JP2016021890A - Planting and sowing type field work machine and automatic steering system used for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a burden of a teaching operation required of an operator in creating a reference line for calculating a target travel route for a planting and sowing type field work machine.SOLUTION: A planting and sowing type field work machine and an automatic steering system used for the same include: a positioning unit 5 for outputting positioning data indicative of the position of its own machine; a work event detection part 84 for detecting a work start event indicative of the start of work travelling when travelling by manual steering, and a work finish event indicative of the finish of work travelling based on a state of the field work device; a route calculation part 81 for calculating a target travel route for work travelling by automatic steering; a reference route creation part 81a for creating a reference route used for calculating the target travel route from the position of its own machine where the work start event is performed and the position of its own machine where the work finish event is performed; and a steering data output part 82 for outputting automatic steering data using the positioning data and the target travel route.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a planting field work machine including a positioning unit and automatically steered along a set target travel route, and an automatic steering system used therefor. Note that the phrase “planting system field work machine” used here is used as a general term for field work machines including a rice planting machine, a seeding machine, and a fertilizer application machine.

  A rice transplanter that generates a target route parallel to the teaching route generated by the teaching route generation means based on position information measured by the GPS device and autonomously travels on the target route is disclosed in Patent Document 1. Known from. In this rice transplanter, the operator automatically turns to the next target route by operating the automatic turning operation tool, and continues autonomously on the next target route after the turning operation is completed. To do. Furthermore, in order to generate a target route, a teaching line is first executed and a reference line is set. At that time, the body position of the rice transplanter is measured based on the position of the GPS antenna 101 provided in the rice transplanter. The method to do is adopted. In other words, the driver presses the teaching SW at the start of teaching, uses the position of the GPS antenna at the time of pressing as a starting point, presses the teaching SW at the end of teaching, and ends the position of the GPS antenna at the time of pressing. Let it be a point. A line connecting the start point and the end point is generated as a reference line, and a target route is generated based on the reference line and the work width (planting width × number of planting lines).

JP-A-2008-67617 (paragraph number 0037, FIGS. 6 and 7)

In a rice transplanter (a kind of field work machine) as disclosed in Patent Document 1, so-called teaching travel is performed in order to create a reference line (reference route) serving as a reference for generating a target route (target travel route). It is necessary to press the teaching SW at the start and press the teaching SW again at the end. Even during this teaching run, it is desirable to perform actual work (seedling planting work, etc.) on the field in order to increase work efficiency. However, when the work starts or ends, there are other operations that the driver should perform. In addition, the operation of the teaching SW is accompanied by an unexpected burden, and there is a problem that the operation is delayed or forgotten.
In view of such circumstances, an object of the present invention is to reduce the burden of teaching operation required for a driver to generate a reference line.

In order to solve the above-mentioned problems, a planting system field work machine according to the present invention includes a traveling machine body, a field work apparatus that performs planting work on the field, and a positioning that indicates a position of the own machine that is a specific position of the traveling machine body. A positioning unit that outputs data, a work start event that indicates the start of work travel using the field work device during travel by artificial steering, and a work end event that indicates the stop of work travel using the field work device. Alternatively, a work event detection unit that detects based on the state of the field work device, a route calculation unit that calculates a target travel route for the traveling machine body to perform work travel by automatic steering, and the target travel route in the route calculation unit A reference path used for calculating the base route is generated from the own machine position where the work start event is performed and the own machine position where the work end event is performed. A route generator, a steering data output unit for outputting automatic steering data using the positioning data and the target travel route, and steering the traveling vehicle body based on the automatic steering data output from the steering data output unit And an automatic steering section.
Further, the automatic steering system used for the planting system field work machine according to the present invention steers so that the traveling machine body including the field work device for performing the planting work on the field automatically travels along the target travel route. An automatic steering system, a positioning unit that outputs positioning data indicating a position of the vehicle that is a specific position of the traveling machine body, and a work start event that indicates the start of work traveling using the field work device during traveling by artificial steering And a work event detection unit for detecting a work end event indicating a stop of work traveling using the field work device based on a state of the traveling machine body or the field work device, and the traveling machine body traveling by automatic steering. A route calculation unit that calculates a target travel route of the vehicle, and a reference route that is used by the route calculation unit to calculate the target travel route. Steering data for outputting automatic steering data using the reference route generation unit that generates from the own vehicle position where the vent is performed and the own vehicle position where the work end event is performed, and the positioning data and the target travel route An output unit; and an automatic steering unit that steers the traveling vehicle body based on the automatic steering data output from the steering data output unit.

  According to this configuration, when performing field work using the field work device, the work event detection unit indicates the start of work travel based on the state of the field work device and the work during the first travel by artificial steering. Since a work end event indicating the end of driving is detected, the driver does not need to operate a special switch or button. Further, the reference route generation unit generates a reference route from the own device position where the work start event is performed and the own device position where the work end event is performed, and based on the reference route, the route calculation unit thereafter Calculate the target travel route. Therefore, thereafter, the automatic steering unit automatically steers the traveling vehicle body using the steering data output from the steering data output unit based on the target travel route and the positioning data from the positioning unit. As a result, the burden of teaching operation required for the driver to generate the reference line has been reduced.

Various embodiments are proposed as specific embodiments for the work event detection unit to detect the work start event and the work end event based on the state of the field work device. For example, if the field work device is a seedling planting device having a seedling planting mechanism and a float, the work event detection unit includes an operation of engaging a planting clutch of the seedling planting mechanism, grounding of the float, handle Based on at least one of cutting angle within a predetermined range including straight position, side clutch engagement, side clutch engagement operation, seedling planting device lowering operation, line drawing marker operation operation The operation start event is detected, the planting clutch is disengaged, the float is not grounded, the steering angle is not less than a predetermined range including the maximum angular angle, the side clutch is disengaged, and the side clutch is disengaged, The work end event can be detected based on at least one of the raising operation of the seedling planting device and the non-acting operation of the drawing marker. Utilizes at least one of the characteristics of the various seedling planting operations described above, such that the planting clutch is engaged when the seedling planting operation starts and the planting clutch is disengaged when the planting operation ends. This is one effective embodiment that can reliably detect the work start event and the work end event.
The technique described above can be used even if the field work device is a sowing work device having a sowing mechanism and a float. At that time, the work event detection unit is configured so that the sowing clutch engaging operation of the sowing mechanism, the grounding of the float, the steering angle is within a predetermined range including the straight traveling position, the side clutch is engaged, and the side clutch is engaged. The operation start event is detected based on at least one of an operation, a descending operation of the sowing work device, and an operation operation of the drawing marker, and the sowing clutch is turned off, the float is not grounded, and the steering angle is Based on at least one of a predetermined range including a maximum turning angle, a side clutch disengagement, a side clutch disengagement operation, a sowing operation device ascending operation, and a drawing marker non-operation operation. Detect work end events.

