CN116058124A

CN116058124A - Work vehicle and travel path setting system therefor

Info

Publication number: CN116058124A
Application number: CN202310099122.XA
Authority: CN
Inventors: 直本哲; 久保田祐树; 石见宪一; 高瀬竣也; 目野鹰博; 宫本惇平
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2017-06-26
Filing date: 2018-06-26
Publication date: 2023-05-05
Also published as: CN109104925A; JP2019004798A; CN109104925B; JP6805090B2; KR20190001528A

Abstract

The present invention relates to work vehicles. In the work vehicle, when the position data of the outer periphery of the field is to be obtained, the position data of the outer periphery of the field can be appropriately obtained without unnecessary work. The work vehicle includes: a positioning unit for detecting the position of the body; a ridge edge acquisition unit for acquiring, based on the acquisition instruction, the position of the machine body from the start to the end of travel as ridge edges (B11-B41) along the ridges (B1-B4); a turning position acquisition unit for acquiring turning positions (D1-D5) of the body based on the acquisition instruction; and a turning ridge side acquisition unit for acquiring, as ridge sides (B11-B41) along the ridges (B1-B4), positions obtained by connecting adjacent turning positions (D1-D5).

Description

Work vehicle and travel path setting system therefor

The present application is a divisional application of the invention patent application with the application date of 2018, 6, 26 and the application number of 201810670481.5.

Technical Field

The present invention relates to a work vehicle that travels while working a field, such as a riding rice transplanter, a riding planter, a combine harvester including a harvesting unit, and a tractor including a rotary cultivator.

Background

As disclosed in patent document 1, in a riding type rice transplanter, which is an example of a working vehicle, in a field, the riding type rice transplanter travels from one ridge to the other ridge, turns around the other ridge, and then travels from the other ridge to the one ridge, and repeats the traveling from the one ridge to the other ridge and turning around the edge of the one ridge.

In patent document 1, first, a driver manually steers a front wheel of a machine body to teach running of a work vehicle along a ridge, thereby setting a reference running path (reference line of fig. 7 of patent document 1). In this way, when setting the reference travel path, a plurality of travel paths (first to nth rows of fig. 7 of patent document 1) are set in the field in parallel with each other at a predetermined interval along the reference travel path (ridge).

In patent document 1, a front wheel of a machine body is automatically steered to perform a first travel so that the machine body automatically travels along a first travel path, and when the first travel is completed and the machine body reaches one ridge, the machine body turns at the side of the one ridge. Then, the front wheels of the machine body automatically perform steering operation to perform second traveling so that the machine body automatically travels along an adjacent second traveling path.

Prior art literature

Patent literature

Patent document 1: japanese patent application laid-open No. 2008-92818

In patent document 1, in order to set a plurality of travel paths, first, teaching travel is performed to set a reference travel path. In this case, the driver performs teaching traveling by manually steering the front wheels of the body, and therefore, there is a case where an error occurs in the steering operation of the front wheels by the driver, and there is a case where an error occurs in the reference traveling path with respect to the field. When an error occurs in the reference travel path with respect to the land, an error also occurs in the travel path set parallel to the reference travel path with respect to the land.

Thus, it is possible to set the travel route based on the position data of the ridge side (outer peripheral portion) of the field by obtaining the position data of the ridge side (outer peripheral portion) of the field.

Disclosure of Invention

The invention aims at: in the working vehicle, when the position data of the ridge edge (outer peripheral portion) of the field is to be obtained, the position data of the ridge edge (outer peripheral portion) of the field can be appropriately obtained without unnecessary work.

Means for solving the problems

The work vehicle of the present invention includes:

a positioning unit that detects a position of the body;

A ridge edge acquisition unit that acquires, based on an acquisition instruction, a position of the body from the start of travel to the end of travel as a ridge edge along the ridge;

a turning position acquisition unit that acquires a turning position of the body based on an acquisition instruction; and

a turning ridge edge obtaining unit that obtains, as a ridge edge along a ridge, a position obtained by connecting adjacent ones of the turning positions obtained by the turning position obtaining unit. Here, the ridge edge obtained by the turning ridge edge obtaining section may be a ridge edge intersecting the ridge edge obtained by the ridge edge obtaining section.

In the field, when the working vehicle repeatedly travels from one (the other) ridge to the other (the one) ridge and turns around the ridge side of the one (the other), not only travel near the center of the field but also travel along the ridge is performed.

According to the present invention, when traveling along a ridge, the ridge side acquiring unit may acquire the position of the machine body from the start to the end of traveling as the ridge side along the ridge.

In the case where the turning at the ridge edge is repeated, the turning ridge edge obtaining unit may obtain, as the ridge edge along the ridge, a position obtained by connecting adjacent turning positions from among the turning positions obtained by the turning position obtaining unit.

Thus, by combining the ridge sides (position data) acquired by the ridge side acquiring unit and the ridge sides (position data) acquired by the turning ridge side acquiring unit, position data of the ridge sides of the field, that is, position data of the outer periphery of the field can be obtained.

As described above, the travel of the ridge side (position data) acquired by the ridge side acquiring unit and the turning ridge side acquiring unit is substantially the same as the travel of the normal operation (planting of seedlings in a riding type rice transplanter, etc.) performed in the field (or included in the travel of the normal operation (planting of seedlings in a riding type rice transplanter, etc.) performed in the field).

According to the present invention, the ridge side (position data) is acquired by the ridge side acquiring unit and the turning ridge side acquiring unit in parallel with a normal operation performed in the field, whereby the position data of the outer peripheral portion of the field can be obtained. The positional data of the outer periphery of the field obtained as described above can be used for the next operation of the work vehicle in the same field, the next-year operation, and the like.

