JP2017123829A - Field work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a field work vehicle that properly recognizes arrival at the ridge side area enabling redirection of a traveling machine body, and performs proper redirection traveling.SOLUTION: A field work vehicle includes a traveling machine body traveling in a field while changing direction in a ridge side area, a field work device for performing work to the field, a positioning unit for outputting positioning data showing an own vehicle position, a manual steerage part for steering the traveling machine body based on manual operation, an automatic steering part for automatically steering the traveling machine body, and a ridge side detection module for detecting the traveling machine body arriving at the ridge side area based on the own vehicle position.SELECTED DRAWING: Figure 1

Description

  The present invention includes a traveling machine body that travels in a field while changing direction in a border area, a field work device that performs work on the field, and a positioning unit that outputs positioning data indicating the position of the vehicle. The present invention relates to a farm work vehicle.

  A rice transplanter, which is an agricultural field work vehicle that automatically travels on a target route using position information measured by a GPS device, is known from Patent Document 1. In this rice transplanter, seedling planting work is performed while traveling autonomously on a straight target route, and if the driver confirms that it has reached the border area also called headland, the aircraft direction in the desired direction When the driver operates the turning operation tool so as to make a change, the turning travel for changing the direction is automatically performed in the border area. When the direction is changed, the planting operation is performed again while autonomously traveling on the linear target route.

JP 2008-092818 A

When accuracy is required for alignment of adjacent work areas (running trajectories), such as rice transplanters, in order to perform accurate alignment automatically during turning in headland autonomously, In-vehicle position detection technology and automatic steering control technology are required. However, when such direction change traveling is performed by automatic steering or artificial steering, it is possible to accurately recognize the timing for starting the direction change traveling, that is, to accurately recognize that the rice transplanter has reached the coastal area. Although accurate alignment at the starting point for the next subsequent work run is important, it is a difficult driving operation for non-experts.
In view of such circumstances, there is a demand for an agricultural field work vehicle that appropriately recognizes that it has reached at least the border area (headland) where the direction of the traveling machine body is changed, and performs the appropriate direction change traveling. .

  A field work vehicle according to the present invention includes a traveling machine that travels in a field while changing direction in a border area, a field work device that performs work on the field, and a positioning unit that outputs positioning data indicating the position of the vehicle. And an artificial steering unit that steers the traveling vehicle body based on an artificial operation, an automatic steering unit that automatically steers the traveling vehicle body, and that the traveling vehicle body has reached the crest region based on the vehicle position. And a border detection module for detection.

  According to this configuration, since positioning data indicating the position of the vehicle can be obtained from a positioning unit using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), etc., even the position of the border area can be set in advance. For example, the coasting detection module can detect that the traveling vehicle body has reached the coasting region, and can transmit this to the driver and the control system for automatic steering. As a result, it is possible to stably and accurately detect the arrival of the traveling vehicle body that has been visually confirmed by the driver, and to reduce the burden on the driver.

  One of the methods for setting the position of the border area in advance is to equip the map data of the field including the border area and set the border area in the map data. By matching the field map based on the map data with the vehicle position obtained from the positioning unit, the position of the traveling field work vehicle in the field is calculated in real time. Therefore, it is possible to notify the control system of the automatic steering and the driver when the traveling machine body reaches the crest region. Accordingly, in one preferred embodiment of the present invention, an agricultural field map storage unit for storing the map data of the agricultural field is provided, and the border detection module uses the vehicle position and the map data. By performing map matching, it is detected that the traveling aircraft has reached the border area.

  In actual field work by a field work vehicle, traveling in a non-border area (work area: generally a field other than the headland in the field) where work is performed on the field and running in a border area where the direction is changed Then, the behavior of the vehicle is different. The behavior of the vehicle includes the behavior of the traveling machine body and the behavior of the field work device. In particular, it detects the vehicle behavior that occurs when entering from the non-binged region to the coasting region and the vehicle behavior that occurs when entering the non-binged region from the coasting region, and determines the vehicle position at the time of detection. By combining them, a boundary point between the marginal region and the non-collinear region can be obtained. In a general field, the interval between adjacent boundary points is approximately equal to the interval of the trajectory in reciprocating operation, that is, the work width, so the next boundary point should be estimated from the boundary point obtained first. Is also possible. Accordingly, in a preferred embodiment of the present invention, a vehicle behavior recording unit that records the behavior of the traveling machine body and / or the field work device or both as the vehicle behavior in association with the position of the traveling machine body is provided. The coasting detection module detects that the traveling vehicle body has reached the coasting region based on the vehicle behavior.