  Generally speaking, the field work machine has a characteristic that it descends to the ground surface at the start of the work and rises from the field surface at the end of the work. By using this characteristic, it is possible to effectively and reliably detect the work start event and the work end event. Therefore, in a preferred embodiment of the present invention, the work start event and the work start event based on the descending operation from the ascending posture to the descending posture of the field work device and the ascending operation from the descending posture to the ascending posture of the field device. The work end event is detected.

In one of the preferred embodiments of the present invention in the case where the field work device is a seedling planting device having a seedling planting mechanism, the planted seedling trace is displayed on the display during work traveling using the field work device. Planted seedling display data for display is configured to be generated. In this configuration, since the planting seedling trace is displayed on the display during planting work, the driver can intuitively understand the work state. In particular, if the display screen can be reduced and displayed so that the entire field can enter, it is possible to grasp the work state in the entire field.
Similarly, when the field work device is a seeding work device having a seeding mechanism, seeding trace display data for displaying the seeding trace on the display is generated during the traveling using the field work device.

  Further, as one of the preferred embodiments, if the travel display data for displaying the target travel route, the own vehicle position, and the travel locus on the display is generated, the control error in the automatic steering is intuitively reduced. Therefore, even when automatic steering malfunctions due to disturbance or the like, self-propelled steering can be stopped quickly.

  In the field work by the planting-type field work machine, the traveling machine body repeats a linear work run and a non-working run in a direction change area called a headland defined around the field. It is possible to determine whether or not the traveling machine body is traveling in a non-working area such as a headland from the deviation of its own position with respect to the target traveling route. From this, it is determined on the control device side that the field work device is in the non-working state regardless of the region where the work should be traveled, and that the field work device is in the work state regardless of the region where the non-work travel is required. It is possible to do. By notifying the driver of such a situation, work efficiency is improved. Accordingly, in one of the preferred embodiments of the present invention, a warning is given when the field work device is in a non-working state when traveling on the target travel route, that is, when traveling in the work area, and the target travel route. When traveling outside, that is, when traveling in a non-working area, a warning notification unit is provided that issues a warning when the field work device is in a working state.

It is a schematic diagram explaining the basic composition of the present invention. It is a schematic diagram explaining the flow of basic control of this invention. It is a side view of the riding rice transplanter which is one of the embodiments of the present invention. It is a top view of the riding rice transplanter which is one of the embodiments of the present invention. It is a schematic diagram which shows the power transmission system of a riding rice transplanter. It is a mimetic diagram showing a power steering device of a riding rice transplanter. It is a functional block diagram which shows the control system mounted in the riding rice transplanter. It is a screen figure which shows an example of the screen displayed on a display at the time of automatic steering driving | running | working.

  Before describing specific embodiments of a planting field working machine and an automatic steering system used therefor according to the present invention, the basic principle of the present invention will be described with reference to FIGS. 1 and 2. In FIG. 1, the basic functions characterizing the present invention are shown in the form of functional block diagrams. In FIG. 2, the flow of information between the characteristic functional units shown in FIG. 1 is schematically shown. Here, as a planting system field work machine, a work machine that repeats a linear or substantially linear work traveling such as a rice planting machine or a seeding machine (also called a direct sowing machine) is assumed. The working machine includes a traveling machine body 1 that self-travels in a farm field, and a farm field working device 2 that is attached to a rear portion of the traveling machine body 1 so as to be movable up and down. This working machine is provided with a positioning unit 5 for outputting positioning data, a state detecting means 6, a device control unit 7, and an arithmetic control unit 8 as a control system particularly related to the present invention. The positioning unit 5, the state detection means 6, the device control unit 7, and the arithmetic control unit 8 are connected by an in-vehicle LAN and can exchange data with each other. On the basis of a command from the arithmetic control unit 8, the device control unit 7 gives a hydraulic control signal and an electronic control signal to the operation devices equipped in the traveling machine body 1 and the field work device 2.

  The state detection means 6 processes a detection signal from the state detector group 60 including various sensors and switches by the detection signal processing unit 61 and outputs it as state signals indicating various states of the traveling machine body 1 and the field work device 2. Mainly given to the arithmetic control unit 8.

  The positioning unit 5 includes a satellite navigation module 50 that detects an orientation such as latitude and longitude using a GNSS (Global Navigation Satellite System), and the configuration thereof is similar to that of a positioning unit used in a car navigation system or the like. It is similar. The positioning unit 5 is provided with an inertial navigation module 51 having a gyro acceleration sensor or the like in order to detect instantaneous movement (direction vector) of the planting system field work machine and the direction of the traveling direction. The inertial navigation module 51 and the satellite navigation module 50 can complement their positioning functions. The equipment control unit 7 controls the travel motion equipment provided in the traveling machine body 1 including the engine and the steering motion equipment in the steering device, and the work motion equipment such as the lifting equipment provided in the field work device 2. Control.

  In the arithmetic control unit 8, an information storage unit 80, a route calculation unit 81, a steering data output unit 82, an automatic steering unit 83, a speed state determination unit 84, and a steering data output management unit 85 are constructed. The information storage unit 80 not only stores operation programs, application programs, and various data, but also includes field information such as the map position of the field that is the work target and the position data of the straw that defines the boundary line of the field. Device setting data relating to the field work to be performed, for example, work information such as work width can be stored.

  State signals indicating various states of the traveling machine body 1 and the field work device 2 are input from the state detection unit 6 to the work event detection unit 84 (see step # 01 in FIG. 2). The work event detection unit 84 includes a work start event detection unit 84a and a work end event detection unit 84b. The work start event detection unit 84a detects a work start event indicating the start of work travel using the field work device 2 based on one input state signal or a combination of a plurality of state signals during travel by artificial steering. To do. The work end event detection unit 84b detects a work end event indicating the end of work travel using the field work device 2 based on the input one state signal or a combination of a plurality of state signals. The work start event and the work end event are a kind of control flag, and the own machine position at the time when these are detected is given to the work start event and the work end event (see step # 02 in FIG. 2). This own position is acquired from the positioning data from the positioning unit 5.

