JP2017112962A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of accurately performing work by a work device using automatic steering control of a travelling machine body.SOLUTION: A work vehicle includes a travelling machine body C having a travelling device A, a seedling planting device W for performing work for a farm field, a steering unit U capable of steering the travelling device A, a reception device 63 for acquiring position information by a satellite positioning system, a main inertia measuring device 62 for measuring inertia information, a generation part for generating a target line for causing the travelling machine body C to travel, and a control part for controlling the steering unit U so that the travelling machine body C can travel along the target line based on the position information and the inertia information. The reception device 63 and the main inertia measuring device 62 are arranged at different places in the travelling machine body C.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work vehicle capable of automatic steering control of a traveling machine body.

  A conventional work vehicle is described in Patent Document 1 below, for example. The working vehicle includes a traveling machine body having a traveling device ("front wheel" and "rear wheel" in Patent Document 1), a working device for performing work on a farm field ("Seedling planting work device" in Patent Document 1), And a steering unit that can steer the traveling device (in Patent Document 1, “power steering valve”, “power steering cylinder”, “automatic control valve”, etc.). Further, the work vehicle is operated such that a receiving device (“GPS receiver” in Patent Document 1) that acquires position information by a satellite positioning system and a traveling machine body travels straight on the basis of the acquired position information. And a control unit (“controller” in Patent Document 1) for controlling the direction unit. This work vehicle controls the steering unit based only on the position information acquired by the receiving device, and performs automatic steering control of the traveling machine body.

  Patent Document 2 below describes a measurement unit in which a receiving device that acquires position information by a satellite positioning system and an inertial measurement device that measures inertial information are integrated.

JP 2001-161112 A US Pat. No. 7,346,452 (FIG. 1)

  However, the positional information acquired from the receiving device by the satellite positioning system may have a large deviation from the actual position. In such a case, in the work vehicle described in Patent Document 1, the automatic operation of the traveling machine body is performed. It has been difficult to accurately perform work using a work device using direction control. Further, under a situation where radio interference or the like is likely to occur, the amount of position information acquired by the receiving device is insufficient, and it is difficult to perform automatic steering control of the traveling machine itself.

  For this reason, as described in Patent Document 2, a receiving device that acquires position information by a satellite positioning system and an inertial measurement device that measures inertia information are integrated with the work vehicle described in Patent Document 1. It is equipped with a measurement unit, and based on the position information acquired by the receiving device and the inertia information measured by the inertial measurement device, automatic steering control of the traveling machine body is performed to improve the accuracy of work by the work device. Improvement was considered.

  However, the receiving device tends to exhibit characteristics that the accuracy of the acquired position information is high by placing it in a place where there are few shields that block radio waves in the surroundings and the shaking is relatively large, Inertial measuring devices tend to exhibit characteristics in which errors in inertial information are reduced by placing them at locations where shaking is relatively small. For this reason, if a measurement unit in which the receiving device and the inertial measurement device are integrated in one place of the traveling machine body, there is a possibility that the characteristics of both the reception device and the inertial measurement device cannot be fully utilized.

  In view of the above circumstances, an object of the present invention is to provide a work vehicle capable of accurately performing work by a work device using automatic steering control of a traveling machine body.

The work vehicle of the present invention is
A traveling body having a traveling device;
A working device for working on the field;
A steering unit capable of steering the traveling device;
A receiving device for acquiring position information by a satellite positioning system;
An inertial measurement device for measuring inertial information;
A generating unit for generating a target line for running the traveling machine body;
A control unit that controls the steering unit so that the traveling body travels along the target line based on the position information and the inertia information;
The receiving device and the inertial measurement device are arranged at different locations in the traveling machine body.

According to the present invention, the receiving device that acquires position information by the satellite positioning system and the inertial measurement device that measures inertial information are arranged at different locations in the traveling machine body.
For this reason, for example, it is possible to improve the acquisition accuracy of the position information of the receiving device by arranging the receiving device at a location where the shaking is relatively large, and to arrange the inertia measuring device at a location where the shaking is relatively small, Errors in inertia information measured by the measuring device can be reduced. That is, both the accuracy of the position information acquired by the receiving device and the accuracy of the inertial information measured by the inertial measurement device are improved, and both the characteristics of the reception device and the inertial measurement device can be utilized.
As a result, steering control of the steering unit can be performed using highly accurate position information and inertia information, and the traveling machine body can be accurately and automatically operated so that the traveling machine body and the work device travel along the target line. Steering control is possible.
Therefore, according to the present invention, it is possible to accurately perform the work by the work device using the automatic steering control of the traveling machine body.

In the above configuration,
It is preferable that the inertial measurement device is arranged at a position near the center in the front-rear direction in the total length in the front-rear direction of the traveling machine body and the working device.

