CN116034683A

CN116034683A - Working vehicle

Info

Publication number: CN116034683A
Application number: CN202310217728.9A
Authority: CN
Inventors: 直本哲; 森下孝文; 青田和树; 宫本惇平; 久保田祐树; 石见宪一; 宫西吉秀; 永田康弘; 吉田和正; 目野鹰博; 林繁树; 高濑竣也
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2015-12-25
Filing date: 2016-06-16
Publication date: 2023-05-02
Also published as: CN113728771A; KR20240056785A; KR20240056784A; KR102660752B1; CN113728771B; KR20180098525A; WO2017110116A1; CN108289408A; CN108289408B; KR20240056781A; KR20240056783A

Abstract

The work vehicle includes: a traveling machine body (C) having a traveling device (A); a seedling planting device (W) for performing an operation with respect to a field; a steering unit (U) capable of steering the travelling device (A); a receiving device (63) for acquiring position information by a satellite positioning system; a main inertia measurement device (62) for measuring inertia information; a generation unit that generates a target line for advancing the advancing body (C); and a control unit that controls the steering unit (U) so that the traveling body (C) travels along the target line based on the positional information and the inertial information. The receiving device (63) and the main inertia measuring device (62) are disposed at different positions of the traveling machine body (C).

Description

Working vehicle

Technical Field

The present invention relates to a work vehicle such as an agricultural work vehicle (hereinafter also referred to as an "agricultural work machine") and a construction work vehicle. The work vehicle includes, but is not limited to, a riding type rice transplanter, a riding type seed planter, a tractor, a combine harvester, and the like.

Background

[1] For example, JP2001-161112A describes a conventional work vehicle capable of performing automatic steering control of a traveling machine body. The working vehicle includes a traveling machine body having traveling devices ("front wheels", "rear wheels"), a working device ("seedling planting device") for performing work on a field, and a steering unit ("power steering valve", "power steering cylinder", "automatic control valve", etc.) capable of steering the traveling device. Further, the working vehicle includes a receiving device ("GPS receiver") that acquires position information via a satellite positioning system, and a control unit ("controller") that controls a steering unit based on the acquired position information so as to cause the traveling body to travel straight (the name in brackets is the name of a component in JP 2001-161112A). The work vehicle controls the steering unit based on only the position information acquired by the receiving device, and performs automatic steering control of the traveling machine body.

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

[2] In a conventional riding rice seedling transplanting machine, there is a construction including a traveling vehicle body having a riding-type driving part, a seedling planting device connected to a rear part of the traveling vehicle body so as to be capable of being lifted and lowered, an armrest erected upward from a vehicle body part laterally of the driving part, and a preliminary seedling storage device provided in front of the armrest (for example, refer to JP 2013-074841A).

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

[3] Among work vehicles, there are the following structures: the vehicle body is configured to travel along a target travel path based on the detection information, and includes a position detection mechanism that detects a position of the vehicle body and an orientation detection mechanism that detects an orientation of the vehicle body.

Conventionally, a vehicle body of a work vehicle has the following structure: a satellite positioning unit such as GPS (Global Positioning System) and an inertial navigation unit as an example of the azimuth detection means; a target movement path to be traveled by a vehicle body is preset in a field as an operation target; steering control is performed so that the position of the vehicle body detected by the satellite positioning system becomes a target position corresponding to the target movement path and the detected azimuth becomes a target azimuth corresponding to the target movement path; the target azimuth is always set to an azimuth corresponding to the target movement path (for example, refer to JP 2009-245002A).

In the case of steering the vehicle body, it is not known in which direction the vehicle body is currently traveling, based on only the position information obtained by the satellite positioning means. Further, there are cases where it takes time to perform the measurement processing by the satellite positioning unit, and when the measurement processing is applied to a work vehicle that moves and guides the vehicle body along a set route, it is difficult to perform steering control of the work vehicle with high accuracy based on only the position information. Therefore, the current azimuth of the vehicle body is detected by the azimuth detecting means, and steering control is performed based on the position information and the azimuth information.

[4] Among agricultural work machines, there is a construction in which a positioning system using satellites such as GPS is used to set a travel route and agricultural work is performed. Among such agricultural work machines, there are the following configurations: the automatic travel is switched freely between manual travel by manual steering and automatic travel by automatic steering along a set travel line set in parallel with a reference travel line; the automatic traveling device is provided with a changeover switch for freely switching between the manual traveling and the automatic traveling.

Conventionally, as such agricultural work machines, there are rice transplanting machines configured as follows: while the position of the traveling machine body is being measured by the positioning system, the machine body automatically travels on a set travel route, and seedlings are planted in a predetermined planting range (for example, refer to JP 2008-092818A).

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

As a specific example of teaching, a traveling machine body is made to travel in a field, and after reaching a position that is a start point of a reference travel route, a specified switch provided on an instrument panel is operated, and position information of the traveling machine body at the position is read by a positioning system and is input to a recording unit as a start point position.

Then, the traveling machine body is caused to travel to a position that is an end point of the reference traveling route, and similarly, by performing an operation of the designation switch, end point position information of the reference traveling route can be recorded, and by connecting these end point positions to the end point positions, the reference traveling route can be set.

In addition, as a setting of a setting travel route for an index for automatically making the travel machine body travel, a plurality of line segments parallel to the reference travel route are assumed, and these parallel line segments are set as the setting travel route, with a certain interval size calculated from the number of planting bars or the like of the travel machine body being separated from the reference travel route.

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

[5] In a field work vehicle, there is a structure as follows: the device comprises a travelling body which travels in a field while changing the direction in a ridge area, a field operation device which performs operation with respect to the field, and a positioning unit which outputs positioning data indicating the position of the vehicle.

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

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

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

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

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

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

Problems to be solved by the invention

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

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

Therefore, in the work vehicle described in JP2001-161112A, as described in US7346452B2, the following technique is studied: and a measuring unit which is integrated with a receiving device for acquiring position information by the satellite positioning system and an inertial measuring device for measuring inertial information, and is used for performing automatic steering control of the travelling body based on the position information acquired by the receiving device and the inertial information measured by the inertial measuring device, so that the accuracy of the operation performed by the operating device is further improved.

However, the receiving device tends to be disposed at a portion where the surrounding shielding object is small and the sway is relatively large, and thus the accuracy of the acquired positional information tends to be high, whereas the inertial measurement device tends to be disposed at a portion where the sway is relatively small, and thus the error of the inertial information tends to be small. Therefore, if the measuring unit in which the receiving device and the inertial measuring device are integrated is disposed at a part of the traveling body, there is a possibility that the characteristics of both the receiving device and the inertial measuring device cannot be fully exhibited.

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

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

In the riding rice transplanter of JP2013-074841A, a plurality of preliminary seedling placement stages are provided in a preliminary seedling storage device, and the preliminary seedling storage device is configured to be switchable between a 1 st state in which the plurality of preliminary seedling placement stages are arranged in the up-down direction of a traveling vehicle body and a 2 nd state in which the plurality of preliminary seedling placement stages are arranged in the front-rear direction of the traveling vehicle body, whereby the preliminary seedling storage device can be switched to the 1 st state to store the plurality of preliminary seedling placement stages in a vertically multi-layered arrangement, or the plurality of preliminary seedlings can be stored in a vertically multi-layered arrangement, and the preliminary seedling storage device can be switched to the 2 nd state to store the plurality of preliminary seedlings in the front-rear direction of the traveling vehicle body.

By employing the conventional technique, when the 1 st state and the 2 nd state of the preliminary seedling storage device can be switched, the preliminary seedling storage device is positioned further toward the vehicle front side as the vehicle longitudinal direction length of the upper end portion of the grip portion as the armrest is longer. That is, when the preliminary seedling storage device is switched to the 2 nd state, it is necessary to prevent the 1 st preliminary seedling stage from touching the armrest.

Therefore, the following riding rice transplanting machine is desirable: the length of the upper end portion of the armrest in the vehicle body longitudinal direction can be made longer without bringing the preliminary seedling storage device closer to the vehicle body front side or even without bringing it closer to the vehicle body front side.

[3] The problems corresponding to the background art [3] are as follows.

In the above-described structure of JP2009-245002A, when steering control is performed based on the detection information of the satellite positioning unit and the detection information of the azimuth detection means, since the target azimuth is always set to an azimuth along the target moving path, there are the following disadvantages.

That is, in the above-described conventional structure, the control means operates the steering operation means so that the detection position of the vehicle body is located on the target movement path and the detection azimuth becomes the azimuth along the target movement path. If the vehicle body is corrected in such a manner that the vehicle body is displaced from the target movement path in the lateral direction, for example, but the vehicle body is oriented in the same traveling state as the target azimuth, if the traveling direction of the vehicle body is changed in order to correct the position, the azimuth of the vehicle body is displaced from the target azimuth, and thus, there are cases where an unnecessary operation is to be performed in response to the displacement from the target azimuth. As a result, it may take time to return to the traveling state along the target moving path.

Therefore, it is desirable to be able to quickly return to a traveling state along the target moving path when the vehicle body is displaced from the target moving path in the lateral direction and the vehicle body is oriented in the same direction as the target direction.

[4] The problems corresponding to the background art [4] are as follows.

According to the agricultural work machine of JP2008-092818A or the like having the above-described configuration, the setting of each set travel route is set parallel to the reference travel route at equal intervals. Thus, the traveling machine body performs planting of seedlings while traveling on the traveling lines at equal intervals, irrespective of differences in field conditions (for example, fluctuation of the field, planting conditions of seedlings in adjacent planting completion paths, and the like) in the automatically traveling paths.

However, the surface of the field on which the traveling body travels is not necessarily limited to be flat, so that, for example, the following may be possible: between some undulating portions and portions other than such portions in the field, some deviation occurs in the path of travel of the traveling body, or the planting conditions such as the position or posture of the seedlings after planting change.

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

However, since the set travel route is set to be parallel to the reference travel route at equal intervals, in order to take the countermeasure as described above, it is necessary to switch from automatic travel to manual travel by a change switch, and continue the manual travel while changing the lane by manual steering of the driver. As a result, the driver cannot take out his/her hand from the driving operation, and it may be difficult to perform other tasks on the traveling machine body in parallel.

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

Therefore, there is a demand for agricultural work machines that can set a set travel route to a free lane and reduce the burden on the driver.

[5] The problems corresponding to the background art [5] are as follows.

In a case where accuracy is required for alignment in an adjacent work area (travel trajectory) such as a rice seedling planting machine, a high-level local position detection technique and an automatic steering control technique are required to automatically perform accurate alignment during a turn under autonomous travel in a pincushion. However, in the case of performing such direction change travel by automatic steering or manual steering, it is important to accurately recognize the timing at which the direction change travel is started, that is, the arrival of the rice seedling planting machine at the ridge region, and the accurate alignment at the start point for the next work travel after the direction change travel, which is a difficult driving operation for unskilled persons.

In view of such practical situations, the following field work vehicles are desired: at least the condition that the ridge area (pillow shape) for carrying out the direction conversion of the travelling machine body is reached is properly identified, and the travelling is carried out in a proper direction conversion.

Disclosure of Invention

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

The work vehicle of the present invention includes: a traveling body having a traveling device; a working device for performing a work with respect to a field; a steering unit capable of steering the traveling device; a receiving device for acquiring position information from a satellite positioning system; an inertial measurement unit for measuring inertial information; a generation unit that generates a target line for advancing the advancing body; and a control unit that controls the steering unit based on the position information and the inertia information so that the traveling body travels along the target line; the receiving device and the inertial measurement device are disposed at different positions of the traveling body.

According to the present invention, the receiving device for acquiring the position information by the satellite positioning system and the inertial measurement device for measuring the inertial information are disposed at different positions of the traveling machine body.

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

Thus, the steering control of the steering unit can be performed using the highly accurate position information and the inertial information, and the automatic steering control can be accurately performed on the traveling machine body, so that the traveling machine body and the working device travel along the target line.

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

In the above aspect, the inertial measurement unit is preferably disposed in a vicinity of a front-rear direction center of the entire length of the traveling body and the working device in the front-rear direction.

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

In the above aspect, it is preferable that the inertial measurement unit is mounted on a mounting member located in the vicinity of a rear axle of the traveling device.

According to this aspect, the mounting member located in the vicinity of the rear axle of the traveling device is less likely to sway during traveling of the traveling body. By mounting the inertial measurement device on such a mounting member, an error in the inertial information measured by the inertial measurement device becomes small, and accurate measurement of the inertial information is facilitated.

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

According to this aspect, the receiving device is attached to the connecting frame provided at a position somewhat higher than the left and right preliminary seedling frames supporting the preliminary seedling stage, and therefore the receiving device can be disposed at a position where the shielding object for shielding the radio wave is small. As a result, the position information acquired by the receiving device is less likely to be interrupted. Further, since the preliminary seedling rack and the connecting rack are relatively easy to swing during traveling, for example, the accuracy of detecting the azimuth of the traveling machine body in the direction based on the positional information acquired by the receiving device can be improved.

In the above aspect, preferably, the connection frame is changeable in state to: in use, the receiving device is positioned above the upper end of the preparation seedling rack; and a storage state in which the receiving device is reversed vertically with respect to the use state, and the receiving device is located below the upper end portion of the preliminary seedling rack.

According to this aspect, the receiving device is positioned at a higher position than the upper end portion of the preliminary seedling stage by bringing the connecting frame into the use state, so that the receiving sensitivity of the receiving device at the time of use can be improved. On the other hand, since the receiving device is positioned at a position lower than the upper end portion of the preliminary seedling rack by bringing the connecting rack into the storage state, for example, when the traveling machine body is stored in a warehouse or the like, the receiving device does not become an obstacle, and for example, a problem such as collision of the receiving device on the upper portion of the entrance of the warehouse or the like can be avoided.

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

According to this aspect, the link can be rotated about the left and right axes, so that the state of the link can be easily changed to the use state of the use receiving device and the storage state of the storage receiving device.

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

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

In the above aspect, it is preferable that the receiving device includes a connector portion for connecting the harness; the connector portion extends outward in the lateral direction from the receiving device.

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

In the above aspect, it is preferable that the receiving device includes a connector portion for connecting the harness; the connector is provided with a protective member for protecting the connector.

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

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

The riding type rice transplanting machine of the invention comprises: a traveling vehicle body having a riding-type driving unit; a seedling planting device connected to the rear part of the travelling vehicle body in a lifting operation manner; an armrest erected from a vehicle body portion upward laterally of the driving portion; and a preliminary seedling storage device provided in front of the armrest; the preliminary seedling storing device comprises a plurality of preliminary seedling carrying tables, which can be switched to a 1 st state and a 2 nd state, wherein the plurality of preliminary seedling carrying tables are arranged along the up-down direction of the travelling vehicle body in the 1 st state, and the plurality of preliminary seedling carrying tables are arranged along the front-back direction of the travelling vehicle body in the 2 nd state; a free space is arranged below the upper end part of the handrail; in the state 2 of the preliminary seedling storing device, the rear end side portion of the 1 st one of the plurality of preliminary seedling stages from the rear is entered into the empty space, and the upper end portion and the rear end side portion are overlapped in a plan view.

According to this aspect, if the preliminary seedling storage device is switched to the 2 nd state, the rear end side portion of the 1 st preliminary seedling stage from the rear end enters the empty space, so even if the vehicle body front-rear direction length of the upper end portion of the armrest is made longer, the preliminary seedling storage device is made not closer to the vehicle body front side, and even if it is made closer, it is made not as close to the vehicle body front side as in the case of the conventional structure, the collision between the preliminary seedling stage and the armrest can be avoided by the entry of the empty space from the rear end side portion of the 1 st preliminary seedling stage from the rear end.

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

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

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

In the present invention, it is preferable that the rear end side portion of the 1 st preliminary seedling stage enters a landing port of the driving section in the 2 nd state of the preliminary seedling storage device.

According to this aspect, if the preliminary seedling storage device is switched to the 2 nd state, the entrance can be closed or narrowed with a simple structure in which the rear end side portion of the 1 st preliminary seedling stage from the rear is used as the closing member of the entrance.

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

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

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

According to this aspect, the movable portion can be switched to the closed state and the open state with ease of operation by merely swinging the movable portion.

In the present invention, it is preferable that the distal end side portion of the movable portion is supported by a pillar of the preliminary seedling storing device in the closed state of the movable portion.

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

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

The working vehicle according to the present invention is characterized by comprising: a steering operation mechanism capable of changing the direction of travel of the vehicle body; a path setting means for setting a target movement path along which the vehicle body should travel; a position detection mechanism for detecting the position of the vehicle body; azimuth detecting means for detecting an azimuth of the vehicle body; and a control means for executing an automatic steering control for operating the steering operation means so that the detected position of the vehicle body detected by the position detection means becomes a position on the target movement path and the detected azimuth of the vehicle body detected by the azimuth detection means becomes a target azimuth in the target movement path; the control means performs a positional deviation correction process of changing the target azimuth to an inclined target azimuth inclined toward the target moving path side and operating the steering operation means, when the detected position is deviated in the lateral direction from the target moving path and the detected azimuth is identical to the target azimuth.

