CN108566792B

CN108566792B - Agricultural vehicle

Info

Publication number: CN108566792B
Application number: CN201711338602.8A
Authority: CN
Inventors: 宫本惇平; 高濑竣也; 久保田祐树; 石见宪一
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2017-03-14
Filing date: 2017-12-14
Publication date: 2022-02-01
Anticipated expiration: 2037-12-14
Also published as: KR102553109B1; CN108566792A; JP2021104034A; KR20230106565A; CN114303500A; KR20180105045A; JP2023024520A; JP6860387B2; JP2018148857A; JP7192018B2

Abstract

The invention provides a work vehicle capable of avoiding execution of automatic steering control under an inappropriate condition, comprising: a traveling device that causes the traveling machine body to travel; the seedling planting device can perform ground operation; an automatic steering control unit (78) capable of switching between an automatic steering on state in which the travel device is automatically steered to cause the travel machine body to travel along the target course based on the positioning information and an automatic steering off state in which the travel device is not automatically steered; a switching operation tool (50) which can switch the automatic steering control part from an automatic steering off state to an automatic steering on state according to manual operation; a determination unit (79) for determining whether or not conditions unsuitable for the ground operation of the seedling planting device exist; and a switching prohibition unit (80) that prohibits the switching from the automatic steering off state to the automatic steering on state by the operation of the switching operation element when the determination unit determines that the condition exists.

Description

Agricultural vehicle

Technical Field

The present invention relates to a work vehicle capable of automatic steering control.

Background

A conventional work vehicle is described in, for example, patent document 1 below. The work vehicle includes a traveling device (in this document, "front wheels" and "rear wheels") for traveling a traveling machine body, and a working device (in this document, "seed planting device") capable of performing a ground-working operation. The work vehicle is provided with an automatic steering control unit (in this document, "control means") capable of switching between an automatic steering on state and an automatic steering off state, and the work vehicle automatically steers the travel device so that the travel machine body travels along a target course (in this document, "target travel route") based on the positioning information in the automatic steering on state, and does not automatically steer the travel device in the automatic steering off state. The work vehicle further includes a switching operation tool (in this document, "switch") that can switch the automatic steering control unit from the automatic steering off state to the automatic steering on state by a manual operation.

Patent document 1: japanese patent laid-open publication No. 2016-

However, in the above-described conventional technique, even when there is an inappropriate condition for the ground work of the working device, the automatic steering control is executed by changing the automatic steering off state to the automatic steering on state when the switching operation element is manually operated. Therefore, for example, there is a possibility that the automatic steering control is executed in an inappropriate situation due to an erroneous operation of the switching operation member.

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an agricultural vehicle comprising: it is possible to avoid execution of the automatic steering control in an inappropriate situation.

The agricultural vehicle of the invention has:

a traveling device that travels the traveling machine body;

a working device capable of performing a ground-engaging operation;

an automatic steering control unit that can switch between an automatic steering on state in which the travel device is automatically steered to cause the travel machine body to travel along a target route based on positioning information and an automatic steering off state in which the travel device is not automatically steered;

a switching operation tool that can switch the automatic steering control unit from the automatic steering off state to the automatic steering on state in response to a manual operation;

a determination unit that determines whether or not a condition that is not suitable for the ground work of the work device exists; and

a switching prohibition unit that prohibits switching from the automatic steering off state to the automatic steering on state by operation of the switching operation tool when the determination unit determines that the condition exists.

According to the present invention, even if the switching operation tool is manually operated, the automatic steering off state is not switched to the automatic steering on state in the case where there is a condition unsuitable for the ground work of the working device. Therefore, the automatic steering on state can be achieved by the manual operation of the switching operation element only in a situation suitable for the automatic steering control.

Therefore, according to the present invention, it is possible to avoid executing the automatic steering control in an inappropriate situation.

In the above configuration, the condition preferably includes a case where the working device is in a raised non-working state.

According to this configuration, when the working implement is in the lifted non-working state, the ground work of the working implement is not performed, and therefore, even if the switching operation tool is manually operated, the automatic steering on state is not switched. This can avoid the automatic steering control at an inappropriate timing.

In the ascending non-operating state, the operating clutch that transmits power to the operating device is in the disengaged state.

In the above configuration, the condition preferably includes a case where the vehicle does not travel a predetermined travel distance after the completion of the turning of the traveling machine body.