  According to this configuration, the portion in the vicinity of the center in the front-rear direction in the total length in the front-rear direction of the traveling machine body and the working device is, for example, a place located in the vicinity of the yaw axis that is the turning center of the entire traveling machine body and the working device. It has become. By disposing the inertial measurement device at such a location, an error in the inertial information measured by the inertial measurement device is reduced, and accurate measurement of the inertial information is facilitated.

In the above configuration,
It is preferable that the inertial measurement device is attached to an attachment member located in the vicinity of the rear axle of the traveling device.

  According to this configuration, the mounting member located in the vicinity of the rear axle of the traveling device is less likely to sway during traveling of the traveling machine body. By attaching an inertial measurement device to such an attachment member, an error in inertial information measured by the inertial measurement device is reduced, and accurate measurement of inertial information is facilitated.

In the above configuration,
The working device is a seedling planting device capable of planting seedlings in a field;
A plurality of preliminary seedling stands on which preliminary seedlings for replenishing the seedling planting device can be placed;
A pair of left and right spare seedling frames that support the spare seedling table;
A connection frame connected over the upper part of the left and right preliminary seedling frame,
It is preferable that the receiving device is attached to the connection frame.

  According to this configuration, since the receiving device is attached to the connecting frame installed at a certain high position, which connects the left and right auxiliary seedling frames that support the auxiliary seedling stand, it is received at a place where there are few shielding objects that block radio waves. Device can be placed. This makes it difficult for the position information acquired by the receiving apparatus to be interrupted. Further, since the preliminary seedling frame and the connecting frame are relatively easily shaken during traveling, for example, it is possible to improve the detection accuracy of the direction in which the traveling machine travels based on the position information acquired by the receiving device.

In the above configuration,
The connection frame has a use state in which the receiving device is located above the upper end portion of the spare seedling frame and an upside down position with respect to the use state, and the receiving device is below the upper end portion of the preliminary seedling frame. It is preferable that the state can be changed between the storage state and the storage state.

  According to this configuration, by setting the connection frame to the use state, the receiving device is positioned higher than the upper end of the spare seedling frame, so that it is possible to improve radio wave reception sensitivity when the receiving device is used. . On the other hand, when the connecting frame is in the retracted state, it is positioned at a position lower than the upper end portion of the spare seedling frame. For example, when the traveling machine body is accommodated in a barn or the like, the receiving device does not get in the way. For example, it is possible to avoid inconveniences such as hitting the receiving device on the upper part of the entrance of the barn.

In the above configuration,
It is preferable that the connection frame is supported by the left and right spare seedling frames so that the connection frame can be rotated around a left-right axis along the left-right direction and can be fixed in the use state and the retracted state.

  According to this configuration, since the connection frame can be rotated around the left and right axis, the state of the connection frame is changed between a use state in which the reception device is used and a storage state in which the reception device is stored. It will be easy.

In the above configuration,
It is preferable that the connecting frame is detachable from the left and right spare seedling frames.

  According to this configuration, since the connecting frame is detachable, when the receiving apparatus is not used, the connecting frame in use is detached from the spare seedling frame, and the connecting frame is stored and used as a spare seedling frame. Can be attached.

In the above configuration,
The receiving device includes a connector portion for connecting a harness,
It is preferable that the connector portion extends outward in the left-right direction from the receiving device.

  According to this configuration, since the connector portion that connects the harness in the receiving device extends outward in the left-right direction from the receiving device, for example, compared to the case where the connector portion extends from the receiving device to the front side, It becomes difficult for the connector part of the receiving apparatus to hit an obstacle such as an approaching tree branch.

In the above configuration,
The receiving device includes a connector portion for connecting a harness,
It is preferable that a guard member for protecting the connector portion is provided.

  According to this configuration, the guard member can be suitably protected so that an obstacle such as a tree branch does not collide with the connector portion during traveling.

It is a side view which shows a rice transplanter. It is a top view which shows a rice transplanter. It is a front view which shows a rice transplanter. It is a schematic diagram which shows a steering unit typically. It is a block diagram which shows the control structure which concerns on automatic steering control. It is explanatory drawing of the top view explaining operation | movement of automatic steering control. It is explanatory drawing of the top view explaining the production | generation etc. of a target line. It is a side view which shows another embodiment.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1 to FIG. 3, a riding type rice transplanter (an example of “work vehicle”) that is a planting paddy field work vehicle among farm work vehicles includes a travel machine body C having a travel device A, And a work device that performs work on the field. The working device of the rice transplanter is a seedling planting device W that can plant seedlings in a field. The arrow F shown in FIG. 2 is “front” of the traveling machine body C, the arrow B is “rear” of the traveling machine body C, the arrow L is “left” of the traveling machine body C, and the arrow R is “right” of the traveling machine body C. is there.

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

  As shown in FIGS. 1 to 3, an opening-and-closing bonnet 12 is provided at the front of the traveling machine body C. An engine 13 is provided in the bonnet 12. A rod-shaped center mascot 14 for confirming the index line LN (see FIG. 6) is provided at the tip position of the bonnet 12. As shown in FIGS. 1 and 3, the traveling machine body C is provided with a frame-shaped machine body frame 15 extending along the front-rear direction. A support column frame 16 is erected on the front portion of the body frame 15.