Various algorithms for detecting a work start event or a work end event from various state signals are proposed. For example, when the field work machine has a characteristic of descending to the field surface at the start of the work and ascending from the field surface at the end of the work, based on the state signal indicating the descending operation from the ascending posture to the descending posture of the field working device 2 The work start event is detected, and the work end event is detected based on the state signal indicating the raising operation from the lowered posture to the raised posture of the field work device 2.
In order to detect a work start event in the planting system field work machine in which the field work device 2 is a seedling planting work device having a seedling planting mechanism and a float, an operation of engaging a planting clutch of the seedling planting mechanism, At least one of float grounding, handle turning angle within a predetermined range including straight position, side clutch engagement, side clutch engagement, seedling planting device lowering operation, drawing marker operation operation One can be used. In order to detect a work end event, the planting clutch is turned off, the float is not grounded, the steering angle is over a predetermined range including the maximum cutting angle, the side clutch is turned off, the side clutch is turned off, At least one of the raising operation of the seedling planting device and the non-operation operation of the drawing marker can be used.
In addition, in order to detect a work start event in a seeding system field work machine in which the field work device 2 is a seeding work device having a seeding mechanism and a float, the operation of turning on the seeding clutch of the seeding mechanism, the grounding of the float, the handle running out It is possible to use at least one of a corner within a predetermined range including a straight position, an operation to engage a side clutch, an operation to engage a side clutch, a lowering operation of a sowing work device, and an operation operation of a drawing marker. . In order to detect a work end event, the sowing clutch disengagement operation of the sowing mechanism, the non-contact of the float, the steering angle of the steering wheel being within a predetermined range including the maximum angular angle, the side clutch disengaging, the side clutch disengaging At least one of the above operation, the sowing operation device lifting operation, and the drawing marker non-operation operation can be used.
Further, it is possible to detect a work start event or a work end event based on a determination program that has been learned in advance using a plurality of state signals as input parameters.

  The reference path generation unit 81a generates a travel path portion defined by the work start event and the work end event as a work path, and generates the work path as a reference path called a teaching path. (See step # 03 in FIG. 2). When this reference route is assumed to be a substantially straight line, or when it should be regarded as a straight line, the position of the aircraft at which the work start event is obtained (shown as the first reference point P1 in FIGS. 1 and 2). ) And the own machine position where the work end event is obtained (shown as the second reference point P2 in FIGS. 1 and 2) is the reference path. When the reference route is non-linear, it is possible to generate a non-linear reference route by interpolating with the positioning data acquired between the work start event and the work end event.

  The route calculation unit 81 calculates a target work route that is a travel route that is a target of work travel by automatic steering after the reference route. In the calculation process, field information and work information are acquired from the information storage unit 80 as external conditions for calculation (see step # 04 in FIG. 2). The field information includes map information indicating the outer shape of the field and obstacles inside. The work information includes a work width defined by the field work device 2 and the like. The reference route generated by the work reference route generation unit 81a is translated by a distance corresponding to the work width, and the target travel route is sequentially calculated (see step # 05 in FIG. 2). The length of each target traveling route depends on the outer shape of the field and the size of the set headland. In addition, there are cases where not all target travel paths are parallel when the ridges facing the field are not parallel. In such a case, some target travel routes are not simply translated along the reference route but also added rotational movement.

  In addition, the planting system field work machine illustrated here includes a travel route (straight travel route) that travels straight over a long distance while performing field work (rice planting, sowing, etc.) using the field work device 2. A travel route (direction change non-work travel route) for turning around without turning the farm work performed at the end of the travel route (turning 180 °) is set. Here, in order to generate a basic route, after performing a U-turn turn on a headland through a work run by artificial steering, the traveling body 1 travels with an automatic steering with respect to the first target travel route. It will be. At this time, the steering data output unit 82 generates steering data from the positioning data (the position and orientation of the own machine) obtained from the positioning unit 5 and the target travel route to be traveled, and outputs the steering data to the automatic steering unit 83. (See step # 06 in FIG. 2). The automatic steering section 83 automatically steers the traveling machine body 1 via the device control unit 7 along the target travel route based on the steering data (see step # 07 in FIG. 2).

  In the planting field work machine described above, it is assumed that a linear travel route is traveled by automatic steering, and a travel route accompanied by turning such as headland turning is driven by artificial steering. Therefore, at the time of transition from the straight work travel path to the direction change non-work travel path, the automatic steering is switched to the artificial steering, and at the transition from the straight work travel path to the direction change non-work travel path, It is necessary to switch from steering to automatic steering. The switching from the artificial steering to the automatic steering or the switching from the automatic steering to the artificial steering may be executed by using the operation of the artificial operating tool as a trigger, or automatically in the automatic steering unit 83 based on the state signal from the state detection means 6. A configuration in which the steering operation is started and stopped may be employed.

Next, one specific embodiment of the planting-type field work machine according to the present invention will be described with reference to the drawings.
In this embodiment, the planting field work machine is configured as a riding rice transplanter, and basically the basic principle and basic control of the present invention described with reference to FIGS. 1 and 2. It has a functional part. FIG. 3 is a side view of a riding rice transplanter employed as an example of a field work machine in this embodiment, and FIG. 4 is a plan view. The traveling machine body 1 includes a pair of left and right front wheels 11 a and a pair of left and right rear wheels 11 b at the bottom of the body frame 10. At the rear part of the traveling machine body 1, a granular material supply device 12 provided with a granular material tank 12 a is provided. A paddy field work device 2 provided with six seedling planting mechanisms 21 arranged in the lateral direction of the vehicle body and six powder body supply units 22 arranged in the lateral direction of the vehicle body is connected to the rear of the traveling machine body 1. That is, in this embodiment, the paddy field work device 2 is supported by the traveling machine body 1 as the field work device 2. This riding rice transplanter performs seedling planting work and fertilization work by running the traveling machine body 1 in a state where the paddy field work device 2 is lowered to the lowered work state.