According to this configuration, immediately after the completion of the turning of the travel machine body, the travel machine body is often shaken to make the orientation of the self-machine unstable, and therefore, even if the switching operation tool is manually operated, the automatic steering on state is not switched. This can avoid unstable steering control at the start of automatic steering control.

The travel for the predetermined travel distance after the completion of the swing is a straight travel.

In the above configuration, the condition preferably includes a case where an offset amount between a target direction along the target route and a self-apparatus direction as a traveling direction of the traveling machine body is equal to or larger than a predetermined amount.

According to this configuration, when the offset amount of the self-machine direction of the traveling machine body from the target direction is large, the control amount of the steering motor in the automatic steering control is large, and therefore, even if the switching operation element is manually operated, the automatic steering on state is not switched. This can avoid a sudden change in the course at the start of the automatic steering control.

In the above configuration, the condition preferably includes a case where a speed change state is set in which a vehicle speed of the traveling machine body is equal to or higher than a predetermined value.

According to this configuration, for example, when traveling in a farm, the vehicle speed of the traveling machine body is often changed to a speed change state in which the vehicle speed is equal to or higher than a predetermined value. In such a case, the automatic steering on state is not switched even if the switching operation element is manually operated. This can avoid erroneous automatic travel control during travel.

In the above configuration, it is preferable that the agricultural vehicle includes a forced switching unit that places the automatic steering control unit in the automatic steering cut-off state when the working device is changed from a lowered working state to a raised non-working state.

According to this configuration, when the working device is changed from the lowered working state in which the ground-working operation can be performed to the raised non-working state in which the ground-working operation is not performed, the automatic steering off state is forcibly changed even when the automatic steering on state is set. This makes it possible to change to the automatic steering/cutting state without performing any special manual operation, for example, and to smoothly transit to turning between ridges or the like.

In the above configuration, it is preferable that the farm work vehicle includes a notification control unit that notifies an operator that automatic steering is not possible when the determination unit determines that the condition exists.

According to this configuration, when the automatic steering on state is not switched even if the switching operation tool is manually operated, the operator can quickly make an adjustment so that the automatic steering can be started because the operator is notified of the switching operation tool.

The agricultural operation vehicle is a rice transplanter or a direct seeding machine.

Drawings

Fig. 1 is a side view showing a rice transplanter.

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

Fig. 3 is a schematic view schematically showing a steering mechanism.

Fig. 4 is a block diagram showing a control structure of the automatic steering control.

Fig. 5 is an explanatory diagram of the automatic steering control as viewed from above.

Fig. 6 is a flowchart for explaining on/off of the automatic steering control.

Description of the symbols

50 switching operation member

78 automatic steering control part

79 determination unit

80 switching prohibition part

81 forced switching part

82 notification control part

A running device

C running machine body

W seedling planting device (working device)

Detailed Description

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

As shown in fig. 1 and 2, a riding rice transplanter (an example of a "work vehicle") as a paddy field planting vehicle in an agricultural work vehicle includes a travel device a for traveling a travel machine body C and a work device capable of performing a work on the ground of a field. The operation device of the rice transplanter is a seedling planting device W capable of planting seedlings in a farmland. Note that arrow F shown in fig. 2 indicates "front" of the traveling machine body C, "arrow B indicates" rear "of the traveling machine body C," arrow L indicates "left" of the traveling machine body C, and arrow R indicates "right" of the traveling machine 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 has a steering mechanism U capable of steering the left and right front wheels 10 of the traveling device a.

As shown in fig. 1 and 2, an openable hood 12 is provided at the front of the travel machine body C. An engine 13 is provided in the hood 12. A rod-shaped center mark 14 is provided at the front end position of the hood 12. As shown in fig. 1, the traveling machine body C has a machine body frame 15 combined into a frame shape extending in the front-rear direction. A support pillar frame 16 is erected on the front portion of the body frame 15.

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 vertically movable via a link mechanism 21, and the link mechanism 21 is vertically movable by the telescopic operation of a vertical movement cylinder 20 constituted by a hydraulic cylinder.

As shown in fig. 1 and 2, the seed planting device W includes: 4 transmission housings 22; a rotary case 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 ends of each rotary housing 23; a plurality of land preparation hulls 25 for leveling the field surface of the farmland; and a seedling stage 26 on which blanket seedlings for planting are placed. That is, the seed planting device W is configured to have an 8-row planting pattern.

