JP2016021891A - Travelling work machine and automatic steering system used for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travelling work machine and an automatic steering system used for the same capable of performing efficient work travelling without imposing a burden on an operator while adopting manual steering and automatic steering.SOLUTION: A travelling 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 route calculation part 81 for calculating a target travel route for a travelling machine body 1 to perform work travelling by automatic steering; a steering data output part 82 for outputting automatic steering data for the travelling machine body 1 to travel along the target travel route using the positioning data and the target travel route; an automatic steering part 83 for creating a steering signal for steering the travelling machine body 1 based on the automatic steering data; and a target travel route adjustment part 87 for adjusting at least a certain target travel route section of the target travel route to travel based on manual operation input when shifting from manual steering travelling to automatic steering travelling, or in the middle of the automatic steering travelling.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a traveling work machine that includes a positioning unit and has an automatic steering function that is automatically steered along a set target traveling route and an artificial steering function that is artificially steered, and an automatic steering system used therefor.

  A rice transplanter as an agricultural work vehicle that generates a target path parallel to the teaching path generated by the teaching path generation unit based on the position information measured by the GPS device and autonomously travels on the target path Is known from US Pat. 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 driver depresses the teaching SW at the start of teaching, the position of the GPS antenna at the time of depressing is set as the start point, and the teaching SW is depressed at the end of teaching, and the GPS antenna at the time of depressing is depressed. The position is the end 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). When the target route is generated, the rice transplanter automatically turns on the one target route after teaching and completes the planting work and reaches the planting end position. Travel autonomously on the target route. As a result, all traveling after teaching is performed in a self-supporting manner. At this time, if the target route direction and the traveling direction are different, autonomous traveling is not permitted, and the rice transplanter stops working and stops traveling.

JP 2008-131880 A (FIGS. 8 and 10)

In the agricultural work vehicle according to Patent Document 1, both the linear work traveling and the turning traveling on the headland are autonomously traveling (automatic steering traveling). However, as in a rice transplanter or the like, alignment of adjacent work regions is performed. In the case of work that requires high accuracy, advanced self-position detection technology and automatic steering control technology are required in order to perform accurate alignment in turning in autonomous driving on a headland. The burden is heavy. On the other hand, when the cost is suppressed, if accurate alignment is not possible, there is a disadvantage that the work and traveling stop each time the headland turns. In addition, when headland turning is performed manually, if it is switched to automatic steering before accurate positioning is completed, it takes time to reach the target travel route accurately due to repeated control hunting. The problem of passing too much arises. When performing manual steering until accurate alignment is possible, the skill of the driver is required, and if the skill of the driver is low, there is a problem that it takes too much time to switch to automatic steering. For this reason, letting the driver determine the transition timing from manual steering to automatic steering places a burden on the driver.
In view of such circumstances, there is a demand for a traveling work machine and an automatic steering system used therefor that enable efficient work traveling without burdening the driver while incorporating artificial steering and automatic steering. .

In order to solve the above-described problems, a traveling work machine according to the present invention includes a traveling machine body, a positioning unit that outputs positioning data indicating a position of the own machine, which is a specific position of the traveling machine body, and the traveling machine body is operated by automatic steering Steering data for outputting automatic steering data for traveling along the target travel route using the positioning data and the target travel route, a route calculation unit for calculating a target travel route for performing An output unit, an automatic steering unit that steers the traveling vehicle body based on the automatic steering data output from the steering data output unit, and at the time of transition from artificial steering traveling to automatic steering traveling, or during automatic steering traveling, And a target travel route adjusting unit that adjusts at least a part of the target travel route section of the target travel route to be traveled based on an input by an artificial operation.
An automatic steering system used for a traveling work machine according to the present invention is an automatic steering system that steers a traveling machine body so as to automatically travel on a work road surface along a target traveling route, and is a specific position of the traveling machine body. A positioning unit that outputs positioning data indicating its own position, and steering data that outputs automatic steering data for the traveling machine body to travel along the target travel route using the positioning data and the target travel route An output unit, an automatic steering unit that steers the traveling vehicle body based on the automatic steering data output from the steering data output unit, and at the time of transition from artificial steering traveling to automatic steering traveling, or during automatic steering traveling, And a target travel route adjusting unit that adjusts at least a part of the target travel route section of the target travel route to be traveled based on an input by an artificial operation.