  Vehicle behavior that occurs when entering from the non-border region to the coast region, vehicle behavior that occurs when entering the vehicle behavior that occurs when entering the non-border region, and non-bright from the coast region The vehicle behavior that occurs when entering the area varies depending on the type of the field work vehicle and the work content. In planting work and sowing work by rice transplanters, plowing work by tractor, and harvesting and harvesting work by combine, the common vehicle behaviors are the start and stop of work of the field work device, the transition to the work position of the field work device and the non-work position. Transition, and start and stop of the traveling change of the traveling body. Accordingly, in one preferred embodiment of the present invention, the vehicle behavior recording unit records the work start and work stop of the field work device as the vehicle behavior. In another embodiment, the vehicle behavior recording unit records the transition of the field work device to the work position and the transition to the non-work position as the vehicle behavior. In still another embodiment, the vehicle behavior recording unit records the start and stop of the traveling change of the traveling body as the vehicle behavior. Of course, these embodiments may be applied in any combination.

  In addition, the boundary point between the non-bright region and the close region may be artificially determined. For this reason, in one of the embodiments of the present invention, an artificial operation is performed at the time of transition between traveling in the coasting area (border traveling mode) and traveling other than the coasting area (non-border traveling mode). A travel mode switching operation tool is provided, and the vehicle behavior recording unit records an operation of the travel mode switching operation tool as the vehicle behavior.

  As described above, once the boundary between the non-collision area and the coffin area is determined based on the vehicle behavior, it is possible to estimate the boundary between the non-collision area and the coffin area after that. In one preferred embodiment of the present invention, the collision detection module estimates the next arrival timing of the traveling machine body to the collision area from the vehicle behavior on the adjacent previous work travel route. It has an estimation part. Accordingly, it is possible to calculate the approaching state to the coasting area while traveling in the non-collision area, and to perform appropriate and necessary control before or after reaching the coasting area.

  For example, if an approach notification command for notifying the approaching area is output before the arrival timing estimated by the approaching estimation unit, the driver may perform an operation that must be performed in the approaching area. Confirmation can be performed with a margin. Further, in order to avoid inconvenience associated with unexpected approach to the landing area of the traveling aircraft, an implementation is performed in which a deceleration command for decelerating the traveling aircraft is output before the arrival timing estimated by the collision estimation section. A form can be adopted. Furthermore, when the vehicle travels a predetermined distance from the arrival timing estimated by the landing estimation unit, an embodiment in which a vehicle stop command for stopping the traveling machine body is output or the arrival timing estimated by the collision estimation unit It is also possible to adopt an embodiment in which a vehicle stop command for stopping the traveling machine body is output in response to the above.

  A completely different steering operation is performed for traveling in a non-collision area and traveling in an eaves area where the direction is changed. For this reason, whether the two different travelings are performed by automatic steering or artificial steering differs depending on the type of field work vehicle, the type of field work, the skill level of the driver, and the like. For this reason, in one preferred embodiment of the present invention, a steering mode for managing the artificial steering mode in which the artificial steering by the artificial steering unit is executed and the automatic steering mode in which the automatic steering by the automatic steering unit is executed. And a management department. In this configuration, if an appropriate algorithm is incorporated in advance, automatic steering and human-steering can be appropriately assigned according to the driving situation and the surrounding situation.

  For example, when it is technically a burden to automatically perform steering for turning around, the steering mode management unit selects an artificial steering mode in the coasting area, and selects an automatic steering mode in other areas than the coasting area. A configuration to be selected can be adopted.

  In the case where the automatic steering and the artificial steering are flexibly applied, an embodiment provided with a steering mode switching operation tool for artificially selecting the automatic steering mode and the artificial steering mode may be employed.

  In a positioning unit using radio waves from a satellite such as GNSS or GPS, if operation is disabled due to deterioration of the reception state, positioning data cannot be obtained. For this reason, in a preferred embodiment of the present invention, a travel distance calculation unit that calculates a travel distance based on the number of rotations of the wheel is provided, and when the positioning unit is inoperable, the coasting detection module is Based on the travel distance calculated by the calculation unit, it is detected that the traveling aircraft has reached the border area. As a result, even if the positioning unit temporarily becomes inoperable, it is detected that the traveling aircraft has reached the border area. At that time, when it is detected by the travel distance calculation unit that the positioning unit has become inoperable, the traveling machine body may be stopped at that time.

  In particular, when traveling by automatic steering, it is difficult for the automatic steering control system to travel while grasping various conditions of the vehicle. One of the important vehicle situations in traveling on the field is the posture of the traveling aircraft. The attitude of the traveling aircraft is substantially determined by the inclination of the traveling aircraft with respect to the ground. In particular, a pitching angle or rolling angle that is greater than or equal to a predetermined value adversely affects running. For this reason, in a preferred embodiment of the present invention, an attitude determination unit that determines the attitude of the traveling aircraft body is provided, and braking that decelerates or stops the traveling aircraft body when the attitude deviates from a predetermined condition. A command (including a stop command and a deceleration command) is output.

It is a schematic diagram explaining the basic principle of the vehicle control employ | adopted as the agricultural field working vehicle by this invention. It is a schematic diagram explaining the basic principle of the vehicle control employ | adopted as the agricultural field working vehicle by this invention. It is a side view of the rice transplanter which is one of the embodiments of the field work vehicle by the present invention. It is a top view of the rice transplanter which is one of the embodiments of the field work vehicle by the present invention. It is a schematic diagram which shows the steering system of a rice transplanter. It is a functional block diagram which shows the function regarding the travel control of a rice transplanter. It is explanatory drawing which shows an example of the recorded vehicle behavior.