The seedling planting device W configured as described above rotates and drives the rotary casings 23 by power transmitted from the transmission casing 22 while reciprocating and driving the seedling stage 26 in the lateral direction, and alternately takes out seedlings from the lower portion of the seedling stage 26 by the planting arms 24 and plants the seedlings on the field surface of the field.

As shown in fig. 1 and 2, the traveling machine body C has a plurality of preliminary seedling stages 28 on the left and right sides of the hood 12, and the preliminary seedlings to be supplied to the seedling planting device W can be placed on the plurality of preliminary seedling stages 28. The traveling machine body C includes a pair of left and right preliminary seedling frames 30 for supporting the respective preliminary seedling stages 28 and a connecting frame 31 for connecting upper portions of the left and right preliminary seedling frames 30 to each other in a crossing manner, at left and right side portions of the hood 12.

As shown in fig. 1, the seed planting device W has marking devices 33 on the left and right sides thereof for forming an index line LN (see fig. 5) on the field surface of the farm field. The left and right marker devices 33 are configured to be capable of being freely manipulated into an operating posture in which the left and right marker devices 33 are in contact with the field surface of the agricultural field and form an index course LN on the field surface of the agricultural field in association with the travel of the travel machine body C, and a storage posture in which the left and right marker devices 33 are separated upward from the field surface of the agricultural field.

As shown in fig. 1 and 2, the traveling machine body C includes an operation unit 40 that performs various operation operations at a central portion thereof. The operation unit 40 includes: an operator seat 41 on which an operator can sit; a steering tower 42; a steering handle 43 formed of a steering wheel for performing manual steering operation of the front wheels 10; a main shift lever 44 capable of switching between forward and reverse and changing a traveling speed; a sub-shift lever 44A capable of changing a running speed; and an operating lever 45 and the like. The driver seat 41 is provided in the center of the travel machine body C. The steering tower 42 includes a steering handle 43, a main shift lever 44, a sub shift lever 44A, an operation lever 45, and the like so as to be freely operable.

The operating lever 45 shown in fig. 1 and 2 is provided on the right lateral side below the steering handle 43. Although not shown in detail, the operating lever 45 is configured to be operable in a cross direction from a neutral position to an upper position, a lower position, a rear right mark position, and a front left mark position, and the operating lever 45 is biased to the neutral position.

When the operating 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 are operated to the storage posture. When the operation lever 45 is operated to the lowered position, the seed planting device W is lowered, and when the operation lever 45 is operated to the lowered position again, the planting clutch (not shown) is operated to the transmission state.

When the operating lever 45 is operated to the right marking position, the right marking device 33 is changed from the storage posture to the acting posture. When the operating lever 45 is operated to the left mark position, the left marking device 33 is changed from the storage posture to the action posture.

The steering tower 42 of the operation unit 40 shown in fig. 1 and 2 includes a manually operable switching operation element 50 (see fig. 4). The switching operation element 50 can switch the on/off of the automatic steering of the steering mechanism U. The switching operation element 50 is, for example, a push-button switch of a push-button type, and is disposed at a grip portion of the main shift lever 44. The operation unit 40 includes a press-operated start-point registration switch 52A and a press-operated end-point registration switch 52B (see fig. 4) for registering a teaching direction T (see fig. 5) which is a reference for automatic steering control of the steering mechanism U.

[ in relation to steering mechanisms ]

As shown in fig. 3, the steering mechanism U includes: a steering shaft 54 coupled to the steering handle 43 in an interlocking manner, a link arm 55 that swings as the steering shaft 54 rotates, left and right coupling mechanisms 56 coupled to the link arm 55 in an interlocking manner, a gear mechanism 57, and the like. The steering handle 43 is linked to the steering shaft 54, and can operate the steering mechanism U by manual operation. A steering motor 58 as an electric motor is linked to the steering shaft 54 via a gear mechanism 57, and can operate the steering mechanism U in response to a control signal.

As shown in fig. 3, the power of the engine 13 is transmitted to the hydrostatic continuously variable transmission 37 and the transmission case 38 via the transmission belt 36, and is transmitted from the sub-transmission in the transmission case 38 to the left and right front wheels 10 via the differential mechanism (not shown) of the front wheels 10 and the transmission shaft (not shown) in the front axle case 39. The power of the gearbox body 38 is also transmitted to the seedling planting device W.

