CN109863852A - Travel working rig, rice transplanter, paddy field seed-sowing machine, spraying operation machine - Google Patents
Travel working rig, rice transplanter, paddy field seed-sowing machine, spraying operation machine Download PDFInfo
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- CN109863852A CN109863852A CN201810920978.8A CN201810920978A CN109863852A CN 109863852 A CN109863852 A CN 109863852A CN 201810920978 A CN201810920978 A CN 201810920978A CN 109863852 A CN109863852 A CN 109863852A
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 70
- 235000009566 rice Nutrition 0.000 title claims abstract description 70
- 238000009331 sowing Methods 0.000 title claims abstract description 21
- 238000005507 spraying Methods 0.000 title claims abstract description 19
- 240000007594 Oryza sativa Species 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 496
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 238000000034 method Methods 0.000 claims description 238
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- 241000196324 Embryophyta Species 0.000 claims description 27
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/001—Steering by means of optical assistance, e.g. television cameras
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Guiding Agricultural Machines (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
The present invention provides traveling working rig, rice transplanter, paddy field seed-sowing machine, spraying operation machine, includes travel machine body (C), travels in field；Apparatus for work (W) carries out operation to field；Path setting portion is set target movement routine (LM), which is travelled for travel machine body (C) operation travelled while using apparatus for work (W) progress operation；Driving trace obtains mechanism, is used to obtain the driving trace (FP) of travel machine body (C) progress when driving；Path setting portion sets target movement routine along driving trace (FP).
Description
Technical field
The present invention relates to a kind of traveling working rigs, have the travel machine body travelled in field, carry out operation to field
Apparatus for work and setting target movement routine path setting portion, target movement routine utilizes operation for travel machine body on one side
Device carries out the operation traveling that operation travels on one side.
Background technique
For example, it (is in the literature " row that the Operation Van, which has travel machine body, Patent Document 1 discloses a kind of Operation Van
Sail car body C "), to field carry out operation apparatus for work (in the literature be " seedling implanting apparatus W ") and setting travel machine body use
In the path setting portion (being in the literature appended drawing reference " 68 ") for the target movement routine for carrying out operation traveling.Path setting portion structure
Become, set by teaching traveling with for carrying out the corresponding teaching path of the destination path of auto-steering, and set with
The parallel multiple target movement routines in teaching path.
Patent document 1: Japanese Unexamined Patent Publication 2017-123804 bulletin
In patent document 1, each target movement routine is set based on the teaching path generated by manual operation, is shown
Religion path is set to the linear path for linking the start position of manual operation and the final position point-to-point transmission of manual operation.
But in the setting of the target movement routine of patent document 1, the driving trace of travel machine body is not accounted for.Therefore, though
In the case that actual driving trace is tortuous, the mobile road of the target that linear target movement routine is also set as rear process
Diameter.As a result, in actual job traveling later the plant rice shoot of operating area may be trampled on, or in ridge
Not operating area is generated between driving trace before and after turning.
In addition, travel machine body is alternately repeated along the operation traveling of target movement routine and the process backward at ridge
The turning driving of the target movement routine turning.But in the structure of patent document 1, each target movement routine is to be based on
Teaching path and set, travel machine body along the traveling of target movement routine be not accounted for for travel machine body in rear process
In the goal-setting of middle traveling.Therefore, when travel machine body is made with the state deviated relative to actual target movement routine
Industry carries out operation when driving when driving, in the target movement routine along rear process, may trample on the plant seedling of operating area
Seedling, or not operating area is generated between the operation driving trace before and after ridge turning.
Summary of the invention
In view of the above fact, the operation with travel machine body can be accurately set the purpose of the present invention is to provide one kind
The traveling working rig of the adjacent target movement routine of driving trace.
Traveling working rig of the invention is characterized in that, comprising:
Travel machine body travels in field；
Apparatus for work carries out operation to field；
Path setting portion, sets target movement routine, and the target movement routine is used for one lateral dominance of travel machine body
The operation traveling that operation is travelled on one side is carried out with the apparatus for work；
It is alternately repeated in the travel machine body along the operation traveling of the target movement routine and to next described
The turning driving of target movement routine turning and in the case where being travelled, the path setting portion is based in the travel machine body
The position that obtains during the target movement routine traveling, setting are moved for the travel machine body in the target of passing by
The rear process target travelled behind dynamic path.
According to the present invention, in the goal-setting travelled in rear process for travel machine body, it is contemplated that travel machine body edge
The traveling of target movement routine.That is, even if being carried out in travel machine body with the state deviated relative to actual target movement routine
In the case that operation travels, also according to the target of process after the position setting obtained under steam.Therefore, it can suitably set and turn
Target after curved traveling, the operation traveling after can suitably carrying out turning driving along the operation driving trace before turning driving.Its
As a result, the traveling that can accurately set the target movement routine adjacent with the operation driving trace of travel machine body can be realized
Working rig.
In this configuration, it is preferred that
Process is the rear process target movement routine travelled for the travel machine body with target after described.
According to this structure, the target of process is moved after being set based on the operation driving trace that operation traveling has been carried out
Dynamic path.It can avoid carrying out operation when driving in the target movement routine along rear process as a result, trample on the cultivation of operating area
Rice shoot is planted, or generates the possibility of not operating area between the operation driving trace before and after ridge turning.As a result, can be real
It now can accurately set the traveling working rig of the target movement routine adjacent with the operation driving trace of travel machine body.
In this configuration, it is preferred that
The traveling working rig have notice mechanism, the notice mechanism the travel machine body from the turning driving into
Enter along next target movement routine to notify the position and the mobile road of next target of the travel machine body when driving
Deviation between diameter.
The position of travel machine body after just having completed turning driving is easy offset relative to target movement routine.Therefore, root
It according to this structure, notifies to deviate when driving along next target movement routine, so driver is easy amendment relative to target movement
The offset in path.
In this configuration, it is preferred that
The notice mechanism is notified after completing the turning driving.
In turning driving, since the position of travel machine body is in the state deviated relative to target movement routine, so
If notifying offset in turning driving, it is easy that failure etc. is brought to misread to driver, may makes troubles to driver.Root
According to this structure, due to being the structure for notifying offset after completing turning driving, so not useless notice, it can be to driver
Make necessary notice.
In this configuration, it is preferred that
In the case where that cannot set the rear process target, the notice authority notification cannot set the rear process
Use target.
According to this structure, because notifying the state of process target after cannot setting to driver, driver is easy
Take the measures such as manual operation.
In this configuration, it is preferred that
The traveling working rig has ridge testing agency, and the ridge testing agency detects close to ridge,
When the ridge testing agency detects close to ridge, process mesh after the path setting portion setting is described
Mark.
It travels along the operation of target movement routine and is just completed near the ridge in field.According to this structure, because passing through
Detect process target after setting close to ridge, thus can based on the operation driving trace along target movement routine come
Process target after setting.
In this configuration, it is preferred that
The travel machine body from along the target movement routine traveling enter the turning driving when, the path
Process target after configuration part setting is described.
According to this structure, rear process can be also used as to the target position in turning driving with target.Therefore, even if in example
It in the case where turning driving is such as set as automatic turning, does not need separately to set the dedicated target position of automatic turning, row yet
Rear process target can be swimmingly moved to by sailing body.
In this configuration, it is preferred that
When the travel machine body tilts preset angle or more relative to the target movement routine, the path
Process target after configuration part setting is described.
According to this structure, because the inclination based on travel machine body relative to target movement routine can judge travel machine body
Turning driving, so can be with easy structure come process target after setting.
In this configuration, it is preferred that
After being operated to manual operation part, process target after the path setting portion setting is described.
According to this structure, because being the structure of process target after setting using manual operation, such as can prevent
Only set unconscious rear process target.Thereby, it is possible to select along rear process target movement routine operation traveling and
Any one of do not travelled along the operation of rear process target movement routine.
In this configuration, it is preferred that
The traveling working rig has position detecting mechanism, positioning signal of the position detecting mechanism based on navigation satellite
Location information is obtained,
The mean places of the multiple location informations navigated to based on the final stage travelled in the operation is set
Process target after described.
Position detecting mechanism can enumerate DGPS (Differential GPS (Differential Global Positioning System)) and RTK-GPS
The example of (Real Time Kinematic GPS (real-time dynamic global positioning system)).In general, RTK-GPS ratio DGPS
It is more expensive, but the positioning accuracy of the positioning accuracy ratio DGPS of RTK-GPS is higher.In addition, in general, known utilize in a short time
In the case that DGPS carries out the positioning of point-to-point transmission, the relative error of point-to-point transmission is small.It is carried out after travel machine body terminates operation traveling
Turning driving and in the case that process is the short period with the target mobile time during this backward, according to this structure, even if
Without using expensive RTK-GPS, the rear work adjacent with the operation driving trace of travel machine body also can be accurately set
Sequence target.
In this configuration, it is preferred that
After described process target can bracketing settings it is multiple.
According to this structure, because process target after setting together, such as the easy multiple traveling working rigs of setting are same
Rear process target in the case where Shi Jinhang operation traveling.
In this configuration, it is preferred that
The rear process target is set relative to the offset of the target movement routine based on the travel machine body.
According to this structure, process target after capable of being set based on travel machine body along the traveling of target movement routine.
In this configuration, it is preferred that
Process is set to leave preset interval from relative to the target movement routine with target after described
The state that position is moved in parallel with the travel machine body relative to the amount of the offset of the target movement routine.
According to this structure, it can reliably avoid carrying out operation when driving in the target movement routine along rear process, trample on
The plant rice shoot of operating area, or generate between the operation driving trace before and after ridge turning not operating area can
Energy.
In this configuration, it is preferred that
Process can be corrected with target after setting after described.
After just completing turning driving, there are travel machine bodies relative to the mobile road of target after just completing turning driving
The case where diameter deviates.According to this structure, even if driver also changes as needed in the case where process target after setting
Process target afterwards, so as to eliminate offset of the travel machine body relative to target movement routine.
In this configuration, it is preferred that
The operation driving trace setting rear process target along the travel machine body.
Even if target movement routine is that linearly, there is also the operation driving traces of actual travel machine body for example because of traveling
Body skid or the barrier etc. in evacuation field and become curvilinear situation.According to this structure, even if operation driving trace is
Curve-like, process mesh after capable of also being set in a manner of making the path based on rear process target imitate operation driving trace
Mark.This prevents carrying out operation when driving in the target movement routine along rear process, the plant seedling of operating area is trampled on
Seedling, or the possibility of not operating area is generated between the operation driving trace before and after ridge turning.
In this configuration, it is preferred that
Path based on the rear process target is the wire shaped than the operation driving trace closer to straight line.
In the case where the operation driving trace of travel machine body is intricately bent relative to target movement routine, if it is edge
The structure of process target after the operation driving trace setting of travel machine body, then the path based on rear process target is also intricately
Bending, travel machine body may not be able to be accurately along the route.According to this structure, because by based on rear process target
Path setting is the wire shaped close to straight line, so travel machine body can suitably carry out operation traveling along target movement routine.
In this configuration, it is preferred that
The traveling working rig is provided with control mechanism, and the control mechanism output control signal is to carry out the operation row
It sails,
The target movement routine is substantially linear,
The path setting portion as with the independent function of the control mechanism and set it is described after process target.
According to this structure, operation traveling can be automatically carried out along the target movement routine of substantially linear.In addition, because
Control mechanism and path setting portion are functions independently, so having carried out operation row along target movement routine in travel machine body
After sailing, the judgement that operation traveling whether is carried out along the path based on rear process target of driver can be waited.
In this configuration, it is preferred that
The traveling working rig is provided with control mechanism, and the control mechanism output control signal is to carry out the operation row
It sails,
The target movement routine is substantially linear,
The path setting portion sets the rear process target as the function of interlocking with the control mechanism.
According to this structure, it can be achieved that travel machine body along target movement routine carry out operation traveling after set after process mesh
Mark, and path of the edge based on rear process target automatically carries out the structure of operation traveling.Thereby, it is possible to rear process target
Setting linkedly carry out along the path based on rear process target automatic operation travel.
In this configuration, it is preferred that
In the case where the travel machine body more greatly deviates the target movement routine than preset distance,
The target movement routine is not used for the operation traveling.
In the case where travel machine body significantly deviates target movement routine, it is believed that driver is likely to consciously
Operate travel machine body.According to this structure, because target movement routine can be made to be not used in operation traveling, even if not dedicated
Operating parts etc. also can easily make the manual operation of driver preferential.
In this configuration, it is preferred that
Reference path is set based on the operation traveling of the final stage of operation traveling,
In other fields, the path setting portion sets the rear process target based on the reference path.
According to this structure, because reference path can be used for the setting to the rear process target in other fields,
Target movement routine can be easily set not carrying out teaching traveling in other fields.
In this configuration, it is preferred that
The traveling working rig has storage unit, and the storage unit can store multiple benchmark roads for every piece of field
Diameter.
According to this structure, only by reading reference path corresponding with every piece of field from storage unit, it will be able to set target
Movement routine, so not needing to repeat teaching traveling.
Rice transplanter, paddy field seed-sowing machine or spraying operation machine of the invention is characterized in that, comprising:
Travel machine body travels in field；
Apparatus for work carries out operation to field；
Path setting portion, sets target movement routine, and the target movement routine is used for one lateral dominance of travel machine body
The operation traveling that operation is travelled on one side is carried out with the apparatus for work；
Driving trace obtains mechanism, is used to obtain the driving trace of the travel machine body progress when driving；
The path setting portion sets the target movement routine along the driving trace.
According to this structure, the driving trace that mechanism obtains travel machine body can be obtained using driving trace, and is moved in target
The driving trace of travel machine body is considered in the setting in dynamic path.Therefore, even if in the case where such as driving trace is curvilinear situation,
Path setting portion, which can also be set, to move along the target movement routine of the curvilinear driving trace as the target of rear process
Path.It can reduce as a result, and carry out operation when driving in the target movement routine along the rear process, trample on the cultivation of operating area
Rice shoot is planted, or generates the possibility of not operating area between the driving trace before and after ridge turning.As a result, it can be achieved that energy
It is enough that target movement routine is set as the traveling working rig accurately abutted with the driving trace of travel machine body.
It should be noted that along driving trace setting target movement routine the meaning, it is not limited to target movement routine be with
The meaning in the completely the same path of driving trace.For example, it can be target movement routines to be and the approximate road of the driving trace
The meaning of diameter, or set in a manner of keeping the track of the result travelled based on target movement routine and the driving trace approximate
Path the meaning.
In this configuration, it is preferred that
The target movement routine is accordingly set by the first path that accordingly sets with first area and with second area
Fixed the second path is constituted, the first area be travel machine body described in the driving trace with preset mobile road
The position that the consistent or substantially uniform state of diameter is travelled, the second area are travel machine bodies described in the driving trace
With the position that the state deviated to the left and right directions of the preset movement routine is travelled,
Second path is set to set in advance to the second area relative to described relative to the first path
The state of the side offset of fixed movement routine offset.
According to this structure, driving trace is divided into first area and second area, and target movement routine is by multiple paths
It constitutes, moreover, the offset with the driving trace in second area accordingly sets the second path.Thus it is for example possible to utilize
One path and the second path divide the setting form in path, compared with target movement routine is by the structure that single path is constituted,
The traveling working rig that can be neatly travelled according to the offset of actual travel machine body can be achieved.
It should be noted that preset movement routine, which can be travel machine body, carries out the past mesh for becoming target when driving
Movement routine or the desired traveling working rig movement routine of manual operation are marked, or is passed through as traveling working rig
The driving trace for the result that manual operation is travelled.
In this configuration, it is preferred that
Offset between the first path and second path is less than the preset movement routine and institute
State the offset between second area.
If the offset in offset and last driving trace between first path and the second path is identical, go
Sailing traveling of the body based on first path and the second path may also be with last driving trace comparably or than last traveling
Track is larger bent, so that the traveling of travel machine body is unstable.According to this structure, because between first path and the second path
Offset become smaller, so the track for the result that travel machine body is travelled based on first path and the second path is than the last time
Driving trace is closer to the track of straight line.The traveling of travel machine body is stable as a result,.
In this configuration, it is preferred that
In the state of setting multiple target movement routines, after process, the first path and described second
Offset between path is smaller.
According to this structure, rear process, target movement routine more converge to the path close to straight line, rear work
Sequence, traveling of the travel machine body based on first path and the second path are more stable.
In this configuration, it is preferred that
The first path and second path are formed as linear.
According to this structure, because target movement routine is made of multiple linear paths, target movement routine
Setting is simple, and travel machine body is easy to be travelled along target movement routine.
In this configuration, it is preferred that
The target movement routine is made of the curve of approximation based on the driving trace.
According to this structure, even if in the case where driving trace is curvilinear situation, it also can be with curvilinear driving trace pair
Set the target movement routine adjacent with the driving trace with answering, travel machine body can carry out in a manner of imitating the driving trace
Traveling.
In this configuration, it is preferred that
The rice transplanter, paddy field seed-sowing machine or spraying operation machine have position detecting mechanism, the position detecting mechanism base
The location data of the position of the travel machine body is indicated in the positioning signal detection of navigation satellite,
The driving trace obtains mechanism and is based on the location data acquisition driving trace.
It can construct driving trace by using the location data of position detecting mechanism according to this structure and obtain mechanism.