According to the present invention, when the detected position of the vehicle body detected by the position detecting means is deviated in the lateral direction from the target moving path and the detected azimuth of the vehicle body detected by the azimuth detecting means is identical to the target azimuth (hereinafter, referred to as a reference target azimuth) in the target moving path at the time of executing the automatic steering control, the control means changes the target azimuth to an inclined target azimuth inclined toward the target moving path side, and operates the steering operating means. That is, the control means operates the steering operation means so that the detected position of the vehicle body becomes the position on the target movement path and the detected azimuth of the vehicle body becomes the tilt target azimuth.

When the vehicle body travels in a direction inclined to the target movement path side in order to correct the lateral positional deviation, the vehicle body travels in a posture along the reference target azimuth so that the positional deviation becomes small. That is, since the orientation of the vehicle body does not deviate from the tilt target orientation, there is no case where wasteful operations are performed in response to the deviation of the orientation.

As a result, when the vehicle body is displaced from the target moving path in the lateral direction and the vehicle body is oriented in the same direction as the reference target direction, wasteful operation becomes small, and the traveling state along the target moving path can be returned extremely quickly.

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

According to this aspect, the target azimuth does not change excessively when the steering control is performed, so there is little possibility that the vehicle body makes a sharp turn, the posture becomes unstable, or the like.

In the present invention, it is preferable that the vehicle speed detection means is provided for detecting a vehicle speed; the control means may be configured to reduce a change operation speed when the steering operation means changes the traveling direction as the vehicle speed increases when the positional deviation correction process is executed.

When correcting the misalignment, if the steering operation is performed quickly when the vehicle speed is high, the posture of the vehicle body may become unstable due to a rapid posture changing operation. Therefore, in this embodiment, when the positional deviation is corrected, the larger the vehicle speed is, the smaller the change operation speed is when the steering operation mechanism is changed in the traveling direction. As a result, the vehicle body orientation is changed quickly, and the vehicle body posture is less likely to become unstable, so that the positional deviation correction can be smoothly performed.

In the present invention, it is preferable that the vehicle speed detection means is provided for detecting a vehicle speed; when the positional deviation correction process is executed, the control means makes the inclination angle of the target azimuth to the target movement path smaller as the vehicle speed increases.

When correcting the misalignment, if the steering operation is performed quickly when the vehicle speed is high, the posture of the vehicle body may become unstable due to a rapid posture changing operation. Therefore, in this embodiment, the larger the vehicle speed is, the smaller the inclination angle by which the target azimuth is inclined toward the target movement path side is. As a result, the change in the orientation of the vehicle body becomes small, and the vehicle body posture is less likely to become unstable, so that the positional deviation correction can be smoothly performed.

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

According to this aspect, in the positional deviation correction process, once the target azimuth is changed to the tilt target azimuth, the tilt target azimuth is maintained until the vehicle body reaches a position corresponding to the target movement path. As a result, the vehicle body moves to a position corresponding to the target movement path in a state where the vehicle body is oriented along the inclined target orientation, so that the positional deviation can be corrected promptly with less wasteful movement.

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

According to this aspect, in the positional deviation correction processing, first, the inclination target orientation is changed to an inclination target orientation having a steeper inclination with respect to the reference target orientation, but the inclination target orientation changes in a state in which the inclination with respect to the reference target orientation becomes more gradual as the vehicle body approaches a position corresponding to the target movement path.

In the misalignment correction processing, if the steering operation is performed in a state in which the inclination with respect to the reference target azimuth is steep, the vehicle body can be quickly brought close to the position corresponding to the target movement path. However, if traveling in the original state in which the inclination with respect to the reference target azimuth is steep, after reaching the position corresponding to the target movement path, when returning the azimuth of the vehicle body to the azimuth along the target movement path, the return correction amount becomes large, and therefore, there is a disadvantage that it takes time to perform the re-correction operation.

Therefore, when the positional deviation correction process is executed, the vehicle body can be quickly brought close to the position corresponding to the target movement path by changing the initial stage of the positional deviation amount to the steep inclination target azimuth. The closer the vehicle body is to the portion corresponding to the target movement path, the more gradually the inclination with respect to the reference target azimuth is changed to the inclined target azimuth. As a result, when the position corresponding to the target movement path is reached, the angular deviation between the tilt target azimuth and the azimuth along the target movement path becomes small, so the return correction amount becomes small, and the re-correction operation can be performed promptly.

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

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

In the positional deviation correction processing, if the positional deviation correction processing is performed until the position of the vehicle body reaches the position corresponding to the target movement path, there is a disadvantage that, when the position of the vehicle body is returned to the position along the target movement path after the position of the vehicle body reaches the position corresponding to the target movement path, a delay occurs in the return operation, and it takes time to perform the re-correction operation. Therefore, in this embodiment, since the region corresponding to the target movement path has the predetermined width, the orientation of the vehicle body can be returned to the orientation along the target movement path until the position of the vehicle body reaches a position corresponding to the target movement path slightly, and the re-correction operation can be performed with less response delay.

In the present invention, it is preferable that the vehicle body alternately repeats a straight travel and a turning travel, and performs a work while traveling along the target movement path during the straight travel, and turns toward a next target movement path parallel to the target movement path at a distal end position of the target movement path during the turning travel; when the positional deviation correction process is executed in a state where the vehicle body is deviated to the working area side, the control means is inclined to the target movement path side more than in a state where the vehicle body is deviated to the non-working area side, and sets the inclination target azimuth.

According to this aspect, the vehicle body travels so as to alternately repeat straight travel and turning travel, and works while traveling straight. When the positional deviation correction process is executed in a state in which the vehicle body is deviated to the working area side, the inclination of the inclination target azimuth with respect to the target azimuth is made larger than in a state in which the vehicle body is deviated to the non-working area side.

In the case of a work vehicle that performs a work of planting crops Miao Xiang in the field as it travels, since the crop seedlings are already planted in the worked area, it is necessary to avoid intrusion of the vehicle body into the worked area. Therefore, when the vehicle body is deviated toward the working area, the steering operation is performed in a direction inclined greatly, so that the position can be corrected as quickly as possible, and the vehicle body can be prevented from entering the working area.

In the present invention, it is preferable that the vehicle body alternately repeats a straight travel and a turning travel, and performs a work while traveling along the target movement path during the straight travel, and turns toward a next target movement path parallel to the target movement path at a distal end position of the target movement path during the turning travel; when the positional deviation correction process is executed in a state where the vehicle body is deviated to the non-work area side, the control means is inclined to the target movement path side more than in a state where the vehicle body is deviated to the work area side, and sets the inclination target azimuth.

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

In the case of a work vehicle that performs a work of harvesting a plant as it travels, the plant is present in an unworked area, and therefore it is necessary to avoid intrusion of the vehicle body into the unworked area. Therefore, when the vehicle body is deviated toward the non-working area, the position can be corrected as quickly as possible by steering operation in a greatly inclined direction, and intrusion of the vehicle body into the non-working area can be avoided.

In the present invention, it is preferable that the vehicle body alternately repeats a straight travel and a turning travel, and performs a work while traveling along the target movement path during the straight travel, and turns toward a next target movement path parallel to the target movement path at a distal end position of the target movement path during the turning travel; the control means does not execute the positional deviation correction process until a predetermined determination condition is satisfied immediately after the turning travel of the vehicle body is started.

Immediately after the start of the straight traveling after the turning traveling, the traveling state may be unstable, or the vehicle body may deviate laterally from the target traveling path. As a result, immediately after the start of the straight traveling, the vehicle body is not necessarily limited to traveling in a stable state on the target traveling path.

Therefore, in this embodiment, the positional deviation correction process is not executed in the period immediately after the start of the straight-ahead running and before the establishment of the predetermined determination condition, so that unnecessary steering operation can be avoided. As the predetermined determination condition, various conditions such as a lapse of a set time from turning, a travel set distance, and an orientation of the vehicle body approaching a predetermined orientation can be considered. In short, the condition for stabilizing the traveling state is described.

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

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

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

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

According to this aspect, since the state is maintained even if the manual operation is not performed after the manual operation is detected and the operation force of the steering operation mechanism is reduced, if the manual operation is intermittently repeated, the manual operation can be performed, and the convenience of use is improved.

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

According to this aspect, since the operation force of the steering operation mechanism is restored if the manual operation is no longer performed after the manual operation is detected and the operation force of the steering operation mechanism is reduced, the automatic steering control is performed next if only 1 manual operation is performed and then no manual operation is performed, and therefore the convenience of use is improved.

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

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

In the present invention, it is preferable that: a manual steering operation tool for changing the direction of travel of the vehicle body based on a manual operation instruction; and a manual operation detection means for detecting that a manual operation is performed with respect to the manual steering operation tool; if a manual operation is detected by the manual operation detection means, the control means stops the automatic steering control and executes assist control for operating the steering operation means so as to bring the steering device into a traveling state corresponding to a change instruction by the manual steering operation tool.

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

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

In the present invention, it is preferable that the position detecting means is a satellite positioning means for detecting a position of the vehicle body by receiving radio waves from satellites.

According to this aspect, the position of the vehicle body is detected by receiving radio waves from satellites by a satellite positioning unit such as GPS, for example, so that the absolute position on the earth can be measured. Thus, the position of the work vehicle in the field can be accurately detected.

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

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

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

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

In the present invention, it is preferable that the change-over switch is provided on a shift operation tool that swings in the front-rear direction of the traveling body, and the operation direction of the change-over switch is set in the left-right direction of the traveling body.

According to this aspect, since the change-over switch is provided in the shift operation tool, the change-over switch can be operated in the original state in which the hand is placed on the shift operation tool, and the change-over switch can be operated with high efficiency without moving the hand to another position or gripping the hand.

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

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

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

Thus, during automatic traveling, the driver can perform setting change to automatically travel in a more preferable lane by shifting the set travel route in parallel to a side (or a side away from) that is closer to the adjacent set travel route in which planting is completed, for example, while observing the field conditions (for example, fluctuation of the field, planting condition of seedlings in the adjacent planting completion route, and the like).

Thus, it is possible to perform an agricultural work that is well matched to the condition of the field.

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

According to this aspect, the instruction switch used for setting the reference travel route can be used as the shift switch, so that the number of switches can be reduced, and for example, the switch panel or the like can be configured to be easily viewed.

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

According to this aspect, the right shift switch and the left shift switch are provided separately and provided at different positions, so that the traveling machine body can be accurately shifted in the direction desired by the driver without being erroneously operated.

In the present invention, it is preferable that the shift switch for right shift is provided on the right side of the shift switch for left shift with respect to the front of the traveling body.

According to this aspect, in the relative positional relationship between the right shift switch and the left shift switch, the right shift switch is disposed on the right side and the left shift switch is disposed on the left side, so that the direction in which the traveling body is shifted coincides with the left-right arrangement of the corresponding shift switches, and erroneous operation is easily prevented.

As a result, the shift operation of setting the traveling line can be performed more accurately.

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

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

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

If the number of operations of the shift switch exceeds the predetermined number set by the operation canceling unit, the shift operation in the desired direction is reflected, and the set travel route can be shifted in the instruction direction.

In the present invention, it is preferable that the shift control device further includes an operation canceling unit that, if the shift switch is operated, does not reflect the operation of the shift switch to the shift control of the set travel line until a set time elapses from the operation of the shift switch.

According to this aspect, for example, when the start operation is performed continuously a plurality of times by mistake although the shift switch is intended to be operated only once, as long as the elapsed time from the first operation is within the predetermined time set by the operation canceling unit, the second and subsequent operations are not reflected in the shift control for setting the travel route, so that malfunction prevention can be realized.

If the operation elapsed time of the shift switch exceeds the predetermined time set by the operation canceling unit, the next switch operation is reflected in the shift control, and the set travel route can be shifted in the instruction direction.

In the present invention, it is preferable that the traveling machine body includes an operation canceling unit that, if the shift switch is operated, does not reflect an operation of the shift switch to shift control of the set traveling line until the traveling machine body reaches an error region of a predetermined width set around the set traveling line after the shift.

According to this aspect, even when the shift switch is continuously turned on a plurality of times, for example, in the course of the traveling body automatically traveling toward the target setting traveling line set by the first operation shift, the operation canceling unit does not reflect the operation of the shift switch to the shift control until the error region of the predetermined width set centering on the target setting traveling line is reached, so that malfunction, abrupt route change, and the like can be prevented.

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

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

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

One of the methods for presetting the position of the ridge area is to equip a field including the ridge area with map data in which the ridge area is preset. By matching the field map based on the map data with the vehicle position obtained from the positioning unit, the position of the traveling field work vehicle in the field is calculated in real time. Thus, the point in time when the traveling body reaches the ridge area can be reported to the control system for automatic steering or the driver. In one preferred embodiment of the present invention, the land map storage unit is provided to store map data of the land, and the ridge detection module detects that the traveling machine body has reached the ridge region by performing map matching using the vehicle position and the map data.

In an actual field work performed by a field work vehicle, the vehicle is operated differently in traveling in a non-ridge region where the work with respect to the field is performed (work region: a region other than a pillow-shaped region of the field in general) and traveling in a ridge region where the direction is switched. The operation of the vehicle includes an operation of the traveling machine body and an operation of the field work device. In particular, by detecting a vehicle motion occurring when entering from a non-ridge area to a ridge area and a vehicle motion occurring when entering from a ridge area to a non-ridge area, and combining the vehicle motion with the vehicle position at the detection time point, a boundary point between the ridge area and the non-ridge area can be obtained. In a normal field, since the interval between adjacent boundary points is substantially equal to the work width, which is the interval between trajectories during the travel of the reciprocating work, the next boundary point can be estimated from the boundary point obtained first. Therefore, in one preferred embodiment of the present invention, a vehicle motion recording unit is provided that correlates a motion of the traveling machine body or the field work device or both with a position of the traveling machine body and records the motion as a vehicle motion; the ridge detection module detects that the travelling machine body reaches the ridge area based on the vehicle action.

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

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

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

For example, if a proximity report command is output to report the proximity to the ridge region before the arrival timing estimated by the ridge estimation unit, the driver can perform operations and checks necessary for the ridge region with a free margin. In order to avoid a problem associated with the unexpected approach of the travelling body to the ridge area, an embodiment may be adopted in which a deceleration command for decelerating the travelling body is output before the arrival timing estimated by the ridge estimation unit. Further, an embodiment may be adopted in which a vehicle stop command for stopping the traveling body is output when the vehicle travels a predetermined distance from the arrival timing estimated by the ridge estimation unit, or a vehicle stop command for stopping the traveling body is output in response to the arrival timing estimated by the ridge estimation unit.

Completely different steering is performed during travel in the non-ridge region and travel in the ridge region where the direction change is performed. Therefore, whether these 2 different travels are performed by automatic steering or by manual steering varies depending on the type of the field work vehicle, the type of the field work, the proficiency of the driver, and the like. In accordance with a preferred embodiment of the present invention, the vehicle control device includes a steering mode management unit that manages an artificial steering mode in which artificial steering by the artificial steering unit is performed and an automatic steering mode in which automatic steering by the automatic steering unit is performed. In this case, if an appropriate algorithm is incorporated in advance, automatic steering and manual steering can be appropriately allocated according to the traveling situation and the surrounding situation.

For example, when steering that automatically performs direction change travel is technically burdened, the following scheme may be adopted: the steering mode management unit selects an artificial steering mode in the ridge region and selects an automatic steering mode outside the ridge region.

In addition, in the case where automatic steering and manual steering are flexibly applied, it is preferable to employ the following embodiments: the steering control device is provided with a steering mode switching operation tool which manually selects the automatic steering mode and the manual steering mode.

In a positioning unit using radio waves from satellites such as GNSS and GPS, if the unit fails to operate due to deterioration of the reception state, the unit fails to obtain positioning data. Therefore, in a preferred embodiment of the present invention, a travel distance calculation unit that calculates a travel distance based on the rotational speed of the wheel is provided; when the positioning means is not operable, the ridge detection module detects that the traveling machine body has reached the ridge region based on the traveling distance calculated by the traveling distance calculation unit. Thus, even if the positioning means temporarily becomes inoperable, the traveling machine body is detected as reaching the ridge region. In this case, when the travel distance calculating unit detects that the vehicle has reached the ridge area due to the failure of the positioning unit, the traveling machine body may be stopped at this point in time.

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

Other features and advantageous effects thereof will become apparent from the following description when read with reference to the accompanying drawings.

Drawings

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

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

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

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

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

Fig. 6 is a plan view illustrating an operation of the automatic steering control.

Fig. 7 is a plan view illustrating generation of a target line and the like.

Fig. 8 is a side view showing another embodiment.

Fig. 9 is a view showing embodiment 2 of the present invention (hereinafter, the same applies to fig. 22), and is a left side view of the whole of the riding rice transplanter in which the lower-layer preliminary seedling storage device is in the 2 nd state.

Fig. 10 is a left side view showing the whole of the riding rice transplanter in the 1 st state of the preliminary seedling storage device at the lower layer.

