231 and the preliminary seedling frame 230 by setting the connecting frame 231 to the use state S1. The possibility of radio wave interference occurring in the receiving device 263 is small, and the reception sensitivity of the radio wave of the receiving device 263 can be improved.

The traveling vehicle body 300 includes an inertia measurement unit 266 having a gyro sensor 266A and the like as an azimuth detection means for detecting the azimuth of the traveling vehicle body 300, in addition to the position measurement unit 264. Although not shown, the inertia measurement unit 266 is provided, for example, at a position below the rear side of the driver seat 241 and at a lower position in the widthwise center of the traveling vehicle body 300. The inertia measurement unit 266 can detect the angular velocity of the turning angle of the traveling vehicle body 300, and can calculate the azimuth change angle of the vehicle body by integrating the angular velocity. Therefore, the measurement information measured by the inertia measurement unit 266 includes the azimuth information of the traveling vehicle body 300. Although not described in detail, the inertia measurement unit 266 may measure the angle speed of the left-right tilt angle of the traveling vehicle body 300, the angle speed of the front-rear tilt angle of the traveling vehicle body 300, and the like, in addition to the angle speed of the turning angle of the traveling vehicle body 300.

As shown in fig. 27, the traveling vehicle body 300 includes a control device 267 that controls the steering motor 258. The control device 267 includes: a path setting unit 268 for setting a target movement path along which the vehicle 300 is to travel; the steering control unit 269 controls the steering motor 258 so that the traveling vehicle body 300 travels along the target travel path based on the position information of the traveling vehicle body 300 measured by the position measuring unit 264 and the azimuth information of the traveling vehicle body 300 measured by the inertia measuring unit 266. Specifically, the control device 267 includes a microcomputer, and the path setting unit 268 and the steering control unit 269 are constituted by control programs.

As shown in fig. 27, a setting switch 249 is provided for setting a target movement path used for automatic steering control by teaching processing. The setting switches 249 include a start point setting switch 249A for setting a start point position and an end point setting switch 249B for setting an end point position, and as described above, the start point setting switch 249A is provided on the right side of the display device 248, and the end point setting switch 249B is provided on the left side of the display device 248.

As shown in fig. 27, the control device 267 receives information from the position measuring unit 264, the inertia measuring unit 266, the automatic steering switch 250, the start point setting switch 249A, the end point setting switch 249B, the steering angle sensor 260, the torque sensor 261, the vehicle speed sensor 270, and the like. The vehicle speed sensor 270 is not described in detail, but detects the vehicle speed from the rotational speed of a propeller shaft in the transmission mechanism with respect to the rear wheels 211, for example.

The route setting unit 268 is configured to set a teaching route corresponding to a target route to be automatically steered through teaching processing based on operations of the start point setting switch 249A and the end point setting switch 249B, and to set a target movement route LK parallel to the teaching route at the position if an automatic mode is instructed at the start end portion of the teaching route during actual work.

When the automatic mold clamping mode is set, the steering control unit 269 executes automatic steering control for operating the steering motor 258 such that the detected position (own position) NM of the traveling vehicle body 300 detected by the position measurement unit 264 is a position on the target movement path LK, and the detected orientation (own orientation) of the traveling vehicle body 300 detected by the inertia measurement unit 266 is a target orientation on the target movement path LK. That is, in the automatic steering control of the traveling vehicle body 300, a lateral positional deviation Δ P (see fig. 29, also referred to as a "positional deviation amount Δ P" in the following description) between the local position NM of the traveling vehicle body 300 and the target movement path LK and an angular deviation between the local orientation NA of the traveling vehicle body 300 and the target orientation TD are obtained, and the steering motor 258 is controlled so that these deviations are reduced.

When the steering control unit executes the automatic steering control, and when the own vehicle position NM is laterally deviated from the target movement path LK and the own vehicle orientation NA is the same as the target orientation TD, the steering control unit executes the following positional deviation correction processing: the steering motor 258 is operated by changing the target azimuth as the control target to the inclined target azimuth KA inclined toward the target movement path side.

When the positional deviation correction processing is executed, if the own position NM is greatly deviated from the portion corresponding to the target movement path LK, the inclination of the inclination target azimuth KA with respect to the target azimuth TD is set to be large, and the inclination of the inclination target azimuth KA with respect to the target azimuth is made to be gentle as the own position NM is closer to the portion corresponding to the target movement path LK. Further, if the vehicle speed is low, the steering control unit 269 sets the inclination of the tilt target azimuth KA with respect to the target azimuth TD to a large side, and makes the inclination of the tilt target azimuth KA with respect to the target azimuth TD become gentler as the vehicle speed becomes higher.

However, there is an upper limit to the inclination angle α of the inclination target azimuth KA with respect to the target azimuth, and even if the vehicle speed is extremely low or the positional deviation amount Δ P is large, the inclination angle α is set to a value equal to or less than the set upper limit value. This is because if the bank angle α is too large, the traveling vehicle body 300 may make a sharp turn and the traveling state may become unstable (in the following description, the bank angle α is also referred to as a "set bank angle α").

Further, when the misalignment correction process is executed, the steering control unit 269 decreases the changing operation speed when the steering motor 258 changes the traveling direction as the vehicle speed increases. Therefore, if the vehicle speed is low, the change operation speed is set to be large, and the change operation speed is made smaller as the vehicle speed is larger.

Next, the operation of the controller 267 in the case where the planting operation of seedlings is performed in a rectangular paddy field will be described.

As shown in fig. 28, the rice transplanter alternately repeats straight advancing for performing a planting operation while advancing along the target movement path LK and turning advancing for turning toward the next target movement path LK parallel to the target movement path LK at the end position of the target movement path LK in the paddy field. The steering control unit 269 executes automatic steering control during the straight travel for the seedling planting operation, and does not execute automatic steering control during the movement travel other than the straight travel.

First, the travel vehicle body 300 is positioned at a starting point position R1 of a ridge in a field, and the starting point setting switch 249A is operated. At this time, the controller 267 is set to the auto-off mode. Then, the driver moves the traveling vehicle body 300 straight from the starting point position R1 along the straight shape of the ridge on the side portion side in the non-working state while manually operating the traveling vehicle body, and operates the end point setting switch 249B after moving the traveling vehicle body to the end point position R2 in the vicinity of the ridge on the opposite side. Thereby, the teaching process is executed. That is, a teaching path connecting the start position R1 and the end position R2 is set based on the position information acquired by the receiver 263 at the start position R1 and the position information acquired by the receiver 263 at the end position R2. The direction along the teaching path is set as a reference target direction TD (hereinafter, also referred to as teaching direction TD).

Next, the driver manually operates the steering handle 243 to turn the traveling vehicle body 300. At this time, the controller 267 can determine that the vehicle body 300 has turned by reversing the machine orientation NA.

If the steering control unit 269 determines that the vehicle has turned, it sets the control-restricted state in which the operation input of the automatic steering switch 250 is not accepted until a predetermined determination condition is satisfied after the turning of the traveling vehicle body 300 is completed. The predetermined determination condition is that a predetermined time has elapsed from the end of turning of the traveling vehicle body 300 and that the deviation angle between the own vehicle orientation NA and the teaching orientation TD is within a predetermined range. During the period set to the control hold state, the automatic steering control is not started even if the automatic steering switch 250 is operated. At this time, the driver can manually operate the steering handle to align the traveling vehicle body 300 so that the indication line LN formed on the field surface coincides with the front end of the line of sight observing the front end of the center indicator 214.

If the control-related state is released at a predetermined position R3 in fig. 27, an operation input of the automatic steering switch 250 is received, and if the driver operates the automatic steering switch 250, the mode is switched to the automatic mold clamping mode, and the steering control unit 269 starts the automatic steering control from this point. At this time, the driver operates the operation lever 245 to lower the seedling planting device W to perform the seedling planting operation.

When the automatic steering control is started, the position measuring unit 264 obtains information of the own vehicle position NM, and the inertia measuring unit 266 obtains the own vehicle heading NA. At this time, as shown in fig. 29, the local position NM as a reference of data processing is set at a position near the inertial measurement unit 266, not the actual installation position of the position measurement unit 264. Then, the steering motor 258 is operated to perform steering control so that the current own position NM and the current own azimuth NA match the target movement path LK and the teaching azimuth TD. Thereby, the traveling vehicle body 300 accurately travels along the target movement path LK. The driver takes his hand off the steering handle 243. However, the vehicle speed is adjusted in a manual operation.

When the steering control unit 269 performs the automatic steering control while advancing straight, as shown in fig. 29, when the detected own vehicle position deviates from the target movement path in the lateral direction and the detected orientation is the same as the teaching orientation TD, the steering control unit 269 performs a positional deviation correction process as follows: the steering motor 258 is operated by changing the target orientation to the tilted target orientation KA tilted by the set tilt angle α from the teaching orientation TD toward the target movement path side.

That is, as shown in fig. 30, in the position deviation correction process, the target azimuth in the automatic steering control is changed to the inclined target azimuth KA inclined by the set inclination angle α from the teaching azimuth TD toward the target movement path side instead of the teaching azimuth TD, and the automatic steering control is executed. Therefore, when the positional deviation correction process is executed, the vehicle travels in the oblique direction with a small positional deviation, and therefore the positional deviation Δ P can be made small quickly.