Before describing a specific embodiment of a field work vehicle according to the present invention, the basic principle of vehicle control employed in the field work vehicle will be described with reference to FIG.
In FIG. 1, a rice transplanter, a seeder, a tractor, and a combiner are assumed as farm work vehicles. As the field work device, the rice transplanter includes a planting device, the seeder includes a seeding device, the tractor includes a tilling device, and the combine includes a cutting device. These field work apparatuses are connected to each traveling machine body so as to be movable up and down between a work position and a non-work position.

  In FIG. 1, the farm work vehicle (hereinafter simply referred to as a vehicle) sandwiches a 180-degree turn traveling (U-turn running) across a farm field bordered by parallel upper and lower ridges. It travels while repeating the reciprocating linear travel. An upper side area is set near the upper side, and a lower side area is set near the lower side. The vehicle performs a direction change travel in the border area, and performs a linear work travel in the other field areas.

  The vehicle is equipped with a positioning unit that outputs positioning data indicating the vehicle position. Furthermore, not only an artificial steering unit that steers the traveling machine body based on an artificial operation but also an automatic steering unit that automatically steers the traveling machine body. The positioning data output from the positioning unit is based on the position of the antenna. Here, the position of the vehicle is not the position of the antenna, but an appropriate position of the vehicle, for example, the ground action point of the field work device. Correction processing is performed so that

An example of field running in this field is shown below.
First, a vehicle that has climbed over the lower fence and entered the field starts to move the field work device down to the work position and start a straight work travel (outward) at point A1 by the driver's operation. This descent of the field work device is recorded as vehicle behavior indicating the start of work together with positioning data indicating the position of the point A1. When the vehicle reaches the direction change region at the point B1 through the linear work travel, the field work device is raised to the non-work position by the driver's operation, and the state shifts to 180 degrees. This rise of the field work device is recorded as vehicle behavior indicating work stoppage together with positioning data indicating the position of the point B1.

  When the direction change travel in the shore area is completed, the field work device is lowered again to the work position at the point A2, and the straight work travel (return path) is started. This descent of the field work device is also recorded as the vehicle behavior indicating the work start together with the positioning data indicating the position of the point A2. Note that the position of the point A2 can be estimated from the position of the point B1 in consideration of the reciprocal work travel interval corresponding to the work width (planting width and tillage width). Therefore, if the vehicle approaches the estimated point A2 during the direction change driving in the coasting region, the driver is notified that the vehicle is approaching the work position. Can be encouraged. It is also possible to automatically lower the field work device to the work position when the vehicle reaches the estimated point A2. The position where the vehicle starts the linear work travel (return path) again is set as the final point A2.

  The point B2, which is the end point of this linear work travel (return), that is, the point where the vehicle reaches the shore area again can be estimated from the position of the point A1. Therefore, when the vehicle approaches the point B2, it is possible to notify the driver that the field work device is raised to the non-working position and preparation for the direction change traveling is performed before reaching the border area. It is also possible to automatically raise the field working device to the non-working position when the vehicle reaches the estimated point B2. When the vehicle reaches the coasting area, the vehicle automatically or artificially shifts to turning in the coasting area. When the direction change travel ends, a straight work travel (return path) starts again from the point A3.

  In this way, the work travel and the direction change travel are repeated while passing through the points B3, A4, B4, A5. At that time, if the point A1 is set, the point B2, the point A3,... Can be estimated from the point A1 in consideration of the reciprocal work travel interval. However, when the point A3 is estimated, it can be estimated from the point A1, but since the point B2 as the position where the actual traveling from the work traveling to the direction changing traveling is actually detected, the point B2 from the point B2 is detected. It is also possible to estimate A3. In particular, when the actual ridge area does not extend linearly but extends obliquely or stepwise, it is possible to estimate such a ridge area by estimating from a newly set point in the middle. Boundary points can be detected correctly.

  For example, as shown in FIG. 2, when the border area has a step, it is necessary to further extend the linear work travel from the point B4 where the linear work travel is estimated. When the linear work travel is performed by automatic steering, the automatic steering is canceled, and the linear work travel is continued to a position suitable for the direction change travel (a newly set point B4) by manual steering. When the point B4 is newly set, the next point A5 is estimated from the point B4.

  The points A1, A2,..., Which are the starting points for work travel, can be automatically set based on specific vehicle behavior. Suitable examples of such specific vehicle behavior include, for example, a work start command for the field work device, detection of a position change of the field work device to the work position, detection of the power transmission clutch for the field work device being engaged, and the like. is there. Furthermore, you may utilize the state of the operating tool operated by the driver | operator as a specific vehicle behavior. Similarly, the points B1, B2,..., Which are work travel end points (direction change travel start points), can also be automatically set based on specific vehicle behavior. Appropriate examples of such specific vehicle behavior include, for example, a work stop command for the field work device, detection of a shift of the field work device to a non-working position, detection of disconnection of a power transmission clutch for the field work device, and the like. . Furthermore, you may utilize the state of the operating tool operated by the driver | operator as a specific vehicle behavior.