Fig. 11 is a top view showing the whole of the riding rice transplanter with the lower-layer preliminary seedling storage device in the 2 nd state.

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

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

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

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

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

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

Fig. 18 is a left side view showing the armrest having the structure of embodiment 2.

Fig. 19 is a left side view showing the armrest having the structure of embodiment 3.

Fig. 20 is a left side view showing a rear guard provided with the 1 st other embodiment.

Fig. 21 is a front view showing a rear guard provided with the second embodiment.

Fig. 22 is a front view showing a rear guard provided with the 3 rd other embodiment.

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

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

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

Fig. 26 is a diagram showing a steering unit.

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

Fig. 28 is a plan view illustrating the whole field surface for the operation of the automatic steering control.

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

Fig. 30 is a plan view illustrating an operation of the automatic steering control of the rice transplanter.

Fig. 31 is a plan view illustrating an operation of the automatic steering control of the rice transplanter.

Fig. 32 is a plan view of a rice transplanter illustrating an operation of automatic steering control.

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

Fig. 34 is a plan view showing the rice transplanter.

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

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

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

Fig. 38 is an explanatory view in plan view for explaining generation of a travel route and the like.

Fig. 39 is an explanatory view illustrating a plan view of a parallel shift operation of the set travel route.

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

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

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

Fig. 43 is a diagram showing embodiment 5 (hereinafter, the same applies to fig. 49), and is a schematic diagram illustrating the basic principle of vehicle control to be applied to a field work vehicle.

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

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

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

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

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

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

Detailed Description

[ embodiment 1 ]

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

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

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

[ about seedling planting device ]

As shown in fig. 1, the seedling planting device W is connected to the rear end of the traveling machine body C via a link mechanism 21 so as to be able to move up and down, and the link mechanism 21 moves up and down by the expansion and contraction operation of a lift cylinder 20 constituted by a hydraulic cylinder.

As shown in fig. 1 and 2, the seedling planting device W includes 4 gear boxes 22, rotating boxes 23 rotatably supported on left and right sides of a rear portion of each gear box 22, a pair of rotary planting arms 24 provided at both ends of each rotating box 23, a plurality of leveling floats 25 leveling a field surface of a field, a seedling stage 26 for placing mat seedlings for planting, and the like. That is, the seedling planting device W is configured in 8 planting types.

The seedling planting device W configured as described above drives the rotation boxes 23 by power transmitted from the transmission box 22 while driving the seedling stage 26 to reciprocate laterally, alternately takes out seedlings from the lower portion of the seedling stage 26 by the respective planting arms 24, and plants the seedlings on the field surface of the field.

[ about the preliminary seedling stage ]

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

[ about the marker device ]

As shown in fig. 1, the seedling planting device W includes marker devices 33 for forming indication lines LN (see fig. 6 and 7) on the field surface of the field, respectively, on the left and right sides thereof. The left and right marker devices 33 are configured to be operable in an operating position in which they are grounded on the field surface of the field and form an indication line LN on the field surface of the field in accordance with the travel of the traveling body C, and in a storage position in which they are separated upward from the field surface of the field.

As shown in fig. 1, the left and right marker devices 33 are each provided with a marker arm 34 and a rotating body 35, the marker arm 34 being supported on the seedling planting device W so as to be swingable up and down, the rotating body 35 being supported on the tip portion of the marker arm 34 so as to be rotatable, and having a plurality of protruding portions in the circumferential direction. Further, an electric motor (not shown) for a marker is provided for operating the left and right marker devices 33 in the working posture and the storage posture. By assuming the operation posture, each marker device 33 rotates the rotating body 35 on the ground in accordance with the steering of the traveling body C, and forms a dot-line indication line LN (see fig. 6) in a plan view.

[ concerning the driver ]

As shown in fig. 1 to 3, a driving unit 40 for performing various driving operations is provided in the center of the traveling body C. The driver section 40 includes a driver seat 41 on which a driver can sit, a steering column 42, a steering handle 43 for manual steering operation of the front wheels 10, a main shift lever 44 and an operation lever 45 which can perform a forward/reverse switching operation and a travel speed changing operation, and the like. The driver seat 41 is provided in the center of the traveling body C. The steering column 42 is provided with a steering handle 43, a main shift lever 44, an operation lever 45, and the like so as to be freely operated. A riding step 46 is provided at a foot portion of the driver 40. Auxiliary steps 47 are provided at left and right outer positions of the riding steps 46. On the left and right sides of the hood 12, there are provided steps 48 as a step-down path connected to the steps 46 without a step difference. Left and right preliminary seedling racks 30 are disposed on the lateral outer sides of the step 48.

[ about operating lever ]

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

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

If the operation lever 45 is operated to the right marker position, the right marker device 33 becomes the acting posture from the storage posture. If the operation lever 45 is operated to the left marker position, the left marker device 33 is brought from the storage posture to the operation posture.

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

[ concerning steering units ]

As shown in fig. 4, the steering unit u includes the steering handle 43, a steering shaft 54 coupled to the steering handle 43, a steering arm 55 that swings with the rotation of the steering shaft 54, a left-right link mechanism 56 coupled to the steering arm 55, a steering motor 58, a gear mechanism 57 that couples the steering motor 58 to the steering shaft 54, and the like.

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

When the manual steering of the steering unit U is performed, an assist force corresponding to the operation of the steering handle 43 by the steering motor 58 is applied to the operation force of the driver to operate the steering handle 43, and the steering operation shaft 54 is rotated and operated, so that the steering angle of the front wheels 10 is changed. On the other hand, in the case of performing the automatic steering of the steering unit u, the steering motor 58 is driven, the steering operation shaft 54 is rotated by the driving force of the steering motor 58, and the steering angle of the front wheels 10 is changed.

[ concerning a measuring unit having a receiving device and an inertial measuring device ]

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

The main inertial measurement unit 62 and the sub inertial measurement unit 64 are each composed of an IMU (Inertial Measurement Unit ).

The measuring unit 61 having the receiving device 63 and the sub inertial measuring device 64 and the main inertial measuring device 62 are disposed at different positions of the traveling machine body C. The measuring unit 61 having the receiving device 63 and the sub inertial measuring device 64 and the main inertial measuring device 62 are disposed on the left and right center line CL of the traveling machine body C.

Among the satellite positioning systems (GNSS: global Navigation Satellite System, global navigation satellite system), a typical system thereof is GPS (Global Positioning System ). The GPS is a system for measuring the position of the receiving device 63 using a plurality of GPS satellites surrounding the earth, a management and control office for tracking and controlling the GPS satellites, and the receiving device 63 provided for the object (traveling machine body C) to be measured. The receiver 63 is used to acquire the position information of the traveling machine body C by the satellite positioning system.

As shown in fig. 1 to 3, the measuring unit 61 having the receiving device 63 is mounted on the coupling frame 31 via a plate-like support plate 65. The measuring unit 61 having the receiving device 63 is disposed at a front position (particularly, on the front side of the front wheel 10) of the traveling body C. Therefore, when the traveling machine body C changes the traveling direction, the displacement amount in the lateral direction of the front position of the traveling machine body C is larger than the rear end position of the traveling machine body C, and the change in the local position NM of the traveling machine body C acquired by the receiving device 63 can be detected with high sensitivity.

As shown in fig. 3, the connection frame 31 can be changed in state: in the use state S1, the measuring unit 61 having the receiving device 63 is located above the upper end portion of the preliminary seedling stage 30; and a storage state S2 in which the receiving device 63 is positioned below the upper end of the preliminary seedling rack 30 in a state of being inverted vertically with respect to the use state S1. In the explanation, the coupling bracket 31 is rotatable about the left and right axial centers X in the left and right directions, and is fixedly supported by the coupling bracket 32 at each of the use state S1 and the storage state S2 by the left and right preliminary seedling holders 30.

As shown in fig. 1, 3, and the like, since the receiving device 63 is supported at a high position by the coupling frame 31 and the preliminary seedling frame 30 by bringing the coupling frame 31 into the use state S1, the receiving device 63 is liable to swing by the deflection of the preliminary seedling frame 30 and the coupling frame 31 as the traveling machine body C advances, and the detection of the local position NM and the local azimuth NA of the traveling machine body C based on the positional information acquired by the receiving device 63 can be performed with high accuracy. Further, since the receiving device 63 is located at the highest position of the traveling body C by bringing the coupling frame 31 into the use state S1, the receiving sensitivity of the radio wave of the receiving device 63 can be improved, and radio wave interference is less likely to occur in the receiving device 63.

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

As shown in fig. 1, the main inertia measuring device 62 is disposed in the vicinity of the center in the front-rear direction of the entire length of the traveling body C and the seedling planting device W in the front-rear direction. In the description, the main inertia measurement device 62 is disposed in the vicinity of the turning center (the axis of the yaw axis of the traveling body C) of the traveling body C in the traveling direction.

Specifically, a rear axle frame 73 (corresponding to an "attachment member") rotatably supporting a rear axle 72 that transmits driving force to the rear wheels 11 is provided at the rear portion of the traveling body C. The rear axle carrier 73 is a rigid member located in the vicinity of the rear axle 72 of the traveling device a. The main inertial measurement unit 62 is mounted on the rear axle frame 73.

In the explanation, as shown in fig. 1 and 2, the main inertia measuring apparatus 62 is located in the vicinity of the seedling planting apparatus W. The main inertia measurement device 62 is located below the rear side of the driver seat 41.

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

[ about control Structure ]

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

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

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

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

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

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

The information correction unit 80 is configured to perform correction processing on the accumulated error of the information detected by the gyro sensor 70 in the inertial information measured by the main inertial measurement unit 62, based on the position information acquired by the receiving unit 63 and the information measured by the sub inertial measurement unit 64, for each start of the automatic steering control of the traveling machine body C.

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

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

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

[ concerning automatic steering control ]

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

As shown in fig. 6, first, the traveling machine body C is positioned at a first ridged position Q1 in the field, and a first registration button 52A of the registration switch 52 is operated (see fig. 5). Next, the seedling planting device W is raised, and the traveling body C is moved straight along the straight shape of the ridge on the side from the first position Q1 while the leveling float 25 is grounded, and then moved to the second position Q2 near the ridge on the opposite side, and thereafter the second registration button 52B of the registration switch 52 is operated (see fig. 5). In this way, from the position information acquired by the receiving device 63 at the first position Q1 and the position information acquired by the receiving device 63 at the second position Q2, the teaching direction TA is generated as a direction connecting the first position Q1 and the second position Q2.

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

A dead zone is set from the detection of the turning end position Q3 of the traveling machine body C to the elapse of a predetermined time until the deviation angle between the machine direction NA and the teaching direction TA falls within a predetermined range, without receiving the operation input of the automatic steering switch 50. That is, even if the automatic steering switch 50 is operated during a period in which the state of the traveling machine body C is not in the sensor belt, the automatic steering control is not started. While the traveling machine body C is in the non-sensor belt state, the driver can manually steer the steering unit U to perform alignment of the traveling machine body C so that the indication line LN coincides with the front end of the line of sight that observes the front end portion of the center indicator 14.

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

In fig. 6, the indication line LN formed by the marker device 33 and the target line LM are slightly shifted for convenience of illustration, but in practice, the target line LM is generated so as to substantially coincide with the indication line LN because the manual alignment is performed so that the line of sight of the driver coincides with the tip portion of the center indicator 14 and the indication line LN.

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

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

In the automatic steering control of the traveling machine body C, when there is an angular deviation (deviation angle) between the local azimuth NA and the teaching direction TA or when there is no distance deviation (deviation distance) between the local position NM and the target line LM, the steering unit U is steered in a direction to eliminate the angular deviation (deviation angle) between the local azimuth NA and the teaching direction TA.

In the automatic steering control of the traveling machine body C, when there is an angular deviation (deviation angle) between the local azimuth NA and the teaching direction TA or a distance deviation (deviation distance) between the local position NM and the target line LM, the steering unit U is controlled to steer in a direction to eliminate the angular deviation (deviation angle) between the local azimuth NA and the teaching direction TA.

In the automatic steering control of the traveling machine body C, the steering unit U is steered in a direction in which the distance deviation (offset distance) between the local position NM and the target line LM is eliminated without the angular deviation (offset angle) between the local azimuth NA and the teaching direction TA or the distance deviation (offset distance) between the local position NM and the target line LM.

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

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

And, if the traveling body C approaches the ridge, the automatic steering control of the traveling body C is stopped by the driver operating the automatic steering switch 50, and is switched to manual steering. The same turning operation is performed in the ridge, and the same operation is repeated to plant seedlings to the field. Thus, the driver does not need to manually operate the steering handle 43 during planting of seedlings in the field by the seedling planting device W, and can perform a seedling planting operation more accurately and easily.

[ setting of local position ]

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

[ relation to the preliminary seedling rack, the preliminary seedling stage in general, and the track-type preliminary seedling stage ]

As shown in fig. 3, each of the left and right preliminary seedling racks 30 includes a fixing portion 85 fixed to the support column rack 16, an inclined portion 86 extending upward from the fixing portion 85 and inclined toward the left and right inner sides, and a vertical portion 87 extending upward from the inclined portion 86. That is, the vertical portion 87 of the preliminary seedling stage 30 is offset to the left and right inside by a predetermined distance D with respect to the fixing portion 85 of the support column stage 16 and the preliminary seedling stage 30.

As shown in fig. 1 to 3, the plurality of normal preliminary seedling stages 28 are supported by the preliminary seedling stage 30 so as to be swingable about a front-rear axis Y provided in a vertical portion 87 of the preliminary seedling stage 30 and inclined inward in the front-rear direction as going forward. The preliminary seedling stage 28 is generally configured to be changeable between a horizontal posture E1 and a vertical posture E2.

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

The track-type preliminary seedling stage 29 shown in fig. 1 to 3 includes a front stage 88, a center stage 89, and a rear stage 90. The center mount 89 is fixed to the support column frame 16 via a pair of support brackets 91. The front mount 88 is coupled to a front end portion of the center mount 89 so as to be swingable about a front lateral axis P1 extending in the left-right direction. The rear mount 90 is swingably coupled to a rear end portion of the center mount 89 about a rear horizontal axis P2 extending in the left-right direction. As shown in fig. 1, the track-type preliminary seedling stage 29 is configured to be changeable between an extended state F1 and a collapsed state F2. When the track-type preliminary seedling stage 29 is brought into the extended state F1, the front stage 88 is extended toward the front side of the center stage 89, and the rear stage 90 is extended toward the rear side of the center stage 89, centering on the center stage 89. That is, if the track-type preliminary seedling stage 29 is brought into the developed state F1, the front stage 88, the center stage 89, and the rear stage 90 are arranged in this order.

As shown in fig. 1, when the track-type preliminary seedling stage 29 is brought from the unfolded state F1 to the folded state F2, the front stage 88 is swung around the front transverse axis P1 located at the front end of the center stage 89, the front stage 88 is folded so as to be located on the upper side of the center stage 89, the rear stage 90 is swung around the rear transverse axis P2 located at the rear end of the center stage 89, and the rear stage 90 is located on the upper side of the center stage 89. This makes it possible to bring the track-type preliminary seedling stage 29 into the folded state F2 compact in the front-rear direction.

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

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

[ other embodiments of embodiment 1 ]

Hereinafter, another embodiment of embodiment 1 will be described. The following embodiments may be applied to the above embodiments in combination of a plurality of other embodiments as long as no contradiction occurs. The scope of the present invention is not limited to those of the embodiments.

(1) In the above embodiment, the following cases are exemplified: the automatic steering control of the traveling machine body C is mainly performed based on the inertial information measured by the main inertial measurement unit 62, and the inertial information measured by the main inertial measurement unit 62 is corrected based on the positional information acquired by the receiving unit 63, but the present invention is not limited thereto. For example, the automatic steering control of the traveling machine body C may be performed mainly based on the positional information acquired by the receiving device 63, and the positional information acquired by the receiving device 63 may be corrected based on the inertial information measured by the main inertial measuring device 62.

(2) In the above embodiment, the following cases are exemplified: the connecting frame 31 is rotatable about a left-right axis X extending in the left-right direction and is supported by the left and right preliminary seedling frames 30 in a position-fixed manner in the use state S1 and the storage state S2, but is not limited thereto. For example, the seedling rack may be detachable from the left and right preliminary seedling racks 30. In this case, the coupling frame 31 in the use state S1 is detached from the preliminary seedling frame 30, and is vertically reversed to be mounted again on the preliminary seedling frame 30, whereby the coupling frame 31 is brought into the storage state S2.

(3) In the above embodiment, the case where the receiving device 63 is fixed to a fixed position has been illustrated, but the present invention is not limited to this. For example, as shown in fig. 8, the receiving device 63 may be disposed on a rail member 100 so as to be movable in the front-rear direction, and the rail member 100 may be attached to and fixed to the preliminary seedling stage 30 so as to extend in the front-rear direction of the travelling body C. By this, the receiving device 63 is moved between 2 points on the track member 100, and the local azimuth NA of the traveling machine body C can be obtained based on the position information of 2 points acquired by the receiving device 63 while the traveling machine body C is stopped.