At this time, the set inclination angle α is set to be larger as the local position NM is farther from the position corresponding to the target movement path LK, and the set inclination angle α is made to be gentler as the local position NM is closer to the position corresponding to the target movement path LK. Further, if the vehicle speed is low, the set inclination angle α is set to be large, and the set inclination angle is made gentler as the vehicle speed is higher. However, the upper limit value is set for the set inclination angle α, and the set inclination angle α does not exceed the set upper limit value even if the positional deviation is large, regardless of the low speed of the vehicle.

The portion corresponding to the target movement path LK has a region having a predetermined width in the lateral direction on both the left and right sides of the position corresponding to the target movement path LK. That is, a control dead zone for the positional deviation is set, and if the positional deviation is not zero and enters the dead zone, the positional deviation correction processing is ended. That is, the target azimuth is not the oblique target azimuth, but is set to be along the original teaching azimuth TD.

In this way, the magnitude of the inclination target heading KA with respect to the target heading varies depending on the magnitude of the positional deviation amount Δ P of the traveling vehicle body 300 and the magnitude of the vehicle speed, but the correlation among the magnitude of the inclination, the positional deviation amount Δ P of the traveling vehicle body 300, and the vehicle speed may be obtained in advance through experiments, set as map data, and determined by an arithmetic expression or the like. Further, if the vehicle speed is constant, the set inclination angle α is smaller as the position deviation amount Δ P is smaller, in other words, as the local position NM of the traveling vehicle body 300 approaches a portion corresponding to the target movement path LK.

When the automatic steering control is executed while the vehicle is traveling straight, and the misalignment correction process is executed in a state where the traveling vehicle body 300 is misaligned toward the already-operated region Z1 side as shown in fig. 31, the steering control unit 269 sets the set inclination angle α to be larger than in a state where the traveling vehicle body 300 is misaligned toward the not-operated region Z2 side as shown in fig. 32. That is, if the traveling vehicle body 300 is positionally deviated toward the already-worked region Z1 side, the positional deviation correction processing is executed by setting the set inclination angle α inclined from the teaching orientation TD large. That is, since the seedlings are already planted in the already-worked area Z1, the positions are quickly corrected toward the target moving path LK so as not to be crushed by the traveling vehicle body 300.

When executing the automatic steering control, the steering control unit 269 judges that the driver has manually operated the steering handle 243 on the basis of the detection information of the torque sensor 261, in other words, when a change command by the steering handle 243 is commanded, and reduces the operating force at the time of operating the steering motor 258 to a level that allows the manual operation during the automatic steering control.

If the operation of the steering handle 243 by the manual operation is detected in this manner and the operating force of the steering motor 258 is reduced, the state in which the operating force of the steering motor 258 is reduced is maintained even after the manual operation is stopped. This state is maintained until the automatic mold clamping mode is switched again after the automatic steering switch 250 is operated to switch to the automatic off mode.

However, if a change command by the steering handle is continuously commanded over a set time (for example, over ten seconds to several tens of seconds), the automatic steering control is stopped and switched to the automatic off mode. By giving priority to manual operation in this way, it is possible to avoid a collision with an obstacle, or perform trajectory correction when control is not appropriately performed, for example. The return to the automatic mold clamping mode may be performed by a pressing operation of an automatic steering switch.

When the traveling vehicle body 300 reaches the end position R4 (see fig. 28) of the straight traveling path, the driver operates the automatic steering switch 250 to switch the steering control unit 269 to the automatic off mode. At this time, the operation lever 245 is operated to cut off the transmission to the planting device W, and the planting device W is raised. Then, the driver manually operates the steering handle 243 to turn the traveling vehicle body 300 toward the next straight traveling path. After that, in the same manner as the previous straight travel path, when the after-turning determination condition is satisfied, if the automatic steering switch 250 is operated, the automatic steering control is started. The traveling vehicle body 300 travels straight while the automatic steering control is executed. Then, the turning travel and the straight travel as described above are repeated.

When the automatic off mode is set, the steering control unit 269 executes assist control for operating the steering motor 258 so as to set a traveling state corresponding to a change command by the steering handle 243. In this assist control, if the steering control unit 269 detects that the steering handle 243 is operated and the direction of operation thereof based on the detection information of the torque sensor 261 and the steering angle sensor 260, the steering motor 258 is operated in the same direction as the direction of operation. If manual operation ceases, the action of the steering motor 258 also ceases.

[ other modes for carrying out the invention in embodiment 3 ]

(1) In the above embodiment, if the local position NM is greatly deviated from the portion corresponding to the target movement path LK when the positional deviation correction processing is executed, the steering control unit 269 sets the inclination of the inclination target azimuth KA with respect to the target azimuth TD to be large, and makes the inclination of the inclination target azimuth KA with respect to the target azimuth more gradual as the local position NM is closer to the portion corresponding to the target movement path LK, but instead of this configuration, may be configured as follows.

That is, when the misalignment correction process is executed, the steering control unit may maintain the tilt target azimuth as it is until the local position (detection position) NM reaches a position corresponding to the target movement path LK. The portion corresponding to the target movement path LK has a region (non-inductive band) having a predetermined width in the lateral direction on both the left and right sides of the position corresponding to the target movement path. That is, if the own position (detection position) NM reaches the end of the dead band set with respect to the position corresponding to the target movement path, the positional deviation correction processing is terminated. This makes it possible to correct the orientation of the vehicle body to the orientation along the target travel path with less delay in control.

(2) In the above embodiment, the steering control unit 269 is configured to reduce the operation force at the time of operating the steering motor 258 to a level that allows the manual operation in the automatic steering control when the change command by the steering handle 243 is instructed at the time of executing the automatic steering control.

That is, when the steering control unit 269 executes the automatic steering control, if a change command by the steering handle 243 is instructed, the automatic steering control may be immediately stopped, and then assist control such as: an assist force corresponding to the operation of the steering handle 243 by the steering motor 258 is applied to the operation force for the driver to operate the steering handle 243, and the steering operation shaft 254 is rotated to change the steering angle of the front wheels 210.

(3) In the above embodiment, when the positional deviation correction process is executed in the state where the traveling vehicle body is displaced toward the already-worked region Z1 side, the steering control unit sets the set inclination angle α to a larger value than in the state where the traveling vehicle body is displaced toward the not-worked region Z2 side.

That is, when the positional deviation correction process is executed in a state where the traveling vehicle body 300 is deviated toward the non-working range Z2 side, the steering control unit 269 may set the set inclination angle α to a value larger than that in a state where the traveling vehicle body 300 is deviated toward the already-working range Z1 side.

This aspect can be suitably used if the vehicle is a work vehicle that performs work such as harvesting a planted crop as it travels, for example, like a combine harvester.

(4) In the above embodiment, the determination conditions for the allowable positional deviation correction process after the traveling vehicle body has traveled while turning are set such that a predetermined time has elapsed since the end of turning of the traveling vehicle body 300 and the deviation angle between the own vehicle heading NA and the teaching heading TD is within a predetermined range. In short, the present invention is not limited to this, and any condition may be used as long as it can be determined that the orientation of the vehicle body is stable.

(4-1) traveling a set distance from the end of the turn.

(4-2) elapse of a set time from the end of the turn.

And (4-3) the deviation angle between the local azimuth NA and the teaching azimuth TD is within a predetermined range.

(4-4) satisfies both of the above-mentioned (4-1) and (4-3).

(4-5) satisfies all of the above-mentioned (4-1), (4-2) and (4-3).

(5) In the above embodiment, the working device is exemplified by the configuration including the seedling planting device W, but the present invention is not limited thereto. For example, the working device may include a fertilizer applicator, a chemical agent dispenser, and the like in addition to the seedling planting device W.

(6) In the above-described embodiment, the GPS is used as the satellite positioning means of the position detection mechanism, but other types of satellite positioning means such as galileo may be used. Instead of the satellite positioning means, another measurement system may be used, for example, such as an optical measurement device that projects laser light to the ground side to measure the position of the vehicle body.

(7) The present invention can be used in various working vehicles such as a riding-type seeder as a planting paddy field working vehicle having a seeding device as a working device, a tractor having a plow or the like as a working device, an agricultural working vehicle such as a combine harvester having a harvesting unit or the like as a working device, or a construction working vehicle having a bucket or the like as a working device, in addition to the riding-type rice transplanter having a planting device as a working device.

[ 4 th embodiment ]

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.

As shown in fig. 33 and 34, a riding-type rice transplanter (an example of a farm working machine or a farm working vehicle) as a planting type paddy field working vehicle in a farm working machine or a farm working vehicle includes a traveling machine body C having a traveling device a and a working device for performing work on a field. The working device of the rice transplanter is a planting device W capable of planting seedlings in a field. In fig. 34, arrow Hf indicates "front" of the traveling body C, "arrow Hb indicates" rear "of the traveling body C," arrow Hl indicates "left" of the traveling body C, and arrow Hr indicates "right" of the traveling body C.