  If the first work travel route defined by the points A1 and B1 is the reference work travel route, the subsequent target work route for automatic steering can be calculated based on the reference work travel route. Since the work travel is generally a straight travel, it is easier to steer than the direction change travel, so it is controllable that the work travel is performed by automatic steering and the direction change travel is performed by human steering. Convenient. When the field shape is a simple rectangle, if the point A1 and the point B1 are set, the transition timing between the subsequent work travel and the direction change travel, that is, the arrival timing to the coast area and the distance from the coast area The departure timing can be estimated from the points A1 and B1.

  Even if the vehicle enters the coast area from a straight work travel (return road), if the direction change travel is not performed for some reason, there is a problem that the vehicle rides on the reed. In order to avoid such inconvenience, it is important to estimate and record the points B2, B3, B4... That are the end points of the linear work travel (return road). Since the own vehicle position can be calculated by the positioning unit, it is possible to always compare the own vehicle position with the position of the end point of the work travel (return route) (the entry point to the border area). Accordingly, it is possible to perform vehicle deceleration, warning notification, vehicle stop, etc. before the vehicle enters the coasting region and after the vehicle enters the coasting region.

  In the above-described example, the point A1 and the point B1 are set in the first work travel, and the points between the subsequent work travel and the direction change travel (the arrival point to the coast area and the departure point from the coast area). ), A2, A3..., B2, B3... Were estimated from the points A1 and B1. If the vehicle has a field map storage unit that stores the map data of the field, map matching using the vehicle position and the map data allows the vehicle to reach the border area or from the border area. Since it can be detected that the vehicle has left, it is not necessary to set such points A1 and B1 and to estimate from other points A1 and B1.

  Next, one specific embodiment of a field work vehicle according to the present invention will be described with reference to the drawings. FIG. 3 is a side view of a riding type rice transplanter as an example of a farm work vehicle, and FIG. 4 is a plan view. The rice transplanter includes a traveling machine body C and a field work device that performs work on the field. The field work device here is a seedling planting apparatus W capable of planting seedlings in the field. The arrow F shown in FIG. 4 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. 3, the traveling device 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 includes a steering unit U that can steer the left and right front wheels 10 in the traveling device.

  As shown in FIGS. 3 and 4, 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. 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.

  As shown in FIG. 3, 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. The seedling planting device W includes four transmission cases 22, a rotation case 23 rotatably supported on the left and right sides of the rear portion of each transmission case 22, and a pair provided at both ends of each rotation case 23. A rotary type planting arm 24, a plurality of floats 25 for leveling the field in the field, a seedling table 26 on which mat-like seedlings for planting are placed, and the like. That is, the seedling planting apparatus W is configured in an 8-row planting type.

  The left and right sides of the bonnet 12 in the traveling machine body C are replenished to a plurality of (for example, four) normal spare seedling stands 28 and a seedling planting device W on which spare seedlings for replenishment to the seedling planting device W can be placed. One rail-type spare seedling stand 29 on which a spare seedling for carrying out can be placed is provided. 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 are provided. 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.

  In the central part of the traveling machine body C, a driving unit 40 for performing various driving operations is provided. 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 and a main transmission lever 44 so as to be freely operated. A boarding step 46 is provided at the foot portion of the driving unit 40.

  An operation lever 45 is provided on the right side below the steering handle 43. When the operation lever 45 is operated to the raised position, a planting clutch (not shown), which is a kind of work clutch, is operated in a disconnected state, and the seedling planting device W is raised. When the operation lever 45 is operated to the lowered position, the planting clutch (not shown) is operated in a disconnected state, and the seedling planting device W is lowered. When the center float 25 contacts the field surface of the farm field, the seedling planting device W contacts the field surface of the field and stops.

  As shown in FIG. 5, 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 arm that swings as the steering operation shaft 54 rotates. 55, a left and right linkage mechanism 56 linked to the pitman arm 55, a steering motor 58, a gear mechanism 57 linked to the steering operation shaft 54, and the like.

  The steering unit U can operate in an automatic steering mode and an artificial steering mode. In the artificial steering mode, the steering operation shaft 54 is rotated by applying an assisting force according to the operation of the steering handle 43 by the steering motor 58 to the operating force for the driver to operate the steering handle 43. 10 steering angle is changed. On the other hand, in the automatic steering mode, the steering motor 58 is automatically controlled, the steering operation shaft 54 is rotated by the driving force of the steering motor 58, and the steering angle of the front wheels 10 is changed. In this embodiment, the steering handle 43 and the steering motor 58 function as components of an artificial steering unit that artificially steers the traveling machine body C. The automatic steering control function for automatically steering the traveling machine body C is constructed in the control device 8 (see FIG. 6) described later, and the steering motor 58 is driven based on a control command from the control device 8. The operation displacement of the steering handle 43 is not directly transmitted to the steering operation shaft 54, but the operation displacement of the steering handle 43 is detected by a sensor, and the steering motor 58 is driven based on the detected value. When the so-called by-wire system is adopted, a control function for artificial steering is also built in the control device 8.