[About seedling planting equipment]
As shown in FIG. 1, the seedling planting device W is connected to the rear end of the traveling machine body C so as to be movable up and down via a link mechanism 21 that moves up and down by an expansion and contraction operation of a lifting cylinder 20 constituted by a hydraulic cylinder. ing.

  As shown in FIGS. 1 and 2, the seedling planting device W includes four transmission cases 22, rotary cases 23 that are rotatably supported on the left side and the right side of the rear part of each transmission case 22, A pair of rotary planting arms 24 provided at both ends of the rotating case 23, a plurality of leveling floats 25 for leveling the field in the field, a seedling platform 26 on which mat-like seedlings for planting are placed, and the like are provided. It has been. That is, the seedling planting apparatus W is configured in an 8-row planting type.

  The seedling planting device W configured as described above drives each of the rotating cases 23 by the power transmitted from the transmission case 22 while driving the seedling mounting table 26 to reciprocate horizontally and horizontally. The seedlings are taken out alternately by the planting arms 24 from below and planted on the field of the field.

[About the spare seedling stand]
As shown in FIGS. 1 to 3, a plurality of (for example, four) normal spares capable of placing spare seedlings to be supplied to the seedling planting device W on the left and right sides of the bonnet 12 in the traveling machine body C. A seedling stand 28 (an example of “spare seedling stand”) and one rail-type spare seedling stand 29 (an example of “spare seedling stand”) on which a spare seedling for replenishment to the seedling planting device W can be placed are provided. ing. Further, on the left and right sides of the bonnet 12 in the traveling machine body C, a pair of left and right spare seedling frames 30 that support the respective normal spare seedling stands 28 and rail-type spare seedling stands 29 and upper portions of the left and right spare seedling frames 30 And a connecting frame 31 connected over the connecting frame 31. The connection frame 31 has a U-shape when viewed from the front. The left and right end portions of the connection frame 31 are connected to the upper portions of the left and right spare seedling frames 30 via connection brackets 32, respectively.

[About the marker device]
As shown in FIG. 1, marker devices 33 for forming an index line LN (see FIGS. 6 and 7) are provided on the left and right sides of the seedling planting device W, respectively, on the field surface of the field. . The left and right marker devices 33 are respectively operated in a working posture in which an indicator line LN is formed on the field surface of the farm field as the traveling machine body C is grounded on the field surface of the farm field and in a retracted posture away from the field surface of the farm field. It is configured freely.

  As shown in FIG. 1, the left and right marker devices 33 are respectively supported by a marker arm 34 supported by a seedling planting device W so as to be swingable up and down, and freely supported at the tip of the marker arm 34. And a rotating body 35 having a plurality of convex portions in the circumferential direction. Also, a marker electric motor (not shown) is provided for operating the left and right marker devices 33 to the working posture and the retracted posture. By setting each marker device 33 to the action posture, the rotating body 35 rolls on the ground as the traveling machine body C is steered to form a dotted index line LN (see FIG. 6) in a top view. It is supposed to be.

[About the driving section]
As shown in FIG. 1 to FIG. 3, a driving unit 40 in which various driving operations are performed is provided in the central portion of the traveling machine body C. The driving unit 40 includes a driver seat 41 on which a driver can sit, a control tower 42, a steering handle 43 including a steering wheel for manual steering operation of the front wheels 10, a forward / reverse switching operation and a traveling speed. A main transmission lever 44, an operation lever 45, and the like are provided. The driver seat 41 is provided at the center of the traveling machine body C. The control tower 42 is provided with a steering handle 43, a main transmission lever 44, an operation lever 45, and the like so as to be freely operated. A boarding step 46 is provided at the foot portion of the driving unit 40. An auxiliary step 47 is provided at the left and right outer positions of the boarding step 46. On both the left and right sides of the bonnet 12, a boarding / unloading step 48 is provided as a boarding / alighting passage that continues to the boarding step 46 without a step. The left and right preliminary seedling frames 30 are respectively arranged on the lateral sides of the getting-on / off step 48.

[About the control lever]
The operation lever 45 shown in FIGS. 2 and 3 is provided on the right side below the steering handle 43. Although not shown in detail, the operation lever 45 is configured to be freely movable in a cross direction from a neutral position to an upward ascending position, a downward descending position, a rear right marker position, and a front left marker position. Biased to position.

  When the operation lever 45 is operated to the raised position, the planting clutch (not shown) is operated in the disconnected state, the seedling planting device W is raised, and the left and right marker devices 33 (see FIG. 1) are operated to the retracted position. The When the operation lever 45 is operated to the lowered position, the planting clutch (not shown) is operated in the disconnected state, the left and right marker devices 33 are operated to the retracted posture, and the seedling planting device W is lowered. When the center leveling float 25 contacts the field surface of the farm field, the seedling planting device W contacts the field surface of the field and stops.