In this configuration, it is preferred that
The rice transplanter, paddy field seed-sowing machine or spraying operation machine have acceleration and the angle that can measure the travel machine body
The inertia measurement mechanism of acceleration,
The driving trace obtains mechanism and is based on the acceleration or the angular acceleration or the acceleration and described
Angular acceleration both sides obtain the driving trace.
Row can be constructed by using the acceleration of inertia measurement mechanism, angular acceleration, i.e. the moment of inertia according to this structure
It sails track and obtains mechanism.
In this configuration, it is preferred that
The apparatus for work includes at least one of plant feed unit, seeding apparatus and reagent spray apparatus for work.
According to this structure, rice transplanter or paddy field seed-sowing machine or spraying operation machine can be suitably used for.
Detailed description of the invention
Fig. 1 is the whole side view of rice transplanter.
Fig. 2 is the overall top view of rice transplanter.
Fig. 3 is the main view of rice transplanter.
Fig. 4 is the figure for indicating steering unit.
Fig. 5 is the block diagram for indicating the control structure of embodiment 1.
Fig. 6 is the vertical view explanatory diagram for indicating the entire farmland ground of movement of the automatic steering control of embodiment 1.
Fig. 7 is the explanatory diagram for indicating the automatic steering control using inertia measuring means of embodiment 1.
Fig. 8 is the explanatory diagram for indicating the setting of elementary object movement routine of embodiment 1.
Fig. 9 is the explanatory diagram of the setting of the target movement routine of driving trace the considerations of indicating embodiment 1.
Figure 10 is the modified explanatory diagram of the offset in the automatic steering control for indicate embodiment 1.
Figure 11 is the explanatory diagram of the setting of the target movement routine of driving trace the considerations of indicating embodiment 1.
Figure 12 is the explanatory diagram of the setting of the target movement routine of driving trace the considerations of indicating embodiment 1.
Figure 13 is the explanatory diagram for indicating the target movement routine setting of the multiple target movement routines of setting of embodiment 1.
Figure 14 is the explanatory diagram for indicating the display unit of embodiment 1.
Figure 15 is the explanatory diagram of the setting of the target movement routine for the other embodiments for indicating embodiment 1.
Figure 16 is the explanatory diagram of the setting of the target movement routine for the other embodiments for indicating embodiment 1.
Figure 17 is the explanatory diagram of the setting of the target movement routine for the other embodiments for indicating embodiment 1.
Figure 18 is the explanatory diagram of the setting of the target movement routine for the other embodiments for indicating embodiment 1.
Figure 19 is the block diagram for indicating the control structure of embodiment 2.
Figure 20 is the vertical view explanatory diagram for indicating the entire farmland ground of movement of the automatic steering control of embodiment 2.
Figure 21 is the explanatory diagram for indicating the automatic steering control using inertia measuring means of embodiment 2.
Figure 22 is the explanatory diagram for indicating the setting of rear process target movement routine of embodiment 2.
Figure 23 is the explanatory diagram for indicating the automatic turning control at the ridge in field of embodiment 2.
Figure 24 is the explanatory diagram for indicating the automatic turning control at the ridge in field of embodiment 2.
Figure 25 is the explanatory diagram for indicating the automatic turning control at the ridge in field of embodiment 2.
Figure 26 is the modified explanatory diagram of the offset in the automatic steering control for indicate embodiment 2.
Figure 27 is the explanatory diagram for indicating the display unit of embodiment 2.
Figure 28 is the explanation for indicating the setting of the rear process target movement routine of other embodiments of embodiment 2
Figure.
Figure 29 is the explanation for indicating the setting of the rear process target movement routine of other embodiments of embodiment 2
Figure.
Figure 30 is the explanation for indicating the setting of the rear process target movement routine of other embodiments of embodiment 2
Figure.
Description of symbols
43: steering wheel (manual operation workpiece)
59: notification unit (notice mechanism)
63: detection of obstacles portion (ridge testing agency)
70: satellite positioning unit (position detecting mechanism)
74: inertia measuring means
76: path setting portion
78: driving trace acquisition unit
82: control unit (control mechanism)
83: course changing control portion (control mechanism)
C: travel machine body
W: seedling implanting apparatus (apparatus for work)
FP: driving trace
LM: target movement routine
LM2: rear process is with target movement routine (rear process target)
A1: first area
A2: second area
Lm1: first path
Lm2: the second path
Specific embodiment
(basic structure of traveling working rig)
Based on attached drawing, embodiments of the present invention will be described.Here, one as traveling working rig of the invention
Example is enumerated for transplanting rice seedlings machine and is illustrated.It should be noted that as shown in Fig. 2, in the present embodiment, arrow F is capable
The front part of a body side of body C is sailed, arrow B is the After-Body side of travel machine body C, and arrow L is the left side of machine body of travel machine body C,
Arrow R is the right side of machine body of travel machine body C.
As shown in Figure 1 to Figure 3, transplanting rice seedlings machine has travel machine body C and the seedling implanting apparatus as apparatus for work
W, travel machine body C have pair of right and left steered wheel 10 and pair of right and left rear wheel 11, and the seedling planting as apparatus for work fills
The plant of rice shoot can be carried out to field by setting W.Pair of right and left steered wheel 10 is arranged on front side of the body of travel machine body C, operation
Change the direction of travel machine body C freely, pair of right and left rear wheel 11 is arranged on rear side of the body of travel machine body C.Seedling planting
Device W is lifting freely attached at the rear end of travel machine body C via link mechanism 21, and link mechanism 21 utilizes lifting hydraulic cylinder
20 expanding-contracting action and lifting action.
There is the hood 12 of open and close type in the front of travel machine body C.There is stick in the front position of hood 12
The central marker 14 of shape, central marker 14 are depicted in the index line in field (not using instruction device 33 as edge
Diagram) traveling target.Travel machine body C has the organism frame 15 extended along the longitudinal direction, vertical in the front of organism frame 15
Equipped with support column frame 16.
There is engine 13 in hood 12.The power of engine 13 is via the HST (not shown) for being set to body
(hydrostatic stepless speed change device) is transferred to steered wheel 10 and rear wheel 11, and the power after speed change is via electrical motor driven
The plant clutch (not shown) of formula is transmitted to seedling implanting apparatus W, this will not be described in further detail.
As shown in Figures 1 and 2, seedling implanting apparatus W tool there are four 22, eight rotary boxes 23 of transmission case, site preparation hull 25,
Seedling carrying stand 26 and instruction device 33.Rotary box 23 is rotatably freely supported on the left side and the right side at the rear portion of each transmission case 22 respectively
Side.There is a pair of revolving planting arm 24 at the both ends of each rotary box 23.Site preparation hull 25 carries out the ground in field
It is smooth, multiple site preparation hulls 25 are provided in seedling implanting apparatus W.The seat shape rice shoot of plant is loaded on seedling carrying stand 26.
Instruction device 33 is set to the left and right sides of seedling implanting apparatus W, forms index line (not shown) on the ground in field.
Seedling implanting apparatus W drives seedling carrying stand 26 and to the left and right reciprocal lateral transfer seedling carrying stand 26 on one side, utilize on one side from
Each rotary box 23 of the power drive that transmission case 22 transmits rotates, and is alternately taken out using each planting arm 24 from the lower part of seedling carrying stand 26
Rice shoot is simultaneously transplanted in the ground in field.Seedling implanting apparatus W is configured to utilize the planting arm for being set to eight rotary boxes 23
Eight rows of 24 plant rice shoots transplant formula.It should be noted that seedling implanting apparatus W is also possible to four rows plant formula, six rows plant formula, seven
Row plant formula, ten rows transplant formula.
Although not being described in detail, instruction device 33 is allowed hand over as effect posture and storage posture.In effect appearance
In the state of state, instruction device 33 contacts the ground in field along with the traveling of travel machine body C, thus with work next time
The corresponding field ground of industry process forms index line (not shown).In the state of storing posture, instruction device 33 upwards from
Open the ground in field.Utilize the electric motor Posture exchange (not shown) for carrying out instruction device 33.
As shown in Figure 1 to Figure 3, the left and right sides of the hood 12 in travel machine body C has multiple (such as four)
Common preparation rice shoot platform 28 and preparation rice shoot platform 29.Common preparation rice shoot platform 28 can be loaded for mending to seedling implanting apparatus W
The preparation rice shoot given.Preparation rice shoot platform 29 is configured to rail mounted, can load the preparation seedling for feeding to seedling implanting apparatus W
Seedling.Have in the left and right sides of the hood 12 of travel machine body C and supports each common prepared rice shoot platform 28 and preparation rice shoot platform 29
The high preparation rice shoot frame 30 of the pair of right and left as frame parts, the top of the preparation rice shoot frame 30 of left and right utilizes each other
Framework 31 links.
As shown in Figure 1 to Figure 3, there is the Drive Section 40 for carrying out various driver behaviors in the central portion of travel machine body C.It drives
Portion 40, which has, drives seat 41, steering wheel 43, main shift lever 44 and operating stick 45.It drives seat 41 and is set to travel machine body C's
Central portion can be taken for driver.Steering wheel 43 can carry out steering operation to steered wheel 10 using manual operation.Main transformer
Fast bar 44 is able to carry out the handover operation of forward-reverse and the change operation of travel speed.Seedling planting is carried out using operating stick 45
The switching of the instruction device 33 of the descending operation and left and right of device W.The setting such as steering wheel 43, main shift lever 44, operating stick 45 exists
Positioned at the top of the control tower 42 for the front part of a body side for driving seat 41.It is provided at the underfooting position of Drive Section 40 and takes pedal
46。
Pedal 46 is taken also to extend to the left and right sides of hood 12.
When operating main shift lever 44, change HST (not shown) in swash plate angle, make the power of engine 13 without
Grade ground speed change.Although it is not shown, still utilizing the swash plate angle of the hydraulic pressure unit control HST equipped with mould oscillating table design equipment
Degree.Mould oscillating table design equipment uses well known hydraulic pump, hydraulic motor etc..
When by the operation of operating stick 45 to lifting position, plant clutch (not shown) is carried out lock out operation and cuts off phase
Transmission for seedling implanting apparatus W acts lifting hydraulic cylinder 20 and increase seedling implanting apparatus W, by the finger of left and right
Showing device 33 (referring to Fig.1) operation is storage posture.When by the operation of operating stick 45 to down position, under seedling implanting apparatus W
Drop and become with ground face contact and halted state.It is right when by the operation of operating stick 45 to right indicating positions under the decline state
The instruction device 33 on side becomes acting on posture from storage posture.When by the operation of operating stick 45 to left indicating positions, the finger on the left side
Showing device 33 becomes acting on posture from storage posture.
When starting rice transplanting operation, driver operates operating stick 45 and declines seedling implanting apparatus W, and makes
Transmission relative to seedling implanting apparatus W starts and starts rice transplanting operation.Also, when stopping rice transplanting operation, driver is to behaviour
Make bar 45 to be operated and increase seedling implanting apparatus W, and the transmission relative to seedling implanting apparatus W is cut off.
There is display unit 48 on the operation panel 47 on the top of the control tower 42 of Drive Section 40, which being capable of benefit
Various information are shown with liquid crystal display.Display unit 48 can be the board-like liquid crystal display of touch surface.In addition, in aftermentioned reality
It applies in mode 1, as illustrated by using Fig. 5, there is the starting point configuration switch of pressing operation formula on the right side of display unit 48
49A has the terminal configuration switch 49B of pressing operation formula in the left side of display unit 48.Alternatively, in aftermentioned embodiment 2,
As illustrated by using Figure 18, there is the starting and terminal point configuration switch 49C of pressing operation formula on the right side of display unit 48,
The left side of display unit 48 has the goal-setting switch 49D of pressing operation formula.It should be noted that being also possible on a left side for display unit 48
Side has starting and terminal point configuration switch 49C, and has the structure of goal-setting switch 49D on the right side of display unit 48.
There is the auto-steering switch 50 of pressing operation formula in the handle portion of main shift lever 44.Auto-steering switch 50 is set
It is set to automatic restoring type, in each pressing operation, indicates the entrance of automatic steering control, exits switching.Auto-steering switch
50 are configured at, in the state of grasping the handle portion of main shift lever 44, such as can be with thumb by the position arrived.
As shown in figure 4, on travel machine body C, as the steering that can carry out steering operation to the steered wheel 10 controlled
Operating mechanism and have steering unit U.Steering unit U has steering operation axis 54, steering arm 55 and steering arm 55
Interlinked mechanism 56, steering motor 58 and the gear mechanism 57 of the left and right linkedly linked.Steering operation axis 54 is via clutch 53
Linkedly link with steering wheel 43.Steering arm 55 is swung along with the rotation of steering operation axis 54.Gear mechanism 57 will turn to
Motor 58 is linkedly linked to steering operation axis 54.
Steering operation axis 54 is interlocked with the steered wheel 10 of left and right respectively via steering arm 55 and the interlinked mechanism 56 of left and right
Ground connection.In the lower end of steering operation axis 54, there is the steering angle sensor 60 being made of rotary encoder, utilize steering angle
Sensor 60 detects the rotation amount of steering operation axis 54.In the middle part of steering operation axis 54, have to being applied to steering wheel
The torque sensor 61 that 43 torque is detected.
For example, when steering motor 58 rotates steering operation axis 54 to prescribed direction, when Xiang Yuqi rotation direction
When opposite direction manual operation steering wheel 43, the situation can be detected using torque sensor 61.In addition, in steering motor
When 58 stoppings act, when to any direction manual operation steering wheel 43, the situation can be detected using torque sensor 61.
When having carried out such manual operation, steering motor 58 can be kept dynamic based on manual operation prior to automatic steering control
Make.
Clutch 53 is arranged between steering operation axis 54 and steering wheel 43, by separating clutch 53, thus in side
Power is not transmitted between disk 43 and steering operation axis 54.Clutch 53 such as can in ridge automatic turning auto-steering
It is separated when control, in automatic steering control, the rotation of steering operation axis 54 as caused by the movement of steering motor 58 is not transmitted
To steering wheel 43.
In the case where carrying out the auto-steering of steering unit U, steering motor 58 is driven, and utilizes steering motor 58
Driving force rotation operation carried out to steering operation axis 54, change the steering angle of steered wheel 10.Without auto-steering
In the case where, steering unit U can carry out rotation operation using the manual operation to steering wheel 43.
(structure of automatic steering control)
Then, the structure for carrying out automatic steering control is illustrated.
On travel machine body C, the global position system of the position of body is detected as electric wave of the reception from satellite
One example of (GNSS:Global Navigation Satellite System (Global Navigation Satellite System)) has benefit
The GPS (Global Positioning System (global positioning system)) of well-known technique is used as to find out the position of body
Satellite positioning unit 70 (position detecting mechanism).In the present embodiment, satellite positioning unit 70 utilizes DGPS
(Differential GPS: relative positioning mode), but also can be used RTK-GPS (Real Time Kinematic GPS:
Interfere positioning method).
Specifically, satellite positioning unit 70 is set to object (the traveling machine positioned as position detecting mechanism
Body C).Satellite positioning unit 70 has reception device 72, and reception device 72 has antenna 71, receives from rotating around earth overhead
The electric wave that multiple GPS satellites issue.It is satellite positioning unit to reception device 72 based on from the received wave information of navigation satellite
70 position is positioned.
As shown in Figure 1 to Figure 3, satellite positioning unit 70 is with the branch positioned at the state of the front of travel machine body C via plate
Board 73 is installed on framework 31.As shown in Figures 1 and 3, reception device 72 utilizes framework 31 and preparation rice shoot frame
30 bearings are aloft.The possibility of reception obstacle is generated thereby, it is possible to reduce reception device 72, improves the electric wave in reception device 72
Receiving sensitivity.
It should be noted that reception device 72 is not limited to be mounted on the framework 31 for being set to prepared 30 top of rice shoot frame
Structure.For example, it is also possible to independently be set in the lower position in top than prepared rice shoot frame 30 with preparation rice shoot frame 30
Set the independent frame for having the function of making reception device 72 mobile.In addition, the independent frame is also possible to extend on rear side of body
Structure.
Other than satellite positioning unit 70, the orientation detection mechanism in the orientation as detection travel machine body C will have example
As the inertia measuring means 74 of IMU (Inertial Measurement Unit (Inertial Measurement Unit)) 74A is set to traveling machine
Body C.Inertia measuring means 74 is also possible to instead of IMU74A and the structure with gyrosensor, acceleration transducer.Although
It is not shown, but the width of the rear side lower position and travel machine body C that drive seat 41 is for example arranged in inertia measuring means 74
The lower position in direction center.Inertia measuring means 74 is capable of detecting when the angular speed of the angle of turn of travel machine body C, Neng Goutong
Cross the Orientation differences angle Δ NA that angular velocity is integrated and finds out body (referring to Fig. 7, Figure 20).Therefore, it is measured by inertia
It include the azimuth information of travel machine body C in the measurement information that unit 74 measures.Inertia measuring means 74 turns in addition to travel machine body C's
Other than the angular speed of bending angle, additionally it is possible to measure the angle that tilts of travel machine body C, the tilt fore and aft of travel machine body C
The angular speed etc. of degree, will not be described in further detail this.
Hereinafter, being carried out to the embodiment for setting the destination path in traveling working rig and method for setting path of the invention
Explanation.