The main shift lever 44 shown in fig. 1, 2, and 4 can be operated to move between the forward position and the reverse position by swinging freely between the neutral position and the forward position. The shifting state of the continuously variable transmission 37 is steplessly changed according to the operating position of the main shift lever 44. When the main shift lever 44 is operated to the neutral position, the continuously variable transmission 37 is in a state of not outputting power. When the main shift lever 44 is operated to the forward position side, the continuously variable transmission 37 is in a state of outputting forward power in accordance with the operation amount. When the main shift lever 44 is operated to the reverse position side, the continuously variable transmission 37 is in a state of outputting reverse power in accordance with the operation amount.

The sub-shift lever 44A shown in fig. 1, 2, and 4 can be freely switched between the operating position and the shift position. When the sub-shift lever 44A is set to the working position, low-speed power is output from the transmission case 38. When the sub-shift lever 44A is moved to the shift position, high-speed power is output from the transmission case 38. When the sub-shift lever 44A is set to the shift position and the main shift lever 44 is set to the forward position on the front side of the predetermined position, a shift state (high-speed shift state) is established in which the vehicle speed of the traveling machine body C is equal to or higher than a predetermined value.

As shown in fig. 3, the steering shaft 54 is linked to the left and right front wheels 10 via a link arm 55 and a left and right link mechanism 56. The amount of rotation of the steering shaft 54 is detected by a steering angle sensor 60 (see fig. 4) including a rotary encoder provided at the lower end of the steering shaft 54. In other words, the steering angle sensor 60 can detect the steering angle of the steering handle 43.

As shown in fig. 3 and 4, the steering motor 58 can operate the steering mechanism U in accordance with a control signal from the control device 75. The steering motor 58 includes a resolver 58A, and the resolver 58A detects a motor rotation angle as an output result based on the control signal.

As shown in fig. 3, when the steering mechanism U is manually steered, the steering angle of the front wheels 10 is changed by adding an assist force corresponding to the operation of the steering handle 43 by the steering motor 58 to the operation force of the steering handle 43 by the driver and turning the steering operation shaft 54. On the other hand, when the steering mechanism U is automatically steered, the steering motor 58 is driven, and the steering shaft 54 is rotationally operated by the driving force of the steering motor 58, so that the steering angle of the front wheels 10 is changed.

[ concerning antenna unit and inertial measurement unit with receiving means ]

As shown in fig. 1, 2, and 4, the traveling machine body C includes an antenna unit 61 and a main inertia measuring device 62 that measures inertia information, and the antenna unit 61 includes a receiving device 63 that can acquire position information about the traveling machine body C using a satellite positioning system and a sub inertia measuring device 64 that can mainly detect a tilt (pitch angle, roll angle) of the traveling machine body C.

The primary and secondary

Inertial Measurement units

62 and 64 are each formed of an IMU (Inertial Measurement Unit).

In the above-mentioned satellite Positioning System (GNSS), a typical configuration thereof is GPS (Global Positioning System). The GPS is used for receiving position information from a plurality of GPS satellites orbiting the earth by the receiver 63, and calculating the position of the own device of the traveling machine body C equipped with the receiver 63.

As shown in fig. 1 and 2, the antenna unit 61 having the receiver 63 is attached to the connection frame 31. The receiver device 63 includes a self-detection unit that can acquire position information about the traveling machine body C using a satellite positioning system and can self-detect whether or not position information or the like can be acquired. The receiving device 63 is configured to be able to acquire time information in association with the position information.

In the present embodiment, as shown in fig. 4, the following positioning method is adopted: the so-called differential GPS positioning method is a method in which the data directly received from a plurality of GPS satellites in the receiver 63 is corrected by the data received from the plurality of GPS satellites in the receiver 63 via the reference station.

The sub inertia measurement device 64 shown in fig. 4 detects the tilt (pitch angle) of the traveling machine body C in the front-rear direction and the tilt (roll angle) of the traveling machine body C in the left-right direction. The positional information of the receiving device 63 is corrected based on the pitch angle and the roll angle detected by the sub inertial measurement unit 64.

As shown in fig. 4, the main inertia measurement device 62 mainly includes a gyroscope 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 accelerometer 71 capable of detecting an acceleration in a 3-axis direction perpendicular to each other. That is, the inertial information measured by the main inertial measurement unit 62 includes azimuth change information detected by the gyroscope 70 and position change information detected by the accelerometer 71. As described above, since the main inertia measurement device 62 is disposed in the vicinity of the center of rotation in the traveling direction of the traveling body C, it is possible to suppress the accumulated error of the azimuth change information generated by the gyroscope 70 to be small and to increase the detection accuracy of the position change information by the accelerometer 71.