Further, a positioning system including a GNSS (Global Navigation Satellite system) or an IMU (Inertial Measurement Unit) is mounted on the rice transplanter, and as shown in fig. 38, with respect to a reference travel route KL set on a field, positional information of a start point and an end point thereof is acquired and stored by the positioning system, and a set travel route SL parallel to the reference travel route KL can be set. After the set travel line SL is set, the travel machine body C is configured to automatically travel (corresponding to automatic travel by automatic steering) along the set travel line SL.

Further, the manual travel (corresponding to the manual travel by the manual steering) in which the driver operates the steering handle 343 may be switched.

As an example of the travel machine body C, the following method is exemplified: as shown in fig. 38, first, manual travel (teaching) is performed to set a reference travel route KL, and after the teaching is completed, the set travel route SL is generated and the planting travel is performed by switching to automatic travel in a state where the reference travel route KL is turned to the planting start position by the manual travel. At the end point of the set route line SL, planting is temporarily stopped, the automatic route is switched from the automatic route to the manual steering, and the turning is performed, and the cycle of the generation of the next set route line SL and the transition to the automatic planting route is repeated again.

In addition, the rice transplanter further has the following functions: when the automatic travel is performed along the set travel line SL as described later, the position of the set travel line SL itself is shifted in parallel as shown in fig. 39. This function can change the travel lane G according to the boundary of the planting completion area E adjacent to the travel position, as determined by the driver, when the boundary indicates a displaced shape as shown in the drawing, and therefore, it is possible to prevent the planting area from overlapping or becoming discontinuous.

As shown in fig. 33 and 34, the traveling device a includes a pair of left and right front wheels 310 and a pair of left and right rear wheels 311. The traveling machine body C includes a steering unit U capable of steering the left and right front wheels 310 on the traveling device a.

An openable and closable engine cover 312 is provided at the front of the travel machine body C. An engine 313 is provided in the engine cover 312. A rod-shaped center indicator 314 is provided at the front end position of the engine cover 312. The center indicator 314 is used as a reference for a position check as to whether or not the position of the traveling machine body C matches an indication line drawn on the field surface of the field by a marker device 333 described later, and if the center indicator 314 is overlooked from the driver seat 341 and the indication line is located on an extension line of the line of sight, it can be determined that the position of the traveling machine body C matches.

The position check of the traveling body C using the center indicator 314 can be performed not only during automatic traveling but also during manual traveling. In particular, at the end position of the set travel route SL, turning to realize direction change in the state of switching to manual travel is effective in performing position matching to the start point of the next set travel route SL.

The traveling body C includes a frame-shaped body frame 315 extending in the front-rear direction. A support column frame 316 is erected at the front of the body frame 315.

[ concerning the seedling planting device ]

As shown in fig. 33, the seedling planting device W is connected to the rear end of the travel machine body C so as to be able to ascend and descend via a link mechanism 321, and the link mechanism 321 is operated to ascend and descend by the expansion and contraction operation of an elevating cylinder 320 constituted by a hydraulic cylinder.

As shown in fig. 33 and 34, the seedling planting device W includes 4 transmission cases 322, rotation boxes 323 rotatably supported on the left and right sides of the rear portion of each transmission case 322, a pair of rotary planting arms 324 provided at both ends of each rotation box 323, a plurality of leveling floats 325 for leveling the field surface of the field, a seedling stage 326 on which a mat-like seedling for planting is placed, and the like. In this embodiment, the seedling planting device W is configured as an 8-row planting type, but may be a plurality of planting types other than 8 rows.

The seedling planting device W configured as described above drives the seedling stage 326 to be fed laterally and reciprocally in the left-right direction, and drives the rotating boxes 323 to rotate by the power transmitted from the transmission box 322, and alternately takes out seedlings from the lower portion of the seedling stage 326 by the various planting arms 324, and plants the seedlings on the field surface of the field.

[ relating to preliminary seedling table ]

As shown in fig. 33 and 34, a plurality of preliminary seedling stages 328 on which preliminary seedlings to be supplied to the seedling planting device W can be placed are provided on the right and left side portions of the engine cover 312 on the traveling machine body C. Further, a pair of right and left preliminary seedling frames 330 for supporting the preliminary seedling stages 328, and a connecting frame 331 connected across the upper portions of the right and left preliminary seedling frames 330 are provided on the right and left side portions of the engine cover 312 on the traveling machine body C. The connecting frame 331 has a U-shape when viewed from the front. The left and right ends of the connecting frame 331 are connected to the upper portions of the left and right preliminary seedling frames 330 via connecting brackets 332, respectively.

[ concerning marker devices ]

As shown in fig. 33, marker devices 333 for forming an indication line on the field surface of the field are provided on the left and right side portions of the planting device W.

The left and right marker devices 333 are provided with a marker arm 334 supported by the seedling planting device W so as to be vertically swingable, and a rotating body 335 having a plurality of protrusions in the circumferential direction supported by the tip end of the marker arm 334 so as to be freely rotatable. Further, the monitor device includes a monitor electric motor (not shown) for operating the left and right monitor devices 333 to the operating posture and the storage posture.

By operating the marker device 333 to the action posture, the rotator 335 comes into contact with the surface of the field to mark trajectory, which becomes an indication line.

[ for the steering division ]

As shown in fig. 33 and 34, the traveling machine body C includes a driving unit 340 for performing various driving operations at a central portion thereof. The steering unit 340 includes a driver seat 341 on which a driver can sit, a steering tower 342, a steering handle 343 formed of a steering wheel for manual steering operation of the front wheels 310, a main shift lever 344 (corresponding to a shift operation tool) capable of switching forward and backward and changing a traveling speed, an operation lever 345 for operating the seedling planting device W, and the like.

A riding step 346 is provided at a foot portion of the cab 340. Auxiliary steps 347 are provided at left and right outer positions of the boarding step 346. On both left and right sides of the engine cover 312, a landing step 348 as a landing passage connected to the landing step 346 without a step is provided. Left and right preliminary seedling frames 330 are disposed laterally outside the ascending and descending steps 348.

The steering tower 342 is provided with a steering handle 343, a main shift lever 344, an operation lever 345, an instrument panel 349, and the like.

[ regarding main gear lever ]

The main shift lever 344 shown in fig. 33, 34, and 37 is provided on the left lateral side of the steering handle 343.

The forward speed change operation is performed by swinging the shift lever forward from the neutral position, and the reverse speed change operation is performed by swinging the shift lever rearward from the neutral position.

Further, a push-operated automatic steering switch 350 (an example of a switch) for switching on/off of the automatic steering of the steering unit U is provided in a grip portion 344A provided at an upper end portion of the main shift lever 344 (see fig. 37).

The automatic steering switch 350 is disposed at a position that can be pressed by, for example, the thumb of the left hand in a state where the hand grip portion 344A is held by the left hand, and is configured to alternately switch between manual steering and automatic steering for each pressing.

That is, the operation direction of the automatic steering switch 350 is set to be different from the operation direction (front-rear direction) of the main shift lever 344 along the left-right direction of the traveling machine body C, so that the erroneous operation can be prevented, and further, since the automatic steering switch 350 can be operated while holding the grip portion 344A, the workload for changing the grip is not required, and the efficiency of the steering switching operation can be improved.

[ concerning the instrument panels class ]

As shown in fig. 34 and 37, an instrument panel 349 is disposed in front of the steering handle 343 at the rear end position of the engine cover 312. The instrument panel 349 includes a liquid crystal display portion 349A having a backlight in the right and left center portions. A pair of instruction buttons 352 (corresponding to instruction switches) for setting the start point and the end point of the reference traveling line KL are provided on both the left and right sides of the liquid crystal display unit 349A.

Further, a plurality of display lamps are provided around the liquid crystal display unit 349A, and work information can be displayed.

In addition to the display of the timer, the state of the automatic planting clutch, the remaining amount of fuel, the water temperature of the cooling water, and the like, the liquid crystal display unit 349A displays notifications such as "during sensor heating", "whether or not to reset the IMU", "the reception status of the GPS signal", "manual steering during automatic travel", "the detection status of the end point of the ridge", "the grounding status of the planting device", and the like, and "corresponding methods" for these notifications.

Further, as the plurality of indicator lights, an oil-out light, a charge light, a seedling-out light, a planting indicator light, a ridge clutch light, a marker light, and the like are provided.

The instruction button 352 is pressed at the time of manual travel for teaching (at the time of travel switched to manual steering by the automatic steering switch 350), and thus the start point and the end point of the reference travel route KL can be set based on the position information of the travel machine body C at that time.

In this embodiment, the right-hand instruction button 352A on the right side of the pair of instruction buttons 352 is configured to instruct the start point of the reference traveling path KL, and the left-hand instruction button 352B on the left side is configured to instruct the end point of the reference traveling path KL.

As described above, the instruction button 352 is used as a shift switch 359 for shifting the set travel line SL in parallel during automatic travel, in addition to being used as a setting operation mechanism for the reference travel line KL.

Therefore, when the instruction button 352 functions as the shift switch 359 (during automatic traveling), the right instruction button 352A functions as a right shift switch 359A that shifts the set traveling line SL to the right with respect to the traveling direction, and the left instruction button 352B functions as a left shift switch 359B that shifts the set traveling line SL to the left with respect to the traveling direction.