  When the operation lever 45 is operated to the right marker position, the right marker device 33 changes from the retracted posture to the acting posture. When the operating lever 45 is operated to the left marker position, the left marker device 33 changes from the retracted posture to the operating posture.

  The control tower 42 of the operation unit 40 is provided with a push operation type automatic steering switch 50 (see FIG. 5). The automatic steering switch 50 is configured to be able to perform an automatic steering on / off switching operation of the steering unit U. The main transmission lever 44 is provided with a registration switch 52 (see FIG. 5) for registering the teaching direction TA (see FIG. 6) used for the automatic steering control of the steering unit U. The registration switch 52 includes a pressing operation type first registration button 52A and a pressing operation type second registration button 52B.

[About the steering unit]
As shown in FIG. 4, the steering unit U includes the steering handle 43 described above, a steering operation shaft 54 that is linked to the steering handle 43, and a pitman that swings as the steering operation shaft 54 rotates. An arm 55, a left and right linkage mechanism 56 linked to the pitman arm 55, a steering motor 58, a gear mechanism 57 to link the steering motor 58 to the steering operation shaft 54, and the like are provided.

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

  When manual steering of the steering unit U is performed, an assisting force corresponding to the operation of the steering handle 43 by the steering motor 58 is applied to the operating force for the driver to operate the steering handle 43, thereby the steering operation shaft. 54 is rotated to change the steering angle of the front wheel 10. On the other hand, when the steering unit U is automatically steered, the steering motor 58 is driven, the steering operation shaft 54 is rotated by the driving force of the steering motor 58, and the steering angle of the front wheel 10 is changed. It is supposed to be.

[Measurement unit with receiver and inertial measurement device]
As shown in FIG. 1 to FIG. 3 and FIG. 5, the traveling aircraft body C detects a receiving device 63 that acquires position information by a satellite positioning system and mainly detects the inclination (pitch angle, roll angle) of the traveling aircraft body C. A measuring unit 61 having a possible sub inertia measuring device 64 and a main inertia measuring device 62 (corresponding to “inertia measuring device”) for measuring inertia information are provided.

  The main inertia measuring device 62 and the sub inertia measuring device 64 are each configured by an IMU (Internal Measurement Unit).

  The measuring unit 61 having the receiving device 63 and the sub inertia measuring device 64 and the main inertia measuring device 62 are arranged at different locations in the traveling machine body C. Further, the measurement unit 61 having the receiving device 63 and the sub inertia measuring device 64 and the main inertia measuring device 62 are arranged on the left and right center line CL in the traveling machine body C.

  A typical example of the above-described satellite positioning system (GNSS) is a GPS (Global Positioning System). The position of the receiving device 63 is determined by using a receiving device 63 included in a plurality of GPS satellites that orbit the earth, a control station that tracks and controls the GPS satellites, and a target (running vehicle body C) that performs positioning. Is to measure. The receiving device 63 is used to acquire the position information of the traveling machine body C by the satellite positioning system.

  As shown in FIGS. 1 to 3, the measurement unit 61 having the receiving device 63 is attached to the connection frame 31 via a plate-like support plate 65. The measuring unit 61 having the receiving device 63 is disposed at the front position of the traveling machine body C (particularly, in front of the front wheels 10). For this reason, when the traveling machine body C changes the traveling direction, the front unit position of the traveling machine body C has a larger amount of displacement in the left-right direction than the rear end position of the traveling machine body C. The change in the own position NM of the traveling machine body C acquired can be detected with high sensitivity.

  As shown in FIG. 3 and the like, the connection frame 31 is turned upside down with respect to the use state S1 in which the measurement unit 61 having the receiving device 63 is located above the upper end of the spare seedling frame 30 and the use state S1. The receiving device 63 can be changed to a storage state S2 in which the receiving device 63 is positioned below the upper end of the preliminary seedling frame 30. In other words, the connecting frame 31 can be rotated around the left and right axis X along the left-right direction, and the connecting bracket 32 can be fixed in positions in the use state S1 and the retracted state S2. It is supported by the preliminary seedling frame 30.

  As shown in FIGS. 1, 3, etc., by setting the connection frame 31 to the use state S <b> 1, the receiving device 63 is supported by the connection frame 31 and the spare seedling frame 30 at a high place. As the traveling machine body C travels, the receiving device 63 easily shakes due to the bending of the preliminary seedling frame 30 and the connecting frame 31, and the own machine position NM or the own machine of the traveling machine body C based on the position information acquired by the receiving device 63. The azimuth NA can be detected with high accuracy. Furthermore, since the receiving device 63 is positioned at the highest position in the traveling machine body C by setting the connection frame 31 to the use state S1, the reception sensitivity of the radio wave of the receiving device 63 can be increased. It is difficult for radio interference to occur at 63.