  The traveling machine body 1 includes an engine 31 disposed in the front part of the vehicle body, and a traveling and working transmission 32 that receives a driving force from the engine 31 to change speed. The driving force from the engine 31 is transmitted from the transmission 32 to the front wheels 11a. The vehicle is configured to be a four-wheel drive vehicle so that the vehicle travels by driving the front wheels 11a and the rear wheels 11b. The engine 31 is covered with an engine bonnet 31a and a rear cover 31b. The traveling machine body 1 includes a driving unit 33 having a driving seat 33a arranged at the rear of the vehicle body. The driver gets on and operates the driving unit 33. A steering handle 33b that steers the front wheel 11a is provided in front of the driver seat 33a, and a floor 30 is formed between the steering post 33c that supports the steering handle 33b and the driver seat 33a with an upper open side. A control panel 33d is provided around the steering post 33c. A working space 34 is provided at the rear portion of the traveling machine body 1 to be used for supplying powder to the powder tank 13 and supplying seedlings to the paddy field work device 2. The work space 34 includes a work step 34a located over both sides and the rear side of the driver seat 33a, and a handrail 35 located on both sides of the driver seat 33a. Further, a pair of left and right spare seedling platforms 39 are provided at the front portion of the traveling machine body 1.

  A center mascot 47 having a pillar shape is provided at the tip of the engine bonnet 31a. A paddy field work device (an example of a field work device) 2 is configured for six-row planting, and a marker device 48 is provided on both the left and right sides so as to be switchable between an action posture and a retracted posture. The marker device 48 is well known per se, and, as shown in FIG. 4, a marker arm 48a supported so as to be swingable around a swinging shaft in a front-back orientation with respect to the paddy field work device 2, The marker arm 48a includes a marker ring 48b that is rotatably supported at the swinging end and has a plurality of protrusions formed on the outer periphery.

  When the marker arm 48a is set to the acting posture, the outer periphery of the marker ring 48b contacts the field scene, and is a concave mark that becomes the center of the next traveling with respect to the field scene in a form that rotates as the traveling body 1 travels. Are formed continuously. Therefore, when performing the seedling planting work by artificial steering with the automatic steering turned off, a concave mark is formed on the field scene by the marker ring 48b, so that the seedling planting work is performed after the traveling machine body 1 is turned. If the center mascot 47 is steered in such a manner that the center mascot 47 is aimed at the field scene mark, seedlings can be planted at an optimum position with reference to the row of existing seedlings.

  As shown in FIG. 3, the paddy field work device 2 is supported by a link mechanism 36 that is extended from the vehicle body frame 10 so as to swing back and forth, and the link mechanism 36 is swung by an elevating cylinder 37. The lowering operation state where the grounding float 23 descends to the farm scene and comes into contact with the ground and the ascending non-working state where the grounding float 23 rises higher from the farm scene can be operated up and down.

  The paddy field work apparatus 2 includes a working part frame 24 supported at the front end side by a link mechanism 36. The working unit frame 24 includes a feed case 25 to which a driving force from the engine 31 is transmitted via a rotating shaft 38, and three planting drive cases 26 arranged at predetermined intervals in the lateral direction of the vehicle body. The seedling planting mechanism 21 is mounted on both lateral sides of the rear end portion of each of the three planting drive cases 26. Above the front part of the working unit frame 24, the seedling stage 28 is provided in an inclined posture that is located rearward toward the lower end side. Three grounding floats 23 arranged at predetermined intervals in the lateral direction of the vehicle body are provided at the lower part of the working unit frame 24. The powder supply parts 22 as six ground working parts arranged in the lateral direction of the vehicle body in a state of being located one by one near each of the six seedling planting mechanisms 21 are distributed and supported by three grounding floats 23. ing.

  The paddy field work apparatus 2 includes a working part frame 24 supported at the front end side by a link mechanism 36. The working unit frame 24 includes a feed case 25 to which a driving force from the engine 31 is transmitted via a rotating shaft 38, and three planting drive cases 26 arranged at predetermined intervals in the lateral direction of the vehicle body. The seedling planting mechanism 21 is mounted on both lateral sides of the rear end portion of each of the three planting drive cases 26. Above the front part of the working unit frame 24, the seedling stage 28 is provided in an inclined posture that is located rearward toward the lower end side. Three grounding floats 23 arranged at predetermined intervals in the lateral direction of the vehicle body are provided at the lower part of the working unit frame 24. The powder supply parts 22 as six ground working parts arranged in the lateral direction of the vehicle body in a state of being located one by one near each of the six seedling planting mechanisms 21 are distributed and supported by three grounding floats 23. ing.

  Each seedling planting mechanism 21 includes two planting arms 21a, and is driven by a driving force transmitted from the feed case 25 to the planting drive case 26. The planting claws provided in each of the two planting arms 21a. The seedling planting movement that moves back and forth up and down while drawing the turning trajectory that is long in the vertical direction. In the seedling planting work, which is one of the farm work, each seedling planting mechanism 21 alternates from the mat-like seedlings on the seedling stage at the lower end of the seedling stage 28 by two planting arms 21a. The planted seedlings for the stock are taken out, and the taken-out planted seedlings are transported down to the field and planted in the mud portion that has been leveled by the grounding float 23.

  As shown in FIG. 4, the seedling placing table 28 includes six seedling placing portions 28 a for placing the mat-like seedlings to be supplied to the six seedling planting mechanisms 21 in the vehicle lateral direction. The seedling stage 28 is supported by a support part and a support 24a provided in the working part frame 24 so as to reciprocate in the lateral direction of the vehicle body. The seedling stage 28 is reciprocated in the lateral direction of the vehicle body in conjunction with the seedling planting movement of the seedling planting mechanism 21 by a lateral feed mechanism provided across the seedling stage 28 and the feed case 25, so that the mat-like seedlings are transferred. Reciprocating in the vehicle body lateral direction with respect to the seedling planting mechanism 21. Thereby, each seedling planting mechanism 21 takes out the planting seedling from the lateral one end side to the other end side of the lower end portion of the mat-like seedling placed on the seedling placing stand 28.

  Each of the six seedling placement portions 28a of the seedling placement stand 28 is equipped with a vertical feed belt 28b. When the seedling stage 28 reaches the left and right stroke ends of the lateral transfer, the vertical feed belt 28b of each seedling placement part 28a is provided with a vertical feed drive mechanism 27 (see FIG. 5) provided across the seedling stage 28 and the feed case 25. The mat-like seedlings are vertically fed toward the seedling planting mechanism 21 by a length corresponding to the length of the seedlings taken out by the seedling planting mechanism 21 in the vertical direction.