(embodiment 1)
As shown in figure 5, being provided with control device 75 on travel machine body C.Control device 75 allows hand over automatic to execute
The auto-steering mode of course changing control and the manual steering mode for not executing automatic steering control.
Satellite positioning unit 70, inertia measuring means 74, auto-steering switch 50 are inputted into control device 75 (referring to figure
1.Identical in the following description), starting point configuration switch 49A, terminal configuration switch 49B, steering angle sensor 60, torque pass
The information of sensor 61, vehicle speed sensor 62, detection of obstacles portion 63 (ridge test section) etc..Vehicle speed sensor 62 for example utilizes needle
Speed is detected to the rotation speed of the transmission shaft in the transmission mechanism of rear wheel 11.Detection of obstacles portion 63 is set to traveling machine
The front and left and right sides portion of body C, the e.g. range sensor or imaging sensor of light wave distance measuring type, so as to
Detect the ridge in field, steel tower in field etc..When Use barriers analyte detection portion 63 detects barrier, alarm portion 64 is utilized
Alarm is notified to driver, and alarm portion 64 is, for example, buzzer, Voice Navigation.In addition, control device 75 and the (notice of notification unit 59
Mechanism) connection, notification unit 59 is such as notice speed, engine speed, the state of the receiving sensitivity of satellite positioning unit 70.
Alarm and state etc. either is shown in the structure of display unit 48, and can be change and be set to central mark by notification unit 59
Object 14 is (referring to Fig.1.Identical in the following description) LED illumination blinking form structure.In addition, alarm portion 64 can also
To be the structure that alarm is shown in display unit 48 via notification unit 59.In this case, such as by the alarm that ridge detects it shows
It is shown in display unit 48.In addition, alarm portion 64 is also configured to a part of notification unit 59.The time that notification unit 59 notifies can also
To be configured to arbitrarily adjust setting.
Control device 75 has path setting portion 76, orientation calculation part 77, as the traveling rail of driving trace acquisition mechanism
Mark acquisition unit 78, control unit 79 and course changing control portion 80.Path setting portion 76 sets travel machine body C (referring to Fig.1.In following theory
It is identical in bright) the target movement routine LM that should travel (referring to Fig. 6).Orientation calculation part 77 and driving trace acquisition unit 78
Details is seen below.Location information of the control unit 79 based on the travel machine body C measured by satellite positioning unit 70 and by inertia
The azimuth information for the travel machine body C that measuring means 74 measures calculates and exports operating quantity, so that travel machine body C moves road along target
Diameter LM traveling.Course changing control portion 80 controls steering motor 58 based on operating quantity.Specifically, control device 75 has microcomputer
Calculation machine is (not shown.It is same as below), driving trace acquisition unit 78, path setting portion 76, orientation calculating are constituted using control program
Portion 77, control unit 79 and course changing control portion 80.It is (not shown that control program is stored in storage device.It is same as below), by microcomputer
Calculation machine executes.Microcomputer and storage device can be set in control device 75, but can also separately set with control device 75
It sets.
In addition, control device 75 can for example be measured by the location data navigated to by satellite positioning unit 70, by inertia
The moment of inertia that unit 74 detects and the speed detected by vehicle speed sensor 62 are stored in RAM (not shown) sequentially in time
(Random Access Memory (random access memory)).
With configuration switch 49, configuration switch 49 is used to set the target for automatic steering control by teaching processing
Movement routine LM.Have setting start position Ts (referring to Fig. 6 in configuration switch 49.Identical in the following description) starting point
Configuration switch 49A and setting final position Tf are (referring to Fig. 6.Identical in the following description) terminal configuration switch 49B.Such as
Upper described, starting point configuration switch 49A is set to the right side of display unit 48, and terminal configuration switch 49B is set to a left side for display unit 48
Side.
It is handled by the teaching of the operation based on starting point configuration switch 49A and terminal configuration switch 49B, utilizes path setting
Portion 76 sets the teaching path with the destination path for answering auto-steering.
Orientation calculation part 77 calculates the detection side of travel machine body C based on the moment of inertia detected by inertia measuring means 74
Position is ownship location NA (referring to Fig. 6.It is identical in the following description).Also, orientation calculation part 77 calculates the mobile road of target
Diameter LM is (referring to Fig. 6.Identical in the following description) in target bearing LA (Fig. 6 reference.It is identical in the following description
) and ownship location NA between angular deviation, that is, azimuth deviation.Also, auto-steering mode is set in control device 75
When, control unit 79 calculates and exports the operating quantity for controlling steering motor 58, to reduce angular deviation.
Driving trace acquisition unit 78 is calculated based on the location data navigated to by satellite positioning unit 70, by orientation calculation part 77
The position i.e. ownship position NM (ginseng of ownship location NA and the speed calculating travel machine body C detected by vehicle speed sensor 62 out
According to Fig. 7.It is identical in the following description).Ownship position NM is stored in RAM (not shown) sequentially in time, travels rail
Mark acquisition unit 78 calculates driving trace FP (referring to Fig. 7 based on the set of ownship position NM.It is identical in the following description).
It is held in the automatic steering control of travel machine body C based on the operating quantity exported by control unit 79 in course changing control portion 80
Row automatic steering control.That is, operation steering motor 58, so as to become mesh from the ownship position NM that driving trace acquisition unit 78 calculates
Mark the position on movement routine LM.
(target movement routine)
In paddy field, rice transplanter is alternately travelled and is used for the operation of rice transplanting operation along linear row plant path
To the ridge turning driving that next line plant path is mobile near ridge.Fig. 6 shows the multiple mesh arranged side by side along teaching path
Mark movement routine LM.In the present embodiment, each target movement routine LM is set in the following order using path setting portion 76
(1)~LM (6).
Firstly, the start position Ts for the ridge that driver is located at travel machine body C in field, and operate starting point configuration switch
49A.At this point, control device 75 is set to manual steering mode.Then, driver carries out manually handle on one side, makes to go on one side
It sails body C and is travelled from start position Ts along the rectilinear form of the ridge of lateral side, the end near the ridge for being moved to opposite side
After point position Tf, terminal configuration switch 49B is operated.Teaching processing is executed as a result,.That is, according to satellite positioning is based on
The position coordinates for the location data that unit 70 is got at start position Ts and based on satellite positioning unit 70 in final position
The position coordinates of the location data got at Tf, the teaching path of setting connection start position Ts and final position Tf.By edge
The direction in the teaching path be set as the target bearing LA as benchmark.It should be noted that the position coordinates at the Tf of final position
It can not only be calculated based on the location data of satellite positioning unit 70, be also based on and shown by what driving trace acquisition unit 78 calculated
The driving trace of religion traveling calculates.In addition, the traveling of travel machine body C across start position Ts and final position Tf either with
The operation of rice transplanting operation travels, and is also possible to the traveling of non-job state.
After the setting for completing teaching path, carry out for the ridge mobile to the row plant path with teaching pathway contiguous
Turning driving, in the present embodiment, travel machine body C are mobile to start position Ls (1).Driver can be by manual operation side
Ridge turning driving is carried out to disk 43, ridge turning driving can also be carried out by automatic turning control.At this point, control unit
79 are inverted by ownship location NA, can judge that travel machine body C is turned.Utilize satellite positioning unit 70, inertia meter
Survey the reversion that unit 74 is capable of detecting when ownship location NA.
Other than it can judge travel machine body C turning by the reversion of ownship location NA, it can also be set by various
Standby movement come judge travel machine body C turn.As the movement of various equipment, such as it can be seedling implanting apparatus W, site preparation rotation
The vertical motion of transfer part (not shown), site preparation hull 25 etc., can be the separation for making side clutch (not shown), be also possible to cut
Broken needle to seedling implanting apparatus W (referring to Fig.1.Identical in the following description) transmission.Furthermore it is possible to utilize satellite positioning
Unit 70 judges that travel machine body C reaches start position Ls (1).
After the setting for completing teaching path, at any time, target movement routine LM is set using path setting portion 76
(1).Both timing setting target movement routine LM (1) can be set in completion teaching path, can also turned in travel machine body C
Target movement routine LM (1) is set in journey, target movement routine LM (1) can also be set after travel machine body C turning.In addition,
Either the structure of target movement routine LM (1) is set by the operation to configuration switch 49, auto-steering switch 50 etc.,
It is also possible to set the structure of target movement routine LM (1) automatically.
After judging that travel machine body C completes turning, continue the manual steering mode of control device 75, continues through artificial
Operation carries out straight ahead traveling.During this period, the confirmation of control device 75 is by the calculated ownship location of orientation calculation part 77
The azimuth deviation of NA, the direction of steered wheel 10, steering wheel 43 the Rule of judgment such as steering angle, determine whether in allowing hand over
For the state of auto-steering mode.Also, if control device 75 is permitted in allowing hand over as the state of auto-steering mode
Perhaps the operation of auto-steering switch 50.At this point, notifying whether control device 75 is automatic in allowing hand over using notification unit 59
The state of steering pattern.
In the state of allowing the operation of auto-steering switch 50, when driver operates auto-steering switch 50, benefit
With path setting portion 76 set target movement routine LM (1), control device 75 from manual steering pattern switching be auto-steering mould
Formula.Also, start the automatic steering control along target movement routine LM (1).Target movement routine LM (1) be with teaching road
It in the state that diameter is adjacent, is set along the orientation of target bearing LA, and after teaching processing, travel machine body C is made at first
The target movement routine LM of industry traveling.It should be noted that although driver grasps operating stick 45 after travel machine body C turning
Make and cuts seedling implanting apparatus W decline from manual steering mode to execute rice transplanting operation but it is also possible to be in control device 75
When being changed to auto-steering mode, seedling implanting apparatus W declines and starts rice transplanting operation.
Automatic steering control is persistently carried out, until in start position Ls (1) side with target movement routine LM (1)
Near the final position Lf (1) of opposite side, determines detection of obstacles portion 63 and detect ridge.When Use barriers quality testing
When survey portion 63 determines the distance between travel machine body C and ridge in the range of presetting, the police in alarm portion 64 is utilized
Report notifies driver.At this point, the alarm in alarm portion 64 either buzzer etc. sound, be also possible to be set to central mark
Lighting, flashing for the LED illumination of object 14, can also be shown in display unit 48.Also, the test section 63 that breaks the barriers is set in advance
Ridge is persistently detected in the fixed time and is judged to detecting ridge, and control device 75 is switched to manual steering mode and solves
Except automatic steering control.
When travel machine body C reaches (1) final position Lf of target movement routine LM (1), driver moves road to target
The non-operating area side of diameter LM (1) operates steering wheel 43 and carries out ridge turning driving, and travel machine body C is travelled to next operation
Start position Ls (2) is mobile.Before travel machine body C turning, driver can operate operating stick 45 and make seedling planting
Device W, which rises, to the transmission of seedling implanting apparatus W and makes seedling planting come cutting needle but it is also possible to be by operation steering wheel 43
The structure that device W rises.Then, judge that travel machine body C is turned.
After completing the operation traveling on target movement routine LM (1), set at any time using path setting portion 76
Target movement routine LM (2).Both target movement routine LM can be set when Use barriers analyte detection portion 63 determines ridge
(2), target movement routine LM (2) can also be set during travel machine body C turns, it can also be after travel machine body C turning
It sets target movement routine LM (2).In addition, either by the operation to configuration switch 49, auto-steering switch 50 etc. come
The structure for setting target movement routine LM (2) is also possible to set the structure of target movement routine LM (2) automatically.By target
After movement routine LM (2) has adjacently been set in the non-operating area side of target movement routine LM (1), along target movement routine LM
(2) start automatic steering control, travel machine body C carries out operation traveling.
After the final position Lf (2) that travel machine body C reaches target movement routine LM (2), according to target movement routine LM
(3), the sequence of target movement routine LM (4), target movement routine LM (5), target movement routine LM (6) repeats ridge turning
The setting and operation of target movement routine LM after traveling travels.That is, setting each target movement routine LM one by one.
(the acquisition mechanism of driving trace)
In the transplanting rice seedlings machine of present embodiment, in order to suitably keep the plant interval of plant rice shoot, this seat in the plane
Precision in the range of setting within such as ten centimetres of the error range requirement of NM.Use RTK-GPS as satellite positioning unit
In 70 structure, because the error of usually RTK-GPS can obtain high-precision driving trace within several centimetres.But
It is, in using structure of the DGPS as satellite positioning unit 70, because the error of usually DGPS often reaches several meters of range,
It is possible that high-precision driving trace cannot be obtained.Therefore, in using structure of the DGPS as satellite positioning unit 70, make
With the means for obtaining driving trace using inertia measuring means 74.
During carrying out automatic steering control, as shown in fig. 7, using orientation calculation part 77, it is single based on being measured by inertia
The moment of inertia that member 74 detects, measures opposite Orientation differences angle Δ NA in chronological order.Orientation calculation part 77 is become by orientation
The integral for changing angle Δ NA calculates the ownship location NA lighted from the ground for starting automatic steering control sequentially in time.Traveling
Track acquisition unit 78 calculates ownship position NM based on the speed and ownship location NA that are detected by vehicle speed sensor 62.It is tied
Fruit is, using driving trace acquisition unit 78, based on the set of ownship position NM, calculates the row of travel machine body C in chronological order
Sail track FP.
Orientation calculation part 77 calculates the azimuth deviation between ownship location NA and target bearing LA.Control unit 79 is in order to make this
Machine orientation NA is consistent with target bearing LA and exports operating quantity, and course changing control portion 80 is based on operating quantity and operates steering motor 58.By
This, travel machine body C is accurately travelled along target movement routine LM.Driver is the state not operated to steering wheel 43.
As described above, although the error of DGPS often reached several meters of range, in such as ten seconds or so short time
In the case where the interior positioning for carrying out point-to-point transmission using DGPS, the relative error of the position of the point-to-point transmission is minimum.If utilizing the spy
Property, then the distance of the point-to-point transmission is bigger, and the precision of the calculated absolute orientation of the location data based on the point-to-point transmission is higher.By
This, in using structure of the DGPS as satellite positioning unit 70, orientation calculation part 77 is based on being positioned by satellite positioning unit 70
The location data of point-to-point transmission out calculates absolute orientation, carries out the calibration process of ownship location NA so as to be based on inertia measuring means
74 ownship location NA does not generate azimuthal error.That is, even if in inertia measuring means 74 to Orientation differences angle Δ NA's
Comprising that can also eliminate the accumulation of error brought by the integral of Δ NA, make obtaining for driving trace FP in the case where error in measurement
It is accurate with automatic steering control to take.
(setting of basic target movement routine)
Fig. 8 shows rear process target movement routine LM2 with the state adjacent with target movement routine LM1 has been travelled.
Driving trace FP in Fig. 8 be travel machine body C using with the complete target movement routine LM1 of traveling as preset movement routine
The driving trace that substantially uniform state is passed by.Process with target movement routine LM2 is set to travel machine body C and is expert at finish afterwards
The target movement routine of operation traveling is carried out after target movement routine LM1.As a result, in the complete target movement routine LM1 of the traveling of Fig. 8
In the case where the target movement routine LM (1) for being equivalent to Fig. 6, the rear process of Fig. 8 is equivalent to Fig. 6's with target movement routine LM2
Target movement routine LM (2).In addition, in the target movement routine LM for having travelled target movement routine LM1 and being equivalent to Fig. 6 of Fig. 8
(2) in the case where, the rear process of Fig. 8 is equivalent to the target movement routine LM (3) of Fig. 6 with target movement routine LM2.Aftermentioned figure
The complete target movement routine LM1 of 9 traveling into Figure 13 and rear process are also identical with target movement routine LM2.
It should be noted that the complete target movement routine LM1 of traveling as preset movement routine is also possible to above-mentioned show
Teach path.In this case, the rear process of Fig. 8 is equivalent to the target movement routine LM (1) of Fig. 6 with target movement routine LM2.
Substantially, location data based on satellite positioning unit 70 by rear process with target movement routine LM2 be set as with
It has travelled target movement routine LM1 and has separated preset set distance P.Here, set distance P is and seedling implanting apparatus W
Carry out the comparable distance of working width of rice transplanting operation.
But in the case where using DGPS as satellite positioning unit 70, consideration has this seat in the plane based on location data
The position coordinates NM3 for setting NM has travelled target movement routine LM1 offset relative to actual due to the location error of above-mentioned DGPS
The case where.That is, even if practical with high precision along the state for having travelled target movement routine LM1 in travel machine body C
In the case where carrying out automatic steering control, the position coordinates NM3 of the location data based on satellite positioning unit 70 also includes absolute
Error.Therefore, as shown in figure 8, position coordinates NM3 is possible to relative to having travelled target movement routine LM1 deviation d1.By
This, in the case where process target movement routine LM2 after being actually based only upon position coordinates NM3 setting, it is possible to trample on and make
The plant rice shoot in industry region, or not operating area is generated between the driving trace before and after ridge turning.
In the present embodiment, the traveling machine that target movement routine LM1 has carried out automatic steering control has been travelled based on edge
The actual offset of body C, process is with target movement routine LM2 relative to the separation for having travelled target movement routine LM1 after calculating
Distance.As previously mentioned, in the case where the positioning of point-to-point transmission is carried out using DGPS in a short time, the position of point-to-point transmission it is opposite accidentally
Difference is minimum.Using the characteristic, path setting portion 76 is configured to, when process is with target movement routine LM2 after setting, based in sight
By the location data navigated to before progress ridge turning, rear process is set in target movement routine LM2 relative to this
Set the position of NM separation relative distance in seat in the plane.That is, rear process is set at target movement routine LM2 relative to being based on
The position for the ownship position NM separation set distance P that the location data of satellite positioning unit 70 calculates.