  The traveling machine body C is provided with a positioning unit 61, and the position of the traveling machine body C is determined from the positioning data from the positioning unit 61. The positioning unit 61 includes a satellite navigation module configured as a GNSS module and an inertial navigation module configured as a module incorporating a gyro acceleration sensor and a magnetic direction sensor. A satellite antenna for receiving GPS signals and GNSS signals is connected to the satellite navigation module. At least the satellite antenna is attached to the connection frame 31 in this embodiment where the radio wave reception sensitivity is good. The satellite navigation module and the inertial navigation module may be provided at different locations.

  FIG. 6 shows a control device 8 equipped in the rice transplanter. In FIG. 6, among the functional units constructed in the control device 8, functional units relating mainly to steering are shown. The control device 8 employs the basic principle relating to automatic steering and artificial steering described with reference to FIGS. 1 and 2. The control device 8 is connected to the positioning unit 61, the vehicle state detection sensor group 9, the contact detector 90, the travel mode switching operation tool 65, and the steering mode switching operation tool 66 via the input signal processing unit 8a. Further, the control device 8 is connected to the notification device 7, the vehicle travel device group 71, and the work device device group 72 via the output signal processing unit 8b. The travel mode switching operation tool 65 and the steering mode switching operation tool 66 are configured by switches and buttons.

  The vehicle state detection sensor group 9 includes various sensors and switches provided to detect the operation and posture of the traveling machine body C and the operation and posture of the seedling planting device W as a field work device. Since the contact detector 90 is well known per se, it is not shown in FIGS. 3 and 4, but has a structure for detecting contact between a rice transplanter and an obstacle. When contact between the rice transplanter and the obstacle is detected by the contact detector 90, the rice transplanter stops urgently. The steering mode switching operation tool 66 is a switch for selecting either an automatic steering mode for traveling by automatic steering or an artificial steering mode for traveling by artificial steering. For example, by operating the steering mode switching operation tool 66 during traveling by automatic steering, the vehicle can be switched to traveling by artificial steering, and by operating the steering mode switching operation tool 66 during traveling by artificial steering, It can be switched to running.

  The travel mode switching operation tool 65 is a teaching switch for instructing the control device 8 the boundary between the border area and the non-border area. In this embodiment, the travel mode switching operation tool 65 includes an A button and a B button. Have The driver presses the A button when the vehicle transitions from the direction change travel to the work travel, and the B button is pressed when the vehicle shifts from the work travel to the direction change travel.

  The notification device 7 includes a ramp and a buzzer. Various information to be notified to the driver, such as approach to the coasting area and departure from the target travel route in automatic steering travel, is sent from the control device 8. Output visually or audibly based on the command. Furthermore, if the notification device 7 includes a flat panel display or the like, it is possible to provide character information.

  The vehicle travel device group 71 includes various motion devices and control devices for traveling that are mounted on the traveling machine body C. For example, motion devices such as a steering motor 58 constituting the steering unit U, an engine, and the like. These include control devices that adjust the rotational speed, transmission operation devices such as clutches and shifters, and brake operation devices. In this embodiment, the work traveling device group includes an operation device such as a lifting cylinder 20 that lifts and lowers a seedling planting device W mounted as a field work device and a planting clutch that functions as a work clutch of the seedling planting device W. It is included.

  The control device 8 includes a coast detection module 81, an automatic steering unit 82, a vehicle behavior recording unit 83, a steering mode management unit 84, a travel route calculation unit 85, a travel distance calculation unit 86, an attitude determination unit 87, and the like. Is built with computer programs.

  The border detection module 81 is a travel route reference point set in the first work travel, the point A1 where the travel in the coast region is shifted to the work travel, and the direction change travel from the work travel to the coast region. Based on the point B1 to be transferred and the own vehicle position obtained from the positioning data of the positioning unit 61, it is detected whether or not the traveling machine body C has reached the border area. As described with reference to FIGS. 1 and 2, the point A1 is detected by the lowering of the seedling planting device (working device) W to the lowered position (working position), and the point B1 is raised by the seedling planting device W. Detection is performed by raising to a position (non-working position), and each is recorded in the vehicle behavior recording unit 83 as a vehicle behavior. A travel route (generally a straight line) between the point A1 and the point B1 is a reference work travel route, and the reciprocating work travel is performed on the reference work travel route regardless of whether the steering is automatic steering or artificial steering. The next work travel route is obtained by sequentially translating the distance. That is, the points B2, A3, B4, A5... Corresponding to the point A1 and the points A2, B3, B4, A4, B5. This estimation algorithm is constructed in the border estimation unit 810. Since the estimation method of the point which shows the boundary of a border area changes with shapes of a field, the structure which can select an appropriate estimation algorithm for every shape of a field is preferable. By comparing the respective points and the vehicle position, the distance until the traveling machine body C that has been working on the vehicle reaches the coasting area is detected, and the control device 8 can detect, for example, a predetermined distance in the coasting area. Commands such as approach notification when approaching, arrival notification when arriving at the coasting area, deceleration of the traveling machine body C, stop of the traveling machine body C, and the like can be output.