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

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

(6) In the above embodiment, the case where the shielding member 68 is mounted on the support plate 65 is exemplified, but not limited thereto. For example, the guard member 68 may be mounted on the receiving device 63 itself.

(7) In the above embodiment, the case of providing the seedling planting device W as the working device is exemplified, but the present invention is not limited thereto. For example, the working device may be provided with a fertilizer application device, a chemical distribution device, or the like in addition to the seedling planting device W.

(8) The present invention can be used in a variety of work vehicles such as a riding type rice seedling transplanting machine including a seedling planting device as a working device, a riding type seed sowing machine including a seed sowing device as a planting type paddy field work vehicle as a working device, a tractor including a plow or the like as a working device, a combine harvester including a harvesting part or the like as a working device, or a construction work vehicle including a bucket or the like as a working device, in addition to the above-described riding type rice seedling transplanting machine including a seedling planting device as a working device.

[ embodiment 2 ]

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

[ example 1 ]

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

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

The seedling planting device 120 is connected to the rear portion of the traveling vehicle body 104 via a link mechanism 112. The link mechanism 112 is supported on the body frame 101 so as to be capable of swinging up and down. The seedling planting device 120 is swung by the hydraulic pressure 113 by the link mechanism 112, and is lifted and lowered in a lowering operation state in which the ground floating body 121 is grounded to the field surface S, and in a lifting non-operation state in which the ground floating body 121 is lifted up from the field surface S.

As shown in fig. 9 and 11, the seedling planting device 120 includes 8

seedling planting mechanisms

122 and 1 seedling stage 123, and the 8 seedling planting mechanisms 122 are arranged in the lateral width direction of the travelling vehicle body 104. As shown in fig. 11, the seedling stage 123 includes 8 seedling placement portions 123a for placing mat-shaped seedlings in a row in the lateral width direction of the travelling car body 104. The seedling stage 123 is reciprocally transferred in the lateral width direction of the traveling vehicle body 104 in a state of interlocking with the seedling planting movement of the seedling planting mechanism 122, and seedlings are supplied from the seedling placement portion 123a to the respective seedling planting mechanisms 122.

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

As shown in fig. 9 and 11, a receiving device 114 is provided on the front portion of the traveling vehicle body 104. As shown in fig. 9, 11 and 12, the support frame 115 of the receiving device 114 is connected to the support posts 141 of the left and right preliminary

seedling housing devices

140 and 150, which will be described later. The receiving device 114 is such a device as follows: the position information of the traveling vehicle body 104 is acquired by a satellite positioning system, and the acquired position information is input to an automatic steering control device (not shown) of the traveling vehicle body 104.

As shown in fig. 16 and 17, an extended seedling stage 124 extends from each seedling stage portion 123a of the seedling stage 123. A pair of left and right partition plates 125 are erected on both lateral end portions of the seedling stage 123. Left and right partition plates 125 at both lateral ends of the seedling stage 123 are provided across a seedling placement part 123a at the lateral end of the seedling stage 123 and an extended seedling placement stage 124 corresponding to the seedling placement part 123 a. The left and right partition plates 125 extend upward from the seedling stage 123 from partition wall portions 123b located on the lateral sides of the seedling stage 123a, and extend upward from the partition wall portions 123b toward the extended seedling stage 124.

When the mat-shaped seedlings are supplied to the seedling placement sections 123a at the lateral ends of the seedling stage 123, the seedling stage 123 can be supplied while properly guiding the partition plates 125 on the left and right sides of the mat-shaped Miao Yong to the seedling placement sections 123a even when the seedling stage 123 is in the lateral transfer. That is, the pad-shaped seedlings can be prevented from being supplied by being offset laterally outward from the seedling placement sections 123a at the lateral ends by the lateral movement of the seedling stage 123. In the present embodiment, the partition plate 125 is provided only on the seedling placement portion 123a at the lateral end, but may be provided on all the seedling placement portions 123 a.

As shown in fig. 9 and 11, a work step 116 is provided in the traveling vehicle body 104 at a position crossing both lateral sides of the driver seat 110 and behind the driver seat 110. Armrests 130 are provided on both lateral sides of the driving section 111. The left and right hand handrails 130 stand upward from a step frame that is a body portion of the traveling body 104 and a work step frame that is a body portion of the traveling body 104. The upper end 131 of the left and right hand rails 130 are located at the following positions: which is a portion of the driving section 111 on the rear side of the entrance 1 a, and is located above the lateral edge of the work step 116. As shown in fig. 9, 11, 14, and 15, a rear guard 117 extending in the lateral direction of the traveling vehicle body 104 is provided behind the driver seat 110. The rear guard 117 is disposed above the trailing edge of the work step 116. The rear guard 117 is coupled across the left and right hand rails 130, 130. The left and right hand handrails 130 may be used when riding on the driving unit 111 or when getting off the driving unit 111, and may be used when being positioned on the work steps 116. The rear guard 117 may be used as a handrail when positioned in the work step 116. In the present embodiment, the fertilizer pot and the fertilizer delivery mechanism of the fertilizer apparatus are not provided behind the driver seat 110, but may be implemented by providing a fertilizer pot and a fertilizer delivery mechanism.

As shown in fig. 9 and 15, a free space 200 is provided below the upper end 131 of the left and right armrests 130. The empty space 200 is provided by being constituted by a pipe member which is formed by bending the handrail 130.

As shown in fig. 9, 11, and 12, the travel car body 104 is provided with two upper and lower preliminary

seedling storage devices

140 and 150 on both lateral sides. The left upper and lower preliminary

seedling storing devices

140 and 150 are provided in front of the left arm rest 130. The two upper and lower right preliminary

seedling storing devices

140 and 150 are provided in front of the right arm rest 130.

As shown in fig. 9 and 12, the left upper-tier preliminary seedling storage device 140 includes a preliminary seedling placement table 142 for 4 upper and lower tiers. The 4-layered preliminary seedling placement table 142 is supported by the front and rear pair of support posts 141. The front pillar 141 stands upward from the engine support frame in the traveling vehicle body 104. The rear pillar 141 stands upward from the step frame in the traveling vehicle body 104.

The upper right preliminary seedling storage device 140 has the same structure as the upper left preliminary seedling storage device 140. In the upper left preliminary seedling storage device 140 and the upper right preliminary seedling storage device 140, the preliminary 4 pieces of mat-shaped seedlings supplied to the seedling planting device 120 can be aligned and stored in the up-down direction of the traveling vehicle body 104.

As shown in fig. 9, 10 and 11, the left lower-tier preliminary seedling storage device 150 includes 3 preliminary seedling stages 151, 152 and 153. The 3 preliminary seedling stages 151, 152, 153 include

stages

151a, 152a, 153a and preliminary

seedling stage bodies

151b, 152b, 153b. The preliminary seedling stage

main bodies

151b, 152b, 153b are supported by the

stage bodies

151a, 152a, 153a in a fixed state. The extension tables 152c and 153c are provided on 2 preliminary seedling tables 152 and 153 out of the 3 preliminary seedling tables 151, 152 and 153. The extension tables 152c and 153c are slidably supported by the preliminary seedling table

main bodies

152b and 153b and the tables 152a and 153 a.

The preliminary seedling placement stage 151 among the 3 preliminary seedling placement stages 151, 152, 153 is fixed to the front and rear support posts 141 by the placement stage 151a, and is fixed to the front and rear support posts 141 with the seedling placement surface facing upward. Hereinafter, this preliminary seedling stage 151 will be referred to as a stationary preliminary seedling stage 151.

Of the 3 preliminary seedling stages 151, 152, 153, one end of the stage 152a is rotatably supported on the front end side of the stage 151a to which the preliminary seedling stage 151 is fixed via the connecting shaft 154, in the preliminary seedling stage 152. The preliminary seedling stage 152 can be swung with respect to the fixed preliminary seedling stage 151 about an axis 154a extending in the traveling vehicle body transverse direction of the connecting shaft 154 as a swing center. Hereinafter, the preliminary seedling stage 152 will be referred to as a forward movable preliminary seedling stage 152. By swinging the front movable preliminary seedling stage 152, the mounting posture of the front movable preliminary seedling stage 152 can be switched to: as shown in fig. 10 and 12, the storage posture is folded over the seedling placement surface side of the fixed preliminary seedling placement stage 151, and the seedling placement surface of the front movable preliminary seedling placement stage 152 faces downward; as shown in fig. 9 and 11, the use posture is such that the seedling placement surface is upward and the seedling placement table 151 is extended forward of the traveling vehicle body.

Among the 3 preliminary seedling stages 151, 152, 153, the end of the stage 153a opposite to the side where the extension stage 153c is positioned is rotatably supported on the rear end side of the stage 151 a to which the preliminary seedling stage 151 is fixed via the coupling shaft 155, among the stages 153. The preliminary seedling stage 153 can be swung with respect to the fixed preliminary seedling stage 151 about an axis 155a of the connecting shaft 155 extending in the traveling vehicle body transverse direction as a swing center. Hereinafter, this preliminary seedling stage 153 will be referred to as a rear movable preliminary seedling stage 153. By swinging the rear movable preliminary seedling stage 153, the mounting posture of the rear movable preliminary seedling stage 153 can be switched to: as shown in fig. 10 and 12, the storage posture is such that the front movable preliminary seedling stage 152 is folded over the fixed preliminary seedling stage 151, and the seedling placement surface of the rear movable preliminary seedling stage 153 is downward; as shown in fig. 9 and 11, the use posture is such that the movable preliminary seedling stage 153 extends rearward of the traveling vehicle body from the fixed preliminary seedling stage 151 and the seedling placement surface of the rear movable preliminary seedling stage 153 is upward.

In the use posture of the rear movable preliminary seedling stage 153, the mounting posture of the extension stage 153c can be switched to by sliding the extension stage 153 c: as shown in fig. 9 and 11, the use posture is extended rearward from the rear movable preliminary seedling stage 153 in a state of being along the front-rear direction of the rear movable preliminary seedling stage 153; and a storage posture, which is stored inside the rear movable preliminary seedling stage 153.

As shown in fig. 10 and 12, the left lower preliminary seedling accommodation device 150 changes the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 to the accommodated posture, and sets the fixed preliminary seedling stage 151, the front movable preliminary seedling stage 152, and the rear movable preliminary seedling stage 153 to the 1 st state in which they are aligned in the up-down direction of the travelling vehicle body 104 and accommodated.

As shown in fig. 9 and 11, the left lower preliminary seedling accommodation device 150 changes the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 to the use posture, and thereby the stationary preliminary seedling stage 151, the front movable preliminary seedling stage 152, and the rear movable preliminary seedling stage 153 are aligned in the front-rear direction of the traveling vehicle body 104, and the mat-shaped seedlings can be placed on the stationary preliminary seedling stage 151, the front movable preliminary seedling stage 152, and the rear movable preliminary seedling stage 153 in the 2 nd state.

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

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

In the upper left preliminary seedling storage device 140 and the upper right preliminary seedling storage device 140, as shown in fig. 9 and 12, the lateral inner end of the traveling vehicle body of the upper and lower 4-layer preliminary seedling placement table 142 is rotatably connected to the front and rear support posts 141 via connecting shafts (not shown). The upper and lower 4-layer preliminary seedling rest 142 is supported swingably about an axis Y extending in the forward and rearward direction of the traveling vehicle body of the connecting shaft, and is capable of swinging operation in a lowered use posture as in the upper right-layer preliminary seedling rest 142 shown in fig. 12 and a raised storage posture as in the upper left-layer preliminary seedling rest 142 shown in fig. 12. The front and rear pillars 141 are formed so that the upper part of the preliminary seedling storage device 140 supporting the upper layer is positioned in a curved state of traveling laterally inward of the lower part of the preliminary seedling storage device 150 supporting the lower layer. That is, when the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 are swung across the storage posture and the use posture, the preliminary seedling stage 142 is switched to the raised storage posture, so that the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 can be retracted toward the vehicle body lateral inner side along the movement path of the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153, so that the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 do not collide with each other.

[ example 2 ]

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

The fixing portion 131a is fixed to a vehicle body portion of the traveling vehicle body 104. A support portion 132 is provided at the rear of the fixing portion 131 a. The rear end portion of the movable portion 131b is rotatably coupled to the support portion 132 via a coupling shaft 133. The movable portion 131b is supported by a swing operation about an axis 133a of the coupling shaft 133 extending in the traveling vehicle body transverse direction, and is capable of being swung in a downward use state, which is indicated by a solid line in fig. 18, and extended forward from the fixed portion 131a, and in a upward storage state, which is indicated by a two-dot chain line in fig. 18, and stored in the rear portion of the fixed portion 131 a.

When the movable portion 131b is brought into the lowered use state, the front end side portion 131f enters the entrance 111a, and the front end side portion 131f closes the entrance 111 a. When the movable portion 131b is lowered for use, the front end side portion 131f of the movable portion 131b protrudes forward from the fixed portion 131a, and the free space 200 is formed below the front end side portion 131 f. When the movable portion 131b is in the lowered use state, the portion of the movable portion 131b located on the free end side of the connecting shaft 133 is received and supported by the support portion 134, and the movable portion 131b can be kept in the lowered use state. When the movable portion 131b is in the ascending and receiving state, it is positioned at the rear side of the entrance 111a, and the entrance 111a is opened.

By switching the movable portion 131b to the ascending and storing state, the closing of the entrance 111a by the movable portion 131b can be released, and the fixed portion 131a can be used as a armrest to ride on the driving portion 111 or to descend from the driving portion 111. When the movable portion 131b is switched to the lowered use state, the movable portion 131b can be used as a closing member to close the entrance 111a, except when the vehicle is riding on the driving portion 111 or is being lowered from the driving portion 111.

[ example 3 ]

Fig. 19 is a left side view showing a portion where the armrest 130 of the riding rice transplanter having the structure of embodiment 3 is disposed. In the riding rice transplanter having the structure of embodiment 3, the upper end 131 of the armrest 130 includes a fixed portion 131a and a movable portion 131b.

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

[ other embodiments of embodiment 2 ]

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

(2) Fig. 21 is a front view showing the rear guard 117 having the other embodiment of fig. 2. As shown in fig. 21, the rear guard 117 having the structure of the 2 nd other embodiment includes a rear guard 117u at an upper layer, a rear guard 117n at a middle layer, and a rear guard 117d at a lower layer, which also serve as rear armrests.

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

(4) In the above embodiment, the example in which 3 preliminary seedling stages 151, 152, 153 are provided in the preliminary seedling storage device 150 has been shown, but the present invention is not limited to 3, and may be implemented by providing 2 or 4 or more preliminary seedling stages.

(5) In the above-described embodiment, the example in which the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 are switched to the storage posture and the use posture by swinging has been described, but the present invention is not limited to this configuration, and the following configuration may be adopted: the front movable preliminary seedling stage 152 and the rear movable preliminary seedling stage 153 are replaced with the fixed preliminary seedling stage 151 and the stay 141, whereby the preliminary seedling stages 151, 152, 153 are switched to a state of being aligned in the vehicle body up-down direction and a state of being aligned in the vehicle body front-rear direction. In addition, the following structure may be adopted: the plurality of preliminary seedling stages are supported by a link mechanism swingably supported by the support column 141, and are switched between a state of being aligned in the vehicle body up-down direction and a state of being aligned in the vehicle body front-rear direction by a swinging operation of the link mechanism.

(6) In the above-described embodiment, the state in which the preliminary seedling placement stages 151, 152, 153 are stored is shown as the 1 st state of the preliminary seedling storage device 150, but a state in which a plurality of preliminary seedling placement stages are arranged in the vertical direction of the traveling vehicle body in a state in which the placement of the preliminary seedlings is possible may be configured to be implemented as the 1 st state of the preliminary seedling storage device 150.

(7) In the above-described embodiment, the extension stage 153c is provided on the rear movable preliminary seedling stage 153, but the extension stage 153c may be omitted, and the rear end side portion of the preliminary seedling stage main body 151b of the rear movable preliminary seedling stage 153 may be placed in the free space 200.

(8) In the above embodiment, the example in which the upper-stage preliminary seedling storage device 140 is provided has been shown, but it is also possible to implement the apparatus by not providing the upper-stage preliminary seedling storage device 140 and providing only the preliminary seedling storage device 150 that can be switched between the 1 st state and the 2 nd state.

(9) The present invention is not limited to the riding-type rice transplanter connected to the planting device 120 capable of planting 8 strips, and may be applied to a riding-type rice transplanter connected to a planting device capable of planting a smaller number of strips than 8, such as 4 strips and 6 strips, or a planting device capable of planting a larger number of strips than 8 strips. The present invention can also be applied to a riding type rice transplanter equipped with a fertilizer device having a fertilizer pot and a fertilizer delivery device provided at the rear of the operator's seat 110.

[ embodiment 3 ]

Embodiment 3 will be described below. Here, as an example of the working vehicle, a riding type rice transplanter will be described as an example.