As described above, according to the present invention, by performing traveling in the field as in the normal operation, position data of the outer peripheral portion of the field can be obtained appropriately, and unnecessary operations can be avoided.

In the present invention, it is preferable that the working vehicle further includes a travel path acquisition unit that acquires a travel path set based on the ridge side acquired by the ridge side acquisition unit.

According to the present invention, when traveling from one (the other) ridge to the other (the one) ridge is repeated in the field, the traveling route set based on the ridge side (position data) acquired by the ridge side acquiring unit is acquired, and therefore, traveling from the one (the other) ridge to the other (the one) ridge can be easily performed by effectively utilizing the traveling route.

In the present invention, it is preferable that the work vehicle includes an automatic travel control unit that automatically manipulates the machine body based on a position of the machine body so that the machine body travels along the travel path.

According to the present invention, since the travel path is set as described above and the body is automatically manipulated to travel along the travel path, the travel from one ridge to the other ridge can be easily performed.

The work vehicle of the present invention includes:

a positioning unit that detects a position of the body;

a first ridge side acquiring unit that acquires, based on an acquisition instruction, a position of the body from the start of travel to the end of travel as a first ridge side along the ridge;

a second ridge side acquiring unit that acquires a position of the body from a start to an end of travel as a second ridge side along the ridge based on an acquisition instruction during travel of the body in a direction intersecting the first ridge side;

a turning ridge edge obtaining unit that obtains, as a ridge edge along a ridge, a position connecting adjacent ones of the turning positions obtained by the turning position obtaining unit.

Here, the ridge edge obtained by the turning ridge edge obtaining section may be a ridge edge intersecting the second ridge edge and facing the first ridge edge.

The work vehicle may further include a travel path acquisition unit that acquires a travel path set based on the ridge side acquired by the second ridge side acquisition unit.

The work vehicle may further include an automatic travel control unit that automatically manipulates the body based on a position of the body so that the body travels along the travel path.

In the field, when the working vehicle repeatedly travels from one (the other) ridge to the other (the one) ridge and turns around the ridge edge of the one (the other), not only travel near the center of the field but also travel along the ridge is performed.

According to the present invention, when traveling along a ridge, the first ridge side acquiring unit and the second ridge side acquiring unit may acquire the position of the machine body from the start to the end of traveling as the first ridge side and the second ridge side along the ridge.

Thus, the first ridge side and the second ridge side (position data) acquired by the first ridge side acquiring unit and the second ridge side acquiring unit are combined with the ridge side (position data) acquired by the turning ridge side acquiring unit, whereby position data of the ridge side of the field, that is, position data of the outer periphery of the field can be obtained.

According to the present invention, the first ridge side (position data) and the second ridge side (position data) intersecting the first ridge side are acquired, and the position data of the ridge side of the field including the corner of the field can be obtained, and therefore, the high-precision position data of the outer peripheral portion of the field can be obtained.

As described above, the travel of the ridge sides (position data) acquired by the first ridge side acquiring unit, the second ridge side acquiring unit, and the turning ridge side acquiring unit is substantially the same as the travel of the normal operation (planting of seedlings in the riding transplanter, etc.) in the field (or included in the travel of the normal operation (planting of seedlings in the riding transplanter, etc.) in the field).

According to the present invention, the first ridge side acquiring unit, the second ridge side acquiring unit, and the turning ridge side acquiring unit acquire the ridge side (position data) in parallel with the normal operation in the field, whereby the position data of the outer periphery of the field can be obtained. The positional data of the outer periphery of the field obtained as described above can be used for the next operation of the work vehicle in the same field, the next-year operation, and the like.

Drawings

Fig. 1 is an overall side view of a riding rice transplanter.

Fig. 2 is an overall plan view of the riding rice transplanter.

Fig. 3 is a schematic diagram showing a connection state between the control device and each component.

Fig. 4 is a plan view showing a traveling state of the machine body in the field.

Fig. 5 is a plan view showing a traveling state of the machine body in the field.

Fig. 6 is a plan view showing a traveling state of the machine body in the field.

Fig. 7 is a plan view showing a traveling state of the machine body in the field.

Fig. 8 is a plan view showing a traveling state of the machine body in the field.

Fig. 9 is a plan view showing a traveling state of the machine body in the field.

Fig. 10 is a plan view showing the position data of the ridge sides and the turning positions of the field.

Fig. 11 is a plan view showing the state of position data of a ridge side of a field.

Fig. 12 is a plan view showing a state of a travel route set in the field.

Fig. 13 is a plan view showing position data of a ridge side and a turning position of a field in the first other embodiment of the present invention.

Fig. 14 is a plan view showing position data of a ridge side and a turning position of a field in the first other embodiment of the present invention.

Fig. 15 is a plan view showing a state of a travel route set in a field in a fifth other embodiment of the present invention.

Description of the reference numerals

11. Body of machine

29. Positioning part

51 ridge edge obtaining portion, first ridge edge obtaining portion

52. Second ridge edge obtaining part

55. Automatic travel control unit

56. Turning position acquisition unit

57. Turning ridge edge acquisition part

59. Travel route acquisition unit

B1-B4 ridge

B11 ridge edge, first ridge edge

B21 ridge edge, second ridge edge

B31 Ridge edge

B41 Ridge edge

D1-D9 turning positions

L01 to L03 travel paths

Detailed Description

In the embodiment of the present invention, a 6-row planting type riding rice transplanter is shown as an example of a work vehicle that performs a planting operation in a field (paddy field).

The front-rear direction and the left-right direction in the embodiment of the present invention are described below unless otherwise specified. The forward travel direction of the machine body 11 during traveling is "forward", and the backward travel direction is "backward". The direction corresponding to the right side is "right" and the direction corresponding to the left side is "left" with reference to the forward posture in the front-rear direction.