  As shown in FIGS. 2 and 3, the receiving device 63 of the measurement unit 61 is provided with a connector portion 67 for connecting a harness 66. The connector portion 67 extends outward from the receiving device 63 of the measurement unit 61 in the left-right direction. The harness 66 is routed along the connection frame 31 and the spare seedling frame 30. Further, a guard member 68 that protects the connector portion 67 is provided. The guard member 68 is attached to the support plate 65. The guard member 68 protects the front side of the connector portion 67.

  As shown in FIG. 1, the main inertia measuring device 62 is arranged at a location near the center in the front-rear direction in the total length in the front-rear direction of the traveling machine body C and the seedling planting device W. In other words, the main inertia measuring device 62 is arranged in the vicinity of the turning center (the axis of the yaw axis of the traveling machine body C) in the traveling direction of the traveling machine body C.

  Specifically, a rear axle frame 73 (corresponding to an “attachment member”) that rotatably supports a rear axle 72 that transmits driving force to the rear wheels 11 is provided at the rear portion of the traveling machine body C. The rear axle frame 73 is a member having rigidity positioned in the vicinity of the rear axle 72 of the traveling device A. The main inertia measuring device 62 is attached to the rear axle frame 73.

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

  As shown in FIG. 5, the main inertia measuring device 62 mainly includes a gyro sensor 70 capable of detecting the angular velocity of the yaw angle of the traveling machine body C (the turning angle of the traveling machine body C), and three axial directions orthogonal to each other. And an acceleration sensor 71 capable of detecting the acceleration. That is, the inertia information measured by the main inertia measuring device 62 includes the azimuth change information detected by the gyro sensor 70 and the position change information detected by the acceleration sensor 71. As described above, since the main inertia measuring device 62 is disposed in the vicinity of the turning center in the traveling direction of the traveling machine body C, it is possible to suppress the integration error of the direction change information generated in the gyro sensor 70 to be small. At the same time, the detection accuracy of the position change information by the acceleration sensor 71 is high.

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

  The control device 75 includes information on the receiving device 63, the sub inertia measuring device 64, the gyro sensor 70, the acceleration sensor 71, the steering angle sensor 60, the automatic steering switch 50, the registration switch 52, etc. in the main inertia measuring device 62. Is entered.

  The information storage unit 76 is configured to store the position information acquired from the receiving device 63 for each time.

  The teaching storage unit 77 is configured to calculate the teaching direction TA using the position information of two points among the position information stored in the information storage unit 76 based on the operation of the registration switch 52.

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

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

  The information correction unit 80 acquires, by the receiving device 63, an integration error of information detected by the gyro sensor 70 among the inertia information measured by the main inertia measuring device 62 every time the automatic steering control of the traveling machine body C is started. Correction processing is performed on the basis of the positional information and the information measured by the sub inertia measuring device 64.

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

  During the automatic steering control of the traveling machine body C, the state detection unit 82 detects the distance deviation (deviation distance) between the own machine position NM of the traveling machine body C and the target line LM, the own machine direction NA, and the teaching direction of the traveling machine body C. An angle deviation (deviation angle) from TA is detected.

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

[Automatic steering control]
As an example, a case where seedling planting work is performed in a square paddy field as viewed from above will be described.
As shown in FIG. 6, first, the traveling machine body C is positioned at a certain first position Q <b> 1 on the edge of the field, and the first registration button 52 </ b> A (see FIG. 5) of the registration switch 52 is operated. Then, with the seedling planting device W raised and the leveling float 25 grounded, the traveling machine body C travels straight along the linear shape on the side of the side from the first position Q1, and the opposite The second registration button 52B (see FIG. 5) of the registration switch 52 is operated after moving to the second position Q2 near the side edge. Thus, the first position Q1 is connected to the second position Q2 from the position information acquired by the receiving device 63 at the first position Q1 and the position information acquired by the receiving device 63 at the second position Q2. A teaching direction TA is generated.

  Next, as shown in FIG. 6, the traveling machine body C is manually turned by operating the steering handle 43. When the turning angle sensor 60 detects the turning start of the traveling machine body C, the seedling planting device W, the leveling float 25, and the marker device 33 are automatically raised from the field surface of the field. When the turning of the traveling machine body C is completed, the turning end position Q3 of the traveling machine body C is detected based on the detection result of the steering angle sensor 60.

  Operation input of the automatic steering switch 50 until a certain time elapses after the turning end position Q3 of the traveling machine body C is detected and until the deviation angle between the own machine direction NA and the teaching direction TA is within a predetermined range. A dead zone that does not accept is set. That is, while the state of the traveling machine body C is in the dead zone, the automatic steering control is not started even if the automatic steering switch 50 is operated. While the state of the traveling machine body C is in the dead zone, the driver travels by manually steering the steering unit U so that the index line LN matches the point of sight of the tip of the center mascot 14. The machine body C can be aligned.