The control of the parallel shift of the set travel line SL is performed in the line shift unit 382 to be described later, and the travel machine body C automatically changes the travel path to the new set travel line SL that has been shifted in parallel by the line shift unit 382 and travels (see fig. 39).

The parallel shift control of the set traveling line SL is performed as shown in the flowchart of fig. 40.

That is, in a state where the travel machine body C automatically travels on the set travel line SL (# 01) by the on operation of the automatic steering switch 350, if the shift switch 359 is pressed (# 02), the set travel line SL is shifted in parallel by the predetermined amount b (see fig. 39) (# 03).

Further, the parallel shift control is continued until the automatic steering switch 350 is turned off (# 04).

[ concerning steering unit ]

As shown in fig. 35, the steering unit U includes the above-described steering handle 343, a steering operation shaft 354 linked to the steering handle 343, a steering rocker arm 355 that swings as the steering operation shaft 354 rotates, left and right link mechanisms 356 linked to the steering rocker arm 355, a steering motor 358, a gear mechanism 357 linking the steering motor 358 to the steering operation shaft 354, and the like.

The steering shaft 354 is linked to the left and right front wheels 310 via a steering rocker arm 355 and a left and right link 356. The amount of rotation of the steering shaft 354 is detected by a steering angle sensor 360 (see fig. 36) provided at the lower end of the steering shaft 354 and including a rotary encoder.

In the case of performing manual steering of the steering unit U, an assist force corresponding to the operation of the steering handle 343 is applied to the operation force by the driver operating the steering handle 343, and the steering operation shaft 354 is rotated and operated to change the steering angle of the front wheels 310. On the other hand, when the steering unit U is automatically steered, the steering motor 358 is driven, the steering shaft 354 is rotationally operated by the driving force of the steering motor 358, and the steering angle of the front wheels 310 is changed.

[ concerning a measurement unit and an inertial measurement unit having a receiver ]

As shown in fig. 33, 34, and 36, the traveling body C includes: a measurement unit 361 having a receiver 363 for acquiring position information from a satellite positioning system and a sub-inertia measurement device 364 capable of detecting the tilt (pitch angle and roll angle) of the traveling body C; and a main inertia measurement device 362 (corresponding to an "inertia measurement device") that measures inertia information.

Each of the main inertia Measurement device 362 and the sub inertia Measurement device 364 is composed of an imu (inertial Measurement unit).

The measurement unit 361 and the main inertia measurement device 362 are disposed at different locations on the traveling body C and on the left and right center lines CL on the traveling body C.

A representative example of the satellite Positioning System (GNSS) is gps (Global Positioning System). The GPS is a system for measuring the position of the receiver 363 using a plurality of GPS satellites orbiting the earth, a control office for tracking and controlling the GPS satellites, and the receiver 363 provided in an object (traveling body C) performing positioning. The receiver 363 is used to acquire the position information of the traveling body C by the satellite positioning system.

As shown in fig. 33 and 34, the measurement unit 361 is attached to the coupling frame 331 via a plate-shaped support plate 365. The main inertia measuring device 362 is disposed in the vicinity of the center in the front-rear direction of the entire length of the traveling body C and the seedling planting device W in the front-rear direction.

[ concerning control structure ]

As shown in fig. 37, the traveling machine body C is provided with a control device 375 that controls automatic steering of the steering unit U. The control device 375 includes an information storage unit 376 (corresponding to a recording unit), a teaching storage unit 377, a turning detection unit 78, a start determination unit 79, an information correction unit 380, a start point setting unit 381 that generates a set travel route SL for traveling the traveling body C, a route shift unit 382 that shifts and sets the set travel route SL in parallel, a state detection unit 383, and a control unit 384 that controls the steering unit U based on the position information and the inertia information so as to travel the traveling body C along the set travel route SL.

The control device 375 receives information from the reception device 363, the sub-inertia measurement device 364, and the gyro sensor 370, the acceleration sensor 371, the steering angle sensor 360, the automatic steering switch 350, the instruction button 352, the shift switch 359, which are provided in the main inertia measurement device 362.

The information storage unit 376 is configured to store the position information acquired from the receiving device 363 in time series.

The teaching storage 377 is configured to calculate the reference travel route KL using the position information of the start point K1 and the end point K2 among the position information stored in the information storage 376, based on the operation of the instruction button 352.

The turning detection unit 378 is configured to detect the start of turning of the traveling machine body C and the end of turning of the traveling machine body C based on the steering angle information of the steering shaft 354 of the steering unit U input from the steering angle sensor 360.

The start determination unit 379 is configured to determine whether or not to start the automatic steering control of the traveling body C.

The information correction unit 380 is configured to correct an accumulated error of information detected by the gyro sensor 370 in the inertia information measured by the main inertia measurement device 362 based on the position information acquired by the reception device 363 and the information measured by the sub inertia measurement device 364 every time the automatic steering control of the traveling body C is started.

The starting point setting unit 381 is configured to generate a set travel route SL based on the reference travel route KL and the own position and own direction at the start of the automatic steering control of the travel machine body C.

The line shift portion 382 is configured to shift the set traveling line SL in parallel to the right (or left) side by a predetermined amount B by the operation of the right shift switch 359A (or the left shift switch 359B).

The state detection unit 383 is configured to detect a distance deviation (deviation distance) between the own position of the traveling machine body C and the set traveling line SL and an angle deviation (deviation angle) between the own azimuth of the traveling machine body C and the set traveling line SL in the automatic steering control of the traveling machine body C.

The control unit 384 is configured to control driving of the steering motor 358 of the steering unit U based on information input from the state detection unit 383.

A specific travel example of the rice transplanter of the present embodiment will be described.

[1] As shown in fig. 38, manual travel for teaching is started.

The manual travel can be started by swinging the main shift lever 344 to the front of the center, and the main shift lever travels in the straight lane from the outer peripheral portion of the field closer to the ridge along the ridge. During travel, by pressing the right direction button 352A, the positioning system acquires the position information of the travel machine body C at this time, and records the position information as the position information of the start point K1 of the reference travel route KL in the information storage unit 376.

After the manual travel is continued, the position information of the travel machine body C at this time is acquired by the positioning system by pressing the left instruction button 352B, and is recorded in the information storage 376 as the position information of the end point K2 of the reference travel route KL.

As a result, the reference course KL is set to a straight line connecting the start point K1 and the end point K2 via the teaching storage unit 377.

[2] After the straight travel in the reference travel line KL, the steering handle 343 is turned to switch the direction of the travel machine body C, and the manual travel is performed up to the start position of the adjacent set travel line SL.

At this time, the position of the travel machine body C to the predetermined position can be aligned by the indicator line drawn on the field by the marker device 333 during the travel of the reference travel line KL and the center indicator 314 described above.

[3] The planting is performed while the traveling body C is automatically traveling.

The start of the automatic traveling is performed by swinging the main shift lever 344 forward and pressing the automatic steering switch 350. When the automatic steering switch 350 is pressed, the position information of the traveling machine body C at this time is acquired by the positioning system via the start point setting unit 381, and is recorded in the information storage unit 376 as the position information of the start point S0 of the set traveling line SL, and further, the set traveling line SL is generated in parallel with the reference traveling line KL through the start point S0.

If the set travel route SL is generated, the control device 375 controls the steering unit U in the deviation correction direction based on the deviation information of the traveling machine body C input from the state detection unit 383, and controls the traveling machine body C to travel on the set travel route SL.

[4] The automatic travel in the set travel line SL is released.

If the end position of the set travel line SL is reached, the automatic steering switch 350 is pressed, whereby the automatic travel is released. In this state, the steering handle 343 is turned to change the direction of the travel machine body C, and the manual steering is performed until the start position of the next adjacent set travel line SL.

Thereafter, the planting direction change of the set travel route SL by the automatic travel and the direction change by the manual travel are alternately repeated.

Further, when the set traveling line SL itself is to be shifted in parallel while traveling along the set traveling line SL, the shift switch 359 on the side where the shift is to be performed is pressed, and the predetermined amount b can be shifted in parallel.

According to the rice transplanter of the present embodiment, since the point can be set as the starting point S0 of the set travel route SL only by switching from the manual travel to the automatic travel using the automatic turn switch (an example of the switch) 50, the driver can freely set the set travel route SL to a desired position while observing the field conditions. This makes it possible to efficiently perform various operations on the traveling machine body C and reduce the burden on the driver.

Further, in the process of automatically traveling along the set traveling line SL once set, the set traveling line SL can be simply shifted in parallel by operating the shift switch 359, and agricultural work more suitable for the field situation can be performed.

Further, since the shift switch 359 coordinates the arrangement of the switches with the shift operation direction, it is possible to prevent erroneous operation and obtain good disposability.

[ other modes for carrying out the invention in embodiment 4 ]

<1> the agricultural working machine is not limited to the rice transplanter of the embodiment described above, and other types of rice transplanters or agricultural working machines other than rice transplanters may be used, and they are collectively referred to as agricultural working machines.

<2> the selector switch (automatic steering switch 350) is not limited to the automatic steering switch having the structure described in the above embodiment, and may have a swing operation type or a rotation operation type structure instead of the push operation type structure, for example.