[ concerning control structure ]

As shown in fig. 4, the traveling machine body C includes a control device 75 for controlling automatic steering, notification, and the like of the steering mechanism U. The control device 75 includes a position and direction calculation unit 76, a route setting unit 77, an automatic steering control unit 78, a determination unit 79, a switching prohibition unit 80, a forced switching unit 81, and a notification control unit 82.

As shown in fig. 5, the position and orientation calculation unit 76 is configured to calculate the own device position NM and the own device orientation NA of the traveling machine body C based on the information acquired from the antenna unit 61 and the main inertia measurement device 62.

The route setting unit 77 sets a teaching direction T (see fig. 5) passing through the start point and the end point based on the position information of the start point acquired by the antenna unit 61 when the start point registration switch 52A is operated and the position information of the end point acquired by the antenna unit 61 when the end point registration switch 52B is operated.

The route setting unit 77 is configured to set a linear target route LM (see fig. 5) parallel to the teaching direction T for performing automatic steering control on the traveling machine body C in accordance with the operation of the switching operation element 50.

The automatic steering control unit 78 can switch between an automatic steering on state in which the travel device a is automatically steered to travel along the target route LM (see fig. 5) based on the positioning information, and an automatic steering off state in which the travel device a is not automatically steered. The automatic steering control portion 78 can switch between the automatic steering on state and the automatic steering off state in accordance with the operation of the switching operation element 50. Specifically, the automatic steering control portion 78 can perform both switching from the automatic steering off state to the automatic steering on state and switching from the automatic steering on state to the automatic steering off state in response to manual operation of the switching operation element 50. In the automatic steering off state, the automatic steering of the steering motor 58 is not performed. When the automatic steering on state is established, a control signal is output to the steering motor 58, and the steering motor 58 is controlled to cause the traveling machine body C to travel along the target course LM, thereby performing automatic steering of the steering mechanism U.

The judgment section 79 judges whether or not there is a condition unsuitable for the ground work of the seed planting device W. The conditions unsuitable for the ground work include a case where the seed planting device W (working device) is in a raised non-working state, a case where the vehicle has not traveled a predetermined travel distance after the completion of the rotation of the traveling machine body C, a case where the offset between the target azimuth along the target route LM and the self-machine azimuth NA in the traveling direction of the traveling machine body C is equal to or greater than a predetermined amount, a case where a gear shift state is established in which the vehicle speed of the traveling machine body C is equal to or greater than a predetermined value, and the like.

When the determination unit 79 determines that there is a condition unsuitable for ground work, the switching prohibition unit 80 outputs a prohibition signal to the automatic steering control unit 78 to prohibit switching from the automatic steering off state to the automatic steering on state by operation of the switching operation element 50.

When the seed planting device W as the working device is changed from the descending working state to the ascending non-working state, the forced switching unit 81 outputs a forced switching signal to the automatic steering control unit 78, and the automatic steering control unit 78 is set to the automatic steering off state. When the steering angle of the steering handle 43 becomes equal to or greater than a predetermined angle based on the detection result of the steering angle sensor 60 and the turning is started, the forced switching unit 81 outputs a forced switching signal to the automatic steering control unit 78, and the automatic steering control unit 78 is brought into the automatic steering off state.

When the determination unit 79 determines that there is a condition unsuitable for ground work, the notification control unit 82 notifies the operator that automatic steering is not possible. The notification control unit 82 notifies the operator through a notification device 84 provided in the operation unit 40. The notification device 84 includes, for example, a lamp 84A capable of notifying information by light, a display panel 84B capable of displaying an error code based on segment display, a buzzer 84C capable of notifying information by voice, and the like.

[ concerning automatic steering control ]

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

As shown in fig. 5, first, the travel machine body C is positioned at a first position Q1 between ridges in the farm field, and the start point registration switch 52A (see fig. 4) is operated. Then, in a state where the seed planting device W is raised and the land preparation hull 25 is grounded, the travel machine body C is caused to travel straight along the straight shape between the ridges on the side portion from the first position Q1, is moved to the second position Q2 in the vicinity of the ridge on the opposite side, and then the end point registration switch 52B (see fig. 4) is operated. Thus, the teaching direction T, which is a direction connecting the first position Q1 at the start point and the second position Q2 at the end point, is set based on 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, the travel machine body C is manually turned by operating the steering handle 43. When the start of rotation of the traveling machine body C is detected by the steering angle sensor 60, the seed planting device W, the land preparation hull 25, and the marker 33 automatically rise from the surface of the field, and become a non-operation state. When the turning of the traveling machine body C is completed, the turning completion position Q3 of the traveling machine body C is detected based on the detection result of the steering angle sensor 60.