  When the state of the traveling machine body C passes through the dead zone, an operation input of the automatic steering switch 50 is accepted, and when the automatic steering switch 50 is operated, traveling based on the position information in the receiving device 63 at the control start position Q4. The own machine position NM and the own machine direction NA of the body C are stored. Then, a linear target line LM parallel to the teaching direction TA is generated from a position away from the position where the receiving device 63 is installed by a predetermined distance in the direction of the own aircraft direction NA of the traveling machine body C. At the same time, the information measured by the main inertia measuring device 62 includes the position information of the own device position NM acquired by the receiving device 63 and the position information of the own device position NM acquired by the receiving device 63 and the previous position. Correction is performed based on the own aircraft orientation NA calculated based on the position information.

  In FIG. 6, for convenience of illustration, the index line LN formed by the marker device 33 and the target line LM are slightly shifted, but in reality, the driver's line of sight is the tip of the center mascot 14 and the index. Since manual alignment is performed so that the line LN coincides with the line LN, the target line LM is generated so as to substantially coincide with the index line LN.

  Along with this, automatic steering control of the traveling machine body C based mainly on the main inertia measuring device 62 is started. That is, in the automatic steering control, the main inertia measuring device 62 is mainly used, and the receiving device 63 is used for correcting the main inertia measuring device 62. Specifically, the own position NM and own direction NA based on the position information acquired by the receiving device 63 at the control start position Q4 and the angular velocity measured by the gyro sensor 70 of the main inertia measuring device 62 are integrated. Based on the azimuth change information obtained in this way and the position change information obtained by integrating the acceleration measured by the acceleration sensor 71 of the main inertial measurement device 62, the current own machine position NM and own machine direction NA are obtained. Ask. Then, the steering unit U is automatically steered so that the current position NM and the heading direction NA coincide with the target line LM and the teaching direction TA, and automatic steering control of the traveling machine body C is performed. .

During the automatic steering control of the traveling machine body C, when there is no angular deviation (deviation angle) between the own machine direction NA and the teaching direction TA, and there is no distance deviation (deviation distance) between the own machine position NM and the target line LM, The steering unit U is not steered.
Further, during the automatic steering control of the traveling machine body C, there is an angle deviation (deviation angle) between the own machine direction NA and the teaching direction TA, and there is no distance deviation (deviation distance) between the own machine position NM and the target line LM. In this case, the steering unit U is steered in a direction that eliminates an angular deviation (deviation angle) between the own machine direction NA and the teaching direction TA.
Further, during the automatic steering control of the traveling machine body C, there is an angle deviation (deviation angle) between the own machine direction NA and the teaching direction TA, and there is a distance deviation (deviation distance) between the own machine position NM and the target line LM. In this case, the steering unit U is steered in a direction that eliminates an angular deviation (deviation angle) between the own machine direction NA and the teaching direction TA.
Further, during the automatic steering control of the traveling machine body C, there is no angular deviation (deviation angle) between the own machine direction NA and the teaching direction TA, and there is a distance deviation (deviation distance) between the own machine position NM and the target line LM. In this case, the steering unit U is steered in such a direction as to eliminate the distance deviation (deviation distance) between the own position NM and the target line LM.
Thereby, the traveling machine body C travels accurately along the target line LM.

  Thus, since the position information acquired by the receiving device 63 is not essential during the automatic steering control of the traveling machine body C, it is assumed that the reception device 63 has a radio interference during the automatic steering control of the traveling machine body C. Even if the above occurs, the automatic steering control of the traveling machine body C can be continued based on the inertia information measured by the main inertia measuring device 62, and the planting of the seedling by the seedling planting device W to the target line LM Can be done accurately along.

  When the traveling machine body C approaches the heel, the driver operates the automatic steering switch 50 to stop the automatic steering control of the traveling machine body C and switch to manual steering. Then, the turning operation is performed in the same manner at the heel, and the same operation is repeated to plant seedlings in the field. This eliminates the need for the driver to manually operate the steering handle 43 during planting of seedlings in the field by the seedling planting device W, and makes it possible to more accurately and easily perform seedling planting work. it can.

[About the position of the aircraft]
As shown in FIG. 7, the receiving device 63 is arranged in the front part of the traveling machine body C, but the own device position NM that serves as a reference for data processing is not the actual installation position of the receiving device 63, but the main device position NM. The position is set in the vicinity of the inertial measuring device 62. The setting of the own machine position NM that serves as a reference for data processing includes the distance between the receiving device 63 and the location of the own machine position NM, and the own machine direction NA calculated based on the receiving device 63 and the main inertia measuring device 62. Is based on Since it is the seedling planting device W that wants to accurately travel along the target line LM, by setting the own machine position NM in the vicinity of the seedling planting device W in this way, the seedling planting device The automatic steering control of the traveling machine body C can be performed so that W travels accurately along the target line LM.