Thus, the operation direction of the changeover switch (automatic steering switch 350) is not limited to the left-right direction along the traveling body C.

The installation position of the changeover switch may be provided in a position other than the shift operation tool, or may be used as another function switch.

Including them and are collectively referred to as "switches".

The <3> instruction switch is not limited to the instruction button 352 described in the above embodiment, and may have a structure of a swing operation type or a rotation operation type instead of a push operation type, for example, as a switch structure.

The right and left direction buttons 352A and 352B are not limited to being arranged in the left-right direction of the travel machine body C, and may be arranged in the front-rear direction or at completely different positions, for example.

Further, the present invention is not limited to the two switches provided as the indication switches, and for example, one switch may be used to indicate the start point K1 and the end point K2 of the reference travel line KL.

Further, the instruction switch may be used as a switch different from the shift switch 359, or may be configured as a separate switch.

Including them and collectively referred to as "indication switches".

<4> the shift switch 359 is not limited to the shift switch described in the above embodiment, and may have a structure of a swing operation type or a rotation operation type instead of the push operation type, for example, as a switch structure.

Further, the shift switch 359 may be used as a switch different from the indication switch or may be configured as a separate switch.

The shift switch 359 is not limited to two switches, and may be configured to instruct the setting of the shift direction of the travel line SL with one switch, for example.

Including them and collectively referred to as a shift switch 359.

<5> regarding the steering control accompanied by the operation of the shift switch 359, for example, in order to prevent the excessive parallel shift from being performed by the continuous pressing of the switch or the like, the control device 375 may be provided with an operation canceling unit 385 which does not reflect the operation of the shift switch 359 to the shift control as shown in fig. 41 when a specific condition is satisfied.

As a method of canceling the operation of the shift switch 359 by the operation canceling unit 385, the following method may be mentioned.

For example, the operation to the shift switch 359 for the initial predetermined number of times is not reflected in the shift control for setting the travel line SL.

In this embodiment, after the set travel line SL is shifted by the predetermined amount b by the 1 st operation of the shift switch 359, the shift control is not reflected in the operation a predetermined number of times (for example, 4 times) since the 2 nd operation, and therefore, even if the set travel line SL is shifted by the predetermined amount b1 time even after the 5 th operation, it is possible to prevent excessive parallel shift.

Further, as another mode, if the shift switch 359 is operated, the operation of the shift switch 359 is not reflected in the shift control for setting the travel line SL until the set time elapses from the operation of the shift switch 359.

In this embodiment, for example, if the setting time is set to 5 seconds, the travel line SL is set to be shifted by the predetermined amount b of 1 time from the 1 st operation of the shift switch 359 for 5 seconds, regardless of the number of times of pressing, and excessive parallel shift can be prevented.

As another mode, as shown in fig. 42, if the shift switch 359 is operated, the operation of the shift switch 359 is not reflected in the shift control of the set travel line SL until the travel machine body C reaches the error region of the predetermined width SB set around the set travel line SL after the shift.

In this embodiment, for example, when the predetermined amount b is set to 10cm and the predetermined width SB is set to 6cm (3 cm on one side), the shift of the set travel route SL is cancelled even after several times while the travel machine body C passes through the area where (b-SB/2) = 10-3 =7cm in the parallel shift direction in the process of changing the travel lane G by the 1 st operation of the shift switch 359, and excessive parallel shift can be prevented.

<6> the position information of the traveling machine body C acquired by the positioning system is the plane position information of the measurement unit 361, but the start point K1 and the end point K2 of the reference traveling line KL and the start point S0 of the set traveling line SL, which are set with reference to the above position information, are not necessarily limited to the plane position of the measurement unit 361 set in the traveling machine body C. For example, the position may be set to a front end position (or a rear end position) on the left and right center lines CL on the traveling body C, or a position separated by a predetermined distance forward (or rearward) from the center of gravity of the traveling body C (for example, a position forward where the line of sight of the driver passing through the center indicator 314 intersects the field surface).

(7) The present invention can be used not only in the above-described riding-type rice transplanter having a planting device as a working device, but also in a riding-type seeder as a planting-type paddy field working vehicle having a seeding device as a working device, a tractor having a plow or the like as a working device, or an agricultural working vehicle such as a combine harvester having a harvesting unit or the like as a working device.

[ 5 th embodiment ]

Before describing a specific embodiment of a field work vehicle according to the present invention, a basic principle of vehicle control employed in the field work vehicle will be described with reference to fig. 43.

In fig. 43, a rice transplanter, a seeder, a tractor, and a combine are assumed as the field working vehicle. As a field working device, a rice transplanter includes a planting device, a seeder includes a seeding device, a tractor includes a tilling device, and a combine includes a harvesting device. These field working devices are connected to the respective traveling machine bodies so as to be able to move up and down between a working position and a non-working position.

In fig. 43, the field working vehicle (hereinafter simply referred to as a vehicle) travels while repeating reciprocating linear travel in which the direction is changed by 180 degrees (u-turn travel) in a field in which boundaries are defined by upper ridges and lower ridges that are parallel to each other. The ridge area on the upper side is set near the ridge on the upper side, and the ridge area on the lower side is set near the ridge on the lower side. The vehicle travels in a ridge area while performing a direction change and travels linearly in other areas.

The vehicle is provided with a positioning unit that outputs positioning data indicating the position of the vehicle. Further, the vehicle is provided with not only an artificial steering unit for steering the traveling machine body by an artificial operation but also an automatic steering unit for automatically steering the traveling machine body. The positioning data output from the positioning means is based on the position of the antenna, but here, correction processing is performed so that the vehicle position is not the position of the antenna but is an appropriate position of the vehicle, for example, a ground-working point of the field working device.

An example of the field travel in this field is shown below.

First, at a point a1, the vehicle entering the field beyond the lower ridge lowers the field working device to the working position by the operation of the driver, and starts straight working travel (outward route). The lowering of the field working apparatus is recorded as a vehicle operation indicating the start of the work together with positioning data indicating the position of point a 1. When the vehicle reaches the direction change region at point B1 after the straight-line work travel, the field working device is raised to the non-working position by the driver's operation and the vehicle is shifted to the direction change travel of 180 degrees. The rise of the field working apparatus is recorded as a vehicle operation indicating the operation stop together with the positioning data indicating the position of point B1.

When the direction change travel in the ridge area is completed, the field working apparatus is again lowered to the working position at point a2, and the straight working travel (return) is started. The lowering of the field working apparatus is also recorded as a vehicle operation indicating the start of the work together with positioning data indicating the position of point a 2. The position of the point a2 can be estimated from the position of the point B1, taking into account the reciprocating operation travel interval corresponding to the operation width (planting width or tilling width). Therefore, if the vehicle approaches the estimated point a2 while traveling in the direction change in the ridge area, the driver is notified of the approach, and the driver can be urged to lower the field working device to the working position. When the vehicle reaches the estimated point a2, the field working device may be automatically lowered to the working position. The position at which the vehicle starts straight-line work travel (return) again is set as the final point a 2.

The point B2 which is the end point of the straight-line work travel (return), that is, the point at which the vehicle again reaches the ridge area, may be estimated from the position of the point a 1. Thus, if the vehicle is close to the point B2, before reaching the ridge area, the following can be reported to the driver: the field working device is raised to a non-working position to prepare for direction change travel. When the vehicle reaches the estimated point B2, the field working device may be automatically raised to the non-working position. If the vehicle reaches the ridge area, the vehicle is automatically or manually transferred to the ridge area to change the direction and move. When the direction change travel is finished, the straight-line work travel (return) is started again from the point a 3.

Thus, the work travel and the direction change travel are repeated while passing through the point B3, the point a4, the point B4, and the point a5 ･ ･ ･. At this time, if the point a1 is set, the points B2 and A3 ･ ･ ･ can be estimated from the point a1, taking into account the reciprocating operation travel interval. However, although the point A3 can be estimated from the point a1 when estimating the point A3, the point A3 can be estimated from the point B2 because the point B2 is detected as the position where the work travel is actually shifted to the direction change travel. In particular, when the actual ridge region does not extend straight but extends obliquely or in a stepped manner, such boundary points of the ridge region can be accurately detected by estimating from a point newly set midway.

For example, as shown in fig. 44, when the ridge area has a level difference, the straight-line work travel needs to be extended further than the estimated point B4. When the linear work travel is performed by the automatic steering, the automatic steering is released, and the linear work travel is continued to a position suitable for the direction change travel by the manual steering (newly set point B4). If the place B4 is newly set, the next place a5 is presumed from the place B4.

The points a1, a2, and ･ ･ ･ as starting points of the work travel can be automatically set based on a specific vehicle operation. Suitable operations for such specific vehicle operations include, for example, an operation start command for the field working device, detection of a change in position of the field working device to an operation position, and detection of engagement of a power transmission clutch used in the field working device. Further, the state of the operation tool operated by the driver may be used as the specific vehicle operation. Similarly, the points B1, B2, and ･ ･ ･ as the end point of the work travel (the start point of the direction change travel) can be automatically set based on the specific vehicle operation. Suitable operations for such specific vehicle operations include, for example, a work stop command for the field working machine, detection of transition of the field working machine to a non-working position, and detection of disconnection of a power transmission clutch used in the field working machine. Further, the state of the operation tool operated by the driver may be used as the specific vehicle operation.