(integral Structure of riding type Rice transplanter)

As shown in fig. 1 and 2, the riding rice transplanter includes a link mechanism 3 and a hydraulic cylinder 4 for driving the link mechanism 3 up and down in a rear portion of a machine body 11 including left and right front wheels 1 and left and right rear wheels 2, and a rice transplanting device 5 as a working device is supported in the rear portion of the link mechanism 3.

The transplanting device 5 includes: a planting gear box 6 arranged at a predetermined interval in the left-right direction, a rotary box 7 rotatably supported at the right and left parts of the rear part of the planting gear box 6, planting arms 8, floating plates 9, a seedling loading table 10 and the like provided at both ends of the rotary box 7.

The fertilizer applicator 18 is provided as a working device across the machine body 11 and the transplanting device 5, and the fertilizer applicator 18 includes a hopper 13, a feeding section 14, a blower 15, a groover 16, a hose 17, and the like.

The rear side of the driver seat 12 in the body 11 includes: a hopper 13 for storing fertilizer, and three successive delivery units 14 corresponding to two planting bars, and a blower 15 provided on the left lateral outside of the successive delivery units 14. The float plate 9 is connected to a slotter 16, and includes 6

slotter

16, and 6 hoses 17 are connected across the feeder 14 and slotter 16.

As shown in fig. 1 and 3, the left and right markers 44 are provided at the left and right portions of the transplanting device 5, and the left and right markers 44 can be freely operated in an operating posture with respect to the ground and in a storage posture spaced upward from the ground. The left-right marker 44 includes: an arm 44a supported by the transplanting device 5 so as to swing up and down, and a rotating body 44b supported by the tip end of the arm 44a so as to be rotatable, are provided with an electric motor 45 for operating the left and right markers 44 in an operating posture and a storage posture.

(Transmission System for Transmission of front and rear wheels, transplanting device and fertilizing device)

As shown in fig. 1, the power of an engine 31 provided at the front of a machine body 11 is transmitted to a hydrostatic continuously variable transmission (not shown) via a transmission belt 32, and is transmitted to a gear-change type sub-transmission (not shown) inside a transmission 33.

A left and right front axle box 34 is connected to the left and right parts of the transmission 33, and the left and right front wheels 1 are rotatably supported by the left and right parts of the front axle box 34. The power of the sub-transmission is transmitted to the left and right front wheels 1 via a front wheel differential (not shown) and a propeller shaft (not shown) inside the front axle box 34.

A rear axle box 35 is supported in the left-right direction at the lower part of the rear part of the body 11, and the left and right rear wheels 2 are supported at the left and right parts of the rear axle box 35. The power of the auxiliary transmission is transmitted to the left and right rear wheels 2 via a propeller shaft 36, a propeller shaft (not shown) inside the rear axle box 35, and a side clutch (not shown).

As shown in fig. 1, 2, and 3, a steering wheel 20 is provided on the front side of the driver seat 12, and the steering wheel 20 is used to steer the front wheel 1. The shift lever 37 is provided on the left lateral side of the steering wheel 20, and the continuously variable transmission can be operated in a continuously variable manner by the shift lever 37 from the neutral position N to the forward side F and the reverse side R.

(drive System for driving the transplanting device and the fertilizing device)

As shown in fig. 1, 2 and 3, in the transmission 33, power branched from immediately before the sub-transmission is transmitted to the transplanting device 5 via the planting clutch 26 and the PTO shaft 38, and the electric motor 28 for operating the planting clutch 26 to a transmission state and a cut-off state is provided.

When the planting clutch 26 is operated to the transmission state, the rotary box 7 is rotationally driven as the seedling loading table 10 is reciprocally driven in the lateral direction, and the planting arms 8 alternately take out seedlings from the lower portion of the seedling loading table 10 and plant the seedlings in the field. When the planting clutch 26 is operated to the cut-off state, the seedling loading table 10 and the spin box 7 are stopped.

As shown in fig. 1, 2, and 3, in the transmission 33, the power of the sub-transmission is transmitted to the feeding portion 14 of the fertilizer apparatus 18 via the fertilizer clutch 27, and the fertilizer clutch 27 is operated to the power transmission state and the cut-off state by the electric motor 28.

When the fertilizer clutch 27 is operated to the transmission state, fertilizer in the hopper 13 is fed out by the feeding section 14, and supplied to the slotter 16 through the hose 17 by the air-sending wind of the blower 15, and fertilizer is supplied from the slotter 16 to the slots in the field while forming the slots in the field by the slotter 16. When the fertilizer clutch 27 is operated to the cut-off state, the continuous feed portion 14 is stopped.

(automatic lifting control of transplanting device)

As shown in fig. 3, the rear portion of the central floating plate 9 is supported so as to swing vertically about the axis P1 in the left-right direction of the transplanting device 5, and a potentiometer-type height sensor 22 for detecting the height of the central floating plate 9 relative to the transplanting device 5 is provided, and the detection value of the height sensor 22 is input to a control device 23. As the machine body 11 travels, the central floating plate 9 is grounded to the field and follows the travel of the machine body 11, and the height from the field (central floating plate 9) to the transplanting device 5 can be detected by the detection value of the height sensor 22.

The automatic lifting control unit 54 is provided as software in the control device 23, and includes a control valve 24 for performing the supply and discharge operation of the hydraulic oil to and from the hydraulic cylinder 4, and the control valve 24 is operated by the automatic lifting control unit 54.