  FIG. 5 is a schematic diagram showing a transmission structure for driving the paddy field work device 2. The driving force input to the feed case 25 from the rotary shaft 38 is transmitted to the planting output shaft 25a by a mission built in the feed case 25, and the front end portions of the three planting drive cases 26 are transmitted from the planting output shaft 25a. It is configured to be input to. Each planting drive case 26 is configured such that the driving force input to the planting drive case 26 is transmitted to the pair of seedling planting mechanisms 21 by a transmission mechanism having a fractional planting clutch 29.

  Accordingly, the fractional planting clutch 29 installed in the leftmost planting drive case 26 is turned on and off, thereby being a part of the six seedling planting mechanisms 21 and the leftmost planting mechanism 21. The transmission to the two seedling planting mechanisms 21 adjacent to the seedling planting mechanism 21 adjacent to the leftmost seedling planting mechanism 21 is turned on and off, and the seedling planting mechanism 21 for the left end side two-rows Switching between the working state to be performed and the non-working state in which the seedling movement is stopped.

  The fractional planting clutch 29 housed in the rightmost planting drive case 26 is turned on and off, thereby being a part of the six seedling planting mechanisms 21, the rightmost seedling planting mechanism 21, and the right end Work to perform the seedling planting movement of the seedling planting mechanism 21R for the right end side 2 ridges by turning on and off the transmission to the two seedling planting mechanisms 21 with the seedling planting mechanism 21 adjacent to the seedling planting mechanism 21 Switch between the state and the non-working state where the seedling movement is stopped.

  The fractional planting clutch 29 built in the central planting drive case 26 is turned on and off, and is a part of the six seedling planting mechanisms 21, which is a part of the six seedling planting mechanisms 21. The work to perform the seedling planting movement of the seedling planting mechanism 21N for the central two strips by turning on and off the transmission to the two seedling planting mechanisms 21 between 21L and the seedling planting mechanism 21R for the rightmost two strips Switch between the state and the non-working state where the seedling movement is stopped.

  The vertical feed drive mechanism 27 includes a vertical feed output shaft 271 extending laterally outward from the front portion of the feed case 25, and a seedling platform lateral direction supported so as to be rotatable on the back side of the seedling platform 28. And a vertical feed drive shaft 272. The vertical feed output shaft 271 is rotationally driven by the driving force input from the rotary shaft 38 to the feed case 25, and rotationally drives a pair of left and right transmission arms 273 supported by the vertical feed output shaft 271. A passive arm 274 is supported by the longitudinal feed drive shaft 272 so as to rotate integrally, and the fractional longitudinal clutch 20 is provided at three locations of the longitudinal feed drive shaft 272.

  Although only schematically shown in FIG. 5, the transmission 32 is provided with a speed change device 32 a, and the speed of the traveling machine body 1 can be changed through operation of the speed change operation lever. Further, a pair of left and right side clutches 11B are provided in a power transmission system that transmits power from the transmission 32 to the pair of left and right rear wheels 11b. For example, when turning on a headland, the side clutch 11B is shut off so that power transmission to the rear wheel 11b inside the turn is cut off.

  Although only schematically shown in FIG. 6, the steering handle 33 b and the front wheel 11 a are interlocked and connected via the electric power steering device 40. More specifically, the handle shaft 41 of the steering handle 33b is provided with a torque sensor 42 that detects the rotational torque of the steering handle 33b. An electric motor 43 for applying an assisting force for rotating the steering handle 33b based on the detection result of the torque sensor 42 is linked to the handle shaft 41 via an electromagnetic clutch 44 and a gear mechanism 45. The handle shaft 41 and the front wheel 11a as a steered wheel are linked via a linkage mechanism (not shown) such as a pitman arm, a knuckle arm, or a tie rod. A detection signal of the torque sensor 42 is input to the device control unit 7. The device control unit 7 generates a control signal based on the detection result of the torque sensor 42 and the like, and drives the electric motor 43 and the electromagnetic clutch 44 that turns on and off the transmission of the output of the electric motor 43 via the motor control circuit 7A. Control. During automatic steering, the electric motor 43 is controlled by a control signal from the device control unit 7, and the steering handle 33b is automatically operated regardless of the detection signal of the torque sensor 42.

  Furthermore, as schematically shown in FIG. 6, the lifting cylinder 37 of the link mechanism 36 is driven and controlled via a solenoid control circuit 7 </ b> B based on a control signal from the device control unit 7. The seedling planting work and the fertilization work are stopped as the elevating cylinder 37 is raised, and the seedling planting work and the fertilization work are started as the elevating cylinder 37 is lowered. The operation of the elevating cylinder 37 is performed by operating the elevating lever 49, which is a kind of work operating tool provided around the steering handle 33b, to the raised position or the lowered position.

  The own position required for automatic steering of the traveling machine body 1 is obtained from the positioning data from the positioning unit 5. The positioning unit 5 includes a satellite navigation module 50 configured as a GNSS module, and an inertial navigation module 51 configured as a module incorporating a gyro acceleration sensor and a magnetic bearing sensor. As shown in FIG. 7, the satellite navigation module 50 is connected to a satellite antenna 5A for receiving GPS signals and GNSS signals. The satellite antenna 5A is attached to a location where the radio wave reception sensitivity is good, in this embodiment, in the upper region of the handrail 35 via the connection portion 5C as shown in FIG.

  FIG. 7 shows a control system equipped in this riding rice transplanter. This control system uses the basic principle regarding automatic steering explained with reference to FIGS. 1 and 2. The functional block diagram of FIG. 7 shows several functional units that were not shown in the functional block diagram of the control system in FIG. For example, a work setting unit 86 that is connected to each functional unit of the arithmetic control unit 8 so that data can be exchanged, a driving support unit 89 that manages various types of support given to the driver regarding field work using the riding rice transplanter, An input signal processing unit 65, a notification processing unit 64, a power management unit 8A, and the like that process signals input from the outside by wire or wireless. The driving support unit 89 includes a warning notification unit 89a, a display data generation unit 88, and the like in order to realize a notification information generation function that generates information useful to the driver.