As shown in fig. 5, the receiver 63 is disposed in the front part of the traveling machine body C, but the self-machine position NM as a reference for data processing is not set at the actual installation position of the receiver 63, but is set at a position near the main inertia measuring device 62. The setting of the own-equipment position NM as a reference for data processing is determined from the distance between the receiving device 63 and the part as the own-equipment position NM and the own-equipment azimuth NA calculated by the receiving device 63 and the main inertia measuring device 62. Since it is intended to accurately run the seed planting device W along the target route LM, the automatic steering control of the running body C can be performed so that the seed planting device W accurately runs along the target route LM by setting the self-equipment position NM in the vicinity of the seed planting device W in this manner.

When the switching operation tool 50 is operated, the own device position NM and the own device orientation NA of the traveling machine body C based on the position information in the receiving device 63 are stored. The target route LM is set according to the position of the receiver 63 when the switching operation element 50 switches from the automatic steering off state to the automatic steering on state.

Note that, in fig. 5, for convenience of illustration, the index route LN formed by the marker device 33 is slightly shifted from the target route LM, but actually, the target route LM is set to substantially coincide with the index route LN because the manual positioning is performed so that the line of sight of the driver coincides with the index route LN and the tip end portion of the center mark 14.

Along with this, the automatic steering control of the traveling machine body C mainly by the main inertia measuring device 62 is started. That is, in the automatic steering control, the inertia information of the main inertia measurement device 62 is mainly used, and the position information of the receiver 63 is used for correction of the inertia information of the main inertia measurement device 62. Specifically, the current own device position NM or own device azimuth NA is successively calculated from the following information: a self-apparatus position NM and a self-apparatus orientation NA based on the position information acquired by the receiving device 63; azimuth change information obtained by integrating the angular velocity measured by the gyroscope 70 of the main inertia measurement device 62; and position change information obtained by integrating the acceleration measured by the accelerometer 71 of the main inertia measurement unit 62. Then, the steering mechanism U automatically steers so that the current own device position NM and own device azimuth NA coincide with the target route LM and the teaching direction T, and the automatic steering control of the traveling machine body C is performed.

In the automatic steering control of the traveling machine body C, when there is no angular deviation (offset angle) between the self-machine orientation NA and the teaching direction T and there is no distance deviation (offset distance) between the self-machine position NM and the target route LM, the steering mechanism U is not subjected to the steering control.

Further, in the automatic steering control of the traveling body C, when the own device orientation NA is angularly deviated from the teaching direction T (offset angle) and the own device position NM is not distant from the target route LM (offset distance), the steering mechanism U is steered in a direction in which the angular deviation between the own device orientation NA and the teaching direction T is eliminated (offset angle).

Further, in the automatic steering control of the traveling body C, when the own device orientation NA is angularly deviated (offset angle) from the teaching direction T and the own device position NM is angularly deviated (offset distance) from the target route LM, the steering mechanism U is steered in a direction in which the angular deviation (offset angle) between the own device orientation NA and the teaching direction T is eliminated.

In the automatic steering control of the traveling body C, when the own device orientation NA is not offset in angle (offset angle) from the teaching direction T and the own device position NM is offset in distance (offset distance) from the target route LM, the steering mechanism U is steered in a direction in which the offset in distance (offset distance) between the own device position NM and the target route LM is eliminated.

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

In this way, the position information acquired by the receiver 63 is not necessary in the automatic steering control of the traveling machine body C. Therefore, even when a radio wave failure 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 seedlings can be accurately planted by the seedling planting device W along the target route LM.

When the traveling body C is caused to approach the inter-ridge space by linearly traveling (work traveling) the traveling body C by the automatic steering control while performing the planting work of seedlings by the seedling planting device W, the automatic steering control of the traveling body C is stopped and the switching to the manual steering is performed by the driver operating the switching operation tool 50. And, the rotation operation is performed in the non-operation state in the same way between the ridges, and the same operation is repeated to plant the seedling to the farmland.