  According to this configuration, when shifting from the travel by artificial steering to the travel along the target travel path by automatic steering, when the target travel path in which the attitude of the travel aircraft is set is significantly deviated, that is, the target of the travel aircraft If there is a large misalignment and / or misalignment with respect to the travel route, the position of a part of the target travel route or all the target travel routes of the target travel route to be traveled will be determined as long as the work quality is not greatly affected. It becomes possible to adjust. By adjusting the target travel route, it is possible to avoid delaying the transition to automatic steering due to control hunting or the like, or stopping automatic steering. In addition, the burden on the driver to bring the traveling body closer to the target traveling route by manual steering is eliminated.

  The driver adjusts the target travel route to be traveled from now on, and the problem of the positional deviation and the orientation deviation of the traveling machine body with respect to the target travel route is solved. However, through this correction, the positional relationship between the corrected target travel route and the subsequent target travel route is shifted. Such a positional relationship shift depends on the amount of correction performed on the previous target travel route, and can be automatically adjusted using an appropriate algorithm. Therefore, in one of the preferred embodiments of the present invention, the target travel route adjustment unit is configured to change the target travel route section from the target travel route section adjusted based on the manual operation input to the target travel route section. An automatic adjustment unit that automatically adjusts based on the adjustment amount is provided.

  The posture deviation of the traveling machine body with respect to the target traveling route is a positional deviation and a direction deviation. Therefore, in order to eliminate such a posture shift, in one of the preferred embodiments of the present invention, the adjustment of the target travel route based on the manual operation input is performed by translating the original target travel route or the original It is configured to be performed by rotational movement of the target travel route or both. Thereby, the posture deviation of the traveling machine body with respect to the target traveling route is appropriately compensated.

  The deviation of the attitude of the traveling machine body with respect to the target travel route can be detected on the control side from the positioning data from the positioning unit and the position information of the set target travel route. For this reason, the attitude | position deviation of the traveling body with respect to a target driving | running route can be alert | reported to a driver by various methods. A preferred method for notifying the driver of the deviation of the attitude of the traveling machine body relative to the target travel route is to perform visually, and it is also preferable to correct the target travel route through a visual model. From this, in one of the preferred embodiments of the present invention, a display data generating unit that displays information on the direction and position of the traveling aircraft with respect to the target traveling route calculated based on the positioning data, An operation input device for performing the human operation input, and adjustment of the target travel route to be traveled is performed through the display and the operation input device.

  A specific embodiment proposed in the present invention relating to visual notification of posture deviation to a driver and adjustment of a target travel route using a visual model is that the display data generation unit is configured such that the direction of the travel aircraft body And an information screen including at least the target travel route including the target travel route section, and a symbol indicating the direction and position of the traveling aircraft with respect to the target travel route section, as the information regarding the position, and the operation input device The target travel route on the display is adjusted in response to the input signal by. With this configuration, the driver can adjust the target travel route through the same display screen while observing the symbols indicating the direction and position of the traveling machine body, and the adjustment work becomes easy.

It is a schematic diagram explaining the basic composition of the present invention. It is a schematic diagram explaining the basic flow of control which produces | generates a reference | standard path | route and a target driving | running route. It is explanatory drawing for demonstrating the control which produces | generates a reference | standard route and a target driving | running route. It is a schematic diagram explaining the basic flow of control which corrects a target travel route. 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 traveling work 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. In FIG. 1, the basic functions characterizing the present invention are shown in the form of functional block diagrams. 2 and 3 schematically show a technique for generating a reference route and a target travel route. FIG. 4 shows a basic flow of control for correcting the target travel route. Here, as a traveling work machine, a planting-type field work machine such as a rice transplanter or a sowing machine (also referred to as a direct sowing machine) that repeats a linear or substantially linear work traveling 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. Here, in the state detector group 60, the operation input device 200 for artificially correcting the target travel route is particularly illustrated. The operation input device 200 includes a parallel movement adjustment tool 201 and a rotation movement adjustment tool 202 configured as software or hardware. Note that the parallel movement adjustment tool 201 and the rotation movement adjustment tool 202 can be configured as a single adjustment tool.