As shown in fig. 23 to 25, the riding-type rice transplanter includes a traveling vehicle body 300 and a planting device W, wherein the traveling vehicle body 300 includes a pair of left and right front wheels 210 and a pair of left and right rear wheels 211, each of which is movable in a direction change operation as a traveling device, and the planting device W serves as a working device capable of planting seedlings in a field. The seedling planting device W is connected to the rear end of the traveling vehicle body 300 via a link mechanism 221 so as to be able to move up and down, and the link mechanism 221 moves up and down by the expansion and contraction operation of the lifting hydraulic cylinder 220.

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

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

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

The seedling planting device W configured as described above drives the rotation boxes 223 to rotate by power transmitted from the transmission box 222 while driving the seedling stage 226 to reciprocate laterally, alternately takes out seedlings from the lower portion of the seedling stage 226 by the respective planting arms 224, and plants the seedlings on the field surface of the field. Thus, the seedling planting device W is configured in 8 planting patterns for planting seedlings with the planting arms 224 provided on the 8 rotating boxes 223. The marker device 233 is provided on the left and right side portions of the seedling planting device W, and is configured to be operable in an operating position in which it is grounded to the field surface of the field, and in a storage position in which it is separated upward from the field surface of the field, an indication line LN is formed on the field surface corresponding to the next operation stroke in accordance with the travel of the traveling vehicle body 300. The posture of the marker device 233 is switched by an electric motor, not shown.

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

As shown in fig. 23 to 25, a driving unit 240 for performing various driving operations is provided in a central portion of the traveling vehicle body 300. The driver section 240 includes a driver seat 241 on which a driver can sit, a steering column 242, a steering handle 243 for manual steering operation of the front wheels 210, which is a manual steering operation tool configured by a steering wheel, a main shift lever 244 capable of performing forward/reverse switching operation and change operation of a traveling speed, an operation lever 245, and the like. The driver seat 241 is provided in the center of the traveling vehicle body 300. The steering column 242 is provided with a steering handle 243, a main shift lever 244, an operation lever 245, and the like so as to be operable. A riding step 246 is provided at a foot portion of the driver 240. Auxiliary steps 247 are provided at left and right outer positions of the riding steps 246. The riding steps 246 also extend to the left and right sides of the hood 212.

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

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

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

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

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

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

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

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

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

As an example of a satellite positioning system (GNS S: global Navigation Satellite System, global navigation satellite system) for detecting the position of a vehicle body by receiving radio waves from satellites, a traveling vehicle body is provided with a position detection mechanism for detecting the position of the vehicle body by using a GPS (Global Positioning System ) as a known technique.

Specifically, as the position detecting means, a position measuring unit 264 (an example of a satellite positioning unit) having a receiving device 263 is provided in the object (traveling vehicle body 300) to be positioned, and the position of the receiving device 263, that is, the position measuring unit 264, can be measured based on the information of the received radio wave, and the receiving device 263 has an antenna 262 for receiving radio waves emitted from a plurality of GPS satellites surrounding the earth.

As shown in fig. 23 to 25, the position measuring unit 264 is mounted on the coupling frame 231 via a plate-like support plate 265 in a state of being positioned at the front portion of the traveling vehicle body 300. As shown in fig. 25, the link frame 231 can be changed in state to: in the use state S1, the position measuring unit 264 is located above the upper end of the preliminary seedling stage 230; and a storage state S2 in which the receiving device 263 is located below the upper end of the preliminary seedling rack 230 in a state of being inverted vertically with respect to the use state S1. In the above description, the connection rack 231 is supported by the left and right preliminary seedling racks 230 via the connection brackets 232 so as to be rotatable about the left and right axial centers X along the machine body transverse direction, and so as to be positionally fixed in each of the use state S1 and the storage state S2.

As shown in fig. 23 and 25, when the connection rack 231 is brought into the use state S1, the receiving device 263 is supported at a high position by the connection rack 231 and the preliminary seedling rack 230. The reception sensitivity of the radio wave of the reception device 263 can be improved with less possibility of radio wave interference occurring in the reception device 263.

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

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

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

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

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

When the automatic mode is set, the steering control unit 269 executes automatic steering control for operating the steering motor 258 so that the detected position (home position) NM of the traveling vehicle body 300 detected by the position measuring unit 264 becomes a position on the target movement path LK, and the detected azimuth (home azimuth) of the traveling vehicle body 300 detected by the inertia measuring unit 266 becomes a target azimuth in the target movement path LK. That is, in the automatic steering control of the traveling vehicle body 300, a positional deviation Δp (see fig. 29. In the following description, also referred to as a "positional deviation amount Δp") between the local position NM of the traveling vehicle body 300 and the lateral direction of the target movement path LK, and an angular deviation between the local azimuth NA of the traveling vehicle body 300 and the target azimuth TD are obtained, and the steering motor 258 is controlled so that these deviations become smaller.

When the steering control section executes the automatic steering control, when the local position NM is deviated in the lateral direction from the target movement path LK and the local azimuth NA is the same as the target azimuth TD, the following positional deviation correction processing is executed: the steering motor 258 is operated by changing the target azimuth as the control target to the tilt target azimuth KA tilted toward the target moving path side.

When the positional deviation correction process is executed, if the local position NM is greatly deviated from the position corresponding to the target movement path LK, the inclination of the inclined target azimuth KA with respect to the target azimuth TD is set to a large side, and the inclination of the inclined target azimuth KA with respect to the target azimuth is made flatter as the local position NM approaches the position corresponding to the target movement path LK. If the vehicle speed is low, the steering control unit 269 sets the inclination of the inclination target direction KA to the target direction TD to a large side, and makes the inclination of the inclination target direction KA to the target direction TD smoother as the vehicle speed is higher.

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

Further, the steering control unit 269 sets the change operation speed at which the steering motor 258 changes the traveling direction to be smaller as the vehicle speed is higher when the positional deviation correction process is performed. Therefore, if the vehicle speed is low, the change operation speed is set to be large, and the change operation speed is set to be smaller as the vehicle speed is larger.

Next, an operation of the control device 267 in the case of performing a planting operation of seedlings in a rectangular paddy field will be described.

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

First, the traveling vehicle body 300 is positioned at the start point position R1 of the ridge in the field, and the start point setting switch 249A is operated. At this time, the control device 267 is set to the automatic off mode. Then, the driver moves the traveling vehicle body 300 straight from the start point position R1 along the straight shape of the ridge on the side portion side in a non-working state while performing manual manipulation, and then moves the traveling vehicle body to the end point position R2 near the ridge on the opposite side, and thereafter operates the end point setting switch 249B. Thereby, teaching processing is performed. That is, a teaching path connecting the start point position R1 and the end point position R2 is set based on the position information acquired by the receiving device 263 at the start point position R1 and the position information acquired by the receiving device 263 at the end point position R2. The direction along the teaching path is set as a target azimuth TD (hereinafter, also referred to as teaching azimuth TD) serving as a reference.

Then, the driver manually operates the steering handle 243 to turn the traveling vehicle body 300. At this time, the control device 267 can determine that the turning of the traveling vehicle body 300 has been performed, based on the reversal of the local azimuth NA.

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

If the control restriction state is released at the predetermined position R3 in fig. 27, the operation input of the automatic steering switch 250 is received, and therefore, if the driver operates the automatic steering switch 250, the operation is switched to the automatic on mode, and the steering control unit 269 starts the automatic steering control from that point. At this time, the driver operates the operation lever 245 to lower the seedling planting device W, thereby performing the seedling planting operation.

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

When the steering control unit 269 performs the automatic steering control while traveling straight, as shown in fig. 29, when the detected home position deviates laterally from the target movement path and the detected azimuth is the same as the teaching azimuth TD, the steering control unit 269 performs the following positional deviation correction process: the steering motor 258 is operated by changing the target azimuth to the inclined target azimuth KA inclined from the teaching azimuth TD to the target moving path side by the set inclination angle α.

That is, as shown in fig. 30, in the positional deviation correction process, the target azimuth at the time of the automatic steering control is changed not to the teaching azimuth TD but to the tilt target azimuth KA tilted from the teaching azimuth TD to the target movement path side by the set tilt angle α, and the automatic steering control is executed. Therefore, when this positional deviation correction process is executed, the vehicle travels in an oblique direction with a small azimuth deviation, so that the positional deviation Δp can be quickly reduced.

At this time, the larger the local position NM is from the position corresponding to the target movement path LK, the larger the set inclination angle α is set, and the more the local position NM is to the position corresponding to the target movement path LK, the more gentle the set inclination angle α is. If the vehicle speed is low, the set inclination angle α is set to the large side, and the higher the vehicle speed is, the flatter the set inclination angle is. However, the upper limit value is set for the set inclination angle α, and the set inclination angle α does not exceed the set upper limit value even if the positional deviation is large, regardless of the low speed of the vehicle.

The region corresponding to the target movement path LK has a region having a predetermined width in the lateral direction on both the left and right sides of the position corresponding to the target movement path LK. That is, the control non-sensor band with respect to the positional deviation is set, and if the positional deviation is not zero and enters the non-sensor band, the positional deviation correction process ends. That is, the target azimuth is not an inclined target azimuth, but is set to a direction along the original teaching azimuth TD.

In this way, the magnitude of the inclination target azimuth KA with respect to the target azimuth varies according to the magnitude of the positional deviation Δp of the traveling vehicle body 300 and the magnitude of the vehicle speed, but the respective correlations of the magnitude of the inclination, the positional deviation Δp of the traveling vehicle body 300, and the vehicle speed may be obtained in advance by experiments, set as map data, and determined by an arithmetic expression or the like. If the vehicle speed is constant, the smaller the position deviation amount Δp, in other words, the closer the local position NM of the traveling vehicle body 300 is to the position corresponding to the target movement path LK, the smaller the set inclination angle α is.

When the automatic steering control is performed while traveling straight, as shown in fig. 31, when the positional deviation correction process is performed in a state in which the traveling vehicle body 300 is deviated toward the work area Z1 side, the steering control unit 269 sets the set inclination angle α to be larger than in a state in which the traveling vehicle body 300 is deviated toward the non-work area Z2 side, as shown in fig. 32. That is, if the traveling vehicle body 300 deviates toward the work area Z1, the set inclination angle α inclined from the teaching direction TD is set to be large, and the positional deviation correction process is executed. That is, since seedlings have been planted in the worked zone Z1, the position is corrected toward the target moving path LK promptly so as not to crush the planted seedlings by the traveling vehicle body 300.

When the steering control unit 269 determines that the driver is operating the steering handle 243 manually in contrast to the steering motor 258 based on the detection information of the torque sensor 261 during the automatic steering control, in other words, when a change instruction by the steering handle 243 is instructed, the steering control unit reduces the operating force at the time of operating the steering motor 258 to a level that allows the manual operation during the automatic steering control.

If the operation of the steering handle 243 by the manual operation is detected in this way, and the operation force of the steering motor 258 is reduced, then after the manual operation is no longer performed, the state in which the operation force of the steering motor 258 is reduced is maintained. This state is maintained after the automatic steering switch 250 is operated to switch to the automatic off mode until switching to the automatic on mode again.

However, if a change instruction by the steering handle is instructed to continue for a long period of time (for example, between ten and several seconds) or longer, the automatic steering control is stopped and the automatic off mode is switched. By giving priority to manual manipulation in this way, for example, collision with an obstacle can be avoided, or orbit correction can be performed when control is not properly performed. The return to the automatic closing mode may be performed by a pressing operation of the automatic steering switch.

If the traveling vehicle body 300 reaches the end position R4 (see fig. 28) of the straight route, the driver operates the automatic steering switch 250 to switch the steering control unit 269 to the automatic off mode. At this time, the operation lever 245 is operated to cut off the transmission to the seedling planting device W, and the seedling planting device W is lifted. Then, the driver manually operates the steering handle 243 to turn the traveling vehicle body 300 toward the next straight-going route. Thereafter, if the automatic steering switch 250 is operated after the post-turning determination condition is established, the automatic steering control is started, similarly to the previous straight-ahead route. The traveling vehicle body 300 travels straight while performing the automatic steering control. The turning travel and the straight travel as described above are repeated.

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

[ other embodiments of embodiment 3 ]

(1) In the above-described embodiment, when the steering control unit 269 executes the positional deviation correction process, if the local position NM is greatly deviated from the position corresponding to the target movement path LK, the inclination of the inclined target position KA with respect to the target position TD is set to the large side, and the local position NM is closer to the position corresponding to the target movement path LK, so that the inclination of the inclined target position KA with respect to the target position is made more gentle, but the present invention may be configured as follows instead.

That is, the steering control unit may maintain the tilt target azimuth as it is until the local position (detection position) NM reaches a position corresponding to the target movement path LK when the positional deviation correction process is performed. The portion corresponding to the target movement path LK has a region (non-sensor belt) having a predetermined width in the lateral direction on both the left and right sides of the position corresponding to the target movement path. That is, if the home position (detection position) NM reaches the end of the non-sensor belt set with respect to the position corresponding to the target movement path, the positional deviation correction process ends. This reduces the delay in control, and can correct the orientation of the vehicle body to the orientation along the target movement path.

(2) In the above-described embodiment, the steering control unit 269 reduces the operation force at the time of operating the steering motor 258 to a level that allows the manual operation in the automatic steering control when a change instruction by the steering handle 243 is instructed at the time of executing the automatic steering control, but may be configured as follows instead of this.

That is, when the change instruction by the steering handle 243 is instructed at the time of executing the automatic steering control, the steering control unit 269 may immediately stop the automatic steering control, and then execute the following auxiliary control: an assist force corresponding to the operation of the steering handle 243 by the steering motor 258 is applied to the operation force of the driver to operate the steering handle 243, and the steering operation shaft 254 is rotated to change the steering angle of the front wheels 210.

(3) In the above-described embodiment, the steering control unit sets the set inclination angle α to a larger value than in the state where the traveling vehicle body is deviated toward the non-work area Z2 when the positional deviation correction process is executed in the state where the traveling vehicle body is deviated toward the work area Z1, but may be configured as follows instead of this.

That is, the steering control unit 269 may set the set inclination angle α to a larger value than the state of the positional deviation of the traveling vehicle body 300 toward the work area Z1 when the positional deviation correction process is executed in the state of the positional deviation of the traveling vehicle body 300 toward the non-work area Z2.

For example, if the vehicle is a work vehicle that performs a work of harvesting a crop that is standing while traveling, such as a combine harvester, this can be used appropriately.

(4) In the above embodiment, the condition for determining the allowable positional deviation correction process after the traveling vehicle body makes the turning travel is a predetermined range of time elapsed from the end of the turning travel of the traveling vehicle body 300 and the deviation angle between the home azimuth NA and the teaching azimuth TD, and instead of this, the condition may be set as follows. In addition, the present invention is not limited to this, and in any case, conditions for determining that the orientation of the vehicle body is stable may be used.

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

(4-2) the set time elapses from the end of the turning.

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

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

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

(5) In the above embodiment, the configuration provided with the seedling planting device W is exemplified as the working device, but the present invention is not limited thereto. For example, the working device may be provided with a fertilizer application device, a chemical distribution device, or the like in addition to the seedling planting device W.

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

(7) The present invention can be used in various work vehicles such as a riding type rice seedling transplanting machine including a seedling planting device as a working device, a riding type seed sowing machine including a seed sowing device as a planting type paddy field work vehicle as a working device, a tractor including a plow or the like as a working device, a combine harvester including a harvesting part or the like as a working device, or a construction work vehicle including a bucket or the like as a working device.

[ embodiment 4 ]

An example of an embodiment of the present invention will be described below with reference to the drawings.

As shown in fig. 33 and 34, a riding type rice transplanting machine (an example of an agricultural machine or an agricultural vehicle) as a paddy field work vehicle for planting among agricultural machines or agricultural vehicles includes a traveling machine body C having a traveling device a and a work device for performing work on a field. The working device of the transplanting machine is a seedling planting device W capable of planting seedlings relative to a field. In addition, an arrow Hf shown in fig. 34 is a "front" of the traveling body C, an arrow Hb is a "rear" of the traveling body C, an arrow H1 is a "left" of the traveling body C, and an arrow Hr is a "right" of the traveling body C.

Further, in the rice transplanter, a positioning system composed of a GNSS (Global Navigation Satellite Systems, global navigation satellite system) or an IMU (Inertial Measurement Unit ) is mounted, and as shown in fig. 38, the positioning system acquires and stores position information of a start point and an end point of a reference travel route KL set in the field, and a set travel route SL parallel to the reference travel route KL can be set. After setting the set travel route SL, the traveling machine body C automatically travels along the set travel route SL (corresponding to automatic travel by automatic steering).

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

As an example of traveling of the traveling machine body C, the following method is given as an example: as shown in fig. 38, first, in order to set the reference travel route KL, manual travel (teaching) is performed, and after the teaching is completed, the travel is switched to automatic travel in a state where the teaching is turned to the planting start position by the manual travel, thereby generating the set travel route SL, and planting travel is performed. At the end of the set travel route SL, the planting is temporarily stopped, the automatic travel is switched to manual steering to turn, and the subsequent cycle of the generation of the set travel route SL and the transition to the automatic travel for the planting is repeated again.