  The notification processing unit 64 displays the warning information generated by the warning notification unit 89a of the driving support unit 89, the guidance information generated by the display data generation unit 88, and the work status information for notification to the driver or the outside. Is output to the notification device. As a notification device connected to the notification processing unit 64, a display 64a for displaying image information and a speaker 64b for emitting sound information are typical, but a buzzer and a lamp are also included. The display 64 a is equipped with a touch panel 66, and information input through the touch panel 66 is sent via the input signal processing unit 65 to a function unit that requires the information.

  The notification processing unit 64 exchanges data with the automatic steering unit 83. For example, a flag signal indicating that automatic steering is being performed during traveling by automatic steering and that artificial steering is being performed during traveling by artificial steering. By receiving the information, the contents can be displayed through the display 64a and also notified through the speaker 64b.

  The display data generated by the display data generation unit 88 is displayed on the display 64a via the notification processing unit 64. An example of a screen 100 displayed on the display 64a during automatic steering is shown in FIG. This screen 100 is divided into a plurality of display areas, a work information area 110 for displaying work date and time, work results, etc. at the upper left corner, and the deviation of the actual machine (traveling machine body 1) with respect to the target travel route in the upper center. A deviation information area 120 to be displayed and a vehicle speed information area 130 indicating the vehicle speed are arranged at the upper right end. A large area other than the upper side of the screen 100 is an actual machine position information area 150 indicating the position of the actual machine in the field. A small area at the left end of the actual machine position information area 150 is a steering state information area 140 indicating a steering type of automatic steering or artificial steering. A software button group 210 is arranged at the right end of the actual machine position information area 150. A mechanical button group 220 is arranged on the right side of the screen.

  In the actual machine position information area 150, the working state of the farm field around the actual machine, the target travel route (indicated by a plurality of vertically extending dotted lines in FIG. 8 and given the reference TL), and an actual machine symbol indicating the actual machine SY is displayed. In addition, for the sake of easy understanding, only the target travel route that is actually going to travel among the target travel routes is drawn with a thick solid line and is given the reference numeral 103. Furthermore, as information on the working status, the area where the seedling has already been planted is displayed by plotting each planted seedling (in fact, it is displayed in color in green), so that it can be clearly distinguished from the unworked area visually. It is expressed separately. Planted seedling display data indicating such planted seedling traces is also generated by the display data generating unit 88. In addition, you may display this planting seedling trace with the line which shows a linear planting strip | line other than stippling. Although not confirmed in FIG. 8, the actual travel route of the traveling machine body 1, that is, the travel locus can be displayed on the screen 100. The accuracy of automatic steering can be checked by comparing this travel locus with the target travel route. The travel locus can be generated by the display data generation unit 88 based on the positioning data from the positioning unit 5. Further, the actual machine symbol SY is indicated by an arrow, and the sharp direction represents the traveling direction, more specifically, the direction of the actual machine. In order to make the deviation (displacement) between the direction of the actual machine (traveling machine body 1) and the direction of the target travel route more visually understandable, the pointer 161 extending in the traveling direction from the center of the actual machine symbol SY and the direction of the direction The direction scale 162 indicating the angle range is overwritten and displayed. A boundary line 163 indicating the allowable range of the direction deviation is also displayed. The digital value of the direction deviation is displayed in the deviation information area 120. The driver can clearly know the deviation of the actual machine from the target travel route through this screen 100. In addition, when the sowing work device having the sowing mechanism is used as the field work device 2, sowing seed trace display data is generated, and the sowing trace is displayed on the display.

  The configuration of the state detection means 6 is substantially the same as that well known as a state detector group consisting of various sensors and switches (including buttons) and a sensor ECU that processes detection signals from the state detector group. Is the same. However, this embodiment has a function of converting to a signal suitable for use in the arithmetic control unit 8 and other units, and a function of generating a specific state signal from a plurality of detection signals. Typical state signals output from the state detecting means 6 include engine speed, wheel speed, fuel remaining amount, seedling remaining amount, fertilizer remaining amount, shift position, paddy field work device (field work device) 2. A signal that specifies the posture (ascending state or descending state), a working state in which the seedling planting mechanism 21 is performing seedling planting exercise, a non-working state in which the seedling planting mechanism 21 is not performing seedling planting exercise, and the like. is there. Among these state signals, sensors and switches that generate detection signals necessary for outputting the state signals employed in this embodiment are not shown here, but are provided as a state detector group. Yes.

  The input signal processing unit 65 is also a functional unit that processes a signal input from the outside, and can be integrated with the state detection unit 6. Various data output from the state detection unit 6 and the input signal processing unit 65 are processed by the display data generation unit 88 and the warning notification unit 89a, and are notified through the notification processing unit 64 through the display 64a and the speaker 64b. .

  The functions created by the driving support unit 89 include not only the operation support of the traveling machine 1 and the operation support of the paddy field work device 2, but also the supply support function of materials necessary for field work. In a riding rice transplanter, which is known per se, a remaining amount detection unit (not shown) for detecting the remaining amount of seedlings and fertilizers, and an unreplenishment detection unit (not shown) for detecting material supply failure such as material clogging. Not provided). The driving support unit 89 notifies that when the remaining amount of material sent through the state detecting means 6 is below the threshold level. Further, when it is detected that the replenishment is impossible through the state detection unit 6, the driving support unit 89 generates notification information to that effect and notifies the information through the notification processing unit 64. At this time, if automatic steering is ON, a command to stop the automatic steering may be issued, and further, a command to stop the traveling machine body 1 may be issued.

  The driving support unit 89 obtains the target travel route (from the position information of the target travel route, the information of its own position (positioning data)) and the status signal (such as the up / down operation state and the planting clutch disengagement / engagement operation state). It can be detected that the paddy field work device 2 is in a non-working state when traveling in the work area) and that the paddy field work device 2 is in a working state when traveling outside the target travel route (non-working area). Since these are abnormal situations, when this is detected, the driving support unit 89 notifies the warning using the function of the warning notification unit 89a. It is also useful to notify that the work cannot be performed, that is, prohibition of planting work, when traveling outside the target travel route, that is, during non-work travel such as headland turning travel.