When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, and the hydraulic cylinder 4 contracts to raise the transplanting device 5. When the control valve 24 is operated to the lowered position, hydraulic oil is discharged from the hydraulic cylinder 4, and the hydraulic cylinder 4 performs an extension operation to lower the transplanting device 5.

As shown in fig. 3, in the operating state of the automatic lifting control unit 54, the control valve 24 is operated by the automatic lifting control unit 54 based on the height from the field to the transplanting device 5, so that the hydraulic cylinder 4 is operated to extend and retract, and the transplanting device 5 is automatically lifted and lowered, so that the transplanting device 5 is maintained at the set height from the field. Thereby, the planting depth of the seedlings is maintained at the set depth.

(lifting operation of the transplanting device by the operating rod)

As shown in fig. 2 and 3, an operation lever 39 is provided on the right lateral side portion of the lower side of the steering wheel 20, and the operation lever 39 extends to the right lateral outside.

The operation lever 39 is configured to be operated freely in the cross direction from the neutral position N to the upper first ascending position UU1, the second ascending position UU2, the lower first descending position DD1, the second descending position DD2, the rear right marker position RA, and the front left marker position LA, and is biased at the neutral position N, and the operation position of the operation lever 39 is input to the control device 23.

When the operation lever 39 is operated to the second raising position UU2, the planting clutch 26 and the fertilizer clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, and the control valve 24 is operated to the raising position to raise the transplanting device 5. When the transplanting device 5 reaches the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 is automatically stopped.

When the operation lever 39 is operated to the second lowering position DD2, the planting clutch 26 and the fertilizer clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, and the control valve 24 is operated to the lower position, so that the transplanting device 5 is lowered. When the floating plate 9 at the center is grounded to the field, the automatic lifting control unit 54 is in an operating state, and the transplanting device 5 is in a state of being grounded to the field and stopped.

When the operation lever 39 is operated to the second lowering position DD2 and then to the neutral position N and then the operation lever 39 is operated to the second lowering position DD2 again, the planting clutch 26 and the fertilizer clutch 27 are operated to the transmission state by the electric motor 28 in the operating state of the automatic lifting control unit 54.

When the operation lever 39 is operated to the first raising position UU1, the planting clutch 26 and the fertilizer clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, the control valve 24 is operated to the raising position, and the transplanting device 5 is raised only while the operation lever 39 is operated to the first raising position UU 1. When the operation lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position, and the raising of the transplanting device 5 is stopped.

When the operation lever 39 is operated to the first lowering position DD1, the planting clutch 26 and the fertilizer clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, the control valve 24 is operated to the lowering position, and the rice transplanting device 5 is lowered only while the operation lever 39 is operated to the first lowering position DD 1. When the operation lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position, and the lowering of the transplanting device 5 is stopped.

As described above, the transplanting device 5 can be raised and lowered only while the operation lever 39 is operated to the first raising position UU1 and the first lowering position DD1, and the transplanting device 5 can be raised and lowered to an arbitrary height to stop the raising and lowering.

When the operation lever 39 is operated to the right marker position RA, the right marker 44 is operated to the action posture by the electric motor 45. When the operation lever 39 is operated to the left marker position LA, the left marker 44 is operated to the action posture by the electric motor 45.

(Structure for detecting the position of the body and the orientation of the body)

As shown in fig. 1 and 2, left and right support frames 19 are provided at left and right portions of the front portion of the machine body 11, and a seedling loading table 21 is preliminarily supported on the support frames 19. A support bracket 25 is connected across the upper portions of the left and right support brackets 19.

The support frame 25 is provided with a measuring device 29 (corresponding to a positioning unit) at a portion located at the left and right center CL of the body 11 in a plan view. The measuring device 29 includes: an information receiving device (not shown) for acquiring position information by a satellite positioning system, and an inertial measurement device (not shown) for detecting the inclination (pitch angle, roll angle) of the body 11, and the measurement device 29 outputs position data of the body 11.

An inertial measurement device 30 for measuring inertial information is attached to a portion of the rear axle box 35 located at the left and right center CL of the body 11 in a plan view. The inertial measurement unit 30 and the inertial measurement unit 29 measure the inertia of the IMU (Inertial Measurement Unit: inertial measurement unit).

The above satellite positioning system (GNSS: global Navigation Satellite System, global navigation satellite System) exemplifies GPS (Global Positioning System: global positioning System) as a representative positioning system. The GPS measures the position of the information receiving device of the measuring device 29 by using a plurality of GPS satellites rotating around the earth, a control station for tracking and controlling the GPS satellites, and an information receiving device provided to the object (body 11) to be measured.

The inertial measurement device 30 includes: a gyro sensor (not shown) capable of detecting an angular velocity of the yaw angle of the body 11 (turning angle of the body 11), and an acceleration sensor (not shown) detecting an acceleration in the 3-axis direction orthogonal to each other. The inertial information measured by the inertial measurement unit 30 includes: azimuth change information detected by the gyro sensor, and position change information detected by the acceleration sensor.

Thereby, the position of the body 11 and the orientation of the body 11 are detected by the measuring device 29 and the inertial measuring device 30.

(Structure related to automatic travel of machine body)

As shown in fig. 3, the steering device includes a steering motor 40 for operating the steering wheel 20, and a display device 42 including a liquid crystal display or the like is provided on the front side of the steering wheel 20.

The operation position of the shift lever 37 is input to the control device 23, and a shift motor 41 for operating the shift lever 37 is provided. The button-type automatic operation unit 43 for starting and stopping the automatic running is provided in the grip portion of the shift lever 37, and a signal of the automatic operation unit 43 is input to the control device 23.