[Relationship between spare seedling frame, normal spare seedling stand, rail-type spare seedling stand]
As shown in FIG. 3, the left and right spare seedling frames 30 each have a fixed portion 85 fixed to the support column frame 16 and an inclined portion 86 that extends upward from the fixed portion 85 and inclines toward the left and right inner sides. And a vertical portion 87 extending upward from the inclined portion 86. That is, the vertical portion 87 of the preliminary seedling frame 30 is offset by a predetermined distance D to the left and right inside with respect to the support column frame 16 and the fixing portion 85 of the preliminary seedling frame 30.

  As shown in FIG. 1 to FIG. 3, the plurality of normal spare seedling stands 28 are front and rear axial centers that are inclined inward and leftward and forward as they extend forward and backward along the longitudinal direction 87 provided in the vertical portion 87 of the preliminary seedling frame 30. The spare seedling frame 30 is supported so as to be swingable around Y. Usually, the preliminary seedling stand 28 is configured so that the posture can be changed between a horizontal posture E1 and a vertical posture E2.

  As shown in FIG. 1 to FIG. 3, when the normal preliminary seedling table 28 is set to the horizontal posture E1, the placement surface of the normal preliminary seedling table 28 is in a substantially horizontal state. On the other hand, when the normal preliminary seedling stand 28 is changed from the horizontal posture E1 to the vertical posture E2, each normal preliminary seedling stand 28 is swung around the longitudinal axis Y to be in the vertical direction. As a result, each of the normal preliminary seedling stands 28 in the vertical posture E <b> 2 is in a compact state in the left-right direction close to the vertical portion 87 side of the preliminary seedling frame 30.

  The rail-type preliminary seedling table 29 shown in FIGS. 1 to 3 includes a front mounting table 88, a central mounting table 89, and a rear mounting table 90. The central mounting table 89 is fixed to the support column frame 16 via a pair of support brackets 91. The front mounting table 88 is connected to the front end portion of the central mounting table 89 so as to be swingable around the front horizontal axis P1 along the left-right direction. The rear mounting table 90 is connected to the rear end portion of the central mounting table 89 so as to be swingable around the rear horizontal axis P2 along the left-right direction. As shown in FIG. 1, the rail-type preliminary seedling stand 29 is configured to be changeable between an unfolded state F1 and a folded state F2. When the rail-type preliminary seedling table 29 is set to the expanded state F <b> 1, the front mounting table 88 is expanded on the front side of the central mounting table 89 with the central mounting table 89 as the center, and the rear mounting table 90 is positioned on the rear side of the central mounting table 89. Be expanded. That is, when the rail-type preliminary seedling table 29 is set to the unfolded state F1, the front mounting table 88, the center mounting table 89, and the rear mounting table 90 are sequentially arranged in the front-rear direction.

  As shown in FIG. 1, when the rail type seedling stand 29 is changed from the expanded state F1 to the folded state F2, the front mounting table 88 is swung around the front horizontal axis P1 located at the front end of the central mounting table 89. The front mounting table 88 is folded and positioned above the central mounting table 89, and the rear mounting table 90 is swung around the rear horizontal axis P2 positioned at the rear end of the central mounting table 89, so The rear mounting table 90 is positioned above the mounting table 89. Thereby, the rail-type preliminary seedling table 29 can be in a compact folded state F2 in the front-rear direction.

  As shown in FIG. 1, the plurality of normal spare seedling stands 28 are arranged vertically, and the rail-type preliminary seedling stand 29 is arranged below the lowermost normal spare seedling stand 28.

  That is, as can be understood from FIGS. 1 to 3, the vertical portion 87 of the preliminary seedling frame 30 is set to the support strut frame 16 and the fixed portion 85 of the preliminary seedling frame 30 by a predetermined distance D on the left and right sides. In addition to being offset, a plurality of normal spare seedling stands 28 can be offset to the left and right inner sides by changing the posture to a vertical posture E2 which is in a compact state in the left-right direction near the vertical portion 87 side of the spare seedling frame 30 As a result, the state of the rail-type spare seedling stand 29 can be changed from the deployed state F1 to the folded state F2 without any interference without interfering with the spare seedling frame 30 and the normal spare seedling stand 28. Further, since the plurality of normal spare seedling stands 28 can be offset to the left and right inner sides, for example, the entire lateral width of the traveling machine body C is made smaller than when the rail-type spare seedling stands 29 are offset to the left and right outer sides. it can.

[Another embodiment]
Hereinafter, another embodiment of the present invention will be described. Each of the following different embodiments may be applied to the above embodiment in combination as long as no contradiction arises. The scope of the present invention is not limited to the contents of these embodiments.

(1) In the above embodiment, automatic steering control of the traveling machine body C is performed mainly based on the inertia information measured by the main inertia measuring device 62, and the inertia information measured by the main inertia measuring device 62 is received by the receiving device. Although what correct | amends based on the positional information acquired by 63 is illustrated, it is not restricted to this. For example, the inertial information measured by the main inertia measuring device 62 is mainly obtained by performing the automatic steering control of the traveling machine body C based on the position information acquired by the receiving device 63 and the position information acquired by the receiving device 63. You may make it correct | amend based on.