  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 includes an inertial navigation module having a gyro acceleration sensor or the like for detecting instantaneous movement (direction vector, etc.) and direction of the planting field work machine and for complementing the satellite navigation module 50. 51 is provided. 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.

  The arithmetic control unit 8 includes an information storage unit 80 for storing operation programs, application programs, and various data, a route calculation unit 81 including a reference route generation unit 81a, a steering data output unit 82, an automatic steering unit 83, and an attitude deviation calculation. The part 84 and the automatic steering management part 85 are constructed. The information storage unit 80 includes field information such as the map position of the farm field that is the work target and the position data of the straw that defines the boundary line of the field, and device setting data relating to the field work to be performed, for example, work width Such work information can be stored.

  Further, the route calculation unit 81 has a function of calculating a target travel route in automatic steering travel. Various algorithms for calculating the target travel route are known, and a specific algorithm is not limited in the present invention. Here, the algorithms shown in FIGS. 2 and 3 are shown as an example. For this reason, the route calculation unit 81 receives a work start event and a work from state signals indicating various states of the traveling machine body 1 and the field work device 2 input from the state detection unit 6 (see step # 01 in FIG. 2). A function for detecting end events is provided. The work start event detection function 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. It is a function. The work end event detection function is a function for detecting a work end event indicating the end of work travel using the field work device 2 based on one input 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 work 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. Further, the simplest one 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 is the operation of engaging the planting clutch of the seedling planting mechanism or wearing the float. A work start event is detected based on a state signal indicating water, and a work end event is detected based on a state signal indicating a disengagement operation of the planting clutch or a water separation of the float. 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 route generation unit 81a included in the route calculation unit 81 uses a travel locus defined by the work start event and the work end event as a work travel locus in the travel locus by artificial steering, and uses the work travel locus as the work travel locus. It is generated as a reference route that is also called a teaching route (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 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, as a traveling route of the planting system field work machine, a traveling route (straight traveling route) that travels straight for a long distance while performing field work (rice planting, sowing, etc.) using the field work device 2, and its traveling A travel route (direction change non-work travel route) that is artificially steered in order to travel in a direction change (turning 180 °) without the field work performed at the end of the route is set. Here, in order to generate a reference route, after performing a U-turn turn on a headland through a work run by artificial steering, the traveling machine 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 this planting-type field work machine, the linear travel route travels by automatic steering, and the travel route accompanied by turning such as headland turning travels 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. In particular, in the present invention, a technique for efficiently performing a transition from headland turning traveling by artificial steering to automatic steering traveling that travels along a target traveling route calculated by the route calculating unit 81 is proposed. In order to realize this, an attitude deviation calculation unit 84 and a target travel route adjustment unit 87 are provided.

  The posture deviation calculation unit 84 is based on the positioning data from the positioning unit 5 and the position deviation (indicated by ΔL in FIG. 1) and the direction deviation of the traveling machine body 1 with respect to the target travel route calculated by the route calculation unit 81. (Indicated by Δθ in FIG. 1) is calculated. The target travel route adjusting unit 87, for example, allows the driver to select a target travel route to be corrected using the operation input device 200 while viewing the symbol of the traveling aircraft 1 and the target travel route displayed on the display 64a. It is possible to correct the target travel route so that the posture deviation of the traveling machine body 1 is reduced by moving both in parallel and / or rotationally. At this time, the correction of the target travel route that is the target of the automatic steering of the current travel of the traveling machine body 1 is managed by the human adjustment unit 98a. It is equipped with a modified regulation function where the regulation works. Further, the correction of the target travel route following the artificially corrected target travel route is automatically performed by the automatic adjustment unit 98b based on the corrected amount of the target travel route. Although the automatic adjustment algorithm by the automatic adjustment unit 98b is not particularly limited in the present invention, one of them is a method of allocating the corrected amount of the corrected target travel route to all subsequent target travel routes. All of the allocation amounts may be constant, or the closer the target travel route, the larger the correction amount, and the farthest target travel route may be almost zero. The processing flow and data flow in this attitude deviation calculation processing and target travel route correction processing will be described below with reference to FIGS. This description is based on an example of a transition from headland turning by human-steering to the next automatic steering, but it is substantially the same during automatic steering.

  When approaching the headland, the linear work travel ends, turning by artificial steering is started, headland turning travel is performed aiming for the next target travel route, and when entering the region of the target travel route, That is, when leaving the headland, the field work device 2 is operated to the work state, and the work travel is started (see step # 11 in FIG. 4).