If the first work travel path defined by the point a1 and the point B1 is taken as the reference work travel path, the target work path for subsequent automatic steering can be calculated based on the reference work travel path. Since the work travel is generally a straight travel, it is a simpler steering than the direction change travel, and it is appropriate in terms of control to perform the work travel by automatic steering or to perform the direction change travel by artificial steering. When the field shape is a simple rectangle, if the point a1 and the point B1 are set, the timing of transition between the subsequent work travel and the direction change travel, that is, the arrival timing at the ridge region and the departure timing from the ridge region can be estimated from the point a1 and the point B1.

When a vehicle enters a ridge area from a straight work travel (return), but the vehicle does not perform a direction change travel for some reason, a trouble occurs in which the vehicle rides on the ridge. In order to avoid such a problem, it is important to estimate and record the points B2, B3, and B4 ･ ･ ･ as the end points of the straight-line work travel (return). Since the position of the vehicle can be calculated by the positioning means, the position of the vehicle can always be compared with the position of the end point (entry point to the ridge area) of the work travel (return). Thus, the vehicle can be decelerated, a warning can be issued, the vehicle can be stopped, and the like before and after the vehicle enters the ridge area.

In the above example, the point a1 and the point B1 were set during the first work travel, and the points between the subsequent work travel and the direction change travel (the arrival point of the vehicle to the ridge area and the departure point from the ridge area) a2, A3 ･ ･ ･, B2, and B3 ･ ･ ･ were estimated from the point a1 and the point B1. When the vehicle includes a field map storage unit that stores map data of the field, since the arrival or departure of the vehicle to or from the ridge area can be detected by performing map matching using the vehicle position and the map data, it is no longer necessary to set such a point a1 and a point B1 and to estimate another point from the point a1 and the point B1.

Next, one of specific embodiments of a field working vehicle according to the present invention will be described with reference to the drawings. Fig. 45 is a side view and fig. 46 is a plan view of a riding rice transplanter as an example of a field working vehicle. The rice transplanter comprises a travel machine body C and a field operation device for performing operation on a field. The field working apparatus is a seedling planting apparatus W capable of planting seedlings in a field. In fig. 46, arrow F indicates "front" of the traveling body C, "arrow B indicates" rear "of the traveling body C," arrow L indicates "left" of the traveling body C, and arrow R indicates "right" of the traveling body C.

As shown in fig. 45, the traveling device includes a pair of left and right front wheels 410 and a pair of left and right rear wheels 411. The traveling machine body C includes steering units U1 that can steer the left and right front wheels 410 of the traveling device.

As shown in fig. 45 and 46, an open-close type engine cover 412 is provided at the front of the travel machine body C. An engine 413 is provided in the engine cover 412. The traveling body C includes a frame-shaped body frame 415 extending in the front-rear direction. A support column bracket 416 is erected on the front portion of the body bracket 415.

As shown in fig. 45, the seedling planting device W is connected to the rear end of the travel machine body C so as to be vertically movable via a link mechanism 421, and the link mechanism 421 is vertically movable by the telescopic operation of a lifting cylinder 420 constituted by a hydraulic cylinder. The seedling planting device W includes 4 transfer cases 422, rotary cases 423 rotatably supported on the left and right sides of the rear portion of each transfer case 422, a pair of rotary planting arms 424 provided on both ends of each rotary case 423, a plurality of floating bodies 425 for leveling the field surface of the field, a seedling table 426 for placing mat-like seedlings for planting, and the like. That is, the planting device W is configured as an 8-row planting pattern.

The traveling machine body C is provided with a plurality of (for example, 4) normal preliminary seedling stages 428 on the left and right sides of the engine cover 412 for accommodating preliminary seedlings to be supplied to the seedling planting device W, and 1 rail-type preliminary seedling stage 429 on which preliminary seedlings to be supplied to the seedling planting device W can be accommodated. Further, the right and left side portions of the engine hood 412 on the traveling machine body C are provided with a pair of right and left preliminary seedling racks 430 for supporting the normal preliminary seedling stage 428 and the rail-type preliminary seedling stage 429, and a coupling frame 431 for coupling across the upper portions of the right and left preliminary seedling racks 430. The connecting frame 431 has a U-shape in front view. The left and right ends of the connecting frame 431 are connected to the upper portions of the left and right preliminary seedling frames 430 via connecting brackets 432, respectively.

The traveling machine body C includes a driving unit 440 for performing various driving operations at a central portion thereof. The steering unit 440 includes a driver seat 441 on which a driver can sit, a steering column 442, a steering handle 443 formed of a steering wheel for manual steering operation of the front wheels 410, a main shift lever 444 capable of switching forward and backward and changing a traveling speed, an operation lever 445, and the like. The driver seat 441 is provided at the center of the travel machine body C. The steering column 442 includes a steering handle 443 and a main shift lever 444 that are operable. A boarding step 446 is provided below the feet of the cab 440.

An operation lever 445 is provided on the right lateral side of the lower side of the steering handle 443. When the operating lever 445 is operated to the raised position, a planting clutch (not shown) which is one of the operation clutches is operated to a disconnected state, and the planting device W is raised. If the operation lever 445 is operated to the lowered position, a planting clutch (not shown) is operated to a cut-off state, and the planting device W is lowered. If the floating body 425 at the center is grounded on the field surface of the field, the planting device W is grounded on the field surface of the field and is stopped.

As shown in fig. 47, the steering unit U1 includes the steering handle 443, the steering shaft 454 linked to the steering handle 443, the steering arm 455 that swings as the steering shaft 454 rotates, left and right link mechanisms 456 linked to the steering arm 455, a steering motor 458, a gear mechanism 457 linking the steering motor 458 to the steering shaft 454, and the like.

The steering unit U1 can operate in an automatic steering mode and a manual steering mode. In the manual steering mode, an assist force corresponding to the operation of the steering handle 443 by the steering motor 458 is applied to the operation force of the driver operating the steering handle 443, the steering operation shaft 454 is turned, and the steering angle of the front wheels 410 is changed. On the other hand, in the automatic steering mode, the steering motor 458 is automatically controlled, the steering shaft 454 is rotated by the driving force of the steering motor 458, and the steering angle of the front wheels 410 is changed. In this embodiment, the steering handle 443 and the steering motor 458 function as components of a manual steering unit that manually steers the travel machine body C. Further, an automatic steering control function for automatically steering the traveling machine body C is built in a control device 408 (see fig. 48) described later, and the steering motor 458 is driven based on a control command from the control device 408. Further, the control device 408 is also provided with a control function of artificial steering in a case where the operation displacement of the steering handle 443 is detected by a sensor without being directly transmitted to the steering shaft 454, and the steering motor 458 is driven based on the detected value of the operation displacement, or a case where a so-called by-wire system is adopted.

The traveling machine body C includes a positioning means 461, and the position of the traveling machine body C is obtained from the positioning data from the positioning means 461. The positioning unit 461 includes a satellite navigation module configured as a GNSS module and an inertial navigation module configured as a module incorporating a gyro acceleration sensor and a magnetic azimuth sensor. The satellite navigation module is connected with a satellite antenna for receiving GPS signals or GNSS signals. At least the satellite antenna is attached to a portion having good radio wave reception sensitivity, and in this embodiment, is attached to the connection frame 431. The satellite navigation module and the inertial navigation module are disposed at different places.

Fig. 48 shows a control device 408 provided in the rice transplanter. Fig. 48 shows functional units mainly related to steering among the functional units built in control device 408. The control device 408 employs basic principles regarding automatic steering and manual steering described with reference to fig. 43 and 44. The control device 408 is connected to the positioning means 461, the vehicle state detection sensor group 409, the contact detector 490, the travel mode switching operation means 465, and the steering mode switching operation means 466 through the input signal processing unit 408 a. The control device 408 is connected to the report device 407, the vehicle travel device group 471, and the work apparatus device group 472 via the output signal processing unit 408 b. The travel mode switching operation means 465 and the steering mode switching operation means 466 are constituted by switches or buttons.

The vehicle state detection sensor group 409 is composed of various sensors and switches provided to detect the operation and posture of the traveling machine body C and the operation and posture of the seedling planting device W as a field working device. The contact detector 490 is known per se, and therefore has a structure for detecting contact between the rice transplanter and an obstacle, although not shown in fig. 45 and 46. If the contact of the rice transplanter with the obstacle is detected by the contact detector 490, the rice transplanter is stopped urgently. The steering mode switching operation means 466 is a switch for selecting either an automatic steering mode for performing automatic steering and a manual steering mode for performing manual steering. For example, the steering mode switching operation tool 466 is operated during the automatic steering travel to switch to the travel under the artificial steering, and the steering mode switching operation tool 466 is operated during the artificial steering travel to switch to the travel under the automatic steering.

The travel mode switching operation tool 465 is a teaching switch for teaching the boundary between the ridge region and the non-ridge region to the control device 408, and in this embodiment, the travel mode switching operation tool 465 has an a button and a B button. The driver presses the a button when the vehicle shifts from the direction change travel to the work travel, and presses the B button when the vehicle shifts from the work travel to the direction change travel.