  The travel route calculation unit 85 calculates travel route data necessary for performing the subsequent work travel by automatic steering from the above-described reference work travel route. The automatic steering unit 82 calculates the deviation between the travel route data calculated by the travel route calculation unit 85 and the own vehicle position, generates an automatic steering command, and outputs it to the steering unit U.

  The steering mode management unit 84 manages an artificial steering mode that is traveling by artificial steering and an automatic steering mode that is traveling by automatic steering. For example, it is possible to set so that the artificial steering mode is selected in the coasting area, and the automatic steering mode is selected in areas other than the coasting area (generally linear work travel). It is also possible to forcibly select the artificial steering mode and the automatic steering mode by a switching command from the steering mode switching operation tool 66. Furthermore, it is also possible to set so as to forcibly switch from the automatic steering mode to the artificial steering mode by operating the steering handle 43.

  The vehicle behavior recording unit 83 is output to the vehicle travel device group 71 and the work device group 72 through the various sensor detection signals input through the input signal processing unit 8a, the operation signals of various operation devices, and the output signal processing unit 8b. On the basis of the control signal, the state of the vehicle, particularly the vehicle behavior related to the start and end of work travel, is recorded. In that case, each vehicle behavior is recorded with the own vehicle position acquired when the said vehicle behavior occurred.

  FIG. 7 shows an example of the vehicle behavior recorded in time series by the vehicle behavior recording unit 83 in the traveling on the simplified field as shown in FIG. In this example, the record items of the vehicle behavior recording unit 83 include recording NO, behavior time, own vehicle position, and behavior content. The behavior time is the time (time stamp) when the behavior time vehicle behavior is detected. The own vehicle position is the own vehicle position when the vehicle behavior is detected. The behavior content identifies the detected vehicle behavior. Here, the operation content of the travel mode switching operation tool 65 (A means operation of the A button, B means operation of the B button), seedling planting The positions of the device W and the float 25, the state of the planting clutch (working clutch), and the steering state (steering from straight to turning, or steering from turning to straight) are recorded. In FIG. 7, the vehicle position of each vehicle behavior is the same, but the position of the vehicle is different because the raising / lowering timing of the seedling planting device W, the steering timing of turning, and the like are different. The vehicle position to be recorded is recorded after correction for replacement with a reference position of a specific vehicle.

  As can be understood from FIG. 1 and FIG. 7, various states of the traveling machine body C and the seedling planting device W as the work device, in particular, the work start and work end can be read from the record of the vehicle behavior recording unit 83. As the first process of the seedling planting operation by the rice transplanter, the vehicle enters the ridge area from the heel and records NO “0001” at the timing of leaving the ridge area. The content of the record NO “0001” is a record of the point A1 in FIG. 1 and includes the behavior time, the vehicle position, and the behavior content at that time. As the behavior contents, the traveling operation mode is “A”, the seedling planting device position is “lowering position”, the float position is “grounding”, and the clutch state is “on”. Actually, the timing at which these behavior contents are detected is slightly different, but here the timing is the same. That is, at the timing when the record NO “0001” is recorded, the A button of the travel mode switching operation tool 65 is pressed by the driver and the setting for working travel is performed.

  Thereafter, a linear work travel is performed, and recording NO “0002” is recorded at the timing when the vehicle reaches the coasting area. The content of the record NO “0002” is a record of the point B1 in FIG. 1 and includes the behavior time, the vehicle position, and the behavior content at that time. As the behavior contents, the traveling operation mode is “B”, the seedling planting device position is “ascending position”, the float position is “disengaged”, the clutch state is “disengaged”, and the steering is “straight to turn”. That is, at the timing when the record NO “0002” is recorded, the driver presses the B button of the travel mode switching operation tool 65 and sets the travel direction change. By operating the A button and the B button of the travel mode switching operation tool 65 as described above, the positions of the points A1 and B1 are recorded. A line connecting the points A1 and B1 can be used as a reference work travel route for estimating a travel route for subsequent work travel. Therefore, the operation of the travel mode switching operation tool 65 is not required except for the points A1 and B1.

  Recording NO “0003” is recorded at the timing of finishing the direction change traveling in the coasting area, exiting the coasting area, and performing work traveling. The content of the record NO “0003” is a record of the point A2 in FIG. 1 and includes the behavior time, the vehicle position, and the behavior content at that time. In addition, the position of the point A2 is estimated from the point B1 by using the reciprocal work travel interval by the border estimation unit 810 if the field is the field as shown in FIG. Therefore, when the own vehicle position acquired from the positioning unit 61 approaches or coincides with the estimated point B1, it is possible to automatically set work travel. Alternatively, it is possible to notify the driver that the vehicle is approaching the point B1 and to prompt the driver to set work travel. Similarly, the position of the point B2 is also estimated from the point A1. Therefore, when the own vehicle position acquired from the positioning unit 61 approaches or coincides with the estimated point B2, the direction change traveling setting can be automatically performed. Alternatively, it is possible to notify the driver that the vehicle is approaching the point B2 and to prompt the driver to set the direction change travel.