In addition to the automatic elevation control unit 54 described in the foregoing (automatic elevation control of the transplanting apparatus), the first ridge side acquiring unit 51, the second ridge side acquiring unit 52, the travel path setting unit 53, the automatic travel control unit 55, the turning position acquiring unit 56, the turning ridge side acquiring unit 57, the storage unit 58, and the travel path acquiring unit 59 are also arranged as software in the control device 23.

As shown in fig. 2, the width of the transplanting device 5 in the lateral direction is W1, the first length extending across the measuring device 29 and the rear end portion of the transplanting device 5 (floating plate 9) in a plan view is E1, the second length extending across the measuring device 29 and the front end portion of the machine body 11 in a plan view is E2, and the entire length extending across the front end portion of the machine body 11 and the rear end portion of the transplanting device 5 (floating plate 9) is E3.

(planting seedlings in a field and obtaining position data of a Ridge side by fertilizer supply) (1)

As shown in fig. 4, the field includes, for example, ridges B1, B2, B3, and B4 and ridge sides B11, B21, B31, and B41.

The driver operates the steering wheel 20 and the shift lever 37 to position the machine body 11 at the position K1, and inputs a start instruction for acquiring position data of the ridge sides B11 to B41 to the control device 23.

At the position K1, the rear end of the transplanting device 5 (floating plate 9) is positioned at the ridge B41, and the left end of the transplanting device 5 is positioned at the ridge B11. The measuring device 29 is located at a distance of 1/2 of the transverse width W1 from the ridge B11 from the ridge B41 by a first length E1.

At the position K1, the operator operates the operation lever 39 (corresponding to the acquisition instruction) to lower the transplanting device 5 to the field, and operates the operation hand wheel 20 and the shift lever 37 to drive the machine body 11 along the ridge B11. In this case, the left and right markers 44 are placed in the storage posture without planting seedlings or supplying fertilizer.

When the front end of the machine body 11 reaches the ridge B21 (position K2), the operator operates the operation lever 39 (corresponding to the acquisition instruction) to raise the transplanting device 5.

As shown in fig. 4 and 5, position data (position of the body 11) of the measuring device 29 from the start (position K1) to the end (position K2) of travel is acquired and stored by the first ridge side acquiring unit 51 as position data C1 along the ridge side B11 (first ridge side) of the ridge B1.

As shown in fig. 5, the driver operates the steering wheel 20 and the shift lever 37 to position the machine body 11 at the position K3. At the position K3, the rear end of the transplanting device 5 (floating plate 9) is positioned at the ridge B11, and the left end of the transplanting device 5 is positioned at the ridge B21. The measuring device 29 is located at a distance of 1/2 of the transverse width W1 from the ridge B21 by a first length E1 from the ridge B11.

At the position K3, the operator operates the operation lever 39 (corresponding to the acquisition instruction) to lower the transplanting device 5 to the field, and operates the operation hand wheel 20 and the shift lever 37 to drive the machine body 11 along the ridge B21. In this case, the right marker 44 is operated to the operating posture without planting seedlings and supplying fertilizer.

When the front end of the machine body 11 reaches the ridge B31 (position K4), the operator operates the operation lever 39 (corresponding to the acquisition instruction) to raise the transplanting device 5.

As shown in fig. 5 and 6, the position data (position of the body 11) of the measuring device 29 from the start (position K3) to the end (position K4) of travel is acquired and stored by the second ridge side acquiring unit 52 as the position data C2 along the ridge side B21 (second ridge side) of the ridge B2.

The position data of the measuring device 29 at the position K4 is acquired and stored as the turning position D1 of the body 11 by the turning position acquisition unit 56. A sign S1 is formed in the field using the right marker 44.

(planting seedlings in field and obtaining position data of the Ridge sides by fertilizer supply) (2)

As shown in fig. 5 and 6, when the front end portion of the machine body 11 reaches the ridge side B31 (position K4), the driver visually recognizes the sign S1 of the field as a target, and operates the steering wheel 20 and the shift lever 37 to turn the machine body 11 from the position K4 to position the sign S1 (position K5). At the position K5, the rear end portion of the transplanting device 5 (floating plate 9) is located at a distance E3 from the ridge B31, and the left and right center CL of the machine body 11 is located at a distance W1 from the position data C2.

As shown in fig. 6, at position K5, the driver operates the lever 39 (corresponding to the acquisition instruction) to lower the transplanting device 5 to the field, operates the planting clutch 26 and the fertilizer clutch 27 to the transmission state, operates the left marker 44 to the operating posture, and operates the shift lever 37 to start the machine body 11.

The position on the ridge side B31 side 2 times the first length E1 (the position separated from the ridge side B31 by the second length E2) from the position of the measuring device 29 is acquired and stored as the turning position D2 of the machine body 11 by the turning position acquisition unit 56.

At the position K5, when the driver operates the automatic operation unit 43, a travel path L01 parallel to the position data C2 (travel path L01 intersecting the position data C1 at a predetermined angle) is set by the travel path setting unit 53 ahead of the position (K5) of the body 11. The travel path L01 is acquired by the travel path acquisition unit 59, and the position of the body 11 and the travel path L01 are displayed on the display device 42.

At the same time, the automatic travel control unit 55 is in an operating state. Based on the position of the body 11 obtained by the measuring device 29 and the inertia information obtained by the inertia measuring device 30, the steering motor 40 is operated to perform an automatic steering operation of the front wheels 1, the shift motor 41 is operated to automatically operate the shift lever 37, and the body 11 automatically travels at a constant speed along the travel path L01. Thereby, seedling planting and fertilizer supply are performed, and the left marker 44 is used to form a mark S2 in the field.