  Here, the attitude deviation calculation unit 84 determines the position deviation of the traveling machine body 1 with respect to the target travel route from the set data of the direction and position of the target travel route and the positioning data input from the positioning unit 5 every moment: ΔL and orientation deviation: Δθ are calculated (see step # 12 in FIG. 4). The calculated positional deviation and orientation deviation are displayed on the display 64a together with, for example, a symbol representing the attitude of the traveling machine body 1 and the target traveling route (see FIG. 10). The calculated positional deviation and orientation deviation may be notified by voice.

  Here, the driver determines whether the calculated positional deviation and orientation deviation are negligible (see step # 13 in FIG. 4). Alternatively, the target travel route adjusting unit 87 may make a determination based on a predetermined determination threshold value and notify the determination result visually or audibly.

  When it is determined that the adjustment is necessary, the target input route 200 is adjusted using the operation input device 200 (see step # 14 in FIG. 4). For example, as schematically shown in FIG. 1, the operation input device 200 is used to move the target travel route section before adjustment (the target travel route to be traveled from now) to an optimal position (rotational movement or Translate or both). If the operation input device 200 is a touch panel mounted on the display 64a, it can be moved by clicking and dragging the target travel route with the fingertip of the hand. Of course, the target travel route may be moved using voice input. When the adjustment using the artificial adjustment unit 87a is completed, the automatic adjustment unit 87b moves the subsequent target travel route section (the target travel route after the artificially adjusted target travel route) based on the correction amount. , Adjust its position and orientation (move). Adjustment data indicating the adjustment amounts of all the target travel routes is transferred to the route calculation unit 81, and the target travel route is corrected (see step # 15 in FIG. 4). Further, the flow of processing returns to the posture deviation calculation again, and the processing is repeated (see step # 16 in FIG. 4).

  If it is determined that adjustment is not necessary, normal automatic steering processing is executed (see step # 17 in FIG. 4). That is, the steering data output unit 82 outputs the steering data to the automatic steering unit 83, and based on the steering data received by the automatic steering unit 83, the traveling machine body is automatically steered via the device control unit 7 (step of FIG. 4). (See # 18).

Next, one specific embodiment of a traveling work machine according to the present invention and an automatic steering system used therefor will be described with reference to the drawings.
In this embodiment, the traveling work machine is configured as a riding rice transplanter, which is an example of a planting-type field work machine. Basically, the basic principle of the present invention described with reference to FIGS. 1 to 4 is used. And a basic control function unit. FIG. 5 is a side view of a riding rice transplanter employed as an example of a traveling work machine in this embodiment, and FIG. 6 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. 6, 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. 5, the paddy field work device 2 is supported by a link mechanism 36 that is extended so as to swing up and down from the body frame 10, and swings the link mechanism 36 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. 6, 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 body 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. The vertical feed belt 28b of each seedling placement portion 28a is provided with a vertical feed drive mechanism 27 (see FIG. 7) provided across the seedling placement base 28 and the feed case 25 when the seedling placement base 28 reaches the left and right stroke ends of the lateral transfer. 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. 7 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. 7, 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. 8, 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.

  Further, although only schematically shown in FIG. 8, the elevating cylinder 37 of the link mechanism 36 is driven and controlled via a solenoid control circuit 7B 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 gyro module incorporating a gyro acceleration sensor and a magnetic direction sensor. As shown in FIG. 9, 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. 9 shows a control system equipped in this riding rice transplanter. This control system uses the basic principle relating to the calculation of the target route described with reference to FIGS. 1 to 4 and the automatic steering based on the calculated target travel route. The functional block diagram of FIG. 9 shows some 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, 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. In this embodiment, a software button group 210 that functions as an operation input device 200 for correcting a target travel line is arranged at the right end of the actual machine position information area 150, as will be described in detail below. 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 field around the actual machine, the target travel route (indicated by a plurality of vertically extending dotted lines in FIG. 10, and given the reference symbol TL), and the 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. 10, 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.