In addition, the rice transplanter further has the following functions: when the automatic travel is performed along the set travel route SL as described later, the position of the set travel route SL itself is shifted in parallel as shown in fig. 39. In this function, when the boundary of the planting completion area E adjacent to the traveling position shows a displaced shape as shown in the figure, the traveling lane G can be changed in accordance with the boundary thereof by the judgment of the driver, and therefore, the planting area can be prevented from being repeated or discontinuous.

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

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

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

The traveling body C is provided with a frame-like body frame 315 extending in the front-rear direction. At the front of the body frame 315, a support column frame 316 is erected.

[ about seedling planting device ]

As shown in fig. 33, the seedling planting device W is connected to the rear end of the traveling machine body C via a link mechanism 321 so as to be able to move up and down, and the link mechanism 321 moves up and down by the expansion and contraction operation of a lift cylinder 320 constituted by a hydraulic cylinder.

As shown in fig. 33 and 34, the seedling planting device W includes 4 gear boxes 322, rotating boxes 323 rotatably supported on left and right sides of a rear portion of each gear box 322, a pair of rotary planting arms 324 provided at both ends of each rotating box 323, a plurality of leveling floats 325 for leveling a field surface of a field, a seedling stage 326 for placing mat seedlings for planting, and the like. In this embodiment, the seedling planting device W is configured in 8 planting types, but may be configured in a plurality of planting types other than 8.

The seedling planting device W configured as described above drives the rotation boxes 323 to rotate by power transmitted from the transmission boxes 322 while driving the seedling stage 326 to reciprocate laterally, alternately takes out seedlings from the lower portion of the seedling stage 326 by the respective planting arms 324, and plants the seedlings on the field surface of the field.

[ about the preliminary seedling stage ]

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

[ about the marker device ]

As shown in fig. 33, the seedling planting device W includes marker devices 333 for forming indication lines on the field surface of the field, respectively, on the left and right sides thereof.

The left and right marker devices 333 are each provided with a marker arm 334 supported by the seedling planting device W so as to be swingable up and down, and a rotating body 335 having a plurality of convex portions in the circumferential direction and supported by the tip end portion of the marker arm 334 so as to be rotatable. Further, the electric motor (not shown) for the marker is provided to operate the left and right marker devices 333 in the operating posture and the storage posture.

By operating the marker 333 in the active position, the rotating body 335 is brought into contact with the field surface, and the trajectory can be marked, which becomes the instruction line.

[ concerning the driver ]

As shown in fig. 33 and 34, a driving unit 340 for performing various driving operations is provided in the center of the traveling body C. The driver 340 includes a driver seat 341 on which a driver can sit, a steering column 342, a steering handle 343 for manual steering operation of the front wheels 310, a main shift lever 344 (corresponding to a shift operation tool) capable of performing a forward/reverse switching operation and a change operation of a traveling speed, an operation lever 345 for operating the seedling planting device W, and the like.

A riding step 346 is provided at a foot portion of the driver 340. At the left and right outer positions of the riding step 346, auxiliary steps 347 are provided. On both left and right sides of the hood 312, there are provided steps 348 as a step-down path connected to the steps 346 without a step difference. Left and right preliminary seedling racks 330 are disposed on the lateral outer sides of the step 348.

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

[ about the main gear lever ]

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

The swing in the front-rear direction is configured to be free, and the forward shift operation is enabled by the swing operation from the neutral position, and the reverse shift operation is enabled by the swing operation from the neutral position to the rear.

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

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

That is, since the operation direction of the automatic steering switch 350 is set to be a direction different from the operation direction (front-rear direction) of the main shift lever 344 in the left-right direction of the traveling machine body C, erroneous operation can be prevented, and the automatic steering switch 350 can be operated while the hand grip 344A is held, so that the amount of work required for replacement is not required, and the efficiency of the steering switching operation can be improved.

[ about instrument panels ]

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

Further, a plurality of display lamps are provided around the liquid crystal display portion 349A, so that the operation information can be displayed.

The liquid crystal display 349A displays, in addition to the timer, the state of the automatic planting clutch, the remaining amount of fuel, the water temperature of the cooling water, and the like, notification of "during sensor warming", "whether to reset the IMU", "the reception status of the GPS signal", "manual steering during automatic travel", "the detection status of the end point of the ridge", "the grounding status of the planting device", and the like, and "corresponding method" for these notification contents.

The plurality of display lamps include an oil-up lamp, a charging lamp, a seedling-up lamp, a planting display lamp, a ridge clutch lamp, a marker lamp, and the like.

The instruction button 352 is pressed when the vehicle is traveling manually for teaching (when the vehicle is traveling by being switched to manual steering by the automatic steering switch 350), and thus the start point and the end point of the reference traveling line KL can be set based on the positional information of the traveling body C at that time.

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

As described above, the instruction button 352 is used as a setting operation mechanism for the reference travel path KL, and also as a shift switch 359 for shifting the setting travel path SL in parallel during automatic travel.

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

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

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

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

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

[ concerning steering units ]

As shown in fig. 35, the steering unit U includes the steering handle 343, a steering shaft 354 linked to the steering handle 343, a steering arm 355 that swings with the rotation of the steering shaft 354, a left-right linking mechanism 356 linked to the steering arm 355, a steering motor 358, a gear mechanism 357 linking the steering motor 358 to the steering shaft 354, and the like.

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

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

As shown in fig. 33, 34, and 36, the traveling machine body C includes: the measuring unit 361 includes a receiving device 363 that acquires position information from a satellite positioning system, and a sub inertial measuring device 364 that can detect the inclination (pitch angle, roll angle) of the traveling machine body C; and a main inertial measurement unit 362 (corresponding to "inertial measurement unit") for measuring inertial information.

The main inertial measurement unit 362 and the sub inertial measurement unit 364 are each composed of IMU (Inertial Measurement Unit).

The measuring unit 361 and the main inertial measurement device 362 are disposed at different positions on the traveling machine body C, and are disposed on the left-right center line CL on the traveling machine body C.

In the satellite positioning system (GNSS: global Navigation Satelite System), GPS (Global Positioning System) is a typical example of the system. The GPS is a system for measuring the position of the receiving device 363 using a plurality of GPS satellites surrounding the earth, a management and control office for tracking and controlling the GPS satellites, and the receiving device 363 provided for the object (traveling machine body C) to be measured. The receiving device 363 is used for acquiring the position information of the traveling machine body C by the satellite positioning system.

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

[ about control Structure ]

As shown in fig. 37, the traveling machine body C includes a control device 375 for controlling the automatic steering of the steering unit U. The control device 375 includes an information storage unit 376 (corresponding to a recording unit), a teaching storage unit 377, a turning detection unit 78, a start determination unit 79, an information correction unit 380, a start point setting unit 381 for generating a set travel route SL for the traveling machine body C, a route shifting unit 382 for shifting the set travel route SL in parallel, a state detection unit 383, and a control unit 384 for controlling the steering unit U based on the positional information and the inertial information so that the traveling machine body C travels along the set travel route SL.

Information such as the gyro sensor 370, the acceleration sensor 371, the steering angle sensor 360, the automatic steering switch 350, the instruction button 352, and the shift switch 359 provided in the receiving device 363, the sub inertial measurement device 364, and the main inertial measurement device 362 is input to the control device 375.

The information storage 376 is configured to store the position information acquired from the reception device 363 in accordance with time.

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

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

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

The information correction unit 380 is configured to perform correction processing on the accumulated error of the information detected by the gyro sensor 370 in the inertial information measured by the main inertial measurement unit 362, based on the position information acquired by the receiving unit 363 and the information measured by the sub inertial measurement unit 364, for each start of the automatic steering control of the traveling machine body C.

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

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

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

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

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

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

The manual travel can be started by swinging the main shift lever 344 forward of the neutral position, and the manual travel can be started from the outer peripheral portion of the field closer to the ridge along the ridge in the straight lane. During traveling, the positioning system acquires the position information of the traveling machine body C at this time by pressing the right instruction button 352A, and the position information is recorded in the information storage 376 as the position information of the starting point K1 of the reference travel route KL.

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

As a result, the teaching storage 377 sets the reference travel line KL as a straight line connecting the start point K1 and the end point K2.

[2] After the straight line traveling in the reference traveling line KL, the steering handle 343 is turned to switch the direction of the traveling machine body C, and the traveling machine body C is manually traveled until the start position of the adjacent set traveling line SL.

At this time, the position of the traveling machine body C can be aligned to a predetermined position by using the indication line drawn on the field surface by the marker device 333 during the traveling of the reference traveling line KL and the aforementioned central indicator 314.

[3] Planting is performed while the traveling machine body C is automatically traveling.

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

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

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

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

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

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

According to the rice transplanter of the present embodiment, since the point can be set as the start point S0 of the set travel route SL by performing the switching operation from the manual travel to the automatic travel by the automatic steering switch (an example of a switch) 50, the driver can freely set the set travel route SL to a preferable position while observing the field condition. This can effectively perform various operations on the traveling machine body C, and reduce the burden on the driver.

Further, during the automatic travel along the once-set travel route SL, the set travel route SL can be simply shifted in parallel by merely operating the shift switch 359, and agricultural work more suited to the condition of the field can be performed.

Further, the shift switch 359 matches the arrangement of the switches with the shift operation direction, so that erroneous operation can be prevented, and good disposability can be obtained.

[ other embodiments of embodiment 4 ]

<1> the agricultural work machine is not limited to the rice transplanter of the form described in the foregoing embodiment, but may be another form of rice transplanter or an agricultural work machine other than a rice transplanter, and these may be collectively referred to as an agricultural work machine.

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

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

The position of the change-over switch may be located at a position other than the shift operation tool, and may also serve as another function switch.

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

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

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

Further, the present invention is not limited to providing two switches as the instruction switches, and for example, the start point K1 and the end point K2 of the reference travel line KL may be instructed by one switch.

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

Including them, are collectively referred to as "indicating switches".

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

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

Further, the present invention is not limited to the arrangement of two switches as the shift switch 359, and may be configured such that, for example, the shift direction of the travel line SL can be set by one switch instruction.

Including them, are collectively referred to as a shift switch 359.

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

As a mode of canceling the operation of the shift switch 359 by the operation canceling portion 385, the following can be given.

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

In this embodiment, after the set travel line SL is shifted by the predetermined amount b by the 1 st operation of the shift switch 359, the shift control is not reflected in the predetermined number of operations (for example, 4 times) from the 2 nd operation, and therefore, even if the 5-time operation is pressed, the shift of the set travel line SL is set to the predetermined amount b of 1 time, and excessive parallel shift can be prevented.

In addition, as another aspect, if the shift switch 359 is operated, the operation of the shift switch 359 is not reflected in the shift control of the set travel line SL until the set time elapses from the operation of the shift switch 359.

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

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

In this embodiment, for example, when the predetermined amount b is set to 10cm and the predetermined width SB is set to 6cm (one side 3 cm), the shift of the set travel route SL is canceled even several times during the period in which the region (b-SB/2) =10-3=7 cm in the parallel shift direction is passed while the travel machine body C changes the travel lane G by the 1 st operation of the shift switch 359, and excessive parallel shift can be prevented.

<6> the positional information of the traveling machine body C obtained by the positioning system is the plane positional information of the measuring unit 361, but the starting point K1 and the ending point K2 of the reference traveling line KL and the starting point S0 of the set traveling line SL set with the upper side thereof as the reference are not necessarily limited to the plane position of the measuring unit 361 set on the traveling machine body C. For example, the front end position (or the rear end position) on the left-right center line CL of the traveling machine body C, or the position that is separated from the center of gravity of the traveling machine body C by a predetermined distance forward (or backward) (for example, the position in the front where the line of sight of the driver passing through the center indicator 314 intersects the field surface, or the like) may be set.

(7) The present invention can be used in agricultural work vehicles such as a riding type rice transplanter as a planting paddy field work vehicle including a seeding apparatus as a working apparatus, a tractor including a plow or the like as a working apparatus, or a combine harvester including a harvesting unit or the like as a working apparatus, in addition to the riding type rice transplanter including a planting apparatus as a working apparatus.

[ embodiment 5 ]

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

In fig. 43, a rice transplanter, a seeder, a tractor, and a combine are assumed as a field work vehicle. As a field working device, a rice transplanter is provided with a planting device, a sowing device is provided with a sowing machine, a tractor is provided with a cultivation device, and a combine is provided with a harvesting device. These field working devices are connected to the respective traveling machine bodies so as to be capable of being lifted and lowered between a working position and a non-working position.

In fig. 43, the field work vehicle (hereinafter simply referred to as a vehicle) travels while repeating a reciprocating linear travel in which the travel is switched (turning travel) with a direction of 180 degrees therebetween in a field bordered by an upper ridge and a lower ridge that are parallel. An upper ridge region is set near the upper ridge, and a lower ridge region is set near the lower ridge. The vehicle travels in a direction-changing manner in the ridge region and travels in a linear manner in the other regions.

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

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

First, a vehicle that passes over a lower ridge and enters the field is lowered to a working position by a driver's operation at a point A1, and a linear working travel (outgoing path) is started. The descent of the field work device is recorded as a vehicle operation indicating the start of the work together with positioning data indicating the position of the spot A1. When the vehicle arrives at the direction conversion area at the point B1 after traveling through the linear work, the field work device is lifted to the non-work position by the operation of the driver, and the travel is shifted to the direction conversion travel of 180 degrees. The rise of the field work device is recorded as a vehicle operation indicating that the work is stopped, together with positioning data indicating the position of the spot B1.

When the direction change travel in the ridge area is completed, the field work device is lowered again to the work position at the point A2, and linear work travel (return) is started. The descent of the field work device is also recorded as a vehicle operation indicating the start of the work together with positioning data indicating the position of the spot A2. The position of the spot A2 can be estimated from the position of the spot B1 in consideration of the travel interval of the reciprocating work corresponding to the work width (planting width or tilling width). Thus, if the vehicle approaches the estimated point A2 during the direction change travel in the ridge region, this is reported to the driver, and the driver can be prompted to lower the field working device to the working position. Further, when the vehicle reaches the estimated point A2, the field work device may be automatically lowered to the work position. The position where the vehicle starts again the straight-line work travel (return) is set as the final point A2.

The point B2, which is the end point of the linear work travel (return), that is, the point where the vehicle reaches the ridge area again may be estimated from the position of the point A1. Thus, if the vehicle is close to site B2, the following can be reported to the driver before reaching the ridge area: the field working device is lifted to a non-working position, and preparation for direction change travel is performed. When the vehicle reaches the estimated point B2, the field working device may be automatically lifted to the non-working position. If the vehicle arrives at the ridge area, the direction of the vehicle is automatically or manually transferred into the ridge area to change the travel. When the direction change travel is completed, the linear job travel (return) is started again from the point A3.

In this way, the work travel and the direction change travel are repeated while passing through the points B3, A4, B4, and A5 …. At this time, if the point A1 is set, the point B2 and the point A3 … can be estimated from the point A1 in consideration of the travel interval of the reciprocating work. However, when estimating the point A3, the point A3 may be estimated from the point A1, but since the point B2, which is the position where the work travel is actually shifted to the direction change travel, is detected, the point A3 may be estimated from the point B2. In particular, when the actual ridge region extends not straight but obliquely or in a stepped manner, it is estimated from a newly set point halfway, and thus the boundary point of the ridge region can be accurately detected.

For example, as shown in fig. 44, when the ridge region has a step, it is necessary to further extend the linear work travel from the estimated point B4. When the linear work travel is performed by the automatic steering, the automatic steering is released, and the linear work travel is continued to a position (newly set point B4) suitable for the direction change travel by the manual steering. If the point B4 is newly set, the next point A5 is estimated from the point B4.

The points A1, A2, … as the start points of the work travel can be automatically set based on the specific vehicle operation. Examples of suitable operations for such specific vehicle operations include an operation start command for the field operation device, detection of a change in position of the field operation device to an operation position, and detection of engagement of a power transmission clutch for the field operation device. Further, the state of the operation tool operated by the driver may be used as the specific vehicle operation. Similarly, the points B1, B2, … as the end points of the job traveling (the start points of the direction change traveling) can be automatically set based on the specific vehicle operation. Examples of suitable operations for such specific vehicle operations include an operation stop command for the field work device, detection of transition of the field work device to the non-work position, and detection of disconnection of the power transmission clutch for the field work device. Further, the state of the operation tool operated by the driver may be used as the specific vehicle operation.

If the first work travel path defined by the point A1 and the point B1 is set as the reference work travel path, a target work path for automatic steering can be calculated based on the reference work travel path. Since the work travel is generally linear, it is simple to steer compared to the direction change travel, and it is therefore appropriate to perform the work travel by automatic steering and the direction change travel by manual steering in terms of control. If the field shape is a simple rectangle, the points A1 and B1 are set, and the transition timing between the work travel and the direction change travel, that is, the arrival timing to the ridge region and the departure timing from the ridge region can be estimated from the points A1 and B1.