[ switching on/off with respect to automatic steering ]

As shown in fig. 6, when the switch operation element 50 is operated in the automatic steering off state (# 1: yes), the presence or absence of a condition unsuitable for the ground work is determined (# 2). Conditions unsuitable for ground work include a case where the seed planting device W is in a raised non-working state, a case where the seed planting device W does not travel a predetermined travel distance after completion of the rotation of the traveling machine body C, a case where the offset between the target azimuth along the target route LM and the self-machine azimuth NA in the traveling direction of the traveling machine body C is equal to or greater than a predetermined amount, a case where a gear shift state is established in which the vehicle speed of the traveling machine body C is equal to or greater than a predetermined value, and the like. When there is no condition unsuitable for the ground work (# 2; NO), the automatic steering on state is switched (# 4). On the other hand, when there is a condition unsuitable for the ground work (# 2; YES), the automatic steering cut-off state is maintained, and the operator is notified that the automatic steering is not possible (# 3). Then, when the switching operation member 50 is operated after there is no condition unsuitable for the ground work (# 2; YES), the automatic steering off state is switched to the automatic steering on state (# 4).

When the planting device W is switched to the ascending non-operation state in the automatic steering ON state (# 5; YES), the planting device is forcibly switched to the automatic steering OFF state (# 6). When the switching operation element 50 is operated in the automatic steering on state (# 7; yes), the switching is made to the automatic steering off state (# 6). Even if the switch operation element 50 is not operated in the automatic steering on state, the automatic steering off state is forcibly switched when the steering handle 43 starts to turn at a steering angle equal to or larger than a predetermined angle.

In this way, since the automatic steering control can be performed only in an appropriate situation, it is possible to avoid starting the automatic steering control, which is not intended by the operator, in an inappropriate situation in response to an erroneous operation by the operator.

[ other embodiments ]

Other embodiments of the present invention will be described below. The following other embodiments may be combined in a plurality of groups and applied to the above embodiments within a range where no contradiction occurs. In addition, the scope of the present invention is not limited to the contents of these embodiments.

(1) In the above embodiment, the case where the condition unsuitable for the ground work is present when the switch operation tool 50 is operated in the automatic steering off state is exemplified, but the present invention is not limited thereto. For example, when there is a condition unsuitable for ground work in the automatic steering cut-off state, the operator may be continuously notified of the fact that automatic steering is not possible regardless of the operation of the switching operation element 50. On the other hand, the operator may not be notified that the steering cannot be automatically performed, for example.

(2) In the above embodiment, the conditions unsuitable for the ground work include a case where the seed planting device W is in a raised non-working state, but the present invention is not limited thereto. For example, the conditions unsuitable for the ground work may not include the case where the seed planting device W is in the ascending non-working state.

(3) In the above embodiment, the conditions unsuitable for the ground work include a case where the vehicle does not travel a predetermined travel distance after the completion of the turning of the traveling machine body C, but the present invention is not limited thereto. For example, the condition unsuitable for ground work may not include a case where the vehicle does not travel a predetermined travel distance after the completion of the turning of the travel machine body C.

(4) In the above embodiment, the conditions unsuitable for the ground work include a case where the vehicle speed of the traveling machine body C is set to a speed change state equal to or higher than a predetermined value, but the present invention is not limited thereto. For example, the condition unsuitable for the ground work may not include a case where the vehicle speed of the traveling machine body C is in a gear shift state equal to or higher than a predetermined value.

(5) In the above embodiment, the switching from the automatic steering on state to the automatic steering off state can be performed by the operation of the switching operation tool 50, but the present invention is not limited thereto. For example, the switching from the automatic steering on state to the automatic steering off state may be performed without the operation of the switching operation element 50. In this case, the automatic turning on state and the automatic turning off state can be switched according to the change of the seedling planting device W from the descending operation state to the ascending non-operation state. Further, the automatic steering on state can be switched to the automatic steering off state when the steering angle of the steering handle 43 becomes equal to or larger than a predetermined angle and starts to turn.

(6) In the above embodiment, the automatic steering control unit 78 is set to the automatic steering off state when the seedling planting device W is changed from the descending operation state to the ascending non-operation state, but the present invention is not limited thereto. For example, even when the seed planting device W is changed from the descending operation state to the ascending non-operation state, the automatic steering control unit 78 may be maintained in the automatic steering on state.