The notification device 407 includes a lamp or a buzzer, and visually or audibly outputs various information to be notified to the driver, such as approach to a ridge area or departure from a target travel path during autonomous steering travel, based on a command from the control device 408. Further, if a flat panel display or the like is included in the report device 407, character information may also be provided.

The vehicle travel device group 471 includes various operating devices and control devices for travel mounted on the travel machine body C, for example, an operating device such as the steering motor 458 constituting the steering unit U1, a control device for adjusting the engine speed, a transmission operating device such as a clutch or a shifter, and a brake operating device. The work traveling equipment group includes, in this embodiment, operating equipment such as a lift cylinder 420 for lifting and lowering a seedling planting device W mounted as a field work device, and a planting clutch that functions as a work clutch of the seedling planting device W.

In the control device 408, the ridge detection module 481, the automatic steering unit 482, the vehicle operation recording unit 483, the steering mode management unit 484, the travel path calculation unit 485, the travel distance calculation unit 486, the attitude determination unit 487, and the like are substantially constructed by computer programs.

The ridge detection module 481 detects whether or not the travel machine body C has reached the ridge area based on the point a1 at which the travel in the ridge area is shifted to the travel of the work, the point B1 at which the travel is shifted from the travel of the work to the direction in the ridge area, and the vehicle position obtained from the positioning data of the positioning unit 461, which are the travel path reference points set during the first travel of the work. As described with reference to fig. 43 and 44, the lowering detection point a1 of the seedling planting device (working device) W to the lowering position (working position) and the raising detection point B1 of the seedling planting device W to the raising position (non-working position) are recorded as vehicle operations in the vehicle operation recording section 483. The travel path (usually a straight line) between the point a1 and the point B1 is a reference work travel path, and the reference work travel path is sequentially moved in parallel by the reciprocating work travel interval regardless of automatic steering or manual steering, thereby obtaining a next work travel path. That is, points B2, A3, B4, and a5 ･ ･ ･ corresponding to point a1, and points a2, B3, B4, a4, and B5 ･ ･ ･ corresponding to point B1 are estimated. The estimation algorithm is built in the ridge estimation unit 810. Since the method of estimating the points indicating the boundaries of the ridge regions differs depending on the shape of the field, it is preferable to have a configuration in which an appropriate estimation algorithm can be selected for each shape of the field. By comparing the respective points with the vehicle position and detecting the distance from the traveling body C during the work to the ridge area, the control device 408 can output, for example, an approach report when the vehicle approaches the ridge area by a predetermined distance, an arrival report when the vehicle reaches the ridge area, a deceleration of the traveling body C, a stop of the traveling body C, and other instructions.

The travel path calculation unit 485 calculates travel path data necessary for performing subsequent work travel by automatic steering, based on the reference work travel path. The automatic steering unit 482 calculates a deviation between the travel path data calculated by the travel path calculation unit 485 and the vehicle position, generates an automatic steering command, and outputs the automatic steering command to the steering unit U1.

The steering mode management unit 484 manages an artificial steering mode, which is a travel mode performed by artificial steering, and an automatic steering mode, which is a travel mode performed by automatic steering. For example, it is possible to set that the manual steering mode is selected in the ridge area and the automatic steering mode is selected outside the ridge area (in the normal straight work travel). Further, the manual steering mode and the automatic steering mode can be forcibly selected by a switching command from the steering mode switching operation tool 466. Further, if the steering handle 443 is operated, the automatic steering mode may be forcibly switched to the manual steering mode.

Vehicle operation recording section 483 records a state occurring in the vehicle, particularly, vehicle operation concerning the start and end of work travel, based on various sensor detection signals and operation signals of various operation devices input via input signal processing section 408a, and control signals output to vehicle travel device group 471 and work equipment device group 472 via output signal processing section 408 b. At this time, each vehicle motion is recorded together with the vehicle position acquired when the vehicle motion occurs.

Fig. 49 shows an example of the vehicle operation recorded in time series by the vehicle operation recording unit 483 during travel in the simplified field as shown in fig. 43. In this example, the record items of the vehicle operation recording section 483 include a record NO, an operation time, a vehicle position, and operation contents. The operation time is a time (time stamp) at which the vehicle operation is detected. The vehicle position is a vehicle position at the time of detection of the vehicle motion. The operation contents identify the detected vehicle operation, and here, the operation contents of the travel mode switching operation tool 465 (a is the operation of the a button, and B is the operation of the B button), the positions of the seedling planting device W and the floating body 425, the state of the planting clutch (work clutch), and the state of steering (steering from straight forward to turning, or steering from turning to straight forward) are recorded. In fig. 49, the vehicle position is the same for each vehicle operation, but the vehicle position differs because the raising and lowering timing of the seedling planting device W, the steering timing of the turning travel, and the like differ, but the vehicle position recorded here is recorded by correcting the vehicle position by the reference position of a specific vehicle.

As can be understood from fig. 43 and 49, various states, particularly, the start and end of the work, of the traveling machine body C and the seedling planting device W as the work device can be read from the record of the vehicle operation recording section 483. As the initial process of the planting work by the rice transplanter, NO "0001" was recorded at the timing when the vehicle entered and exited from the ridge region from the ridge. The content of the record NO "0001" is the record of the point a1 in fig. 43, and includes the operation time, the vehicle position, and the operation content at that time. As the action content, the advancing operation mode is 'A', the seedling planting device is positioned at a 'descending position', the floating body is positioned at a 'grounding', and the clutch is in an 'on' state. In practice, the timings of detecting these operation contents are slightly different, but the timings are the same here. That is, at the timing when the record NO "0001" is recorded, the a button of the travel mode switching operation tool 465 is pressed by the driver, and the setting for the work travel is performed.

Then, the linear working travel is performed, and when the ridge area is reached, the record NO "0002" is recorded. The content of the record NO "0002" is the record of the point B1 in fig. 43, and includes the operation time, the vehicle position, and the operation content at that time. As the action content, the traveling operation mode is "B", the planting device position is "up position", the floating position is "off", the clutch state is "off", and the steering is "from straight to turning". That is, at the timing when the record NO "0002" is recorded, the B button of the travel mode switching operation tool 465 is pressed by the driver, and the setting for the direction change travel is performed. The positions of the point a1 and the point B1 are recorded by the operation of the a button and the B button of the travel mode switching operation tool 465. A line connecting the point a1 and the point B1 can be used as a reference work travel path for estimating a travel path for subsequent work. Thus, the operation of the travel mode switching operation tool 465 is no longer required beyond the point a1 and the point B1.

When the direction change travel in the ridge area is finished and the work travel is performed after the ridge area comes out, record NO "0003" is recorded. The content of the record NO "0003" is the record of the point a2 in fig. 43, and includes the operation time, the vehicle position, and the operation content at that time. The position of the point a2 is estimated from the point B1 by the ridge estimating unit 810 using the reciprocating operation travel interval if the field is a field as shown in fig. 43. Therefore, when the vehicle position acquired from the positioning unit 461 approaches or matches the estimated point B1, the work progress can be automatically set. Alternatively, the approach of the vehicle to the point B1 may be reported to urge the driver to a setting for work travel. Similarly, the position of location B2 is also inferred from location A1. Therefore, when the vehicle position acquired from the positioning unit 461 approaches or matches the estimated point B2, the direction change travel can be automatically set. Alternatively, the vehicle may be reported approaching the point B2, prompting the driver to switch the setting for travel in the direction.

As described above, the timing to reach the ridge area and the timing to come out of the ridge area can be determined by the position change of the seedling planting device W and the floating body 425, the switching operation of the working clutch, and the change of the steering angle, and therefore, the travel mode switching operation tool 465 as the teaching operation tool for recognizing the boundary of the ridge area is not necessary. The boundary of the ridge area may be determined based on 1 or a combination of the above-described vehicle actions. For example, when the characteristics of the seedling planting device W such that the seedling planting device W descends onto the field surface at the start of operation and ascends from the field surface at the end of operation are used, the transition point from the ridge region to the operation region (non-ridge region) of the vehicle can be determined based on the state signal indicating the descending operation from the ascending posture to the descending posture of the seedling planting device W, and the transition point from the operation region (non-ridge region) to the ridge region of the vehicle can be determined based on the state signal indicating the ascending operation from the descending posture to the ascending posture of the seedling planting device W.

The control device 408 can be equipped with the following algorithm: it outputs various commands for executing various actions based on the determination result of the ridge detection module 481 regarding the arrival of the vehicle at the ridge area. Some of them are listed below.

(1) When the vehicle has reached the recorded scheduled point for executing the vehicle motion but the vehicle motion is not executed, the vehicle is decelerated, the engine is stopped, and the like.

(2) The position and time at which each vehicle action to be recorded occurs during travel in the field can be limited to a specific range. Therefore, the vehicle outside the specific range moves out of the recording target, and the recording accuracy is improved.

(3) If it is detected that the vehicle enters a ridge area, automatic steering is prohibited.