In along the automatic steering control for having travelled target movement routine LM1, in travel machine body C with from having travelled target
In the case that movement routine LM1 carries out operation traveling to the state of non-operating area side deviation d1, single-point shown in Fig. 8 is drawn
Line is the actual driving trace FP of travel machine body C.It should be noted that driving trace FP is calculated by driving trace acquisition unit 78.
Before it will carry out ridge turning driving, sat using the position that satellite positioning unit 70 orients ownship position NM
NM3 is marked as location data.After orienting position coordinates NM3, and before starting automatic ride control, ridge is carried out
Turning driving, and at any time, process target movement routine LM2 after setting.Because common ridge turning driving is all
It is completed in or so several seconds, so being sat after just completing ridge turning driving using the position that satellite positioning unit 70 navigates to
The relative error between position coordinates NM3 before marking and will carrying out ridge turning driving is small.It should be noted that position coordinates
NM3 be also possible to be averaging the multiple location datas oriented near the Lf of final position using satellite positioning unit 70 and
The coordinate obtained.
Originally, rear process target movement routine LM2 should be set in relative to travelled target movement routine LM1 separation
The position of set distance P, dotted line lm i.e. shown in Fig. 8 position.And in the present embodiment, and the deviation d1 of travel machine body C
Accordingly, rear process is set as moving in parallel deviation d1's from dotted line lm to non-operating area side with target movement routine LM2
State.
In addition, travel machine body C actual driving trace FP from target movement routine LM1 has been travelled to operating area
In the case where the deviation d1 of side, rear process is set to target movement routine LM2, from relative to having travelled the mobile road of target
The set distance P of diameter LM1 moves in parallel the state of the amount of deviation d1 to operating area side.
Even if include as a result, error in the location data oriented by satellite positioning unit 70, also can
It is set in the position that set distance P is left relative to position coordinates NM3.It is set using by rear process target movement routine LM2
Structure in the position of the amount of the working width of separation seedling implanting apparatus W, can prevent from trampling on the plant seedling of operating area
Seedling, or the possibility of not operating area is generated between the driving trace before and after ridge turning.
(setting for considering the target movement routine of driving trace)
Travel machine body C not necessarily carries out operation traveling along target movement routine LM.For example, as shown in figure 9, even if pre-
In the case where the complete target movement routine LM1 of linear traveling is first set as movement routine, travel machine body C may also be because of traveling
Body C skid or the barrier etc. in evacuation field and crawl.That is, as shown in the serpentine path fp of Fig. 9, the reality of travel machine body C
Driving trace FP to travelled target movement routine LM1 left and right directions deviate.In this case, if not considering to crawl
Process target movement routine LM2, then can generate following unfavorable condition after track fp is just set.That is, if from terminal
Position coordinates NM3 near the Lf of position directly moves rear process with target to the position of non-operating area side separation set distance P
Dynamic path LM2 is set as straight line shape, then the operating area of serpentine path fp with along rear process target movement routine LM2
Carry out the working width overlapping of operation when driving.If also, travel machine body C is made along rear process with target movement routine LM2
Industry traveling, then may trample on the plant rice shoot of the operating area.In order to avoid the unfavorable condition, by the combination in multiple paths
Process target movement routine LM2 after composition.
Rear process is illustrated with the structure of target movement routine LM2 based on Fig. 9.Row is based on using path setting portion 76
Sailing track FP determines travel machine body C relative to the offset for having travelled target movement routine LM1.Specifically, along target has been travelled
Threshold value of the movement routine LM1 in left and right sides setting deviation d2.First area A1 is more to lean on row than deviation d2 in driving trace FP
The position of side locating for the target that finishes movement routine LM1.In addition, second area A2 be more leaned in driving trace FP than deviation d2 with
The position of the opposite side in side locating for target movement routine LM1 is travelled.
In the present embodiment, rear process is with target movement routine LM2 by linear first path lm1 and linear
Second path lm2 is constituted.When along travel target movement routine LM1 and having carried out automatic steering control without barrier, traveling rail
Mark FP is converged in the range of the A1 of first area, is determined as that driving trace FP is consistent with target movement routine LM1 has been travelled or big
It causes consistent.Also, first path lm1 is accordingly set with first area A1.It should be noted that the value of deviation d2 is such as ten centimetres
The following value.
The position positioned at second area A2 in driving trace FP is expressed as serpentine path fp in Fig. 9.As a result, based on the
The serpentine path fp of two region A2 accordingly sets the second path lm2 with second area A2.In Fig. 9, the snake of second area A2
Row track fp is in from the state for having travelled target movement routine LM1 and deviating to non-operating area side.Therefore, the second path lm2
It is set to the state deviated from first path lm1 to non-operating area side.
In the present embodiment, process target movement routine LM2 after being set on the basis of position coordinates NM3, position are sat
Mark NM3 is the position in the range of the A1 of first area.Therefore, it using driving trace acquisition unit 78, calculates positioning out position and sits
The offset width Δ p1 between position deviated with marking the amplitude peak in the position and serpentine path fp of NM3.In addition, utilizing row
Track acquisition unit 78 is sailed, the operating range R1 deviated to second area A2 in driving trace FP is also calculated.It should be noted that row
Sailing distance R1 is to be not meant to that serpentine path fp's is actual along the length in the direction for having travelled target movement routine LM1
Snake length.
Second path lm2 is the path parallel with target movement routine LM1 has been travelled, and is set to from serpentine path fp
The position deviated to non-operating area side amplitude peak the state of set distance P is left to non-operating area side.Second tunnel
The path length of diameter lm2 is set to length corresponding with the operating range R1 of serpentine path fp.In addition, the second path lm2
Path length can also be set to longer than operating range R1 in the longitudinal direction.
First path lm1 and the second path lm2 is discontinuous path.In the present embodiment, the second path lm2 and
One path lm1 is parallel, and the second path lm2 relative to first path lm1 to the side separated with driving trace FP to deviate
Width Delta p2 offset.That is, when across first path lm1 and the second path lm2 carries out automatic steering control, as target
Path be switched to the second path lm2 from first path lm1.Operation row is carried out along first path lm1 in travel machine body C as a result,
After sailing, travel machine body C is deviated relative to the second path lm2 to body transverse direction.In this case, it is executed using control unit 79
Offset correction processing below.
As shown in Figure 10, it firstly, when the path as target is switched to the second path lm2 from first path lm1, utilizes
Satellite positioning unit 70 orients the position coordinates NM4 of the ownship position NM of switching moment.As described above, on such as ten seconds left sides
In the case where the positioning for carrying out point-to-point transmission in the right short time using DGPS, the relative error of the position of point-to-point transmission is minimum.It utilizes
The characteristic of such DGPS carries out being moved to travel machine body C as early as possible from position coordinates NM4 to transverse direction with offset width Δ
The control at the position, i.e. position locating for the second path lm2 of p2 offset.
As shown in Figure 10, travel machine body C is deviated with ownship position NM from the second path lm2 to transverse direction with offset width Δ p2
State traveling in the case where, target bearing LA is changed to set the inclined orientation of inclined angle alpha 1 by control unit 79.Namely
It says, target bearing LA is changed to set inclined angle alpha 1 to the inclined orientation in side locating for the second path lm2 by control unit 79
Target bearing LA when as automatic steering control, thereby executing automatic steering control.
At this point, ownship position NM is remoter from the position for being equivalent to the second path lm2, inclined angle alpha 1 will be more set to becoming larger
Side setting, ownship position NM is closer from the position for being equivalent to the second path lm2, is more set to setting inclined angle alpha 1 gently.
In addition, will set inclined angle alpha 1 if speed is low speed and be set to the side to become larger, speed at a high speed, more inclines setting
Bevel angle α 1 is set to gently.But upper limit value is set to setting inclined angle alpha 1, and from regardless of how low speed is, even if offset is big,
Setting inclined angle alpha 1 is not more than setting upper limit value.Driving status is caused to become this prevents travel machine body C zig zag
Unstable possibility.
When ownship location NA reach to set 1 inclined target bearing LA of inclined angle alpha when, target bearing LA be changed to than
Set the more slow inclined orientation of inclined angle alpha 2 of inclined angle alpha 1.In this way, travel machine body C is with the orientation relative to the second path lm2
The gradually smaller state adipping traveling of deviation, so travel machine body C is promptly close to the second path lm2.
The position of above-mentioned second path lm2 is equivalent in a lateral direction on a left side for the position for being equivalent to the second path lm2
Right two sides have the region of defined width.That is, the control dead band for position deviation is set, when position deviation enters
When in the range of control dead band, target bearing LA is not tilted, and is set to the direction along the second original path lm2.
By above structure, travel machine body C is guided to the second path lm2.In addition, in the path as target from second
When path lm2 is switched to first path lm1, above-mentioned offset correction processing is also executed.As a result, being moved along rear process with target
Path LM2 carries out operation traveling in a manner of around the operating area of serpentine path fp, avoids trampling on this in operating area
The possibility for having transplanted rice shoot.
Set first path lm1's and the second path lm2 if it is in a manner of separating set distance P from driving trace FP
Structure is then planted by the rice shoot of plant of the operating area generated driving trace FP with along rear process target movement routine LM2
The interval transplanted between rice shoot planted is easy to be at equal intervals.But when along first set in a manner of set distance P separation
Path lm1 and the second path lm2 carries out operation when driving, and the driving trace based on operation traveling also crawls.In addition, in the snake
In the case that capable degree is bigger than driving trace FP, rear process based on the rear process traveling of target movement routine LM2
Track may also significantly crawl, as being bad for automatic steering control.In order to avoid the unfavorable condition, it is based on snake
Capable driving trace FP and the rear process set are set to restore straight path with target movement routine LM2.
In the case where in the range of all driving trace FP are converged in first area A1, first path lm1 is set
It is scheduled on the position from the position coordinates NM3 of ownship position NM separation set distance P.But as shown in figure 9, than having travelled mesh
In the case that mark movement routine LM1 more leans on the serpentine path fp of non-operating area side to be included in driving trace FP, first path
Lm1 is set at the position that correction interval p is further separated relative to the position for separating set distance P with position coordinates NM3.It changes
Offset width Δ p2 ratio between Yan Zhi, first path lm1 and the second path lm2 orients position and the snake of position coordinates NM3
The small correction of offset width Δ p1 between the position deviated to amplitude peak in the fp of row track is spaced p.Correction interval p is set to
The working width of the seedling implanting apparatus W on driving trace FP will not be made to carry out the seedling of operation when driving with along first path lm1
The appropriate intervals for being spaced excessive degree between the working width of seedling plant feed unit W.
That is, more corresponding to non-operating area lateral deviation phase shift than having travelled target movement routine LM1 with serpentine path fp
Ground, first path lm1 are set to further separate to the side for leaving operating area side.As a result, as across first path lm1
Operation is carried out when driving with the second path lm2, and the driving trace of operation traveling becomes than driving trace FP closer to straight line.
As shown in figure 11, the feelings crawled than having travelled target movement routine LM1 to operating area side in serpentine path fp
Under condition, the white space A3 for not transplanting the concave shape of rice shoot is generated in the operating area based on driving trace FP.In the feelings
Under condition, even if travel machine body C carries out operation traveling with the first path lm1 of target movement routine LM2 along rear process, it is also not possible to
Trample on the plant rice shoot on driving trace FP.Therefore, first path lm1 be set at from position coordinates NM3 separation setting away from
Position from P.Second path lm2 and serpentine path fp accordingly, are set as from first path lm1 to operating area lateral deviation
It moves.That is, in a manner of the white space A3 filled up between driving trace FP and rear process target movement routine LM2,
Set the second path lm2.
In Figure 11, in serpentine path fp to the position that has deviated to operating area side amplitude peak and the second path
Separating distance between lm2 is set to distance obtained by set distance P is added with correction interval p.In other words, first path
Offset width Δ p2 ratio between lm1 and the second path lm2 is oriented in the position and serpentine path fp of position coordinates NM3 most
The small correction of offset width Δ p1 between the position significantly deviated is spaced p.As a result, as across first path lm1 and the second tunnel
Diameter lm2 carries out operation when driving, is plugged a gap region A3 using plant rice shoot, and the driving trace of operation traveling is than traveling
Track FP is closer to straight line.
As shown in figure 12, in the case where driving trace FP has multiple serpentine path fp (1)~(3) fp, rear process is used
Target movement routine LM2 has multiple second path lm2.In Figure 12, the second path lm2 (1) and lm2 (3) are than having travelled mesh
Mark movement routine LM1 more leans on non-operating area side, and the second path lm2 (2) more leans on operation than having travelled target movement routine LM1
Area side.Serpentine path fp (1) in multiple serpentine path fp (1)~fp (3) is deviated to non-operating area side amplitude peak.
Therefore, divide from the position deviated to non-operating area side amplitude peak in serpentine path fp (1) to non-operating area side
Position with a distance from set distance P sets the second path lm2 (1).It is sat in addition, first path lm1 is set at from position
The position of mark NM3 separation set distance P further separates the position of correction interval pa.Offset width Δ p1 is that positioning out position is sat
Mark the offset width between the position deviated to amplitude peak in the position and serpentine path fp (1) of NM3.In addition, offset width
Δ p1 is also possible to the position deviated to amplitude peak in serpentine path fp (1) and has travelled between target movement routine LM1
Offset width.In other words, the offset width Δ p2 ratio between first path lm1 (1) and the second path lm2 orients position coordinates
The small correction interval pa of the offset width Δ p1 between position deviated to amplitude peak in the position of NM3 and serpentine path fp (1).
Moreover, in Figure 12, in serpentine path fp (2) to the position deviated to operating area side amplitude peak and the
Separating distance between two path lm2 (2) is set to distance obtained by set distance P is added with correction interval pb.Offset is wide
It is inclined between the position deviated to amplitude peak in the position and serpentine path fp (2) for orient position coordinates NM3 for spending Δ p3
Move width.In addition, offset width Δ p3 is also possible to the position deviated to amplitude peak in serpentine path fp (2) and has travelled mesh
Mark the offset width between movement routine LM1.In other words, the offset width between first path lm1 and the second path lm2 (2)
Δ p4 ratio orients the offset between the position deviated to amplitude peak in the position and serpentine path fp (2) of position coordinates NM3
The small correction of width Delta p3 is spaced pb.
In addition, in Figure 12, the position deviated to non-operating area side amplitude peak in serpentine path fp (3) and the
Separating distance between two path lm2 (3) is either set distance P, is also possible to set distance P and arbitrary correction is spaced
Distance obtained by addition.Offset width Δ p5 is amplitude peak in the position and serpentine path fp (3) for orient position coordinates NM3
Offset width between the position of ground offset.In addition, offset width Δ p5 is with being also possible in serpentine path fp (3) amplitude peak
The position of offset and the offset width between target movement routine LM1 is travelled.That is, first path lm1 and the second tunnel
Offset width Δ p6 ratio between diameter lm2 (3) orients amplitude peak in the position and serpentine path fp (3) of position coordinates NM3
Offset width Δ p5 between the position of ground offset is small.As a result, when across first path lm1 and the second path lm2 are made
When driving, the driving trace of operation traveling is than driving trace FP closer to straight line for industry.It should be noted that correction interval pa and correction
Pb is spaced either identical value, is also possible to value different from each other.
By above structure, along rear process carry out automatic steering control with target movement routine LM2 after driving trace
Snake degree is smaller than along the snake degree for having travelled the driving trace FP after target movement routine LM1 carries out automatic steering control.
That is, along rear process carry out automatic steering control with target movement routine LM2 after driving trace be than along having travelled mesh
Mark movement routine LM1 carry out automatic steering control after driving trace FP closer to straight line driving trace.Therefore, such as Figure 13 institute
Show, rear process will form often to be repeated once the process of operation traveling just close to straight with target movement routine LM2 (1)~LM2 (5)
The path of line.It is used that is, setting multiple rear processes while the turning driving of the operation traveling and ridge that repeat field
Target movement routine LM2 (1)~LM2 (5), after process rear process target movement routine LM2, first path lm1 with
Offset width Δ p2 between second path lm2 is smaller.Even if as a result, driving trace FP for example because travel machine body C skid or
The barrier in field is avoided in the case where crawling, the rear process set later also can be repaired gradually with target movement routine LM2
Just it is being the path of straight line, is finally converging to straight line shape.
(display unit)
As shown in figure 14, the state of body is via notification unit 59 (referring to Fig. 5.It is identical in the following description) it is shown in
Display unit 48 is (referring to Fig. 5.Identical in the following description) picture in.Display unit 48 is divided into job information region
100, multiple display areas such as offset information region 101, vehicle speed information region 102.Job information region 100 is in display unit 48
The left end of upside shows time job date and working real result etc..Offset information region 101 is in the upside of display unit 48
Offset of center display travel machine body C (ownship position NM) relative to target movement routine LM.Vehicle speed information region 102 is aobvious
Show that the right end of the upside in portion 48 shows speed.The large area in addition to upside of display unit 48 is location information region 104, position
Set the position for the travel machine body C that information area 104 is shown in field.The smaller area of the left end in location information region 104 is to turn
To state information area 103, the auto-steering mode or manual steering mould of 103 display control unit 75 of steering state information area
The state of formula.Right end in location information region 104 is configured with the operated software push buttons group 120 of touch panel.In display unit
48 more right side is configured with physical button group 121.