  Further, since the driving support unit 89 detects a deviation or a positional deviation of the angle (the direction of the actual machine described above) with respect to the target travel route of the traveling machine body 1, When the displacement of the traveling machine body 1 exceeds the allowable distance, it is beneficial to notify the prohibition of planting work. In addition, when planting work is being performed at that time, it is also beneficial to stop the planting work and / or stop the traveling machine body 1.

  The work setting unit 86 sets a field boundary shape, a travel start point, a travel end point, a replenishment point such as a seedling, and the like to be performed using the paddy field work device 2 as a field work device. The set data is given to the route calculation unit 81 in order to calculate a target travel route during automatic steering.

  The power management unit 8A manages the power supply from the battery to the functional unit that is easily affected by the voltage drop, such as the positioning unit 5, particularly the inertial navigation module 51. In such a functional unit, if the supplied voltage falls below the minimum driving voltage, the system goes down and must be restarted. The power management unit 8A manages various voltage drop events that cause a voltage drop in the planting field work machine according to the present invention and the automatic steering system used therefor. One of the voltage drop events is when the engine is started, but when the planting field work machine adopts an idling stop function, the engine 31 can be restarted frequently. For this reason, as part of the idling stop process, the power management unit 8A controls the power supply circuit so as to compensate for the power supply to the special function unit described above prior to the voltage drop due to the restart of the engine 31 after the idling stop. To do. The power management unit 8A estimates the occurrence of other various voltage drop events from the state signal, and prevents a voltage drop below the minimum drive voltage in the special function unit.

  An information storage unit 80, a reference route generation unit 81a, a route calculation unit 81, a steering data output unit 82, an automatic steering unit 83, a work event detection unit 84, a steering data output management unit 85, which are constructed in the arithmetic control unit 8; The description of the functions of the display data generation unit 88 and the warning notification unit 89a uses the contents described with reference to FIGS. For example, when performing seedling planting work using the paddy field work device 2, the work event detection unit 84 starts the work travel based on the lowering operation of the paddy field work device 2 during the first seedling planting work travel by artificial steering. Is detected, and a work end event indicating the end of work travel is detected based on the ascending operation of the paddy field work device 2 due to reaching the headland. Next, the reference route generation unit 81a generates a reference route from the own device position where the work start event was performed and the own device position where the work end event was performed, and the route calculation unit 81 based on the reference route. The target travel route after that is calculated. Therefore, if the driver performs only the first work travel by manual operation, the substantially straight work travel can be left to automatic steering except for the non-working swivel travel at the headland.

  Note that it is possible that the work travel route must be deviated in an emergency evacuation manner due to some factor during the linear work travel by automatic steering. In such a case, the operation amount of the steering handle 33b, the shaft torque, the front wheel turning angle, and the like become abnormal values that are impossible during automatic control. By utilizing this, when such an abnormal value occurs, the steering data output management unit 85 can give a command to the automatic steering unit 83 to stop the automatic steering operation stop. Thereby, quick processing at the time of abnormality becomes possible.

  In this embodiment, as shown in FIG. 3, the elevating lever 49 is provided with an automatic steering ON / OFF operation tool 91 capable of forcibly turning ON / OFF automatic steering. The automatic steering ON / OFF operation tool 91 can be disposed as an independent operation tool at an appropriate position in the driving unit 33, but is attached to an operation tool other than the lift lever 49, a steering handle 33b, a main transmission lever (not shown), or the like. Also good.

  In this embodiment, regarding the U-turn traveling at the headland, the ON / OFF control of the automatic steering may be automatically performed in response to the detection of the approach to the headland and the separation from the headland. For example, the approach to the headland can be detected by a state signal indicating the raising operation of the paddy field work device 2 by the lift cylinder 37 performed by the driver, and the separation from the headland is performed by the paddy field work device 2 by the lift cylinder 37. It can be detected by a status signal indicating a lowering operation. It is also possible to use a state signal indicating the turning angle of the steering handle 33b.

  In the planting field work machine and the automatic steering system used therefor according to the present invention, it is possible to record not only the steering control for the traveling machine body 1 but also the device control of various operating devices constituting the field work apparatus 2. Therefore, useful farming information can be obtained by recording the operation history data of such control information in a database. In particular, the positioning data by the positioning unit 5 and / or the map data stored in the information storage unit 80, and both, and the field work history data can be linked to contribute to farm work management in units of fine sections in the field. it can.

[Another embodiment]
(1) In the above-described embodiment, a satellite navigation using GPS or the like is used as a positioning unit, which supplements a part of the functions of inertial navigation using a sensor such as a gyro acceleration sensor. The invention is not limited to this method. Other methods may be adopted as long as the positioning device can detect the position of the device with sufficient accuracy.
(2) When the work event detection unit 84 detects a work start event or a work end event from the state signal, the work event detection unit 84 regards the state signal as an occurrence point of the work start event or the work end event by providing a predetermined delay from the input. May be.
(3) Since the functional blocks shown in FIG. 1 and FIG. 7 are described for the purpose of explanation, each functional unit constructed in the arithmetic control unit 8 is arbitrarily integrated or arbitrarily divided. It is possible, and the present invention does not limit the functional division.
(4) The planting system field work machine according to the present invention and the automatic steering system used therefor are provided with a GNSS function and a map data storage function. It is also possible to perform steering or travel route guidance.

  The present invention can be applied not only to a riding rice transplanter but also to various planting-type field work machines such as a seeding machine capable of traveling automatically equipped with a field work device.

1: Traveling machine body 2: Field work device (paddy field work device)
5: Positioning unit 6: State detection means 7: Device control unit 8: Arithmetic control unit 33: Driving unit 33b: Steering handle 50: Satellite navigation module 51: Inertial navigation module 60: State detector group 61: Detection signal processing Unit 64: Notification processing unit 65: Input signal processing unit 66: Touch panel 80: Information storage unit 81: Route calculation unit 81a: Reference route generation unit 82: Steering data output unit 83: Automatic steering unit 84: Work event detection unit 84a: Work start event detection unit 84b: Work end event detection unit 85: Steering data output management unit 86: Work setting unit 88: Display data generation unit 89: Driving support unit 89a: Warning notification unit 91: Automatic steering ON / OFF operation tool

Claims (16)