As shown in fig. 6 and 7, when the front end portion of the machine body 11 reaches the ridge side B11 (position K6), the driver operates the operation lever 39 (corresponding to the acquisition instruction) to raise the transplanting device 5, and operates the steering wheel 20 and the shift lever 37 to turn the machine body 11 from the position K6 to position the sign S2 (position K7) while visually observing the sign S2 of the field as a target. At the position K7, the rear end portion of the transplanting device 5 (floating plate 9) is located at a position separated from the ridge side B11 by the lateral width W1.

As shown in fig. 7, at position K7, the driver operates the lever 39 (corresponding to the acquisition instruction) to lower the transplanting device 5 to the field, operates the planting clutch 26 and the fertilizer clutch 27 to the transmission state, operates the right marker 44 to the operation posture, and operates the shift lever 37 to start the machine body 11.

At the position K7, when the driver operates the automatic operation unit 43, the travel path L02 parallel to the position data C2 (the travel path L02 intersecting the position data C1 at a predetermined angle) is set by the travel path setting unit 53 in front of the position (K7) of the body 11, as described above. The travel path L02 is acquired by the travel path acquisition unit 59, and the position of the body 11 and the travel path L02 are displayed on the display device 42.

The automatic travel control unit 55 is in an operating state, and the machine body 11 automatically travels at a constant speed along the travel path L02, performs seedling planting and fertilizer feeding, and forms a mark S3 in the field using the right marker 44.

(planting seedlings in field and obtaining position data of the Ridge sides by fertilizer supply) (3)

When the tip end portion of the body 11 reaches the ridge B31 (position K8) as shown in fig. 7, the driver performs the same operation as the operations at the positions K4 and K5 shown in fig. 5 and 6, and as shown in fig. 8, the body 11 is positioned at the position K9 and performs the same operation as the operations at the positions K5 and K6 shown in fig. 6.

The position data of the measuring device 29 at the position K8 is acquired and stored as the turning position D3 of the body 11 by the turning position acquisition unit 56.

As shown in fig. 8, by the operation of the automatic operation unit 43, a travel path L03 parallel to the position data C2 (travel path L03 intersecting the position data C1 at a predetermined angle) is set by the travel path setting unit 53 in front of the position (K9) of the body 11. The travel path L03 is acquired by the travel path acquisition unit 59, and the position of the body 11 and the travel path L03 are displayed on the display device 42.

The automatic travel control unit 55 is in an operating state, and the machine body 11 automatically travels at a constant speed along the travel path L03, performs seedling planting and fertilizer supply, and forms a mark S4 on the field using the left marker 44.

At the position K9, a position on the ridge side B31 side 2 times the first length E1 (a position separated from the ridge side B31 by the second length E2) is acquired and stored as a turning position D4 of the machine body 11 by the turning position acquisition unit 56.

When the tip end portion of the body 11 reaches the ridge B11 (position K10) as shown in fig. 8, the driver performs the same operation as the operations at the positions K6 and K7 shown in fig. 6 and 7, positions the body 11 at the position K11 as shown in fig. 9, and performs the same operation as the operations at the positions K7 and K8 shown in fig. 7. In this case, the left and right markers 44 are placed in the storage posture without planting seedlings or supplying fertilizer.

As shown in fig. 9, by the operation of the automatic operation unit 43, the travel path L04 parallel to the position data C2 is set by the travel path setting unit 53 in front of the position (K11) of the body 11. The travel path L04 is acquired by the travel path acquisition unit 59, and the position of the body 11 and the travel path L04 are displayed on the display device 42. The automatic travel control unit 55 is in an operating state, and the machine body 11 automatically travels at a constant speed along the travel path L04.

When the tip end portion of the machine body 11 reaches the ridge B31 (position K12), the driver operates the operation lever 39 (corresponding to the acquisition command) to raise the transplanting device 5, and inputs an acquisition end command of the position data of the ridge B11 to B41 to the control device 23.

The position data of the measuring device 29 at the position K12 is acquired and stored as the turning position D5 of the body 11 by the turning position acquisition unit 56.

In the field, the seedlings are planted and fertilizer is not supplied in the range of the width W1 from the ridge sides B11, B21, B41 and the range of the length E3 from the ridge side B31, and therefore, finally, the driver drives the machine body 11 along the ridge sides B11 to B41 to perform the planting of the seedlings and the supply of fertilizer (swivel planting), and the planting of the seedlings and the supply of fertilizer in one field are ended.

In this case, the travel path setting unit 53 may be provided to an external computer (not shown) other than the riding rice transplanter, instead of the control device 23.

According to this configuration, each time the automatic operation unit 43 is operated, the travel paths L01 to L04 are set by the travel path setting unit 53 of the external computer, and the set travel paths L01 to L04 are transmitted to the control device 23 and acquired by the travel path acquisition unit 59.

(acquisition of position data of Ridge edge)

As described in the foregoing (planting of seedlings in a field, supply of fertilizer, acquisition of position data on ridge sides) (1) (2) (3), position data C1, C2 and turning positions D1 to D5 can be obtained as shown in fig. 10.

As shown in fig. 10, an intersection F1 of the virtual line extending from the position data C2 and the position data C1 is set. An intersection F2 of a virtual line extending from the turning position D5 in parallel with the position data C2 and a virtual line extending from the position data C1 is set.

As shown in fig. 11, the position data C3 crossing the intersection F1 and F2, the position data C4 crossing the intersection F1 and the turning position D1, and the position data C5 crossing the intersection F2 and the turning position D5 are set and acquired by the first ridge side acquiring unit 51 and the second ridge side acquiring unit 52.

As shown in fig. 11, the position data C7, which is the position data C11, is stored in the storage unit 58 by the first ridge side acquiring unit 51 and the second ridge side acquiring unit 52 at a position outside 1/2 of the lateral width W1 from the position data C3.