The job state and target movement routine LM in the field on the periphery travel machine body C are shown in location information region 104
With the body symbol SY for indicating ownship position NM.It should be noted that for easy understanding, depicting target movement routine with heavy line
The target movement routine LM in operation traveling in LM.In addition, in target movement routine LM by first path lm1 and the second path
In the case that lm2 is constituted, first path lm1 and the second path lm2 is shown.Moreover, completed the region of seedling planting by with
It is shown with the mode that point draws each plant rice shoot.Operating area and non-operating area are visually clearly distinguished as a result,.
When travel machine body C carries out operation when driving in a manner of crawling, by the plant rice shoot drawn with point, keep the degree crawled visual
Change.It should be noted that being also possible to indicate linear plant row to the display of the plant rice shoot track other than being drawn with point
Line.
The driving trace FP of travel machine body C can also be shown on display unit 48, but this point in Figure 14 not
It explicitly indicates that.By comparing driving trace FP and target movement routine LM, the precision of automatic steering control can be checked.It is based on
Driving trace FP is shown in display unit 48 by the location data of satellite positioning unit 70.In addition, body symbol SY is expressed as arrow
Head, sharp direction indicate direction of travel, i.e. ownship location NA.In order to visually be easier to know ownship location NA and target
110 He of pointer extended from the center of body symbol SY to direction of travel has been shown above in azimuth deviation between orientation LA
Indicate the deflection scale 111 of the angular range of the direction.It can be with the digital value of display orientation deviation.Driver passes through display unit
48 being capable of offset and azimuth deviation of the visual confirmation travel machine body C relative to target movement routine LM.
Process target movement routine LM2 after being set based on the operation traveling travelled on target movement routine LM1
When, as shown in figure 14, show that travel machine body C is inclined with target movement routine LM2 relative to rear process in offset information region 101
Shifting amount.At the time of display offset amount either from target movement routine LM1 process target movement routine LM2 backward has been travelled
During carrying out ridge turning driving, it is also possible to after completing the ridge turning driving.In addition, the path as target from
When first path lm1 is switched to the second path lm2, the offset that offset information region 101 is shown is from relative to first path lm1
Offset be switched to the offset relative to the second path lm2.
(other embodiments of embodiment 1)
Structure illustrated by present invention is not limited to the embodiments described above will illustrate of the invention representative below
Other embodiments.
(1) in the above-described embodiment, each target movement routine LM is seriatim set, but be not restricted to that above-mentioned embodiment party
Formula.For example, it is also possible to concurrently set each rear process target movement routine LM2 shown in multiple Figure 13.In Figure 13, travelling
The non-operating area side of complete target movement routine LM1, be based on driving trace FP, with it is preset be set separately at equal intervals it is several
Process target movement routine LM2 (1)~LM2 (5) afterwards.Rear process can also be set as example with target movement routine LM2
Two, three these preset quantity can also be process target movement routine LM2 after disposably setting, until
Its path for becoming straight line shape.
(2) it is not limited to above embodiment, for example, it is also possible to as shown in figure 15, with the offset spacers of each second path lm2
Narrow state has the second path lm2 shown in multiple Figure 12.In Figure 15, in first path lm1 and the second path lm2 (1)
Between, there are multiple second path lm2 stepwise, set to ladder first path lm1 and the second path lm2 (1).In addition,
Also there are multiple second path lm2 stepwise between the second path lm2 (1) and the second path lm2 (2), in the second path
Also there are multiple second path lm2 stepwise between lm2 (2) and the second path lm2 (3).According to this structure, across the first via
When diameter lm1 and the second path lm2 (1) carries out automatic steering control, it is able to carry out and is more travelled along the operation of serpentine path fp.Separately
Outside, or the illustrated ground the second path lm2 between first path lm1 and the second path lm2 (3), according to driving trace
The degrees of offset of FP increases and decreases the quantity for the second path lm2 being arranged stepwise.In addition, each second path lm2 may not necessarily be
Rectilinear form, such as each second path lm2 can be curve of approximation.
(3) rear process target movement routine LM2 illustrated by above embodiment is by being formed as linear path
First path lm1 and the second path lm2 is constituted, but be not restricted to that above embodiment.For example, the rear process mobile road of target
Diameter LM2 is also possible to the path of the curve of approximation based on driving trace FP.As shown in figure 16, rear process target movement routine
LM2 is formed as curve-like, and rear process target movement routine LM2 can also become via well known waveform filtering processing etc. than row
Track FP is sailed closer to the path of straight line.Serpentine path fp (1) in serpentine path fp is to not operating area side amplitude peak
Offset.Therefore, so that amplitude peak in serpentine path fp (1) the ground position that deviates and rear process target movement routine LM2
In the separating distance with serpentine path fp (1) between corresponding position be mode at a distance from set distance P, use rear process
Target movement routine LM2 is separated from driving trace FP to non-operating area side.Process is with target movement routine LM2's after as a result,
Any part all separates set distance P or more, the operating area of driving trace FP from driving trace FP to non-operating area side
It will not be repeated with the working width of operation when driving is carried out with target movement routine LM2 along rear process.As a result, can be along rear
Process target movement routine LM2 seamlessly carries out rice transplanting operation with the operating area of driving trace FP.Using RTK-
In the case that GPS is as satellite positioning unit 70, the structure is significantly useful.
(4) in the above-described embodiment, driving trace FP is instantiated to be expert at the final position of target movement routine LM1 of finishing
The case where Lf is not deviated, but be not restricted to that above embodiment.For example, as shown in figure 17, it is also contemplated that driving trace FP exists
The final position Lf for having travelled target movement routine LM1 does not converge on first area A1, but to the of non-operating area side
The case where two region A2 are deviated.In this case, it using driving trace acquisition unit 78, calculates and orients position coordinates
The offset width Δ p1a between position deviated to amplitude peak in the position of NM3 and serpentine path fp.In addition, utilizing traveling
Track acquisition unit 78, the offset for calculating the position for orienting position coordinates NM3 and having travelled between target movement routine LM1 are wide
Spend Δ p1b.That is, the sum of offset width Δ p1a and offset width Δ p1b are deviated to amplitude peak in serpentine path fp
Position and travelled the offset width Δ p1 between target movement routine LM1.
Second path lm2 is set at from the position for separating set distance P with position coordinates NM3 and further separates offset width
Spend the position of Δ p1a.That is, the second path lm2 be set to it is maximum to non-operating area side from serpentine path fp
State of the position deviated to amplitude to non-operating area side separation set distance P.In addition, with converging in driving trace FP
Accordingly, first path lm1 is set as more leaning on operating area side, the first via than the second path lm2 in the path of first area A1
Offset width Δ p2 between diameter lm1 and the second path lm2 is set to correction interval p smaller than offset width Δ p1.
As shown in figure 18, it is also contemplated that be expert at the finish final position Lf of target movement routine LM1 of driving trace FP is not received
The case where holding back in first area A1, but being deviated to the second area A2 of operating area side.In this case, row is utilized
Track acquisition unit 78 is sailed, the portion deviated to amplitude peak in the position for orienting position coordinates NM3 and serpentine path fp is calculated
Offset width Δ p1a between position.In addition, calculating the position for orienting position coordinates NM3 using driving trace acquisition unit 78
With travelled the offset width Δ p1b between target movement routine LM1.It should be noted that in Figure 18, because positioning out position is sat
It marks the position deviated to amplitude peak in the position and serpentine path fp of NM3 to repeat, so offset width Δ p1a is substantially zero
Value.That is, the sum of offset width Δ p1a and offset width Δ p1b are the portions deviated to amplitude peak in serpentine path fp
Position and the offset width Δ p1 between target movement routine LM1 is travelled.First area A1 is converged on driving trace FP
Path accordingly, first path lm1 be set in from travelled target movement routine LM1 separation set distance P position.Change speech
It, first path lm1 is set at from the position for separating set distance P with position coordinates NM3 and further separates offset width Δ
The position of p1b.Accordingly with serpentine path fp, the second path lm2 is set to than first path lm1 more to operating area side
Offset.In serpentine path fp to the separation between the position deviated to operating area side amplitude peak and the second path lm2 away from
With a distance from being set to obtained by set distance P is added with correction interval p.
(5) in the above-described embodiment, target movement routine LM is the structure set in an independent field, still
It is not limited to the above embodiment.For example, target movement routine LM is also possible to the structure set across multiple fields.At this
In the case of, it can be teaching path, be stored as reference path relative to the actual driving trace FP of target movement routine LM,
And the structure for setting the target movement routine LM in other fields.Reference path is set to traveling machine either being stored in
The structure of the storage unit of the microcomputer of body C is also possible to be stored in the structure of the storage unit of exterior terminal.In reference path
In the case where the structure for being stored in the storage unit of exterior terminal, can be arranged in travel machine body C can be via WAN (Wide Area
Network (wide area network)) etc. the communication equipment that is communicated with exterior terminal, from the storage unit of exterior terminal to the micro- of travel machine body C
Type computer reads reference path.Be also possible to exterior terminal, travel machine body C microcomputer possessed by storage unit deposit
Store up the structure of multiple reference paths.It with this configuration, also can be only by reading and each field pair even if being travelled without teaching
The reference path answered sets target movement routine LM.
(6) it is not limited to above-mentioned rice transplanter, the present invention can be applied to comprising other live streaming class operations including seed-sowing machine etc.
Machine.In addition, other than class working rig is broadcast live, it also can be using the present invention in the agricultural working machines such as tractor and combine harvester.
(embodiment 2)
Hereinafter, being set for illustrating to the target movement routine of embodiment 2 referring to attached drawing.
As shown in figure 19, there is control device 75 on travel machine body C.Control device 75 allows hand over to execute from turn
To control auto-steering mode and do not execute the manual steering mode of automatic steering control.
Control device 75 has path setting portion 76 (path setting mechanism), azimuth deviation the calculation part 81, (control of control unit 82
Mechanism processed) and course changing control portion 83 (control mechanism).Path setting portion 76 sets the target movement routine that travel machine body C should be travelled
LM (referring to Figure 20).The details of azimuth deviation calculation part 81 is seen below.Control unit 82 is based on by satellite positioning unit 70
The azimuth information of the location information of the travel machine body C of survey and the travel machine body C measured by inertia measuring means 74 are calculated and are exported
Operating quantity, so that travel machine body C is travelled along target movement routine LM.Course changing control portion 83 controls steering motor based on operating quantity
58.Specifically, control device 75 has microcomputer (not shown.It is same as below), path setting portion 76, azimuth deviation meter
Calculation portion 81, control unit 82 and course changing control portion 83 are made of control program.It is (not shown that control program is stored in storage device.With
Under it is identical), executed by microcomputer.Microcomputer and storage device can be set in control device 75, but can also be with
Control device 75 is provided separately.
With starting and terminal point configuration switch 49C, the starting and terminal point configuration switch 49C by teaching processing for being set
Target movement routine LM for automatic steering control.By operating starting and terminal point configuration switch 49C, start position Ts is carried out
(referring to Figure 20.Identical in the following description) setting and final position Tf (referring to Figure 20.It is identical in the following description
) setting.It should be noted that starting and terminal point configuration switch 49C can not be made of a switch, it is also possible to alongside one another
State setting start position Ts setting switch and final position Tf setting switch structure.As described above, starting point
The right side of display unit 48 is arranged in terminal configuration switch 49C, and but not limited to this, and starting and terminal point configuration switch 49C can also be set
It is placed in the left side of display unit 48.
Satellite positioning unit 70, inertia measuring means 74, auto-steering switch 50, starting and terminal point are inputted to control device 75
Configuration switch 49C, goal-setting switch 49D, steering angle sensor 60, torque sensor 61, vehicle speed sensor 62, obstacle quality testing
The information in survey portion 63 (ridge test section) etc..Vehicle speed sensor 62 is for example using for the transmission in the transmission mechanism of rear wheel 11
The rotation speed of axis detects speed.It should be noted that speed not only considers vehicle speed sensor 62, it is also contemplated that satellite positioning list
The location data of member 70.Detection of obstacles portion 63 is set to the front and left and right sides portion of travel machine body C, e.g. light wave ranging
The range sensor or imaging sensor of formula, so as to detect the ridge in field, the steel tower in field etc..Work as utilization
When detection of obstacles portion 63 detects barrier, alarm is notified to driver using alarm portion 64, alarm portion 64 is, for example, buzzing
Device, Voice Navigation.In addition, control device 75 is connect with notification unit 59 (notice mechanism), notification unit 59 for example notifies speed, starts
The state of machine revolving speed etc..Alarm, state notice either be shown in the structure of display unit 48, be also possible to change and be set to
Central marker 14 is (referring to Fig.1.Identical in the following description) LED illumination blinking form structure.In addition, alarm
Portion 64 is also possible to that alarm is shown in the structure of display unit 48 via notification unit 59.In this case, such as by ridge it detects
Alarm be shown in display unit 48.In addition, alarm portion 64 is also configured to a part of notification unit 59.
It is handled by the teaching of the operation based on starting and terminal point configuration switch 49C, using path setting portion 76, sets and answer
The corresponding teaching path of the destination path of auto-steering.
Azimuth deviation calculation part 81 calculates detection orientation (the machine of the travel machine body C detected by inertia measuring means 74
Orientation NA) and target movement routine LM in target bearing LA between angular deviation, i.e. azimuth deviation.Also, it is filled in control
When setting 75 and being set to auto-steering mode, control unit 82 is calculated in a manner of making angular deviation become smaller for controlling steering motor
58 operating quantity is simultaneously output it.
It is held in the automatic steering control of travel machine body C based on the operating quantity exported by control unit 82 in course changing control portion 83
Row automatic steering control.That is, operation steering motor 58, so as to detected by satellite positioning unit 70 and inertia measuring means 74
The detection position (ownship position NM) of travel machine body C becomes the position on target movement routine LM.
It should be noted that the control signal in present embodiment is either the operating quantity that control unit 82 exports, is also possible to
Course changing control portion 83 is used to operate the voltage value or current value of steering motor 58.
(target movement routine)
In paddy field, rice transplanter is alternately travelled and is used for the operation of rice transplanting operation along linear row plant path
To the ridge turning driving that next line plant path is mobile near ridge.Figure 20 shows the multiple mesh arranged side by side along teaching path
Mark movement routine LM.In the present embodiment, each target movement routine LM is set in the following order using path setting portion 76
(1)~LM (6).
Firstly, the start position Ts for the ridge that driver is located at travel machine body C in field, and operate starting and terminal point setting
Switch 49C.At this point, control device 75 is set to manual steering mode.Then, driver carries out manually handle on one side, on one side
Travel travel machine body C along the rectilinear form of the ridge of lateral side from start position Ts, near the ridge for being moved to opposite side
Final position Tf after, again operate starting and terminal point configuration switch 49C.Teaching processing is executed as a result,.That is, according to base
In the position coordinates for the location data that satellite positioning unit 70 is got at start position Ts and based on satellite positioning unit 70
The position coordinates of the location data got at the Tf of final position, the teaching of setting connection start position Ts and final position Tf
Path.It will be set as the target bearing LA as benchmark along the direction in the teaching path.It should be noted that at the Tf of final position
Position coordinates can not only be calculated according to the location data of satellite positioning unit 70, can also be according to based on vehicle speed sensor 62
Distance away from start position Ts and the azimuth information of the travel machine body C based on inertia measuring means 74 calculate.In addition, travel machine body
C across start position Ts and final position Tf traveling either with rice transplanting operation operation travel, be also possible to non-operation
The traveling of state.
After the setting for completing teaching path, carry out for the ridge mobile to the row plant path with teaching pathway contiguous
Turning driving, in the present embodiment, travel machine body C are mobile to start position Ls (1).Driver can be by manual operation side
Ridge turning driving is carried out to disk 43, can also be controlled by aftermentioned automatic turning to carry out ridge turning driving.At this point,
Control unit 82 is inverted by ownship location NA, can judge that travel machine body C is turned.Using satellite positioning unit 70,
Inertia measuring means 74 is capable of detecting when the reversion of ownship location NA.
Other than it can judge travel machine body C turning by the reversion of ownship location NA, it can also be set by various
Standby movement come judge travel machine body C turn.As the movement of various equipment, such as it can be seedling implanting apparatus W, site preparation rotation
The vertical motion of transfer part (not shown), site preparation hull 25 etc., can be makes the separation (not shown) of side clutch, can also be cutting
For the movement of the transmission of seedling implanting apparatus W.Furthermore it is possible to judge that travel machine body C is reached using satellite positioning unit 70
Point position Ls (1).
After the setting for completing teaching path, at any time, target movement routine LM is set using path setting portion 76
(1).Both timing setting target movement routine LM (1) can be set in completion teaching path, can also turned in travel machine body C
Target movement routine LM (1) is set in journey, target movement routine LM (1) can also be set after travel machine body C turning.Above-mentioned
Moment, driver set target movement routine LM (1) by operation goal-setting switch 49D.It should be noted that being not limited to drive
Person sets target movement routine LM (1) by operation goal-setting switch 49D, such as is also possible to driver by operating certainly
Pole changer 50 etc. is moved to set target movement routine LM (1).Furthermore, it is possible to be the operation without driver and set automatically
The structure of target movement routine LM (1).