(7) In the above embodiment, the case where the sub-shift lever 44A is moved to the shift position and the main shift lever 44 is moved forward to the front side of the predetermined position is exemplified as the shift state in which the vehicle speed of the traveling machine body C is equal to or higher than the predetermined value, but the present invention is not limited thereto. For example, regardless of the operation position of the main shift lever 44, the sub shift lever 44A may be moved to a shift state in which the vehicle speed of the traveling machine body C is equal to or higher than a predetermined value.

(8) In the above embodiment, the differential GPS positioning method is exemplified, but the present invention is not limited thereto. For example, another positioning method such as an RTK positioning method may be used.

(9) In the above embodiment, the primary inertia measurement device 62 is mainly used in the automatic steering control, and the receiver 63 is used for correction of the primary inertia measurement device 62, but the present invention is not limited thereto. For example, in the automatic steering control, the position information of the receiver 63 may be mainly used, and the inertia information of the main inertia measuring device 62 may be used for correcting the position information of the receiver 63.

Industrial applicability

The present invention is applicable to, for example, a riding-type direct seeder as a planting paddy field work vehicle having a seed planting device as a work device, a tractor having a plow or the like as a work device, an agricultural work vehicle such as a combine having a harvesting unit or the like as a work device, or various work vehicles such as a construction work vehicle having a bucket or the like as a work device, in addition to the riding-type rice transplanter having a seed planting device as a work device.

Claims

1. An agricultural vehicle, comprising:

a traveling device that travels the traveling machine body;

a working device capable of performing a ground-engaging operation;

a switching prohibition unit that prohibits switching from the automatic steering off state to the automatic steering on state by operation of the switching operation tool when the determination unit determines that the condition exists,

the automatic steering off state is maintained when the switching operation element is operated in the automatic steering off state if it is determined that the condition exists, and the automatic steering on state is switched to when the switching operation element is operated in the automatic steering off state if it is determined that the condition does not exist.

2. An agricultural vehicle, comprising:

a traveling device that travels the traveling machine body;

a working device capable of performing a ground-engaging operation;

a switching prohibition portion that prohibits switching from the automatic steering-on state to the automatic steering-on state by operation of the switching operation member even if the automatic steering control portion can switch the automatic steering-on state and the automatic steering-off state when the determination portion determines that the condition exists,

the condition includes a case where the working device is in a raised non-working state.

3. The agricultural vehicle of claim 2,

4. An agricultural vehicle, comprising:

a traveling device that travels the traveling machine body;

a working device capable of performing a ground-engaging operation;

an automatic steering control unit that sets a target route in front of the vehicle body along a preset teaching direction, and that can switch between an automatic steering on state in which the travel device is automatically steered to cause the travel machine body to travel along the target route based on positioning information and an automatic steering off state in which the travel device is not automatically steered;

the condition includes a case where the vehicle does not travel a predetermined travel distance after the turning of the traveling machine body is completed.

5. The agricultural vehicle of claim 4,

6. An agricultural vehicle, comprising:

a traveling device that travels the traveling machine body;

a working device capable of performing a ground-engaging operation;

an automatic steering control unit that sets a target route in front of the vehicle body along a preset teaching direction, and that can switch between an automatic steering on state in which the travel device is automatically steered to cause the travel vehicle body to travel along the target route based on positioning information and an automatic steering off state in which the travel device is not automatically steered;

the condition includes a case where an offset amount between a target direction along the target route and a self-apparatus direction as a traveling direction of the traveling machine body is equal to or larger than a predetermined amount.

7. An agricultural vehicle, comprising:

a traveling device that travels the traveling machine body;

a working device capable of performing a ground-engaging operation;

the condition includes at least one of a case where a vehicle speed of the traveling machine body is equal to or greater than a predetermined value and a case where a shift state of a transmission device that transmits power to the traveling device is a shift state in which the vehicle speed is equal to or greater than the predetermined value.

8. The agricultural vehicle of claim 7,

the agricultural vehicle includes a forced switching unit that places the automatic steering control unit in the automatic steering off state when the working device is changed from a lowered working state to a raised non-working state.

9. The agricultural vehicle of claim 7,

the farm work vehicle includes a notification control unit that notifies an operator that automatic steering is not possible when the determination unit determines that the condition exists.

10. The agricultural vehicle of claim 7, wherein the agricultural vehicle is a rice transplanter or a direct seeder.