  As the software button group 210 functioning as the operation input device 200 for correcting the target travel route, the target travel route to be corrected (the target travel route TL indicated by a thick line in FIG. 10) is moved to the left sequentially from the top. A left move button 211 to be moved, a right move button 212 to be moved to the right, a left rotate button 213 to rotate the target travel route to be corrected to the left, and a right rotate button 214 to rotate right are arranged. By operating these buttons, the target travel route can be corrected. By operating the completion button 215, the artificial correction is completed, and then the automatic correction process is executed. In this process, the adjustment process can be repeated by operating the cancel button 216. That is, in this embodiment, a left movement button 211 and a right movement button 212 are prepared as the parallel movement adjustment tool 201, and a left rotation button 213 and a right rotation button 214 are prepared as the rotation movement adjustment tool 202. ing.

  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 determines the target travel route from the position information of the target travel route, the information on the own vehicle position (positioning data), and the status signal (such as the up / down operation state and the disengagement / engagement operation state of the planting clutch). It can be detected that the paddy field working device 2 is in a non-working state during traveling and that the paddy field working device 2 is in a non-working state during traveling outside the target travel route. 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. In addition, it is also useful to notify that it is impossible to perform work traveling, that is, prohibition of planting work when traveling outside the target travel route.

  Further, the driving support unit 89 determines that the orientation of the traveling machine body 1 is an allowable angle based on the orientation of the actual machine obtained from the attitude deviation calculation unit 84 (the angle of the traveling machine body 1 with respect to the target travel route) and the positional deviation from the target travel route. If it exceeds the upper limit, or if the displacement of the traveling machine body 1 exceeds the allowable distance, a warning to that effect can be notified using the function of the warning notification unit 89a.

  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.

  An information storage unit 80, a route calculation unit 81 including a reference route generation unit 81a, a steering data output unit 82, an automatic steering unit 83, an attitude deviation calculation unit 84, and a target travel route adjustment unit 87, which are constructed in the arithmetic control unit 8. The contents described with reference to FIGS. 1 to 4 are used for the functional descriptions of the display data generation unit 88 and the warning notification unit 89a. If only that point is repeated, when performing seedling planting work using the paddy field work device 2, the reference path generation unit 81a performs the descending operation of the paddy field work device 2 during the first seedling planting work traveling by artificial steering. A work start event representing the start of work travel is detected based on this, and a work end event representing the end of work travel is detected based on the ascending operation of the paddy field work device 2 due to reaching the headland. Further, the reference route generation unit 81a 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. The route calculation unit 81 calculates a subsequent target travel route based on the reference route. As a result, when the turning by the artificial steering at the headland is finished, the work traveling along the target traveling route is performed by the automatic steering. However, at that time, if there is a considerable difference in direction and position between the actual traveling machine body 1 and the target traveling path, there is a disadvantage that the traveling machine body 1 does not smoothly follow the target traveling path in automatic steering. In order to avoid this inconvenience, the driver corrects the target travel route instead of the traveling machine body 1 while looking at the screen 100 of the display 64a as shown in FIG. 10 under the control function of the target travel route adjustment unit 87. . As a result, inconveniences such as control hunting, which are likely to occur at the time of transition from turning traveling on a headland by human steering to working traveling by automatic steering, are avoided.

  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. Utilizing this fact, when such an abnormal value occurs, a command to interrupt the automatic steering operation stop is given to the automatic steering section 83. Thereby, quick processing at the time of abnormality becomes possible.

  In this embodiment, as shown in FIG. 5, the lift lever 49 is provided with an artificial operation tool 91 that forcibly prohibits or permits automatic steering. In this embodiment, the human operation tool 91 is a two-state switching operation tool having two functions of an automatic steering prohibition human operation tool and an automatic steering permission human operation tool. The artificial operation tool 91 can be appropriately arranged in the driving unit 33, and may be attached to the steering handle 33b, a main transmission lever (not shown), or the like.