After judging that travel machine body C completes turning, continue the manual steering mode of control device 75, continues through artificial
Operation carries out straight ahead traveling.During this period, the confirmation of control device 75 is by the calculated the machine of azimuth deviation calculation part 81
The azimuth deviation of orientation NA, the direction of steered wheel 10, steering wheel 43 the Rule of judgment such as steering angle, determine whether in can
It is switched to the state of auto-steering mode.Also, if in allowing hand over as the state of auto-steering mode, control device
75 allow the operation of auto-steering switch 50.At this point, using notification unit 59 notify control device 75 whether in allow hand over for
The state of auto-steering mode.
In the case where control device 75 is in the state that cannot be switched to auto-steering mode, notification unit 59 also informs it
Reason.Therefore, the bad condition for example for automatic steering control can be notified to driver, so driver is easy to adjust
The whole condition for being used to start automatic steering control.Notice that notification unit 59 is issued either buzzer etc. sound, can also
To be the lighting of LED illumination for being set to central marker 14, flash, display unit 48 can also be shown in.In addition, notification unit 59
The alarm issued had both been configured to temporarily notify, and had also been configured to notify always.
As the bad condition for automatic steering control, ownship location NA can be exemplified relative to target bearing LA
The king-sized situation of azimuth deviation, steered wheel 10 direction change very big situation, the speed mistake of travel machine body C to the left and right
Fastly or excessively slow situation etc..In addition, can also exemplify supplement and defend as the bad condition for automatic steering control
The quantity of the navigation satellite of star positioning unit 70 situation fewer than preset quantity.
In the state of allowing the operation of auto-steering switch 50, when driver operates auto-steering switch 50, benefit
With path setting portion 76 set target movement routine LM (1), control device 75 from manual steering pattern switching be auto-steering mould
Formula.Also, start the automatic steering control along target movement routine LM (1).Target movement routine LM (1) be with teaching road
It is set in the state that diameter is adjacent along the orientation of target bearing LA, and after teaching processing, travel machine body C carries out operation at first
The target movement routine LM of traveling.It should be noted that although driver operates operating stick 45 after travel machine body C turning
(referring to Fig.1.Identical in the following description) and make seedling implanting apparatus W decline come execute rice transplanting operation but it is also possible to be
Control device 75 from manual steering pattern switching be auto-steering mode when, seedling implanting apparatus W decline and start rice transplanting work
Industry.
Automatic steering control is persistently carried out, until the side locating for the start position Ls (1) with target movement routine LM (1)
Near the final position Lf (1) of opposite side, determines detection of obstacles portion 63 and detect ridge.During this period, example
Such as, in automatic steering control, using the swash plate of electric motor operation HST, even if driver operates main shift lever 44 (referring to figure
1.It is identical in the following description), the operation of main shift lever 44 will not be transmitted to HST (not shown).Alternatively, it is also possible to be
In automatic steering control, main shift lever 44 is limited in the motionless structure in specified position.The structure is especially in main shift lever
It is useful in 44 structures mechanically connected with HST.It should be noted that being also possible in automatic steering control, even if in main transformer speed
In the case that bar 44 cannot operate HST, also it can make engine 13 by dedicated operations part (not shown), brake service
(Fig. 1 reference.It is identical in the following description) stop or stops travel machine body C, so that main shift lever 44 be enable to grasp
Make the structure of HST.
Preset range is in when Use barriers analyte detection portion 63 determines the distance between travel machine body C and ridge
When interior, notified using the alarm in alarm portion 64 to driver.At this point, alarm caused by alarm portion 64 is either buzzer etc.
Sound, be also possible to be set to lighting, flashing for the LED illumination of central marker 14, display unit 48 can also be shown in.And
And the test section 63 that breaks the barriers is continuously detected ridge within the preset time and is judged to detecting ridge, stops
Engine 13, and control device 75 is switched to manual steering mode and releases automatic steering control.Alternatively, it is also possible to being to work as
When being judged to detecting ridge, stops engine 13 and make the structure of travel machine body C deceleration or stopping.That is, only
When be in the range of presetting at a distance from being determined as travel machine body C between ridge, releasing automatic steering control is
It can.
Although in this way, be configured to release automatic steering control near ridge and being judged to detecting ridge,
It is also possible to even if near ridge, as long as meeting the structure that predetermined condition continues to automatic steering control.For example, it can be
Even if continuing in the state that Use barriers analyte detection portion 63 detects ridge and notifies alarm to driver also by driver
Operation auto-steering switch 50 continues the structure of automatic steering control without being judged to detecting ridge.At this point, can also be with
It is that auto-steering switch 50 is stopped operation by driver to release automatic steering control.As a result, regardless of whether being judged as detection
To ridge, automatic steering control can be continued, until travel machine body C reaches home position Lf (1).In addition, above-mentioned auto-steering
Control continue be not limited by operation auto-steering switch 50, such as can also by operate starting and terminal point configuration switch 49C,
Goal-setting switch 49D.
When travel machine body C reaches (1) final position Lf of target movement routine LM (1), driver moves road to target
The non-operating area side of diameter LM (1) operates steering wheel 43 and carries out ridge turning driving, and travel machine body C is travelled to next operation
Start position Ls (2) is mobile.It should be noted that the ridge turning driving can also be controlled by aftermentioned automatic turning to carry out.
Before travel machine body C turning, driver can operate operating stick 45 and increase seedling implanting apparatus W, but can also be with
It is by operation 43 cutting needle of steering wheel to the transmission of seedling implanting apparatus W and the structure that increase seedling implanting apparatus W.It connects
, judge that travel machine body C is turned.
After completing the operation traveling on target movement routine LM (1), set at any time using path setting portion 76
Target movement routine LM (2).Both target movement routine LM can be set when Use barriers analyte detection portion 63 determines ridge
(2), target movement routine LM (2) can also be set during travel machine body C turns, it can also be after travel machine body C turning
It sets target movement routine LM (2).At the above-mentioned moment, it is mobile that driver sets target by operation goal-setting switch 49D
Path LM (2).It should be noted that being not limited to driver by operation goal-setting switch 49D to set target movement routine LM
(2), such as it is also possible to driver by operating auto-steering switch 50 etc. to set the structure of target movement routine LM (2).
Furthermore, it is also possible to be the structure for being not accompanied by the operation of driver and setting target movement routine LM (2) automatically.Target is mobile
After path LM (2) has adjacently been set in the non-operating area side of target movement routine LM (1), along target movement routine LM (2)
Start automatic steering control, travel machine body C carries out operation traveling.
After the final position Lf (2) that travel machine body C reaches target movement routine LM (2), according to target movement routine LM
(3), the sequence of target movement routine LM (4), target movement routine LM (5), target movement routine LM (6) repeats ridge turning
The setting and operation of target movement routine LM after traveling travels.That is, setting each target movement routine LM one by one.
During automatic steering control, ownship position NM is obtained in chronological order using satellite positioning unit 70 (referring to figure
22 NM3 etc..Identical in the following description) information.In addition, calculating speed using vehicle speed sensor 62, and as schemed
Shown in 21, opposite Orientation differences angle Δ NA is measured in chronological order using inertia measuring means 74.Azimuth deviation calculation part 81
By the integral of Orientation differences angle Δ NA, the ownship location lighted from the ground for starting automatic steering control is calculated in chronological order
NA.Also, azimuth deviation calculation part 81 calculates the azimuth deviation between ownship location NA and target bearing LA.Control unit 82 so that
Ownship location NA and the consistent mode of target bearing LA export operating quantity, and course changing control portion 83 is based on operating quantity and operates steering motor
58.Travel machine body C is accurately travelled along target movement routine LM as a result,.Driver does not operate steering wheel 43
State.
(setting of target movement routine)
Figure 22 shows the rear process target as rear process target using the state adjacent with target movement routine LM
Movement routine LM2.Process is set to travel machine body C after target movement routine LM with target movement routine LM2 and is made afterwards
The target movement routine of industry traveling.The target movement routine LM (1) of Figure 20 is equivalent in the target movement routine LM of Figure 22 as a result,
In the case where, the rear process of Figure 22 is equivalent to the target movement routine LM (2) of Figure 20 with target movement routine LM2.In addition, scheming
In the case that 22 target movement routine LM is equivalent to the target movement routine LM (2) of Figure 20, the rear process of Figure 22 is moved with target
Dynamic path LM2 is equivalent to the target movement routine LM (3) of Figure 20.Target movement routine LM of the aftermentioned Figure 23 into Figure 25 and after
Process is also identical with target movement routine LM2.
It should be noted that the target movement routine LM of Figure 22 is also possible to above-mentioned teaching path.In this case, after Figure 22
Process is equivalent to the target movement routine LM (1) of Figure 20 with target movement routine LM2.
Substantially, (referring to Fig.1 based on satellite positioning unit 70.Identical in the following description) location data will after
Process is set as separating preset set distance P with target movement routine LM with target movement routine LM2.Here, setting
Distance P is the comparable distance of working width that rice transplanting operation is carried out with seedling implanting apparatus W.
But the error of usual DGPS often reaches several meters of range.Therefore, use DGPS as satellite positioning unit
In the case where 70, consider that there are following situations: this seat in the plane based on the practical location data obtained using satellite positioning unit 70
The coordinate position for setting NM is deviated relative to actual target movement routine LM.Practical satellite positioning list is utilized being based only upon as a result,
It, can in the case that the coordinate position for the ownship position NM that member 70 obtains is come the structure of process target movement routine LM2 after setting
The plant rice shoot of operating area can be trampled on, or generates not operation area between the operation driving trace before and after ridge turning
Domain.
In the present embodiment, the reality based on the travel machine body C for having carried out automatic steering control along target movement routine LM
Border offset, separating distance of the process with target movement routine LM2 relative to target movement routine LM after calculating.Although as described above
The error of DGPS often reaches several meters of range, but carries out point-to-point transmission using DGPS within such as ten seconds or so short time
In the case where positioning, the relative position error of point-to-point transmission is minimum.Using the characteristic, the process target movement routine after setting
When LM2, path setting portion 76 is moved based on the location data oriented before it will carry out ridge turning, by rear process with target
Dynamic path LM2 is set in the position relative to ownship position NM separation relative distance.That is, the rear process mobile road of target
Diameter LM2 is set in the position that set distance P is separated with the ownship position NM of the location data calculating based on satellite positioning unit 70.
In the automatic steering control along target movement routine LM, in travel machine body C relative to target movement routine
In the case that LM carries out operation traveling to the state that non-operating area side offsets by deviation d, the actual work of travel machine body C
Industry driving trace is the driving trace of single dotted broken line La shown in Figure 22.It should be noted that the positioning based on satellite positioning unit 70
The driving trace of data calculating single dotted broken line La.In addition, the absolute error for the location data oriented by satellite positioning unit 70
It is also contained in deviation d.
Before it will carry out ridge turning driving, sat using the position that satellite positioning unit 70 orients ownship position NM
NM3 is marked as location data.After orienting position coordinates NM3, and before starting automatic ride control, ridge is carried out
Turning driving, and at any time, process target movement routine LM2 after setting.Because common ridge turning driving is all
It is completed in or so several seconds, so being sat after just completing ridge turning driving using the position that satellite positioning unit 70 navigates to
The relative error between position coordinates NM3 before marking and will carrying out ridge turning driving is small.It should be noted that position coordinates
NM3 be also possible to be averaging the multiple location datas oriented near the Lf of final position using satellite positioning unit 70 and
The coordinate obtained.
Originally, rear process target movement routine LM2 should be set in relative to target movement routine LM separation setting away from
The position of dotted line lm shown in position, i.e. Figure 22 from P.And in the present embodiment, d pairs of deviation with travel machine body C
Ying Di, rear process are set to move in parallel deviation d from dotted line lm to non-operating area side with target movement routine LM2
State.
Additionally, it is contemplated that the actual operation driving trace of travel machine body C is relative to target movement routine LM to operation area
The case where domain side is with deviation d offset.In this case, rear process with target movement routine LM2 be set to from relative to
The set distance P of target movement routine LM plays the state that the amount of deviation d has been moved in parallel to operating area side.
Even if include as a result, error in the location data oriented by satellite positioning unit 70, also can
It is set in the position that set distance P is left relative to ownship position NM.It is set in using by rear process with target movement routine LM2
The structure for separating the position of the amount of the working width of seedling implanting apparatus W, can prevent from trampling on the plant rice shoot of operating area,
Or the possibility of not operating area is generated between the operation driving trace before and after ridge turning.The structure is especially using
DGPS is useful in the structure as satellite positioning unit 70.
(about ridge automatic turning)
Substantially, the ridge that driver carries out field by operating steering wheel 43 is turned.But passing through manual operation
When carrying out ridge turning, it is necessary to reach the start position Ls of next target movement routine LM and make the direction of advance of body with
The consistent mode in target bearing of target movement routine LM carries out the direction conversion of body.Therefore, depending on the skilled of driver
There are many factor of degree, and burden is brought for unfamiliar driver.In particular, as described above based on will be into
The position coordinates NM3 that orients is before the turning of row ridge come in the structure of process target movement routine LM2 after setting, it is desirable to quasi-
Travel machine body C is ready for use on to reach the start position Ls of next operation traveling within a certain period of time and start in the certain time
The condition of automatic steering control.Therefore, in the present embodiment, control unit 82 is configured to be switched to automatic turning control.
In automatic turning control, control unit 82 based on the ownship position NM oriented by satellite positioning unit 70, via
Such as the data conversion tabled look-up, steering operation is indicated to course changing control portion 83.In addition, it is not limited to satellite positioning unit 70, such as
It can also be to the speed measured by vehicle speed sensor 62 and the Orientation differences angle Δ NA measured by inertia measuring means 74 (referring to figure
21) it is integrated respectively and calculates ownship position NM.Control unit 82 will be determined as that Use barriers analyte detection portion 63 detects ridge
As the beginning condition of automatic turning, start automatic turning control at any time.Under the target position of automatic turning control is
The start position Ls of one operation traveling, in start position Ls, so that the ownship location NA of travel machine body C is consistent with target bearing LA
Mode carry out Servo Control.
Hereinafter, being illustrated to the form of the turning driving at the ridge in field.
In the turning driving form shown in Figure 23, wide with the left and right across working width W1 along target movement routine LM
After degree carries out operation traveling, the start position Ls that the final position Lf travelled from operation is travelled to next operation carries out u turn
Traveling.It should be noted that working width W1 is the working width of seedling implanting apparatus W, working width W1 and working width W2 have
Same widths.Working width W1 and working width W2 shown in aftermentioned Figure 24 and Figure 25 are also identical.
In the form of the turning driving shown in Figure 23, between final position Lf or start position Ls and the ridge in field
Separating distance W3 is twice of working width W1 or working width W2.As a result, travel machine body C (referring to Fig.1.In following explanation
In be identical) complete operation traveling on all target movement routine LM after, the ridge in an edge field carries out two weeks
Circular traveling carry out operation traveling on one side.The form of turning driving shown in Figure 23 is mainly used for that there are four rows to transplant formula, six
The rice transplanter of the seedling implanting apparatus W of row plant formula.
In the state of ridge of the travel machine body C close to field, Use barriers analyte detection portion 63 (referring to Fig.1 9.Following
It is identical in explanation) ridge is detected in chronological order, after being determined as that travel machine body C leaves the ridge in field, start automatic
Servo Control.Position shown in the P1 of Figure 23 is the approximately mid way between of ridge turning driving, is travel machine body C closest to field
Ridge position.As a result, after travel machine body C is by the position P1, it is determined as that travel machine body C leaves ridge, utilizes control unit
82 start automatic turning control.Position shown in the P1 of aftermentioned Figure 24 is also identical.
At the time of as automatic turning control is started, for example, can be after travel machine body C be by the position P1, via notice
Portion 59 (referring to Fig.1 9.It is identical in the following description) it is capable of the state of automatic turning to driver's notice, by operating
Point terminal configuration switch 49C (referring to Fig.1 9.Identical in the following description), goal-setting switch 49D (referring to Fig.1 9.?
Below identical in explanation), auto-steering switch 50 (referring to Fig.1 9.Identical in the following description) etc. it is automatic to start
Servo Control.Alternatively, it is also possible to automatically begin to automatic turning control.Even if alternatively, it is also possible to for travel machine body C pass through the portion P1
Before position, allow also by operation starting and terminal point configuration switch 49C, goal-setting switch 49D, auto-steering switch 50 etc. automatic
Servo Control is determined as that travel machine body C leaves the ridge in field, starts automatic turning control after travel machine body C is by the position P1
System.
In the turning driving form shown in Figure 24, wide with the left and right across working width W1 along target movement routine LM
After degree has carried out operation traveling, the start position Ls that the final position Lf travelled from operation is travelled to next operation carries out U-shaped and turns
Curved traveling.
In the form of the turning driving shown in Figure 24, between final position Lf or start position Ls and the ridge in field
Separating distance is distance identical with the working width of seedling implanting apparatus W.Thus, for example having seven rows to transplant formula, eight rows
In the case where the rice transplanter of the seedling implanting apparatus W of plant formula, when directly carrying out ridge turning driving, before travel machine body C
Portion may be contacted with ridge.As a result, in the turning driving form shown in Figure 24, target movement routine is reached in travel machine body C
After the final position Lf of LM, travel machine body C temporarily backs to the position of Lff, and what travel machine body C was travelled to next operation plays point
It sets Ls and carries out u turn traveling.