(2) In the above embodiment, the connection frame 31 can be turned around the left and right axis X along the left-right direction and can be fixed in the use state S1 and the storage state S2. Although what is supported is illustrated, it is not restricted to this. For example, the left and right spare seedling frames 30 may be detachable. In this case, the connection frame 31 in the use state S1 is removed from the preliminary seedling frame 30, turned upside down, and attached again to the preliminary seedling frame 30, so that the connection frame 31 enters the storage state S2.

(3) In the above embodiment, the receiving device 63 is fixed at a certain location, but the present invention is not limited to this. For example, as shown in FIG. 8, the receiving device 63 is arranged on the rail member 100 that is attached and fixed to the preliminary seedling frame 30 and extends along the front-rear direction of the traveling machine body C in a state that it can move along the front-rear direction. May be. Thereby, by moving the receiving device 63 between two points on the rail member 100, the traveling device body C is stopped, and the own aircraft direction NA of the traveling device body C, the two positions acquired by the receiving device 63. It can be determined based on information.

(4) In the above embodiment, an apparatus including only one receiving device 63 is illustrated, but the present invention is not limited to this. For example, two or more receiving devices 63 may be provided. By doing in this way, even when the traveling machine body C is stopped, the traveling machine body C is based on the positional information acquired by one receiving device 63 and the positional information acquired by the other receiving device 63. It is possible to obtain the own machine direction NA.

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

(6) In the above embodiment, the guard member 68 is attached to the support plate 65. However, the present invention is not limited to this. For example, the guard member 68 may be attached to the receiving device 63 itself.

(7) In the said embodiment, although the thing provided with the seedling planting apparatus W is illustrated as a working apparatus, it is not restricted to this. For example, in addition to the seedling planting device W, a fertilizer application device, a chemical spraying device, or the like may be provided as a working device.

  The present invention is not limited to the above riding type rice transplanter provided with a seedling planting device as a working device, for example, a riding type direct seeding machine that is a planting-type paddy field work vehicle provided with a seeding device as a working device, and a plow as a working device. It can be used for various work vehicles such as a tractor provided with the above, an agricultural work vehicle such as a combine provided with a cutting unit as a work device, or a construction work vehicle provided with a bucket or the like as the work device.

28: Normal spare seedling stand (spare seedling stand)
29: Rail-type spare seedling stand (spare seedling stand)
30: Preliminary seedling frame 31: Connection frame 62: Main inertia measuring device (inertia measuring device)
63: Receiver 66: Harness 67: Connector portion 68: Guard member 72: Rear axle 73: Rear axle frame (attachment member)
81: Generation unit 83: Control unit A: Traveling device C: Traveling machine body U: Steering unit W: Seedling planting device (working device)
S1: Use state S2: Storage state LM: Target line X: Left and right axis

Claims (9)

A traveling body having a traveling device;
A working device for working on the field;
A steering unit capable of steering the traveling device;
A receiving device for acquiring position information by a satellite positioning system;
An inertial measurement device for measuring inertial information;
A generating unit for generating a target line for running the traveling machine body;
A control unit that controls the steering unit so that the traveling body travels along the target line based on the position information and the inertia information;
A work vehicle in which the receiving device and the inertial measurement device are arranged at different locations in the traveling machine body.   2. The work vehicle according to claim 1, wherein the inertial measurement device is disposed at a location near the center in the front-rear direction of the total length in the front-rear direction of the traveling machine body and the work device.   The work vehicle according to claim 2, wherein the inertial measurement device is attached to an attachment member positioned in the vicinity of a rear axle of the traveling device. The working device is a seedling planting device capable of planting seedlings in a field;
A plurality of preliminary seedling stands on which preliminary seedlings for replenishing the seedling planting device can be placed;
A pair of left and right spare seedling frames that support the spare seedling table;
A connection frame connected over the upper part of the left and right preliminary seedling frame,
The work vehicle according to claim 1, wherein the receiving device is attached to the connection frame.   The connection frame has a use state in which the receiving device is located above the upper end portion of the spare seedling frame and an upside down position with respect to the use state, and the receiving device is below the upper end portion of the preliminary seedling frame. The work vehicle according to claim 4, wherein the state can be changed between a storage state and a storage state.   The said connection frame is supported by the said reserve seedling frame on either side so that rotation to the surroundings of the left-right axial center along the left-right direction is possible, and position fixing is possible in the said use state and the said storage state. Working vehicle.   The work vehicle according to claim 5, wherein the connection frame is detachable from the left and right spare seedling frames. The receiving device includes a connector portion for connecting a harness,
The work vehicle according to any one of claims 1 to 7, wherein the connector portion extends outward in the left-right direction from the receiving device. The receiving device includes a connector portion for connecting a harness,
The work vehicle as described in any one of Claims 1-8 provided with the guard member which protects the said connector part.

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