  In the traveling 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 equipment control of various operating devices constituting the field work device 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) In the above-described embodiment, the route calculation unit 81 employs a configuration in which a reference route is generated through detection of a work start event and a work end event, and a target travel route is calculated based on the reference route. Instead of this, an algorithm for calculating the target travel route based on the map information of the field, an algorithm for calculating the target travel route by teaching each corner point of the field, or the like may be adopted. Further, when the route calculation algorithm is built in the calculation control unit, there arises a problem that if the route calculation algorithm becomes complicated, the required calculation capability becomes high. In order to avoid this problem, the route calculation calculation may employ a cloud network method that is performed by an external computer. Similarly, the information storage unit 80 may also be constructed in an external computer and accessed from the planting field work machine as necessary. For this purpose, the planting field work machine is provided with a communication unit that can be connected to a data communication line such as the Internet, or is brought in by the driver.
(3) When a work start event or work end event is detected from the status signal, a predetermined delay may be provided from the input of the status signal, and the work start event or the work end event may be regarded as the occurrence time.
(4) Since the functional blocks shown in FIG. 1 and FIG. 9 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.
(5) The traveling 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 adopt a configuration that performs travel route guidance.

  The present invention is applicable not only to a riding rice transplanter but also to various traveling work machines such as an agricultural work machine capable of automatic traveling equipped with various working devices.

1: Traveling machine body 2: 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 82: Steering data output unit 83: Automatic steering unit 84: Posture deviation calculation unit 87: Automatic travel route adjustment unit 87a : Artificial adjustment unit 87b: Automatic adjustment unit 88: Display data generation unit 89: Driving support unit 200: Operation input device 201: Parallel movement adjustment tool 202: Rotation movement adjustment tool 211: Left movement button 212: Right movement button 213: Left Rotate button 214: Right rotate button

Claims (10)

Traveling aircraft,
A positioning unit that outputs positioning data indicating the position of the aircraft that is the specific position of the traveling aircraft; and
A route calculation unit that calculates a target travel route for the traveling machine body to travel by automatic steering;
A steering data output unit that outputs automatic steering data for the traveling body to travel along the target travel route 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;
A target travel route adjustment unit that adjusts at least a part of a target travel route section of a target travel route to be traveled from now on, during the transition from artificial steering travel to automatic steering travel, or during automatic steering travel, based on a human operation input; ,
A traveling work machine equipped with   The target travel route adjustment unit includes an automatic adjustment unit that automatically adjusts a target travel route from a target travel route section adjusted based on a human operation input based on an adjustment amount of the target travel route section. The traveling work machine according to claim 1.   The travel work machine according to claim 1 or 2, wherein the adjustment of the target travel route based on a human operation input is performed by a parallel movement of the original target travel route, a rotational movement of the original target travel route, or both.   A display data generation unit for displaying information on the direction and position of the traveling aircraft with respect to the target travel route calculated based on the positioning data on a display; and an operation input device for performing the manual operation input. The travel work machine according to any one of claims 1 to 3, wherein the adjustment of the target travel route to be traveled is performed through the display and the operation input device.   The display data generation unit generates, as the information, an information screen including the target travel route including at least the target travel route section, and a symbol indicating the direction and position of the traveling machine body with respect to the target travel route section. The travel work machine according to claim 4, wherein the target travel route on the display is adjusted in response to an input signal from the operation input device. An automatic steering system for steering a traveling machine body so as to automatically travel on a work road surface 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 route calculation unit that calculates a target travel route for the traveling machine body to travel by automatic steering;
A steering data output unit that outputs automatic steering data for the traveling body to travel along the target travel route 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;
A target travel route adjustment unit that adjusts at least a part of a target travel route section of a target travel route to be traveled from now on, during the transition from artificial steering travel to automatic steering travel, or during automatic steering travel, based on a human operation input; ,
Automatic steering system with   The target travel route adjustment unit includes an automatic adjustment unit that automatically adjusts a target travel route from a target travel route section adjusted based on a human operation input based on an adjustment amount of the target travel route section. The automatic steering system according to claim 6.   The automatic steering system according to claim 6 or 7, wherein the adjustment of the target travel route based on a human operation input is performed by a parallel movement of the original target travel route, a rotational movement of the original target travel route, or both.   A display data generation unit for displaying information on the direction and position of the traveling aircraft with respect to the target travel route calculated based on the positioning data on a display; and an operation input device for performing the manual operation input. The automatic steering system according to any one of claims 6 to 8, wherein the adjustment of the target travel route to travel is performed through the display and the operation input device.   The display data generation unit generates, as the information, an information screen including the target travel route including at least the target travel route section, and a symbol indicating the direction and position of the traveling machine body with respect to the target travel route section. The automatic steering system according to claim 9, wherein the target travel route on the display is adjusted in response to an input signal from the operation input device.

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