Traveling aircraft,
A field work device for planting the field;
A positioning unit that outputs positioning data indicating the position of the aircraft that is the specific position of the traveling aircraft; and
A work start event that indicates the start of work travel using the field work device and a work end event that indicates the stop of work travel using the field work device during travel by artificial steering are displayed in the state of the traveling machine body or the field work device. A work event detection unit for detecting based on;
A route calculation unit that calculates a target travel route for the traveling machine body to travel by automatic steering;
Reference route generation for generating a reference route used for calculating the target travel route in the route calculation unit from the own device position where the work start event is performed and the own device position where the work end event is performed And
A steering data output unit that outputs automatic steering data using the positioning data and the target travel route;
An automatic steering unit that steers the traveling vehicle based on the automatic steering data output from the steering data output unit;
Planting field work machine equipped with.   The field work device is a seedling planting device having a seedling planting mechanism and a float. The work start event based on at least one of a predetermined range including a position, a side clutch engaged, a side clutch engaged operation, a seedling planting device descending operation, and a drawing marker operating operation. , Detecting that the planting clutch is disengaged, the float is not grounded, the steering angle is greater than or equal to a predetermined range including the maximum angular angle, the side clutch is disengaged, the side clutch is disengaged, The planting field according to claim 1, wherein the work end event is detected based on at least one of an ascending operation and a non-acting operation of a drawing marker. Work machine.   The field work device is a sowing work device having a sowing mechanism and a float, and the work event detection unit is configured so that the sowing clutch is engaged in the sowing mechanism, the grounding of the float, and the steering angle is within a predetermined range including a straight traveling position. The work start event is detected based on at least one of the following: an operation to engage a side clutch, an operation to engage a side clutch, a lowering operation of a sowing work device, and an operation operation of a drawing marker, and the sowing mechanism Disengagement operation of the seeding clutch, non-grounding of the float, that the steering angle is not less than a predetermined range including the maximum angular angle, side clutch disengagement, side clutch disengagement operation, sowing operation device ascending operation, line drawing marker The planting according to claim 1, wherein the work end event is detected based on at least one of the non-operation operations. Field work machine.   2. The planting according to claim 1, wherein the work start event and the work end event are detected based on a descending operation from the ascending posture to a descending posture of the field work device and an ascending operation from the descending posture to the ascending posture of the field device. Sowing field work machine.   The field working device is a seedling planting device having a seedling planting mechanism, and planting seed mark display data for displaying a planting seed mark on a display is generated during operation using the field working device. The planting field work machine according to any one of claims 1 to 4.   5. The seeding work display device for generating seeding trace data for displaying a seeding trace on a display when the field working apparatus is a seeding working apparatus having a seeding mechanism and traveling using the field work apparatus. A planting-type field work machine according to claim 1.   The planting system field work machine according to any one of claims 1 to 6, wherein travel display data for displaying the target travel route, the own device position, and the travel locus on a display is generated.   A warning notification unit that issues a warning when the field work device is in a non-working state when traveling on the target travel route and that notifies a warning when the field work device is in a working state when traveling outside the target travel route. The planting field work machine according to any one of claims 1 to 7, which is provided. An automatic steering system that steers a traveling machine body equipped with a field work device that performs planting work on a farm field so as to automatically travel along a target travel route,
A positioning unit that outputs positioning data indicating the position of the aircraft that is the specific position of the traveling aircraft; and
A work start event that indicates the start of work travel using the field work device and a work end event that indicates the stop of work travel using the field work device during travel by artificial steering are displayed in the state of the traveling machine body or the field work device. A work event detection unit for detecting based on;
A route calculation unit that calculates a target travel route for the traveling machine body to travel by automatic steering;
Reference route generation for generating a reference route used for calculating the target travel route in the route calculation unit from the own device position where the work start event is performed and the own device position where the work end event is performed And
A steering data output unit that outputs automatic steering data using the positioning data and the target travel route;
An automatic steering system comprising: an automatic steering unit that steers the traveling machine body based on the automatic steering data output from the steering data output unit.   The field work device provided in the traveling machine body is a seedling planting device having a seedling planting mechanism and a float, and the work event detection unit is configured to engage a planting clutch of the seedling planting mechanism, and to ground the float , The steering angle is within a predetermined range including the straight travel position, at least one of side clutch engagement, side clutch engagement operation, seedling planting device lowering operation, and line drawing marker operation operation. The operation start event is detected based on the operation, the planting clutch is disengaged, the float is not grounded, the steering angle is not less than a predetermined range including the maximum angular angle, the side clutch is disengaged, and the side clutch is disengaged. The operation end event is detected based on at least one of an operation, a raising operation of the seedling planting device, and a non-acting operation of the drawing marker. Automatic steering system according to.   The field work device provided in the traveling machine body is a sowing work device having a sowing mechanism and a float, and the work event detection unit includes a sowing clutch engaging operation of the sowing mechanism, a grounding of the float, and a steering angle of a straight line. The work start event is determined based on at least one of a predetermined range including a position, an operation to engage a side clutch, an operation to engage a side clutch, a lowering operation of a seeding work device, and an operation operation of a drawing marker. Detecting, sowing operation of the sowing clutch of the sowing mechanism, non-grounding of the float, that the steering angle is not less than a predetermined range including the maximum cutting angle, side clutch disconnection, side clutch disconnection operation, sowing work device The work end event is detected based on at least one of the ascending operation and the drawing marker non-operation operation. Automatic steering system according to Motomeko 9.   The work start event and the work end event are detected based on a descending operation from a rising posture to a descending posture of the field work device provided in the traveling machine body and an ascending operation from the descending posture to the rising posture of the farm device. Item 10. The automatic steering system according to Item 9.   A field work device provided in the traveling machine body is a seedling work device having a seedling planting mechanism, and a planting seed trace for displaying a plant seedling trace on a display during work traveling using the field work device The automatic steering system according to any one of claims 9 to 12, wherein display data is generated.   The field work device provided in the traveling machine body is a seeding work device having a seeding mechanism, and seeding trace display data for displaying a seeding trace on a display is generated during work traveling using the field work device. Item 13. The automatic steering system according to any one of Items 9 to 12.   The automatic steering system according to any one of claims 9 to 14, wherein travel display data for displaying the target travel route, the own vehicle position, and the travel locus on a display is generated.   When traveling on the target travel route, a warning is issued when the field work device provided in the traveling machine body is in a non-working state, and a warning is given when the field work device is in a working state when traveling outside the target travel route. The automatic steering system according to any one of claims 9 to 15, further comprising a warning notifying unit for notifying.

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