  From the above description, the timing of reaching the border area and the timing of exiting the border area can be determined from the position change of the seedling planting device W and the float 25, the switching operation of the work clutch, and the steering angle change. The travel mode switching operation tool 65 as a teaching operation tool for recognizing the boundary of the border area is not essential. The border of the border area can be determined by one or a combination of the vehicle behaviors described above. For example, when utilizing the characteristics of the seedling planting device W that descends to the field surface at the start of work and ascends from the field surface at the end of the task, the state showing the descending operation of the seedling planting device W from the ascending posture to the descending posture Based on the signal, it determines the transition point from the heeling area of the vehicle to the work area (non-cooking area), and based on the state signal indicating the ascending operation from the descending posture of the seedling planting device W to the ascending posture, The transition point from the work area (non-bright area) of the vehicle to the close area can be determined.

The control device 8 can be equipped with an algorithm for outputting various commands for executing various operations based on the determination result of the collision detection module 81 regarding the arrival of the vehicle in the collision area. Some of them are listed below.
(1) If the vehicle behavior is not executed even when the recorded vehicle behavior is scheduled to be executed, the vehicle is decelerated and the engine is stopped.
(2) In traveling on the field, the position and time at which each vehicle behavior to be recorded occurs can be limited to a specific range. For this reason, recording accuracy is improved by excluding the vehicle behavior outside the specific range from the recording target.
(3) When it is detected that the vehicle has entered the coasting area, automatic steering is prohibited.
(4) When the steering behavior such as the steering angle and the turning radius in the coasting area of the vehicle is different from that of the direction change travel, the recording in the vehicle behavior recording unit 83 is stopped. For example, when the turning radius is large, it is regarded as a travel that is not a normal work travel, such as a travel away from the field, rather than a direction change travel.
(5) When a specific vehicle behavior occurs and a vehicle speed inappropriate for the vehicle behavior is detected, the vehicle is forcibly stopped.

  The travel distance calculation unit 86 is based on a detection signal from a sensor (one of the vehicle state detection sensor group 9) that detects the rotational speed of the rear wheel 11 or the rotational speed of the transmission system to the rear wheel 11. Calculate the mileage. At that time, if the slip rate estimated from the state of the field is taken into consideration, the travel distance can be calculated more accurately. In the case of the positioning unit 61 that calculates the position of the vehicle based on the radio signal from the satellite, if the reception sensitivity of the radio signal decreases for some reason, the positioning data cannot be output. The mileage calculation unit 86 is used as the recovery. For example, when the positioning data from the positioning unit 61 is not input, the coasting detection module 81 detects that the traveling machine body C has reached the coasting region based on the traveling distance calculated by the traveling distance calculation unit. can do.

  The posture determination unit 87 determines the posture of the traveling machine body based on a detection signal from an inclination sensor (one of the vehicle state detection sensor groups 9) that detects the inclination angle (rolling angle and pitching angle) of the traveling machine body C. Compare to slope threshold. In this embodiment, the posture determination unit 87 issues a braking command for decelerating or stopping the traveling vehicle body to a braking device that is one of the vehicle traveling device groups 71 when the traveling vehicle body posture deviates from a predetermined condition. give.

Specific control operations based on the determination result of the posture determination unit 87 are listed below.
(1) When the detected inclination angle exceeds the inclination threshold value, notification, deceleration, and stop are executed.
(2) When the detected tilt angle frequently exceeds the tilt threshold, automatic steering is prohibited.
(3) When the detected inclination angle exceeds the inclination threshold value for an allowable time, notification, deceleration, and stop are executed. This allowable time is determined depending on the vehicle speed and the field depth. When the field depth exceeds a predetermined value, complete stopping is prohibited in order to avoid the sinking of the vehicle body.
(4) The change in the acceleration of the inclination is calculated, and automatic steering is prohibited even when the inclination is less than the inclination threshold when the inclination changes suddenly.

[Another embodiment]
(1) In the above-described embodiment, the points A1 and B1, which are the boundary points between the dredging area in which the direction turning travel is performed and the non-braking area in which the work travel is performed, are the A button and B of the travel mode switching operation tool. The operation of the button, the subsequent points A2, A3... And the points B2, B3... Were estimated from the points A1 and B1 and determined based on the vehicle behavior. In order to simplify the control, the points A2, A3... And the points B2, B3... Are estimated from the points A1 and B1, and the positions different from the estimated positions are used without using the vehicle behavior. In the case of an official spot, the spot may be determined by operating the A button or B button of the travel mode switching operation tool again.
(2) Each functional unit in the functional block diagram shown in FIG. 6 is divided mainly for the purpose of explanation. Actually, each functional unit in FIG. 6 can be integrated with other functional units or divided into a plurality of functional units. Independent functional units are connected by an in-vehicle LAN or the like.
(3) As for the vehicle behavior recorded in the vehicle behavior recording unit 83, in the rice transplanter, in addition to the above, the posture of the marker may be taken in. In addition to this, the vehicle behavior that is performed at the boundary between the drowning region and the non-crimping region is an object of the vehicle behavior to be recorded in the vehicle behavior recording unit 83.