When the vehicle enters the ridge region from a straight work travel (return path), but does not travel in a direction change due to some factor, a problem occurs in that the vehicle rides on the ridge. In order to avoid such a problem, it is important to estimate and record the points B2, B3, and B4 … as the end points of the linear work travel (return). Since the positioning means can calculate the vehicle position, the vehicle position can always be compared with the position of the end point of the work travel (return route) (entry point to the ridge area). Thus, it is possible to perform a vehicle deceleration, a warning report, a vehicle stop, or the like before the vehicle enters the ridge region and after the vehicle enters the ridge region.

In the above example, the point A1 and the point B1 are set during the first work travel, and then the points (the arrival point of the vehicle to the ridge area and the departure point from the ridge area), A2, A3 …, B2, and B3 … between the work travel and the direction change travel are estimated from the point A1 and the point B1. When the vehicle is provided with a field map storage unit that stores map data of a field, it is possible to detect that the vehicle arrives at or departs from a ridge region by performing map matching using the vehicle position and the map data, and therefore it is no longer necessary to set such points A1 and B1 and estimation of other points from the points A1 and B1.

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

As shown in fig. 45, a pair of left and right front wheels 410 and a pair of left and right rear wheels 411 are provided as traveling devices. The traveling machine body C includes steering means U1 capable of steering the left and right front wheels 410 in the traveling apparatus.

As shown in fig. 45 and 46, the front portion of the traveling body C is provided with an openable hood 412. An engine 413 is provided in the engine cover 412. The traveling body C is provided with a frame-like body frame 415 extending in the front-rear direction. At the front of the body frame 415, a support column frame 416 is erected.

As shown in fig. 45, the seedling planting device W is connected to the rear end of the traveling machine body C via a link mechanism 421 so as to be able to move up and down, and the link mechanism 421 moves up and down by the expansion and contraction operation of a lift cylinder 420 constituted by a hydraulic cylinder. The seedling planting device W includes 4 gear boxes 422, rotating boxes 423 rotatably supported on left and right sides of a rear portion of each gear box 422, a pair of rotary planting arms 424 provided at both end portions of each rotating box 423, a plurality of floating bodies 425 for leveling a field surface of a field, a seedling stage 426 for placing a mat-shaped seedling for planting, and the like. That is, the seedling planting device W is configured in 8 planting types.

A plurality of (e.g., 4) normal preliminary seedling stages 428 on which preliminary seedlings to be supplied to the seedling planting device W can be placed, and 1 track-type preliminary seedling stage 429 on which preliminary seedlings to be supplied to the seedling planting device W can be placed are provided on the left and right side portions of the engine cover 412 on the traveling machine body C. Further, the left and right sides of the engine hood 412 on the traveling machine body C are provided with a pair of left and right preliminary seedling frames 430 supporting the normal preliminary seedling stage 428 and the rail-type preliminary seedling stage 429, and a connecting frame 431 connected across the upper portions of the left and right preliminary seedling frames 430. The connection frame 431 has a U-shape when viewed from the front. The left and right ends of the connection frame 431 are connected to the upper parts of the left and right preliminary seedling frames 430 via connection brackets 432, respectively.

A driving unit 440 for performing various driving operations is provided in the center of the traveling machine body C. The driver unit 440 includes a driver seat 441 on which a driver can sit, a steering column 442, a steering handle 443 for manual steering operation of the front wheels 410, a main shift lever 444 capable of performing a forward/reverse switching operation and a change operation of a traveling speed, an operation lever 445, and the like. The driver seat 441 is provided in the center of the traveling body C. The steering column 442 is provided with a steering handle 443 and a main shift lever 444 so as to be operable. A riding step 446 is provided at a foot portion of the driver 440.

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

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

Steering unit U1 is operable in an automatic steering mode and a manual steering mode. In the manual steering mode, an assist force corresponding to the operation of the steering handle 443 by the steering motor 458 is applied to the operation force of the driver to operate the steering handle 443, and the steering operation shaft 454 is rotated to change the steering angle of the front wheels 410. On the other hand, in the automatic steering mode, the steering motor 458 is automatically controlled, the steering shaft 454 is rotationally operated by the driving force of the steering motor 458, and the steering angle of the front wheels 410 is changed. In this embodiment, the steering handle 443 and the steering motor 458 function as components of a manual steering unit that manually steers the traveling body C. The control function of the automatic steering for automatically steering the traveling machine body C is built in a control device 408 (see fig. 48) described later, and the steering motor 458 is driven based on a control command from the control device 408. Further, the operation displacement of the steering handle 443 is not directly transmitted to the steering operation shaft 454, and the operation displacement of the steering handle 443 is detected by a sensor, and when the steering motor 458 is driven based on the detected value, a so-called drive-by-wire system is adopted, and a control function of the manual steering is also built in the control device 408.

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

Fig. 48 shows a control device 408 provided in the rice transplanter. Fig. 48 shows a functional unit mainly related to steering among functional units built in control device 408. The control device 408 adopts the basic principle of automatic steering and manual steering described with reference to fig. 43 and 44. The control device 408 is connected to the positioning unit 461, the vehicle state detection sensor group 409, the contact detector 490, the travel mode switching operation tool 465, and the steering mode switching operation tool 466 via the input signal processing unit 408 a. The control device 408 is connected to the reporting device 407, the vehicle traveling device group 471, and the working device group 472 via the output signal processing unit 408 b. The travel mode switching operation tool 465 and the steering mode switching operation tool 466 are switches or buttons.

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

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

The reporting device 407 includes a lamp or a buzzer, and outputs various kinds of information to be reported to the driver, such as approaching to a ridge area or a departure from a target travel path during automatic steering travel, visually or audibly based on an instruction from the control device 408. Further, if a flat panel display or the like is included in the reporting device 407, character information may also be provided.

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

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

The ridge detection module 481 detects whether the traveling machine body C has reached the ridge region based on a point A1 at which travel in the ridge region is shifted from travel to travel in the ridge region, a point B1 at which travel is shifted from travel to direction conversion in the ridge region, which is a travel path reference point set during the initial travel of work, and the vehicle position obtained from positioning data of the positioning unit 461. As described with reference to fig. 43 and 44, the descent detection point A1 of the seedling planting device (working device) W to the descent position (working position) and the ascent detection point B1 of the seedling planting device W to the ascent position (non-working position) are recorded as vehicle motions in the vehicle motion recording unit 483. The travel path (normally, a straight line) between the point A1 and the point B1 is a reference work travel path, and the subsequent work travel path is obtained by sequentially moving the reference work travel path in parallel by a reciprocating work travel interval, regardless of whether the operation is automatic steering or manual steering. That is, the points B2, A3, B4, A5, … corresponding to the point A1 and the points A2, B3, B4, A4, B5, … corresponding to the point B1 are estimated. The estimation algorithm is built in the ridge estimation section 810. Since the estimation method of the position indicating the boundary of the ridge region varies depending on the shape of the field, it is preferable to select a configuration such that an appropriate estimation algorithm can be selected for each field shape. By comparing each of the points with the vehicle position, the control device 408 can output instructions such as a proximity report when the distance approaches the ridge region by a predetermined distance, an arrival report when the ridge region is reached, a deceleration of the traveling body C, and a stop of the traveling body C by detecting the distance from the traveling body C to the ridge region during the traveling operation.

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

The steering mode management unit 484 manages an artificial steering mode that is a traveling by artificial steering and an automatic steering mode that is a traveling by automatic steering. For example, the manual steering mode may be selected in the ridge region, and the automatic steering mode may be selected outside the ridge region (normally, in a straight line working travel). Further, by the switching command from the steering mode switching operation tool 466, the manual steering mode and the automatic steering mode can be forcibly selected. Further, if the steering handle 443 is operated, the steering mode may be forcibly switched from the automatic steering mode to the manual steering mode.

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

Fig. 49 shows an example of the vehicle operation recorded in time series by the vehicle operation recording unit 483 during traveling in the simplified field as shown in fig. 43. In this example, the recording items of the vehicle operation recording unit 483 include recording NO, operation time, vehicle position, and operation content. The operation time is a time (time stamp) at which the operation of the vehicle is detected at the operation time. The host vehicle position is the host vehicle position at the time of detecting the vehicle motion. The detected vehicle motion is identified by the motion content, and the motion content of the travel mode switching operation tool 465 (a is the operation of the a button, and B is the operation of the B button), the positions of the seedling planting device W and the float 425, the state of the planting clutch (working clutch), and the state of steering (steering from straight to turning or steering from turning to straight) are recorded. In fig. 49, the vehicle positions at which the respective vehicles operate are the same, but the vehicle positions are different because the lifting timing of the seedling planting device W and the steering timing of the turning travel are different, but here, the recorded vehicle positions are recorded by correcting the reference positions of the specific vehicles instead.

As can be understood from fig. 43 and 49, from the recording of the vehicle operation recording unit 483, various states of the traveling machine body C and the seedling planting device W as the working device, particularly, the start and end of the work can be read. As an initial procedure of the seedling planting operation by the rice transplanter, NO "0001" was recorded at the time when the vehicle entered the ridge region from the ridge and exited the ridge region. The content of record NO "0001" is a record of the spot A1 in fig. 43, and includes the operation time, the vehicle position, and the operation content at this time. As the operation content, the traveling operation mode is "a", the seedling planting device position is "lowered position", the floating body position is "grounded", and the clutch state is "engaged". In practice, the timings of detecting these motion contents are slightly different, but are the same here. That is, at the timing when the record NO "0001" is recorded, the a button of the travel mode switching operation tool 465 is pressed by the driver, and the setting for the job travel is made.

Then, the work is performed in a straight line, and NO "0002" is recorded when the ridge area is reached. The content of record NO "0002" is a record of point B1 in fig. 43, and includes the operation time, the vehicle position, and the operation content at this time. As the operation content, the traveling operation mode is "B", the seedling planting device position is "up position", the float position is "off", the clutch state is "off", and steering is "from straight to turning". That is, at the timing when NO "0002" is recorded, the B button of the travel mode switching operation tool 465 is pressed by the driver, and the setting for the direction change travel is made. With the operation of the a button and the B button of the travel mode switching operation tool 465, the positions of the spot A1 and the spot B1 are recorded. The line connecting the point A1 and the point B1 may be used as a reference work travel path for estimating a travel path of a subsequent work travel. Thus, the operation of the travel mode switching operation tool 465 is not required outside the spot A1 and the spot B1.

And recording NO '0003' at the moment of finishing the running of the direction conversion in the ridge area and the running of the work when the work comes out of the ridge area. The content of record NO "0003" is a record of the spot A2 in fig. 43, and includes the operation time, the vehicle position, and the operation content at this time. Further, the position of the point A2 is estimated from the point B1 using the reciprocation interval if the field is the field as shown in fig. 43 by the ridge estimating unit 810. Thus, when the vehicle position obtained from the positioning unit 461 is close to or matches the estimated position B1, the setting of the work travel can be automatically performed. Alternatively, the vehicle may be reported to be close to the point B1, and the setting of the work progress may be prompted to the driver. Similarly, the position of the point B2 is estimated from the point A1. Thus, when the vehicle position obtained from the positioning unit 461 is close to or matches the estimated point B2, the direction change travel can be automatically set. Alternatively, the vehicle may be reported to be close to the point B2, prompting the driver to switch the setting of travel in the direction.

In the above description, the timing of reaching and coming out of the ridge region can be determined based on the position change of the seedling planting device W and the floating body 425, the switching operation of the working clutch, and the change of the steering angle, so that the travel mode switching operation tool 465 as a teaching operation tool for identifying the boundary of the ridge region is not necessary. The boundaries of the ridge area may be determined based on 1 or a combination of the above-described vehicle actions. For example, in the case of using the characteristic of the seedling planting device W that is lowered onto the field surface at the start of the work and raised from the field surface at the end of the work, the transfer point from the ridge region to the work region (non-ridge region) of the vehicle can be determined based on the state signal indicating the lowering operation of the raising posture of the seedling planting device W from the raising posture to the ridge region, and the transfer point from the work region (non-ridge region) to the ridge region of the vehicle can be determined based on the state signal indicating the lowering operation of the raising posture of the seedling planting device W from the raising posture to the lowering posture.

The control device 408 can be provided with the following algorithm: which outputs various instructions for performing various actions based on the determination result of the ridge detection module 481 regarding the arrival of the vehicle to the ridge area. Some of these are listed below.

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

(2) The position and time at which each vehicle motion to be recorded occurs during travel in the field can be limited to a specific range. Therefore, the vehicle outside the specific range moves outside the recording object, and thus the recording accuracy improves.

(3) If the vehicle is detected to enter the ridge area, the automatic steering is prohibited.

(4) When the steering operation such as the steering angle and the turning radius of the vehicle in the ridge region is different from the direction change travel operation, the recording in the vehicle operation recording unit 483 is stopped. For example, when the turning radius is large, the travel is regarded as travel that is not normal work travel, such as travel by not turning the direction but travel by moving away from the field.

(5) When an improper vehicle speed is detected during a specific vehicle operation, the vehicle is forcibly stopped.

The travel distance calculating section 486 calculates the travel distance of the traveling body C based on a detection signal from a sensor (one of the vehicle state detection sensor groups 409) that detects the rotation speed of the rear wheel 411 or the rotation speed of the power train of the rear wheel 411. At this time, if the slip ratio estimated from the state of the field is considered, the travel distance can be calculated more accurately. In the case of the positioning unit 461 calculating the position of the vehicle based on the radio wave signal from the satellite, if the reception sensitivity of the radio wave signal is lowered due to some circumstances, the positioning data can no longer be outputted. The travel distance calculation unit 486 is used as compensation. For example, the ridge detection module 481 may detect that the traveling machine body C has reached the ridge region based on the traveling distance calculated by the traveling distance calculating section without being inputted with the positioning data from the positioning unit 461.

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

Specific control operations based on the determination result of the posture determination unit 487 are listed below.

(1) Reporting, decelerating, stopping is performed if the detected tilt angle exceeds the tilt threshold.

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

(3) Reporting, decelerating, stopping is performed when the detected tilt angle exceeds the tilt threshold for an allowable time. The allowable time is determined depending on the vehicle speed and the field depth. When the field depth exceeds a predetermined value, the vehicle is prevented from being completely stopped in order to avoid sinking of the vehicle body.

(4) The acceleration change of the tilt is calculated, and when the tilt changes sharply, the automatic steering is prohibited even if the tilt threshold value is lower than or equal to the tilt threshold value.

[ other embodiments of embodiment 5 ]

(1) In the above-described embodiment, the points A1 and B1, which are boundary points between the ridge area where the direction return travel is performed and the non-ridge area where the work travel is performed, are determined based on the operation of the a button and the B button of the travel mode switching operation tool, and the subsequent points A2, A3 … and B2, B3 … are estimated from the points A1 and B1, and are determined based on the vehicle operation. In order to simplify the control, the points A2, A3, … and the points B2, B3, … may be estimated from the points A1 and B1 without using the vehicle operation, and if a position different from the estimated position is taken as a main point, the point may be determined by operating the a button or the B button of the travel mode switching operation tool again.

(2) The functional blocks shown in fig. 48 are mainly divided for the purpose of illustration. In practice, each functional section of fig. 48 may be combined with other functional sections or divided into a plurality of functional sections. The individual functional units are connected to each other by an in-vehicle LAN or the like.

(3) In addition to the above, the vehicle motion recorded in the vehicle motion recording unit 483 may be a posture of a marker or the like. In addition, the vehicle motion performed at the boundary between the ridge area and the non-ridge area is the object of the vehicle motion to be recorded in the vehicle motion recording unit 483.

(4) The present invention can be applied to various work vehicles such as a riding type rice transplanting machine including a seedling planting device as a working device, a riding type sowing machine including a sowing device as a working device, a tractor including a plow or the like as a working device, a combine harvester including a harvesting unit or the like as a working device, and a construction work vehicle including a bucket or the like as a working device, for example.