It should be noted that at the time of as automatic turning control is started, not only may be used in the turning driving form shown in Figure 24
At the time of explanation in the form of being the turning driving shown in Figure 23, such as it is also possible to be determined as travel machine body C from terminal
Position Lf backs to the position of Lff and starts the structure that automatic turning controls.Alternatively, it is also possible to be configured to arrive in travel machine body C
Up to after the Lf of final position, by operation auto-steering switch 50 etc. carry out that the position of Lff will be backed to from final position Lf
The traveling for the automatic turning control that backward movement is also included.
Point in the turning driving form shown in Figure 25, between final position Lf or start position Ls and the ridge in field
Separation is from being with a distance from identical with the working width of seedling implanting apparatus W.Moreover, so that the turn curvature radius of travel machine body C
The mode of working width less than seedling implanting apparatus W constitutes travel machine body C.The turning driving form shown in Figure 25 as a result,
In, after having carried out operation traveling with the left and right width across working width W1 along target movement routine LM, firstly, travel machine body
The final position Lf that C is travelled from operation is turned in a manner of L-shaped to the position P1 of the ridge along field.Then, travel machine body C
Ridge straight ahead along field is travelled to position P2.Then, travel machine body C point from position P2 is travelled to next operation
It sets Ls and carries out L-shaped turning driving again, to complete ridge turning driving.The form of turning driving shown in Figure 25 is primary
In the rice transplanter of the seedling implanting apparatus W with ten rows plant formula.
The turning driving of the start position Ls travelled from position P2 to next operation is travel machine body C to the field for leaving field
The direction on the ridge to steered wheel 10 (referring to Fig.1.It is identical in the following description) turning driving that is turned to.Exist as a result,
After travel machine body C passes through the position P2, it is determined as that travel machine body C leaves ridge, starts with control unit 82 (referring to Fig.1 9.With
It is identical in lower explanation) carry out automatic turning control.It at the time of as automatic turning control is started, such as can be to be expert at
Body C is sailed in the state of the ridge traveling in field, detects (Figure 19 reference of steering wheel 43.It is identical in the following description)
The operation of the side locating for the start position Ls that is travelled to next operation and start automatic turning and control.Alternatively, it is also possible to be expert at
Body C is sailed by starting automatic turning control by operation auto-steering switch 50 equal behind the position P2.In addition to this, may be used also
To be configured to open even if before travel machine body C is by the position P2 also by operation starting and terminal point configuration switch 49C, goal-setting
It closes 49D, auto-steering switch 50 etc. and automatic turning is allowed to control, after travel machine body C is by the position P2, be determined as the machine of travelling
Body C leaves the ridge in field, starts automatic turning control.
Steering wheel 43 is configured to, during carrying out automatic turning control, even if changing the steering angle of steered wheel 10,
Also the steering angle of steered wheel 10 is not transmitted to steering wheel 43.For example, the operation of steering wheel 43 is transmitted using electric signal
To course changing control portion 83 (referring to Fig.1 9.It is identical in the following description) in the case where, as long as course changing control portion 83 and direction
The operation of disk 43 independently carries out automatic turning control.In addition, there are clutches between steering wheel 43 and steered wheel 10
In the case where device, as long as separating the clutch during carrying out automatic turning control.It should be noted that starting from turn
Before curved control, (Figure 19 reference of notification unit 59 is utilized.It is identical in the following description) or alarm portion 64 (referring to Fig.1 9.With
It is identical in lower explanation) notify automatic turning control to start to driver, supervise driver that hand is left steering wheel 43.Separately
Outside, it is also configured to when automatic turning controls, even if in the case where driver cannot operate steering wheel 43, driver
Steering wheel 43 can be operated by dedicated operations part (not shown), brake service.
(offset correction processing)
It is more deviated to body transverse direction from target movement routine LM compared to preset range in travel machine body C
In the case of, execute offset correction processing below.As shown in figure 26, transversely square from target movement routine LM in ownship position NM
To in the state of with offset Δ P offset, in the case where travel machine body C is travelled, control unit 82 becomes target bearing LA
More to set the inclined orientation of inclined angle alpha 1.That is, target bearing LA is changed to the mobile road of target by control unit 82
Target bearing LA when side locating for diameter LM is to set the inclined orientation of inclined angle alpha 1 as automatic steering control, thereby executing
Automatic steering control.
At this point, ownship position NM more leaves from the position for being equivalent to target movement routine LM, more setting inclined angle alpha 1 is set
It is set to the side to become larger, ownship position NM more sets setting inclined angle alpha 1 closer to the position for being equivalent to target movement routine LM
It is gently fixed.In addition, to the side setting setting inclined angle alpha 1 to become larger, speed at a high speed, more will if speed is low speed
Setting inclined angle alpha 1 is set to gently.But upper limit value is set to setting inclined angle alpha 1, from regardless of how low speed is, even if
Offset is big, and setting inclined angle alpha 1 is not more than setting upper limit value.Cause to travel this prevents travel machine body C zig zag
State becomes unstable possibility.
When ownship location NA is (referring to Figure 20.It is identical in the following description) reach to set the inclined mesh of inclined angle alpha 1
When marking orientation LA, target bearing LA is changed to the inclined angle alpha 2 inclined orientation more slow than setting inclined angle alpha 1.Moreover, working as
When ownship location NA is reached with 2 inclined target bearing LA of inclined angle alpha, target bearing LA is changed to more slow than inclined angle alpha 2
The inclined orientation of inclined angle alpha 3.In this way, travel machine body C is gradually smaller with the azimuth deviation relative to target movement routine LM
State adipping traveling, so can promptly reduce offset Δ P.
The position of above-mentioned target movement routine LM is equivalent in a lateral direction in the position for being equivalent to target movement routine LM
The left and right sides set has the region of defined width.That is, setting the control dead band for position deviation, work as position deviation
When entering in the range of controlling dead band, target bearing LA is not tilted, and is set to along original target movement routine
The direction of LM.
By above structure, travel machine body C is guided to target movement routine LM, thus especially just carry out it is above-mentioned
After automatic turning control in the automatic steering control that starts, travel machine body C relative to target movement routine LM offset promptly
Convergence.
If it is determined that it should be noted that being also configured to the accuracy decline of the location data of satellite positioning unit 70, then
The Corrective control of above-mentioned offset is not executed.In this case, the offset is not considered, and road is moved along target with ownship location NA
The mode of the target bearing LA in the direction of diameter LM carries out automatic steering control.
(display unit)
As shown in figure 27, the state of body is shown in display unit 48 (referring to Fig.1 9 via notification unit 59.In the following description
Identical) picture in.Display unit 48 is divided into job information region 100, offset information region 101, vehicle speed information area
Multiple display areas such as domain 102.Job information region 100 shows time job date and work in the left end of the upside of display unit 48
Industry real result etc..Center display travel machine body C (ownship position NM) phase of offset information region 101 in the upside of display unit 48
For the offset of target movement routine LM.Right end of the vehicle speed information region 102 in the upside of display unit 48 shows speed.Display
The large area in addition to upside in portion 48 is location information region 104, and location information region 104 shows the traveling machine in field
The position of body C.The smaller area of the left end in location information region 104 is steering state information area 103, the steering state information area
103 display control unit 75 of domain (referring to Fig.1 9.Identical in the following description) auto-steering mode or manual steering mould
The state of formula.Right end in location information region 104 is configured with the operated software push buttons group 120 of touch panel.In display unit
48 more right side is configured with physical button group 121.
The job state and target movement routine LM in the field on the periphery travel machine body C are shown in location information region 104
With the body symbol SY for indicating ownship position NM.It should be noted that for easy understanding, depicting target movement routine with heavy line
The target movement routine LM in operation traveling in LM.Moreover, having completed the region of seedling planting by draw each cultivation with point
The mode for planting rice shoot is shown.Operating area and non-operating area are visually clearly distinguished as a result,.It should be noted that right
The display of the plant rice shoot track is also possible to indicate the line of linear plant row other than being drawn with point.
The path of travel machine body C actual travel, i.e. driving trace can also be shown in display unit 48, but this point is being schemed
It is not explicitly indicated that in 27.By comparing driving trace FP and target movement routine LM, automatic steering control can be checked
Precision.Based on satellite positioning unit 70 (referring to Fig.1 9.Identical in the following description) location data, by driving trace
It is shown in display unit 48.In addition, body symbol SY is expressed as arrow shaped, sharp direction indicates direction of travel, i.e. ownship location
NA.In order to visually be easier to know the azimuth deviation between ownship location NA and target bearing LA, be shown above from
The deflection scale 111 of the angular range of pointer 110 and the expression direction that the center of body symbol SY extends to direction of travel.Separately
Outside, the boundary line 112 for indicating the allowed band of azimuth deviation is also shown.It can also be with the digital value of display orientation deviation.It drives
Person being capable of offset and azimuth deviation of the visual confirmation travel machine body C relative to target movement routine LM by display unit 48.
When setting rear process target movement routine LM2 based on the operation traveling on target movement routine LM, such as scheme
Shown in 27, show travel machine body C relative to the rear process offset of target movement routine LM2 in offset information region 101.It is aobvious
Show at the time of offset either from target movement routine LM backward process with target movement routine LM2 carry out ridge turning row
During sailing, it is also possible to after completing the ridge turning driving.
As described above, in the case where carrying out the positioning of point-to-point transmission using DGPS within such as ten seconds or so short time,
The relative position error of point-to-point transmission is minimum.But relative to will carry out ridge turning prelocalization go out position coordinates NM3
(referring to Figure 22.It is identical in the following description), it is carried out from the time of orienting position coordinates NM3 by the longer time
Positioning, the error using the DGPS position coordinates oriented in chronological order are bigger.That is, relative to position coordinates
The positioning precision of NM3 declines along with the process of time.Therefore, the structure of DGPS is used in satellite positioning unit 70
In the case of, display unit 48 is configured to, if it is decided that is the accuracy decline of offset, does not then show in offset information region 101
Offset.For example, the setting time of display offset amount in offset information region 101 can be set in advance in, when from orienting position
When have passed through the setting time from the time of setting coordinate NM3, the not display offset amount in offset information region 101.
Offset information region 101 during carrying out above-mentioned automatic turning control, in the picture that display unit 48 is shown
And position and the offset of travel machine body C is not shown in location information region 104.That is, the display unit in automatic turning
48 displays are the readily comprehensible displays of driver in automatic turning.Alternatively, it is also possible to be according to the meaning of driver freely
It is switched to the position of the travel machine body C in display automatic turning and the structure of offset.Display or non-display switching can lead to
Operating software button group 120, physical button group 121 are crossed to carry out.In addition, the notice of offset is also possible to utilize notification unit 59
The sound notification of generation, switch light display or flashing display.
Make satellite positioning unit 70 due to the factors such as the quantity for the navigation satellite that can supplement satellite positioning unit 70 is few
The insufficient situation of receiving sensitivity under, the location data of satellite positioning unit 70 may contain large error.In such feelings
Under condition, 101 not display offset amount of offset information region can be made.Alternatively, it is also possible to via notification unit 59 to offset information region
101, location information region 104 notifies the receiving sensitivity of satellite positioning unit 70 insufficient.Driver is supervised to pass through as a result, artificial
Operation carries out operation traveling.It should be noted that the insufficient notice of the receiving sensitivity of satellite positioning unit 70 is either voice is led
Boat, switch light display or flashing display, and are switched to and do not notify freely.In addition, the time that notification unit 59 notifies can be with
It is configured to arbitrarily set adjustment.Furthermore, it is also possible to be configured to, when operating auto-steering switch 50 in this state
When, do not consider the offset, by make ownship location NA along target bearing LA in a manner of carry out automatic steering control.
Target movement routine LM can also can be corrected after setting.For example, it is contemplated that just completing ridge turning
After traveling by manual operation carry out operation traveling, and ownship position NM when from the forward observation of travel machine body C relative to
The case where target movement routine LM either side offset to the left and right.In this case, driver can also be able to carry out following
Correction: when from the forward observation of travel machine body C, put down target movement routine LM to the left and right to direction locating for ownship position NM
Row movement.Using the structure, even if being in outside allowed band in ownship position NM relative to the offset of target movement routine LM
In the case of, the offset of ownship position NM can also be set relative to target movement routine LM by correcting target movement routine LM
It is set in allowed band.Thereby, it is possible to start the automatic steering control along target movement routine LM rapidly.Target movement routine
The correction of LM can both be carried out by operating software button group 120, can also by the operation of physical button group 121 come into
Row.
(other embodiments of embodiment 2)
Structure illustrated by present invention is not limited to the embodiments described above will illustrate of the invention representative below
Other embodiments.
(1) in the above-described embodiment, process target movement routine LM2 after seriatim setting, but be not restricted to that on
State embodiment.For example, as shown in figure 28, multiple rear process target movement routine LM2 can also be concurrently set.In Figure 28
In, in the non-operating area side of target movement routine LM, rear process target movement is set separately at equal intervals with preset
Path LM2 (A1), LM2 (A2), LM2 (A3).It is set based on the operation driving trace of the travel machine body C on target movement routine LM
Process target movement routine LM2 (A1), LM2 (A2), LM2 (A3) after fixed.In addition, being based on rear process target movement routine
The operation driving trace of travel machine body C on LM2 (A3), process target movement routine LM2 after equally spaced setting respectively
(B1)、LM2(B2)、LM2(B3)。
It can be in final position Lf at the time of process target movement routine LM2 (A1), LM2 (A2), LM2 (A3) after setting
Neighbouring Use barriers analyte detection portion 63 is set when determining ridge, can also be in travel machine body C to start position Ls (A1)
The midway for carrying out ridge turning driving is set, and can also be set after travel machine body C reaches start position Ls (A1).
In addition, can be in final position Lf at the time of process target movement routine LM2 (B1), LM2 (B2), LM2 (B3) after setting
(A3) it is set when nearby Use barriers analyte detection portion 63 determines ridge, it can also be in travel machine body C to start position Ls
(B1) midway for carrying out ridge turning driving is set, and can also be reached start position Ls (B1) in travel machine body C and be carried out afterwards
Setting.At the above-mentioned moment, driver sets each rear process target movement routine LM2 by operation goal-setting switch 49D,
But be not restricted to that the structure, for example, it may be the structure that driver is set by operation auto-steering switch 50 etc.,
The structure that can be the operation without driver and set automatically.
In the case where multiple traveling working rigs carry out the structure of operation traveling simultaneously, it is configured to each traveling working rig
Operation traveling is carried out side by side with target movement routine LM2 (A1), LM2 (A2), LM2 (A3) along rear process, later, along rear process
Operation traveling is carried out side by side with target movement routine LM2 (B1), LM2 (B2), LM2 (B3).
(2) in the above-described embodiment, path setting portion 76 is configured to for rear process being set in target movement routine LM2
The non-operating area of target movement routine LM, but it is not limited to above embodiment.For example, in the left and right of target movement routine LM
In the case that two sides are non-operating area, as shown in figure 29, it is configured to set in the left and right sides of target movement routine LM
Process target movement routine LM2 (L), LM2 (R) afterwards.In such a case it is possible to be configured to process target movement routine backward
Any of LM2 (L), LM2 (R) carry out ridge turning driving, and after being determined as that travel machine body C is turned, determination is set
Fixed any one rear process target movement routine LM2.Originally, rear process target movement routine LM2 (L), LM2 (R) should
It is set in the position of dotted line lm (L) shown in the position relative to target movement routine LM separation set distance P, i.e. Figure 29, lm (R)
It sets.And in the present embodiment, accordingly with the deviation d of travel machine body C, by rear process target movement routine LM2
(L), LM2 (R) is set as having moved in parallel the state of deviation d from dotted line lm (L), lm (R).
(3) even if there is also the actual of travel machine body C in the case where target movement routine LM is set as linear
Operation driving trace for example crawls as shown in the dotted line of Figure 30 due tos the barrier etc. in travel machine body C skidding or evacuation field
Situation.In this case, the process target movement routine after the actual operation driving trace setting of travel machine body C
LM2.Process is crawled with target movement routine LM2 (1) along the actual operation driving trace of travel machine body C after shown in Figure 30.
Operation is being carried out when driving with target movement routine LM2 along rear process as a result, can prevent from trampling on the plant seedling of operating area
Seedling, or generate between the operation driving trace before and after ridge turning driving the possibility of not operating area.It should be noted that both may be used
The actual operation driving trace that travel machine body C is calculated with the location data based on satellite positioning unit 70, can also distinguish
To the speed measured by vehicle speed sensor 62 and the Orientation differences angle Δ NA measured by inertia measuring means 74 (referring to Figure 21) into
Row integrates and calculates the actual operation driving trace of travel machine body C.