(4) When the steering operation such as the steering angle and the turning radius of the vehicle in the ridge area is different from the direction-change traveling operation, the recording to the vehicle operation recording section 483 is stopped. For example, when the turning radius is large, it is considered that the traveling is not a normal operation traveling such as a direction change traveling and a deviated traveling from a field.

(5) When a specific vehicle motion occurs, the vehicle is forcibly stopped when an inappropriate vehicle speed is detected during the vehicle motion.

The travel distance calculation unit 486 calculates the travel distance of the traveling body C based on a detection signal from a sensor (one of the vehicle state detection sensor group 409) that detects the rotation speed of the rear wheels 411 or the rotation speed of the drive train of the rear wheels 411. In this case, if the slip ratio estimated from the state of the field is taken into consideration, the travel distance can be calculated more accurately. In the case of the positioning unit 461 that calculates the vehicle position based on the radio signal from the satellite, if the reception sensitivity of the radio signal is lowered in some cases, the positioning data cannot be output any more. The travel distance calculation unit 486 is used for compensation thereof. For example, the ridge detection module 481 may detect that the traveling body C has reached the ridge area based on the traveling distance calculated by the traveling distance calculation unit when the positioning data from the positioning unit 461 is not input.

The attitude determination unit 487 compares the attitude of the traveling body with a predetermined tilt threshold value based on a detection signal from a tilt sensor (one of the vehicle state detection sensor group 409) that detects the tilt angle (roll angle and pitch angle) of the traveling body C. In this embodiment, the posture determination unit 487 gives a brake command to decelerate or stop the traveling machine body to a brake device that is one of the vehicle traveling device group 471 when the posture of the traveling machine body deviates from a predetermined condition.

Specific control operations based on the determination result of the attitude determination unit 487 are described below.

(1) If the detected tilt angle exceeds a tilt threshold, reporting, deceleration, and stopping are performed.

(2) When the detected tilt angle frequently exceeds a tilt threshold, automatic steering is prohibited.

(3) When the detected tilt angle exceeds the tilt threshold value for a permissible time, the report, deceleration, and stop are executed. The allowable time is determined depending on the vehicle speed and the field depth. In addition, when the field depth exceeds a predetermined value, complete parking is prohibited in order to avoid sinking of the vehicle body.

(4) The change in acceleration of the tilt is calculated, and automatic steering is prohibited even if the change is not more than the tilt threshold value in the case of a sudden tilt change.

[ other modes for carrying out the invention according to embodiment 5 ]

(1) In the above-described embodiment, point a1 and point B1, which are boundary points between a ridge area where the direction of travel is switched back and a non-ridge area where the work is traveling, are determined based on the operation of the a button and the B button of the travel mode switching operation tool, and subsequent points a2 and A3 ･ ･ ･ and points B2 and B3 ･ ･ ･ are determined based on the vehicle motion estimated from point a1 and point B1. In order to simplify the control, the points a2 and A3 ･ ･ ･ and the points B2 and B3 ･ ･ ･ may be determined by operating the a button or the B button of the travel mode switching operation tool again when a position different from the estimated position is estimated from the point a1 and the point B1 as a main point without using the vehicle operation.

(2) Each functional section in the functional block diagram shown in fig. 48 is mainly divided for illustrative purposes. In fact, each functional section of fig. 48 may be combined with other functional sections or divided into a plurality of functional sections. The independent functional units are connected to each other by an in-vehicle LAN or the like.

(3) The rice transplanter may take in the posture of the marker in addition to the above-described vehicle motion recorded in the vehicle motion recording section 483. In addition, the vehicle motion performed at the boundary between the ridge region and the non-ridge region is the object of the vehicle motion to be recorded in the vehicle motion recording unit 483.

(4) The present invention can be applied to various working vehicles such as a riding-type seeder as a planting paddy field working vehicle having a seeding device as a working device, a tractor having a plow or the like as a working device, a farm working vehicle such as a combine harvester having a harvesting unit or the like as a working device, or a construction working vehicle having a bucket or the like as a working device, in addition to the riding-type rice transplanter having a planting device as a working device.

Description of the reference numerals

[ 1 st embodiment ]

28 stock preparation seedling stage (preparation seedling stage)

29 track type preparation seedling table (preparation seedling table)

30 preparing seedling frame

31 connecting frame

62 Main inertia measuring device (inertia measuring device)

63 receiving device

66 electric wiring

67 connector part

68 shield member

72 rear axle

73 rear axle bracket (mounting component)

81 generating part

83 control part

A traveling device

C marching machine body

U turns to unit

W seedling planting device (working device)

S1 State of use

S2 storage State

LM target line

X left and right axes

[ 2 nd embodiment ]

111 driving part

111a entrance

120 plant seedling device

130 arm

131 upper end portion

131a fixed part

131b movable part

131f front end side part

150 prepared seedling accommodating device

151 preparing seedling carrying table

152 preparing seedling carrying table

153 stand for preparing seedlings

153b preliminary seedling stage body

153c extension table

153r rear end side part

200 free space

[ 3 rd embodiment ]

243 Manual steering operation tool (steering handle)

258 steering operation mechanism (steering motor)

261 Manual operation detection mechanism (Torque sensor)

264 position detecting mechanism (position measuring unit)

266 orientation detection mechanism (inertia measurement unit)

268 route setting mechanism (route setting unit)

269 control mechanism (steering control unit)

270 vehicle speed detecting mechanism (vehicle speed sensor)

300 traveling vehicle body

KA slant target azimuth

LK target moving path

NA detection orientation (local orientation)

NM detection position (local position)

TD target orientation (teaching orientation)

Z1 worked area

Z2 no work area

Alpha Tilt Angle (set Tilt Angle)

[ 4 th embodiment ]

344 Main variable speed lever (variable speed operation tool)

350 automatic steering switch (Change-over switch)

352 indicating button (indicating switch)

359 shift switch

359A right shift switch

359B left shift switch

376 information storage unit (recording unit)

381 starting point setting unit

385 operation cancelling unit

C marching machine body

KL reference traveling line

S0 setting the starting point of the travel route

SL setting traveling line

SB predetermined width

[ 5 th embodiment ]

407 reporting device

408 control device

408a input signal processing section

408b output signal processing section

409 vehicle state detection sensor group

425 float

426 seedling carrying platform

443 steering handle

444 Main shift lever

445 operating lever

461 position finding unit

465 travelling mode switching operation tool

466 steering mode switching operation tool

471 vehicle travel device group

472 task equipment cluster

481 ridge detection module

482 automatic steering unit

483 vehicle operation recording section

484 steering mode management unit

485 route calculation unit

486 travel distance calculating unit

487 posture determining unit

490 contact detector

810 ridge estimating unit

U1 steering unit

A W seedling planting device (field working device).

Claims (10)

1. A working vehicle is characterized in that,

the disclosed device is provided with:

a traveling body having a traveling device;

a working device for performing work on a field;

a steering unit capable of steering the traveling device;

a receiving device for acquiring position information by a satellite positioning system;

an inertia measuring device for measuring inertia information;

a generation unit that generates a target route for causing the traveling machine body to travel; and

a control unit that controls the steering unit based on the position information and the inertia information so that the traveling body travels along the target route;

the receiving device and the inertia measuring device are disposed at different positions of the traveling body,

is provided with:

a prepared seedling platform which can carry prepared seedlings for supplying to the seedling planting device;

a pair of right and left preliminary seedling stands for supporting the preliminary seedling stage; and

a support member capable of supporting the receiving device within a width of a space between a pair of left and right preliminary seedling racks in a left-right direction,

the support member is configured to be changeable between a use state and a storage state in which the receiving device is positioned at a position lower than the use state.

2. The work vehicle of claim 1,

the receiving device is arranged at the front part and the upper part of the advancing machine body,

the inertia measuring device is disposed at a position near a center in a front-rear direction of the entire length of the traveling machine body and the working device in the front-rear direction.

3. The work vehicle of claim 2,

the inertia measuring device is mounted in the vicinity of a rear axle of the traveling device.

4. The work vehicle of claim 3,

the inertia measuring device is mounted on a rear axle bracket.

5. The work vehicle according to any one of claims 1 to 4,

the operation device is the seedling planting device;

is provided with

A connecting frame connected across the upper parts of the left and right preliminary seedling frames,

the receiving device is mounted on the connecting frame.

6. The work vehicle of claim 5,

the state of the connecting frame can be changed into that: in the use state, the receiving device is positioned above the upper end part of the preparation seedling frame; and the storage state is reversed vertically with respect to the use state, and the receiving device is positioned below the upper end of the preliminary seedling rack.

7. The work vehicle of claim 6,

the connecting frame is capable of rotating around a left and right axis along the left and right direction, and is capable of being supported on the left and right preliminary seedling frames in a fixed position in the use state and the storage state.

8. The work vehicle of claim 6,

the connecting frame can be detached from the right and left preliminary seedling frames.

9. The work vehicle according to any one of claims 1 to 4,

the above-described receiving apparatus includes a connector portion to which the electric wiring is connected;

the connector portion extends outward from the receiving means in the left and right directions.

10. The work vehicle according to any one of claims 1 to 4,

the above-described receiving apparatus includes a connector portion to which the electric wiring is connected;

the connector includes a protection member for protecting the connector portion.

Images