The position data C8, which is the position data C8 of the ridge B21, located outside the position data C4 by 1/2 of the lateral width W1 is acquired by the first ridge side acquiring unit 51 and the second ridge side acquiring unit 52 and stored in the storage unit 58.

The position data C9, which is the position data C41 of the ridge B, is acquired by the first ridge side acquiring unit 51 and the second ridge side acquiring unit 52 and stored in the storage unit 58 at a position 1/2 of the outer side of the lateral width W1 from the position data C5.

As shown in fig. 11, position data C6 along the turning positions D1 to D5 are set and acquired by the turning ridge side acquiring unit 57.

The position data C10, which is the position data C31 outside the second length E2 from the position data C6, is acquired by the turning ridge side acquiring unit 57 and stored in the storage unit 58.

(automatic setting of travel Path)

As described in the foregoing (acquisition of position data of ridge sides), when the position data C7 to C10 of the ridge sides B11 to B41 are stored in the storage unit 58, the position data C7 to C10 of the ridge sides B11 to B41 can be used as described below when seedlings are planted in the same field in the next year.

As shown in fig. 12, the control device 23 sets the travel paths L01, L02, L03, the turning paths LL1, LL2, LL3 connecting the travel paths L01, L02, L03, and the revolving planting paths L11, L12, L13, L14 along the ridge sides B11 to B41, based on the position data C7 to C10 of the ridge sides B11 to B41.

In this case, the travel path setting system may be provided in an external computer (not shown) other than the riding rice transplanter, and the control device 23 may not set the travel paths L01 to L03, the turning paths LL1 to LL3, and the swing planting paths L11 to L14.

According to this configuration, the position data C7 to C10 of the ridge sides B11 to B41 and the like are input to the travel route setting system, and the travel routes L01 to L03, the turning routes LL1 to LL3, and the swing planting routes L11 to L14 are set by the travel route setting system. Thereafter, the set travel paths L01 to L03, the turning paths LL1 to LL3, and the swing planting paths L11 to L14 are transmitted to the control device 23 and acquired by the travel path acquisition unit 59.

The position data C7 to C10 of the ridge sides B11 to B41 can be used not only in the same riding type rice transplanter, but also in other riding type rice transplants, riding type sowing machines, chemical spraying machines, tractors, combine harvesters and the like.

In the above state, as shown in fig. 12, the driver operates the steering wheel 20 and the shift lever 37 to position the body 11 at the position K13, and operates the automatic operation portion 43.

Thus, the automatic travel control unit 55 is in an operating state, and the machine body 11 automatically travels at a constant speed along the travel path L01, the turning path LL1, the travel path L02, the turning path LL2, the travel path L03, the turning path LL3, and the swing planting paths L11 to L14.

The operator operates the operation lever 39 to raise and lower the transplanting device 5 and operate the transplanting clutch 26 and the fertilizer clutch 27, so that seedlings can be transplanted and fertilizer can be supplied to the traveling paths L01 to L03 and the revolving planting paths L11 to L14. In this case, the left-right marker 44 does not need to be manipulated to the action posture.

(first other embodiment of the invention)

In the above (specific embodiment), the first ridge side acquiring unit 51 may be used as one ridge side acquiring unit 51 without providing the second ridge side acquiring unit 52. According to this configuration, the ridge-side acquiring unit 51 and the turning-position acquiring unit 56 may be set to the operating state and the stopped state at will in response to the acquisition instruction from the driver.

For example, as shown in fig. 13, when the machine body 11 is driven along the ridges B2 and B4, the ridge side acquiring unit 51 is set to an operating state to acquire position data C11 and C12 of the ridge sides B21 and B41. When the machine body 11 is turned around the ridges B1 and B3, the turning position acquisition unit 56 is set to an operating state to acquire turning positions D6 and D7.

For example, as shown in fig. 14, when the machine body 11 is driven along the ridge B3, the ridge side acquiring unit 51 is set to an operating state and position data C13 of the ridge side B31 is acquired. When the machine body 11 is turned around the ridges B2 and B4, the turning position acquisition unit 56 is set to an operating state to acquire turning positions D8 and D9. In this case, the position data of the ridge side B11 can be obtained by connecting the turning positions D8 and D9 located closest to the ridge side B11.

(second other embodiment of the invention)

As described above, when the position data C1 to C13 and the turning positions D1 to D9 of the ridge sides B11 to B41 are obtained, the traveling and turning of the machine body 11 may be performed so that seedlings are not planted and fertilizer is not supplied within a range 2 times the lateral width W1 from the ridge sides B11 to B41 in the field.

Thereafter, the driver drives the machine body 11 along the ridge sides B11 to B41 for two turns (two weeks) to perform planting of seedlings and supply of fertilizer (swivel planting), thereby ending planting of seedlings and supply of fertilizer in one field.

(third other embodiment of the invention)

The ridge side acquiring unit 51 (the first ridge side acquiring unit 51 and the second ridge side acquiring unit 52) may be configured so that the intersection points F1 and F2 are not set, the positions outside 1/2 of the lateral width W1 are not corrected, and the turning ridge side acquiring unit 56 does not set the position data C6 along the turning positions D1 to D5.

According to this configuration, a ridge position system (not shown) is provided in an external computer (not shown) different from the riding rice transplanter.

Along with the travel of the machine body 11 as shown in fig. 4 to 9, the position data of the measuring device 29 is transmitted to the ridge side position system, and the position data C7 to C10 as shown in fig. 11 are set in the ridge side position system.

Thereafter, the set position data C7 to C10 are transmitted from the ridge side position system to the control device 23, and are acquired by the ridge side acquiring unit 51 (the first ridge side acquiring unit 51 and the second ridge side acquiring unit 52) and the turning ridge side acquiring unit 56.