In the case where process is with target movement routine LM2 after the setting of the actual operation driving trace of travel machine body C,
Process is wire shaped of the actual operation driving trace than travel machine body C closer to straight line with target movement routine LM2 afterwards.Example
Such as, in the case where travel machine body C intricately crawls relative to the operation driving trace of target movement routine LM, rear process mesh
Mark movement routine LM2 also intricately crawls, so that travel machine body C may not be able to be high-precision along rear process target movement routine LM2
Degree ground traveling.Rear process shown in Figure 30 is set at target movement routine LM2 (1) from relative to the mobile road of target as a result,
Diameter LM separates position of the position further away from Δ p of set distance P.Also, rear process target movement routine LM2 (1) quilt
It is set as snake position shown in the dotted line of Figure 30 and separates setting with rear process with the snake position of target movement routine LM2 (1)
The state of distance P.The rear process target movement routine that process is set afterwards with target movement routine LM2 (1) after setting as a result,
LM2 (2) is set to than rear process target movement routine LM2 (1) closer to straight line, the process mobile road of target after setting
The rear process that diameter LM2 (2) is set afterwards is set to substantially linear with target movement routine LM2 (3).As a result, even if
In the case that the actual operation driving trace of travel machine body C crawls once in a while, the rear process set after also utilizing is moved with target
Dynamic path LM2 is gradually modified to linearly.It should be noted that target movement routine LM and Figure 30 shown in Figure 30 can be suitably changed
Right end shown in substantially linear rear process between target movement routine LM2 (3) have snake position rear process
With the quantity of target movement routine LM2.
(4) in the above-described embodiment, target movement routine LM is the structure set in an independent field, still
It is not limited to the above embodiment.For example, target movement routine LM can be the structure set across multiple fields.In the feelings
It under condition, can be teaching path, be stored as reference path relative to the actual operation driving trace of target movement routine LM,
And the structure for setting the target movement routine LM in other fields.Reference path is set to traveling machine either being stored in
The structure of the storage unit of the microcomputer of body C is also possible to be stored in the structure of the storage unit of exterior terminal.In reference path
In the case where the structure for being stored in the storage unit of exterior terminal, can be arranged in travel machine body C can be via WAN (Wide Area
Network (wide area network)) etc. the communication equipment that is communicated with exterior terminal, from the storage unit of exterior terminal to the micro- of travel machine body C
Type computer reads reference path.Be also possible to exterior terminal, travel machine body C microcomputer possessed by storage unit deposit
Store up the structure of multiple reference paths.It with this configuration, also can be only by reading and each field pair even if being travelled without teaching
The reference path answered sets target movement routine LM.
(5) it is also configured to, when have passed through the setting when at the time of orienting position coordinates NM3 (referring to Figure 22)
Between when, the setting without process target movement routine LM2 after shown in above embodiment.Make in satellite positioning unit 70
In the case where structure with DGPS, the positioning precision relative to position coordinates NM3 is reduced along with the process of time.Cause
This is also configured in the case where process target movement routine LM2 after being judged to accurately setting, and path is set
Process target movement routine LM2 after determining portion 76 and cannot setting.
(6) it also can have the following structure: in the case where process target movement routine LM2 after cannot setting, via
Process target movement routine LM2 after notification unit 59 cannot be set to driver's notice.The notice that notification unit 59 is issued both may be used
To be the sound of buzzer etc., it is also possible to be set to lighting, flashing for the LED illumination of central marker 14, can also shows
In display unit 48.As the case where process target movement routine LM2, can exemplifying and be moved in rear process with target after cannot setting
On the setting path of dynamic path LM2 there are the edge of a field in field turn around (pillow ground), ridge the case where, rear process target move road
The case where setting position of diameter LM2 crosses the boundary in field and enters adjacent field, in rear process target movement routine LM2
Setting path on the case where detecting barrier, detect the case where unfavorable condition of satellite positioning unit 70 etc..
(7) in the case where travel machine body C is larger to deviate target movement routine LM than preset distance, target
Movement routine LM can be used for operation traveling.In the case where travel machine body C significantly deviates target movement routine LM, it is believed that
Driver is likely to operate travel machine body C consciously.In such cases it is preferred to keep the manual operation of driver excellent
First.It is of course also possible to along target movement routine LM fulfil assignment traveling after carry out ridge turning driving, travel machine body C with
In the case that process is with target movement routine LM2 after larger deviateing than preset distance, also not by rear process target
Movement routine LM2 is travelled for operation.
(8) process target is mobile after path setting portion 76 can linkedly be set with control unit 82, course changing control portion 83
Path LM2.For example, control unit 82 can be determined that after the setting of path setting portion 76 process target movement routine LM2, thus into
Either in the control of row above-mentioned automatic turning, automatic ride control or both sides.In addition, driver is sometimes on the edge travel machine body C
After target movement routine LM carries out operation traveling, individually judge whether to carry out operation row with target movement routine LM2 along rear process
It sails.Therefore, path setting portion 76 can also be switched to freely linkedly set with control unit 82, course changing control portion 83 after process use
The structure of target movement routine LM2 and process target movement routine after independently being set with control unit 82 or course changing control portion 83
The structure of LM2.
(9) it is not limited to above embodiment, such as is also configured to, in the ownship location NA and target of travel machine body C
When more greatly there is azimuth deviation than preset range in azimuth deviation between the target bearing LA of movement routine LM,
Process target movement routine LM2 after path setting portion 76 is set.It is 90 in the angle of azimuth deviation for example, being configured to
Du or more in the case where, be determined as that travel machine body C is turned, process target movement routine LM2 after setting.In the situation
Under, it can be the structure of process target movement routine LM2 after automatic setting, be also possible to through operation goal-setting switch
49D, auto-steering switch 50 etc. and set after process target movement routine LM2 structure.Furthermore it is possible to be configured to, logical
Cross operation goal-setting switch 49D, auto-steering switch 50 etc. and after allowing to set after process target movement routine LM2, with
The angle of azimuth deviation is greater than the fixed rear process target movement routine LM2 of mode of preset range.
(10) as the operating parts for process target movement routine LM2 after setting, in addition to goal-setting switch 49D with
Outside, it is also possible to the physical button group 121 of the software push buttons group 120 in such as display unit 48, the right side in display unit 48.?
That is the operating parts can be dedicated operating parts, it can also be to existing button switch, the additional additional function of bar.
(11) in the above-described embodiment, rear process is rear process target movement routine LM2 with target, but rear process is used
Target is for example also possible to the start position Ls after ridge turning.Also, it is also configured to operate goal-setting in driver
When switch 49D, the rear process mesh parallel with the target movement routine LM travelled is set using start position Ls as benchmark
Mark movement routine LM2.In addition, rear process is also possible to a part of rear process target movement routine LM2 with target, for example,
It is also possible to the region away from start position Ls number meter or so in rear process target movement routine LM2.Moreover, in travel machine body
C has been fully completed in the case where the operation traveling of target movement routine LM, or in the midway of rice transplanting operation must feed combustion
In the case where material etc., rear process with target be also possible to turn around along the edge of a field of ridge (pillow ground) region.
(12) it is not limited to above-mentioned rice transplanter, the present invention also can be applied to make comprising other live streaming classes including seed-sowing machine etc.
Industry machine.In addition, reagent spray apparatus for work can be arranged in these working rigs.Furthermore, it is also possible to be applied to be appropriately combined cultivation
Planting apparatus, seeding apparatus, reagent spray apparatus for work and the working rig carried.In addition, other than class working rig is broadcast live,
The present invention can also apply to the agricultural working machines such as tractor, combine harvester.
(13) the respective embodiments described above can be in combination with one another.
Industrial applicibility
The present invention can be applied to carry out along the target movement routine in field the rice transplanter of operation traveling, paddy field seed-sowing machine,
Spraying operation machine etc. travels working rig.
Claims (30)
1. a kind of traveling working rig comprising:
Travel machine body travels in field；
Apparatus for work carries out operation to field；
Path setting portion, sets target movement routine, and the target movement routine utilizes institute for the travel machine body on one side
It states apparatus for work and carries out the operation traveling that operation is travelled on one side；
It is alternately repeated in the travel machine body along the operation traveling of the target movement routine and to next target
The turning driving of movement routine turning and in the case where being travelled, the path setting portion is based in the travel machine body along institute
The position obtained during stating target movement routine traveling, setting is for the travel machine body on the mobile road of the target of passing by
The rear process target travelled after diameter.
2. traveling working rig as described in claim 1, which is characterized in that
Process is the rear process target movement routine travelled for the travel machine body with target after described.
3. traveling working rig as claimed in claim 1 or 2, which is characterized in that
The traveling working rig has notice mechanism, and the notice mechanism enters edge from the turning driving in the travel machine body
Next target movement routine when driving, notify the travel machine body position and next target movement routine it
Between deviation.
4. traveling working rig as claimed in claim 3, which is characterized in that
The notice mechanism is notified after completing the turning driving.
5. traveling working rig as described in claim 3 or 4, which is characterized in that
In the case where that cannot set the rear process target, the notice authority notification cannot set the rear process mesh
Mark.
6. the traveling working rig as described in any one of claims 1 to 5, which is characterized in that
The traveling working rig has ridge testing agency, and the ridge testing agency detects close to ridge,
When the ridge testing agency detects close to ridge, process target after the path setting portion setting is described.
7. such as traveling working rig described in any one of claims 1 to 6, which is characterized in that
The travel machine body from along the target movement routine traveling enter the turning driving when, the path setting
Process target after portion's setting is described.
8. the traveling working rig as described in any one of claims 1 to 7, which is characterized in that
When the travel machine body tilts preset angle or more relative to the target movement routine, the path setting
Process target after portion's setting is described.
9. such as traveling working rig described in any item of the claim 1 to 8, which is characterized in that
After being operated to manual operation part, process target after the path setting portion setting is described.
10. traveling working rig as claimed in any one of claims 1-9 wherein, which is characterized in that
The traveling working rig has position detecting mechanism, and the position detecting mechanism is obtained based on the positioning signal of navigation satellite
Location information,
The mean place of the multiple location informations navigated to based on the final stage travelled in the operation is described to set
Process target afterwards.
11. the traveling working rig as described in any one of claims 1 to 10, which is characterized in that
After described process target can bracketing settings it is multiple.
12. the traveling working rig as described in any one of claims 1 to 11, which is characterized in that
The rear process target is set relative to the offset of the target movement routine based on the travel machine body.
13. traveling working rig as claimed in claim 12, which is characterized in that
Process is set to target from the position for leaving preset interval relative to the target movement routine after described
The state moved in parallel with the travel machine body relative to the amount of the offset of the target movement routine.
14. the traveling working rig as described in any one of claims 1 to 13, which is characterized in that
Process can be corrected with target after setting after described.
15. the traveling working rig as described in any one of claims 1 to 14, which is characterized in that
The operation driving trace setting rear process target along the travel machine body.
16. traveling working rig as claimed in claim 15, which is characterized in that
Path based on the rear process target is the wire shaped than the operation driving trace closer to straight line.
17. the traveling working rig as described in any one of claims 1 to 16, which is characterized in that
The traveling working rig is provided with control mechanism, the control mechanism output control signal to carry out the operation traveling,
The target movement routine is substantially linear,
The path setting portion as with the independent function of the control mechanism and set it is described after process target.
18. the traveling working rig as described in any one of claims 1 to 16, which is characterized in that
The traveling working rig is provided with control mechanism, the control mechanism output control signal to carry out the operation traveling,
The target movement routine is substantially linear,
The path setting portion sets the rear process target as the function of interlocking with the control mechanism.
19. the traveling working rig as described in any one of claims 1 to 18, which is characterized in that
It is described in the case where the travel machine body more greatly deviates the target movement routine than preset distance
Target movement routine is not used for the operation traveling.
20. the traveling working rig as described in any one of claims 1 to 19, which is characterized in that
Reference path is set based on the operation traveling of the final stage of operation traveling,
In other fields, the path setting portion sets the rear process target based on the reference path.
21. traveling working rig as claimed in claim 20, which is characterized in that
The traveling working rig has storage unit, and the storage unit can store multiple reference paths for every piece of field.
22. a kind of rice transplanter, paddy field seed-sowing machine or spraying operation machine comprising:
Travel machine body travels in field；
Apparatus for work carries out operation to field；
Path setting portion, sets target movement routine, and the target movement routine utilizes institute for the travel machine body on one side
It states apparatus for work and carries out the operation traveling that operation is travelled on one side；
Driving trace obtains mechanism, is used to obtain the driving trace of the travel machine body progress when driving；
The path setting portion sets the target movement routine along the driving trace.
23. rice transplanter as claimed in claim 22, paddy field seed-sowing machine or spraying operation machine, which is characterized in that
What the target movement routine was accordingly set by the first path that accordingly sets with first area and with second area
Second path is constituted, the first area be travel machine body described in the driving trace with preset movement routine one
Cause or the position that is travelled of substantially uniform state, the second area be travel machine body described in the driving trace with to
The position that the state of the left and right directions offset of the preset movement routine is travelled,
Second path is set to relative to the first path to the second area relative to described preset
The state of the side offset of movement routine offset.
24. rice transplanter as claimed in claim 23, paddy field seed-sowing machine or spraying operation machine, which is characterized in that
Offset between the first path and second path is less than the preset movement routine and described the
Offset between two regions.
25. rice transplanter, paddy field seed-sowing machine or spraying operation machine as described in claim 23 or 24, which is characterized in that
In the state of setting multiple target movement routines, after process, the first path and second path
Between offset it is smaller.
26. the rice transplanter, paddy field seed-sowing machine or spraying operation machine, feature as described in any one of claim 23 to 25 exist
In,
The first path and second path are formed as linear.
27. the rice transplanter, paddy field seed-sowing machine or spraying operation machine, feature as described in any one of claim 22 to 26 exist
In,
The target movement routine is made of the curve of approximation based on the driving trace.
28. the rice transplanter, paddy field seed-sowing machine or spraying operation machine, feature as described in any one of claim 22 to 27 exist
In,
The rice transplanter, paddy field seed-sowing machine or spraying operation machine have position detecting mechanism, and the position detecting mechanism is based on leading
The positioning signal detection of boat satellite indicates the location data of the position of the travel machine body,
The driving trace obtains mechanism and is based on the location data acquisition driving trace.
29. the rice transplanter, paddy field seed-sowing machine or spraying operation machine, feature as described in any one of claim 22 to 28 exist
In,
There is the acceleration that can measure the travel machine body and angle to accelerate for the rice transplanter, paddy field seed-sowing machine or spraying operation machine
The inertia measurement mechanism of degree,
The driving trace is obtained mechanism and is added based on the acceleration or the angular acceleration or the acceleration and the angle
Speed both sides obtain the driving trace.
30. the rice transplanter, paddy field seed-sowing machine or spraying operation machine, feature as described in any one of claim 22 to 29 exist
In,
The apparatus for work includes at least one of plant feed unit, seeding apparatus and reagent spray apparatus for work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310347401.3A CN116267069A (en) | 2017-12-05 | 2018-08-14 | Running operation machine, rice transplanting machine, paddy field direct seeding machine and spraying operation machine |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-233297 | 2017-12-05 | ||
| JP2017233297A JP6908508B2 (en) | 2017-12-05 | 2017-12-05 | Traveling work machine |
| JP2017235451A JP6974148B2 (en) | 2017-12-07 | 2017-12-07 | Traveling work machine |
| JP2017-235451 | 2017-12-07 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310347401.3A Division CN116267069A (en) | 2017-12-05 | 2018-08-14 | Running operation machine, rice transplanting machine, paddy field direct seeding machine and spraying operation machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109863852A true CN109863852A (en) | 2019-06-11 |
| CN109863852B CN109863852B (en) | 2023-03-28 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810920978.8A Active CN109863852B (en) | 2017-12-05 | 2018-08-14 | Traveling working machine, rice transplanter, paddy field direct seeder, and spray working machine |
| CN202310347401.3A Pending CN116267069A (en) | 2017-12-05 | 2018-08-14 | Running operation machine, rice transplanting machine, paddy field direct seeding machine and spraying operation machine |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310347401.3A Pending CN116267069A (en) | 2017-12-05 | 2018-08-14 | Running operation machine, rice transplanting machine, paddy field direct seeding machine and spraying operation machine |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20190066528A (en) |
| CN (2) | CN109863852B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110488808A (en) * | 2019-07-12 | 2019-11-22 | 北京合众思壮科技股份有限公司 | Automatic Pilot method and intelligent control antenna |
| CN110757461A (en) * | 2019-11-13 | 2020-02-07 | 江苏方时远略科技咨询有限公司 | Control system and control method of industrial mobile robot |
| CN113348830A (en) * | 2021-06-29 | 2021-09-07 | 中国农业大学 | Information feedback-based unmanned control system and control method for rice transplanter |
| CN113545219A (en) * | 2021-07-13 | 2021-10-26 | 江苏大学 | Combine harvester field head steering system and method and combine harvester |
| CN113766826A (en) * | 2019-06-28 | 2021-12-07 | 株式会社久保田 | Agricultural working machine, automatic travel system, program, recording medium having program recorded thereon, and method |
| CN114532017A (en) * | 2022-03-18 | 2022-05-27 | 江苏玖顺农业机械有限公司 | Automatic navigation small-sized high-speed transplanter for rice planting |
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| CN113348830A (en) * | 2021-06-29 | 2021-09-07 | 中国农业大学 | Information feedback-based unmanned control system and control method for rice transplanter |
| CN113545219A (en) * | 2021-07-13 | 2021-10-26 | 江苏大学 | Combine harvester field head steering system and method and combine harvester |
| CN114532017A (en) * | 2022-03-18 | 2022-05-27 | 江苏玖顺农业机械有限公司 | Automatic navigation small-sized high-speed transplanter for rice planting |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20190066528A (en) | 2019-06-13 |
| CN109863852B (en) | 2023-03-28 |
| CN116267069A (en) | 2023-06-23 |
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