Description of the reference numerals

[ embodiment 1 ]

28. Usually, the seedling preparation table (the seedling preparation table)

29. Rail type preparation seedling stage (preparation seedling stage)

30. Preparation seedling rack

31. Connecting frame

62. Main inertial measurement unit (inertial measurement unit)

63. Receiving device

66. Electrical wiring

67. Connector part

68. Protective component

72. Rear axle

73. Rear axle rack (mounting parts)

81. Generating part

83. Control unit

A travelling device

C advancing machine body

U steering unit

W seedling planting device (operation device)

S1 use state

S2 storage state

LM target line

X left and right axle center

[ embodiment 2 ]

111. Driving part

111a landing entrance

120. Seedling planting device

130. Armrest (Armrest)

131. Upper end portion

131a fixing part

131b movable part

131f front end side

150. Prepared seedling containing device

151. Stand for placing seedlings

152. Stand for placing seedlings

153. Stand for placing seedlings

153b prepared seedling carrying table main body

153c extension carrying table

153r rear end side

200. Free space

[ embodiment 3 ]

243. Manual steering operation tool (steering handle)

258. Steering operation mechanism (steering motor)

261. Manual operation detection mechanism (Torque sensor)

264. Position detecting mechanism (position measuring unit)

266. Orientation detection mechanism (inertia measuring unit)

268. Route setting mechanism (route setting part)

269. Control mechanism (steering control part)

270. Vehicle speed detecting mechanism (vehicle speed sensor)

300. Travelling vehicle body

KA tilt target orientation

LK target movement path

NA detection azimuth (local azimuth)

NM detection position (local position)

TD target azimuth (teaching azimuth)

Z1 worked area

Z2 unworked area

Alpha tilt angle (set tilt angle)

[ embodiment 4 ]

344. Main gear lever (speed change operating tool)

350. Automatic steering switch (Change-over switch)

352. Indication button (indication switch)

359. Shift switch

359A right shift switch

359B left shift switch

376. Information storage unit (recording unit)

381. Origin setting part

385. Operation canceling unit

C advancing machine body

KL reference travelling line

S0 setting the starting point of the travelling line

SL set travelling line

SB set width

[ embodiment 5 ]

407. Reporting device

408. Control device

408a input signal processing section

408b output signal processing section

409. Vehicle state detection sensor group

425. Floating body

426. Seedling carrying table

443. Steering handle

444. Main gear lever

445. Operating lever

461. Positioning unit

465. Travel mode switching operation tool

466. Steering mode switching operation tool

471. Vehicle traveling equipment group

472. Work equipment group

481. Ridge detection module

482. Automatic steering unit

483. Vehicle motion recording unit

484. Steering mode management unit

485. Travel path calculation unit

486. Travel distance calculation unit

487. Posture determination unit

490. Contact detector

810. Ridge estimation unit

U1 steering unit

W seedling planting device (field operation device).

Claims

1. A riding type rice transplanter is characterized in that,

the device is provided with:

a traveling vehicle body having a riding-type driving unit;

a seedling planting device connected to the rear part of the travelling vehicle body in a lifting operation manner;

an armrest erected from a vehicle body portion upward laterally of the driving portion; and

a preliminary seedling storage device provided in front of the armrest;

The preliminary seedling storing device comprises a plurality of preliminary seedling carrying tables, which can be switched to a 1 st state and a 2 nd state, wherein the plurality of preliminary seedling carrying tables are arranged along the up-down direction of the travelling vehicle body in the 1 st state, and the plurality of preliminary seedling carrying tables are arranged along the front-back direction of the travelling vehicle body in the 2 nd state;

a free space is arranged below the upper end part of the handrail;

in the state 2 of the preliminary seedling storing device, the rear end side portion of the 1 st one of the plurality of preliminary seedling stages from the rear is entered into the empty space, and the upper end portion and the rear end side portion are overlapped in a plan view.

2. The riding rice transplanter according to claim 1, wherein,

the 1 st preliminary seedling stage includes a preliminary seedling stage main body and an extension stage supported by the preliminary seedling stage main body so as to be capable of being changed in posture between a use posture in which the extension stage protrudes rearward from the preliminary seedling stage main body and a storage posture in which the extension stage is stored inside the preliminary seedling stage main body;

The rear end side of the 1 st preliminary seedling stage is formed by an extension stage in the use posture.

3. The riding rice transplanter according to claim 1 or 2, wherein,

in the 2 nd state of the preliminary seedling storage device, the rear end side portion of the 1 st preliminary seedling stage enters a landing port of the driving section.

4. The riding rice transplanter according to any one of claims 1-3, wherein,

the upper end portion of the armrest includes a fixed portion fixed to a vehicle body portion, and a movable portion that is switchable between a closed state in which the movable portion protrudes forward from the fixed portion and a closed state in which a front end side portion closes a landing opening of the driving portion and opens the landing opening;

the free space is formed below the movable portion in the closed state.

5. The riding rice transplanter according to claim 4, wherein,

the movable portion is supported by the fixed portion so as to be swingably switchable between the closed state and the open state.

6. The riding rice transplanter according to claim 4 or 5, wherein,

In the closed state of the movable portion, the distal end side portion of the movable portion is supported by a column of the preliminary seedling housing device.

7. A riding type rice transplanter is characterized in that,

the device is provided with:

a traveling vehicle body having a driver seat;

a receiving device for performing satellite positioning on the travelling car body;

an armrest erected from a vehicle body portion to an upper side on an outer side of the driver seat in a width direction of the traveling vehicle body; and

a preliminary seedling storage device provided in front of the armrest;

in the state 2 of the preliminary seedling storage device, a rear end side portion of the 1 st one of the plurality of preliminary seedling stages from the rear is located rearward of a front end portion of the driving seat in a side view.

8. The riding rice transplanter according to claim 7, wherein,

in the 2 nd state of the preliminary seedling storage device, the 1 st preliminary seedling stage is overlapped with the driver seat in a side view.

9. The riding rice transplanter according to claim 7 or 8, wherein,

in the 2 nd state of the preliminary seedling storage device, the rear end side portion of the 1 st preliminary seedling stage is located rearward of the driver seat in a side view.

10. The riding rice transplanter according to any one of claims 7-9, wherein,

in a side view, the portion of the armrest that stands upward is located behind the driver seat, and in the 2 nd state of the preliminary seedling storage device, the rear end side portion of the 1 st preliminary seedling stage is located in the vicinity of the portion of the armrest that stands upward.

11. The riding rice transplanter according to any one of claims 7-10, wherein,

12. The riding rice transplanter according to any one of claims 7-11, wherein,

in the 2 nd state of the preliminary seedling storage device, the rear end side portion of the 1 st preliminary seedling stage enters a landing port of a driving section.

13. A working vehicle is characterized in that,

the device is provided with:

a steering operation mechanism capable of changing the direction of travel of the vehicle body;

a path setting means for setting a target movement path along which the vehicle body should travel;

a position detection mechanism for detecting the position of the vehicle body;

azimuth detecting means for detecting an azimuth of the vehicle body; and

a control means for executing an automatic steering control for operating the steering operation means so that the detected position of the vehicle body detected by the position detection means is a position on the target movement path and the detected azimuth of the vehicle body detected by the azimuth detection means is a target azimuth in the target movement path;

the control means performs a positional deviation correction process of changing the target azimuth to an inclined target azimuth inclined toward the target moving path side and operating the steering operation means, when the detected position is deviated in the lateral direction from the target moving path and the detected azimuth is identical to the target azimuth.

14. The work vehicle of claim 13 wherein,

the control means sets an inclination angle of the inclination target azimuth with respect to the target azimuth to a set upper limit value or less when the positional deviation correction processing is executed.

15. The work vehicle of claim 13 or 14, wherein,

the vehicle speed detecting device comprises a vehicle speed detecting mechanism for detecting the vehicle speed;

the control means may be configured to reduce a change operation speed when the steering operation means changes the traveling direction as the vehicle speed increases when the positional deviation correction process is executed.

16. The work vehicle of any of claims 13-15, wherein,

when the positional deviation correction process is executed, the control means makes the inclination angle of the target azimuth to the target movement path smaller as the vehicle speed increases.

17. The work vehicle of any of claims 13-16, wherein,

when the positional deviation correction process is executed, the control means maintains the tilt target azimuth as it is until the detected position reaches a position corresponding to the target movement path.

18. The work vehicle of any of claims 13-16, wherein,

the control means makes the inclination of the inclined target azimuth with respect to the target azimuth more gentle as the detected position approaches a position corresponding to the target movement path when the positional deviation correction processing is executed.

19. The work vehicle of claim 17 or 18, wherein,

the portion corresponding to the target movement path has regions of a predetermined width in the lateral direction on both left and right sides of the position corresponding to the target movement path.

20. The work vehicle of any of claims 13-19, wherein,

the vehicle body alternately repeats straight traveling and turning traveling, and performs work while traveling along the target moving path during the straight traveling, and turns toward a next target moving path parallel to the target moving path at a distal end position of the target moving path during the turning traveling;

when the positional deviation correction process is executed in a state where the vehicle body is deviated to the working area side, the control means is inclined to the target movement path side more than in a state where the vehicle body is deviated to the non-working area side, and sets the inclination target azimuth.

21. The work vehicle of any of claims 13-19, wherein,

when the positional deviation correction process is executed in a state where the vehicle body is deviated to the non-work area side, the control means is inclined to the target movement path side more than in a state where the vehicle body is deviated to the work area side, and sets the inclination target azimuth.

22. The work vehicle of any of claims 13-21, wherein,

The control means does not execute the positional deviation correction process until a predetermined determination condition is satisfied immediately after the turning travel of the vehicle body is started.

23. The work vehicle of any of claims 13-22,

the device is provided with:

a manual steering operation tool for changing the direction of travel of the vehicle body based on a manual operation instruction; and

a manual operation detection means for performing a manual operation with respect to the manual steering operation tool;

the control means reduces the operation force at the time of operating the steering operation means in the automatic steering control if the manual operation is detected by the manual operation detection means.

24. The work vehicle of claim 23 wherein,

the control means reduces the operation force if the manual operation is detected by the manual operation detection means, and maintains the state of reducing the operation force even if the manual operation is no longer detected by the manual operation detection means.

25. The work vehicle of claim 23 wherein,

the control means reduces the operation force if the manual operation is detected by the manual operation detection means, and restores the operation force to the original magnitude if the manual operation is no longer detected by the manual operation detection means.

26. The work vehicle of any of claims 13-25, wherein,

the device is provided with:

a manual operation detection means for detecting that a manual operation is performed with respect to the manual steering operation tool;

the control means stops the automatic steering control if a change instruction by the manual steering operation tool is continuously issued for a set time or longer.

27. The work vehicle of any of claims 13-22,

the device is provided with:

if a manual operation is detected by the manual operation detection means, the control means stops the automatic steering control and executes assist control for operating the steering operation means so as to bring the steering device into a traveling state corresponding to a change instruction by the manual steering operation tool.

28. The work vehicle of any of claims 13-27,

The position detecting means is a satellite positioning means for detecting the position of the vehicle body by receiving radio waves from satellites.

29. The work vehicle of any of claims 23-27,

the manual steering operation tool includes a steering handle.

30. A field work vehicle, comprising:

the travelling machine body travels in the field while performing direction conversion in the ridge area;

a field work device for performing work on the field;

a positioning unit that outputs positioning data indicating the position of the host vehicle;

an artificial steering unit for steering the traveling body based on an artificial operation;

an automatic steering unit for automatically steering the traveling body;

and the ridge detection module is used for detecting the condition that the travelling machine body reaches the ridge area based on the position of the host vehicle.

31. The field work vehicle as defined in claim 30 wherein,

the land map storage unit is provided with a land map storage unit for storing map data of the land, and the land ridge detection module performs map matching by using the vehicle position and the map data to detect that the traveling machine body has reached the land ridge region.

32. The field work vehicle as defined in claim 30 wherein,

a vehicle operation recording unit that correlates an operation of the traveling machine body or the field work device or both with a position of the traveling machine body and records the operation as a vehicle operation;

the ridge detection module detects that the travelling machine body reaches the ridge area based on the vehicle action.

33. The field work vehicle as defined in claim 32 wherein,

the vehicle operation recording unit records, as the vehicle operation, a start and a stop of the work of the field work device.

34. The field work vehicle as defined in claim 32 or 33, wherein,

the vehicle operation recording unit records, as the vehicle operation, a transition of the field working device to a working position and a transition to a non-working position.

35. The field work vehicle as defined in any one of claims 32-34 wherein,

the vehicle operation recording unit records, as the vehicle operation, the start and stop of the direction change travel of the travel machine body.

36. The field work vehicle as defined in any one of claims 32-35 wherein,

A travel mode switching switch that is manually operated when transferring between travel in the ridge region and travel outside the ridge region;

the vehicle operation recording unit records an operation of the travel mode changeover switch as the vehicle operation.

37. The field work vehicle as defined in any one of claims 32-36 wherein,

the ridge detection module has a ridge estimation unit for estimating the arrival timing of the next traveling machine body at the ridge region from the vehicle motion in the next previous work traveling path.

38. The field work vehicle as defined in claim 37 wherein,

before the arrival time estimated by the ridge estimation unit, an approach report command is output, the approach report command reporting an approach to the ridge region.

39. The field work vehicle as defined in claim 37 or 38, wherein,

before the arrival time estimated by the ridge estimation unit, a deceleration command for decelerating the traveling body is output.

40. The field work vehicle as defined in any one of claims 37-39 wherein,

When the vehicle travels a predetermined distance from the arrival time estimated by the ridge estimation unit, a vehicle stop command for stopping the traveling body is output.

41. The field work vehicle as defined in any one of claims 37-39 wherein,

in response to the arrival timing estimated by the ridge estimation unit, a vehicle stop command for stopping the traveling machine body is output.

42. The field work vehicle as defined in any one of claims 30-41 wherein,

the steering control device is provided with a steering mode management unit that manages an artificial steering mode in which artificial steering by the artificial steering unit is performed and an automatic steering mode in which automatic steering by the automatic steering unit is performed.

43. The field work vehicle as defined in claim 42 wherein,

the steering mode management unit selects an artificial steering mode in the ridge region and selects an automatic steering mode outside the ridge region.

44. The field work vehicle as defined in claim 42 or 43 wherein,

the steering control device is provided with a steering mode switching operation tool which manually selects the automatic steering mode and the manual steering mode.

45. The field work vehicle as defined in any one of claims 30-44 wherein,

the vehicle is provided with a travel distance calculation unit that calculates a travel distance based on the rotational speed of the wheel;

when the positioning means is not operable, the ridge detection module detects that the traveling machine body has reached the ridge region based on the traveling distance calculated by the traveling distance calculation unit.

46. The field work vehicle as defined in any one of claims 30-45 wherein,

the device comprises a posture determination unit for determining the posture of the traveling body, and outputs a braking command for decelerating or stopping the traveling body when the posture is deviated from a predetermined condition.

47. The field work vehicle as defined in claim 46 wherein,

the predetermined condition is a tilting threshold value of the tilting angle of the traveling machine body.

48. A kind of operation vehicle, which is composed of a frame,

the device is provided with:

a traveling body having a traveling device;

a steering unit capable of steering the traveling device;

a receiving device for acquiring position information from a satellite positioning system; and

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

A supporting member capable of supporting the receiving device is provided,

the support member supports the receiving device so as to be capable of changing to a use state and a storage state in which the receiving device is positioned at a position lower than the use state.

49. The work vehicle of claim 48 wherein,

the receiving device is supported between a pair of left and right frames extending in the up-down direction.

50. The work vehicle of claim 49 wherein,

the receiving device is provided with a cross frame connecting the upper ends of the left and right frames, and the receiving device is supported by the cross frame.

51. The work vehicle of claim 49 or 50,

in the use state, the upper end of the receiving device is positioned higher than the upper end of the frame,

in the storage state, an upper end portion of the receiving device in the use state is located at a position lower than an upper end portion of the rack.

52. The work vehicle of any of claims 48-51, wherein,

the receiving device is supported rotatably about a left-right axis extending in the left-right direction and is positionally fixed in the use state and the storage state.

53. The work vehicle of claim 48 wherein,

the device is provided with:

a seedling planting device capable of planting seedlings with respect to a field;

a plurality of preliminary seedling stages on which preliminary seedlings to be supplied to the seedling planting device can be placed;

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

a generation unit that generates a target line for advancing the advancing body;

the support members are provided in a width of a space between the pair of left and right preliminary seedling racks in the left-right direction.

54. The work vehicle of claim 53, wherein,

in the use state of the supporting member, the receiving device is located at a position higher than the preliminary seedling stage at the upper end portion,

in the storage state of the support member, the receiving device is located at a position lower than the preliminary seedling stage at the upper end portion.

55. The work vehicle of claim 53 or 54,

the receiving device includes a plurality of receiving devices.

56. The work vehicle of any of claims 53-55,

the support member is supported rotatably about left and right axes extending in the left and right directions in the left and right preparation Miao Taijia, and is positionally fixed in the use state and the storage state.

57. The work vehicle of any of claims 53-55,

the support member is detachable from the left and right preliminary seedling racks.

58. The work vehicle of any of claims 53-57,

the receiving device includes a connector portion for connecting the harness;

the connector portion extends outward in the lateral direction from the receiving device.

59. The work vehicle of any of claims 53-58,

the receiving device includes a connector portion for connecting the harness;

the connector is provided with a protective member for protecting the connector.

60. A working vehicle is characterized in that,

the device is provided with:

a traveling body having a traveling device;

a steering unit capable of steering the traveling device;

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

an inertial measurement unit; and

a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement device;

the receiving device and the inertial measurement device are disposed at the same location of the traveling body.

61. The work vehicle of claim 60 wherein,

The inertial measurement device can measure inclination and azimuth.

62. The work vehicle of claim 60 wherein,

the inertial measurement unit detects the inclination of the traveling body to correct the positional information,

the control unit controls the steering unit based on the position information.

63. The work vehicle of claim 62 wherein,

the receiving device and the inertial measurement device are unitized.