In this case, the ridge position system may be provided as another device different from the control device 23 in the riding rice transplanter, or may be provided as software in the control device 23.

(fourth other embodiment of the invention)

In the riding transplanter (control device 23) and ridge side position system, the position data C7 to C10 may be set and acquired based on the turning positions D1 to D9 without providing the ridge side acquisition unit 51 (the first ridge side acquisition unit 51 and the second ridge side acquisition unit 52).

(fifth other embodiment of the invention)

For example, as shown in fig. 15, when the travel paths L01 to L03, the turning paths LL1 to LL3, and the revolving planting paths L11 to L14 are set, the position data of the water intake 46 and the water discharge 47 of the field may be increased.

In general, when water is introduced from the water intake 46, the water flows from the water intake 46 to each part of the field, and therefore fertilizer supplied to the vicinity of the water intake 46 tends to flow to each part of the field. Since water in each part of the field tends to accumulate in the drain opening 47, fertilizer tends to accumulate in the vicinity of the drain opening 47.

Thus, the fertilizer applicator 18 may be configured to automatically adjust the amount of fertilizer fed from the feeder 14 to the vicinity of the water intake 46 so that the amount of fertilizer fed is greater than the amount of fertilizer fed to the vicinity of the center of the field.

Similarly, the fertilizer applicator 18 may be configured to automatically adjust the amount of fertilizer fed from the feeder 14 to be smaller near the water outlet 47 than near the center of the field.

(sixth other embodiment of the invention)

In addition to the measuring device 29 and the inertial measuring device 30, a camera (not shown) that photographs the front of the body 11 and an image analysis unit (not shown) that analyzes image data of the camera may be provided.

Thus, the automatic travel control unit 55 may be configured to perform the steering operation of the front wheel 1 by the steering motor 40 and the operation of the shift lever 37 by the shift motor 41 based on the position of the body 11 obtained by the measuring device 29, the inertia information obtained by the inertia measuring device 30, and the information obtained by the camera and the image analyzing unit (the position information of the seedlings planted in the field according to the previous route).

(seventh other embodiment of the invention)

The position data C7 to C10 of the ridge sides B11 to B41 may be obtained in advance by any one (or more) of the methods shown in (1) to (5) below, for example, and stored in the storage unit 58.

(1) The measuring device 29 is detached from the machine body 11, and an operator holding the measuring device 29 walks along the ridge sides B11 to B41, so that position data indicating the position of the operator measured by the measuring device 29 is acquired as position data C7 to C10 of the ridge sides B11 to B41.

(2) When the other riding rice transplanter or riding planter equipped with the measuring device 29 has traveled through the field to obtain the position data of the ridge sides B11 to B41, the position data of the ridge sides B11 to B41 are obtained as the position data C7 to C10 of the ridge sides B11 to B41.

(3) When position data of the ridge sides B11 to B41 are obtained by traveling in the past (or current) in the field by various working vehicles such as a combine or a tractor provided with the measuring device 29, the position data of the ridge sides B11 to B41 are acquired as position data C7 to C10 of the ridge sides B11 to B41.

(4) If there is a commercially available storage medium on which position data C7 to C10 of the ridge sides B11 to B41 are recorded, the storage medium is used.

Industrial applicability

The present invention is applicable not only to a riding type rice transplanter in which a rice transplanting device 5 as a working device is provided in a freely liftable manner at the rear of a machine body 11, but also to a working vehicle in which a sowing device as a working device is provided in a freely liftable manner at the rear of the machine body 11, such as a riding type sowing machine in which a rotary tilling device as a working device and a chemical spraying device as a working device are provided in a freely liftable manner at the rear of the machine body 11, a combine harvester in which a harvesting part as a working device is provided in a freely liftable manner at the front of the machine body 11, and the like, while working on a field.

Claims

1. A work vehicle is provided with:

a positioning unit that detects a position of the body;

a ridge edge acquisition unit that acquires, based on an acquisition instruction, a position of the machine body from the start of travel to the end of travel as a ridge edge along the ridge,

the ridge side acquiring unit has a first ridge side acquiring unit that acquires a position of the body from the start of travel to the end of travel as a first ridge side along the ridge based on an acquisition instruction; the second ridge side acquiring unit acquires a position of the body from the start to the end of travel as a second ridge side along the ridge based on an acquisition instruction during travel of the body in a direction intersecting the first ridge side;

further comprises a manual operation part which lifts and lowers a transplanting device provided at the rear end part of the machine body,

the acquisition instruction is a lowering operation of the transplanting device with respect to the manual operation unit at the start of the traveling and a raising operation of the transplanting device with respect to the manual operation unit at the end of the traveling,

the first ridge edge and the second ridge edge are obtained without planting seedlings and supplying fertilizer.

2. The work vehicle of claim 1, wherein,

the ridge-side acquiring unit acquires the ridge side based on a rear end position of a transplanting device provided at a rear end portion of the machine body before the start of travel along the ridge side and a front end portion of the machine body after the end of travel along the ridge side.

3. The work vehicle of claim 1, wherein,

the work vehicle includes a travel path acquisition unit that acquires a travel path set based on the ridge side acquired by the ridge side acquisition unit.

4. The work vehicle of claim 3, wherein,

the work vehicle includes an automatic travel control unit that automatically manipulates a machine body based on a position of the machine body so that the machine body travels along the travel path.

5. A travel path setting system for a work vehicle, wherein,

a working vehicle according to any one of claims 1 to 4 and a computer provided separately from the working vehicle,

the computer includes a travel path setting unit that sets a travel path based on the ridge side acquired by the ridge side acquiring unit.