  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. The present invention can be applied to various work vehicles such as a tractor provided with the above, an agricultural work vehicle such as a combine provided with a cutting unit or the like as a work device, or a construction work vehicle provided with a bucket or the like as the work device.

7: Notification device 25: Float 26: Seedling platform 43: Steering handle 44: Main shift lever 45: Operation lever 61: Positioning unit 65: Traveling mode switching operation tool 66: Steering mode switching operation tool 71: Vehicle traveling equipment group 72: Work device group 8: Control device 8a: Input signal processing unit 8b: Output signal processing unit 81: Edge detection module 810: Edge estimation unit 82: Automatic steering unit 83: Vehicle behavior recording unit 84: Steering mode management Unit 85: Travel route calculation unit 86: Travel distance calculation unit 87: Posture determination unit 9: Vehicle state detection sensor group 90: Contact detector U: Steering unit W: Seedling planting device (farm field work device)

Claims (17)

A traveling body that travels in the field while changing direction in the border area;
A field work device for performing work on the field;
A positioning unit that outputs positioning data indicating the vehicle position;
An artificial steering unit that steers the vehicle based on an artificial operation;
An automatic steering section for automatically steering the traveling machine body;
A collision detection module that detects that the traveling vehicle body has reached the collision area based on the vehicle position;
Field work vehicle equipped with.   An agricultural field map storage unit for storing the map data of the agricultural field is provided, and the coasting detection module performs map matching using the vehicle position and the map data, so that the traveling vehicle body is placed in the coasting region. The agricultural field work vehicle according to claim 1, which detects that the vehicle has arrived. A vehicle behavior recording unit that records the behavior of the traveling machine body or the field work device or both as a vehicle behavior in association with the position of the traveling machine body;
The farm work vehicle according to claim 1, wherein the edge detection module detects that the traveling machine body has reached the edge area based on the vehicle behavior.   The field work vehicle according to claim 3, wherein the vehicle behavior recording unit records work start and work stop of the field work device as the vehicle behavior.   The field work vehicle according to claim 3 or 4, wherein the vehicle behavior recording unit records the transition to the work position and the shift to the non-work position of the field work device as the vehicle behavior.   The field work vehicle according to any one of claims 3 to 5, wherein the vehicle behavior recording unit records the start and stop of the direction change travel of the traveling machine body as the vehicle behavior. A travel mode switching operation tool that is artificially operated at the time of transition between the travel in the border area and the travel outside the border area,
The field work vehicle according to any one of claims 3 to 6, wherein the vehicle behavior recording unit records an operation of the travel mode switching operation tool as the vehicle behavior.   8. The collision detection module according to claim 3, wherein the collision detection module includes a collision estimation unit that estimates a next arrival timing of the traveling machine body to the collision area from the vehicle behavior on an adjacent previous work travel route. The field work vehicle according to one item.   The agricultural field work vehicle according to claim 8, wherein an approach notification command for notifying the approach to the coasting area is output before the arrival timing estimated by the coasting estimation unit.   The farm work vehicle according to claim 8 or 9, wherein a deceleration command for decelerating the traveling machine body is output before the arrival timing estimated by the droop estimation unit.   The field work vehicle according to any one of claims 8 to 10, wherein a vehicle stop command for stopping the traveling machine body is output when the vehicle travels a predetermined distance from the arrival timing estimated by the heel estimation unit.   The farm work vehicle according to any one of claims 8 to 10, wherein a vehicle stop command for stopping the traveling machine body is output in response to the arrival timing estimated by the droop estimation unit.   The steering mode management part which manages the artificial steering mode in which the artificial steering by the said artificial steering part is performed, and the automatic steering mode in which the automatic steering by the said automatic steering part is performed are provided. A field work vehicle according to claim 1.   The farm work vehicle according to claim 13, wherein the steering mode management unit selects an artificial steering mode in the coasting region and selects an automatic steering mode in a region other than the coasting region.   The field work vehicle according to claim 13 or 14, further comprising a steering mode switching operation tool for artificially selecting the automatic steering mode and the artificial steering mode. A mileage calculation unit that calculates the mileage based on the number of rotations of the wheel is provided,
16. When the positioning unit is inoperable, the edge detection module detects that the traveling aircraft has reached the edge area based on the travel distance calculated by the travel distance calculation unit. A field work vehicle according to claim 1.   The field work according to any one of claims 1 to 16, further comprising an attitude determination unit that determines an attitude of the traveling machine body, and outputs a braking command for decelerating or stopping the traveling machine body when the attitude is out of a predetermined condition. vehicle.

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