JP2018004307A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle which allows a user who uses a work vehicle to easily understand current positioning accuracy.SOLUTION: A work vehicle comprises: a reception part 63 for receiving pieces of transmission information transmitted from plural satellites; a position measurement part 64 for determining a position of a vehicle body, based on the pieces of transmission information received on the reception part 63; a travel control part 68 for executing control for vehicle body travel, based on the position information of the vehicle body determined by the position measurement part 64; a positioning accuracy calculation part 69 for determining positioning accuracy at the time when position information of itself is determined, as stage display information, based on a reception state of pieces of transmission information from the plural satellites; and a display part 48 for displaying a calculation result of the positioning accuracy calculation part 69.SELECTED DRAWING: Figure 5

Description

  In the present invention, a receiving unit that receives transmission information transmitted from a plurality of satellites, a position measuring unit that determines the position of the vehicle body based on the transmission information received by the receiving unit, and the position measuring unit The present invention relates to a work vehicle including a travel control unit that executes vehicle travel control based on position information of the vehicle body.

  In this type of work vehicle, conventionally, based on transmission information transmitted from a plurality of satellites, for example, a satellite positioning unit that determines the position of the vehicle body using a satellite positioning system such as GPS, and the satellite positioning unit detects Some control devices control the steering so that the position of the vehicle body becomes the target position corresponding to the target movement route, but regarding the reception status of transmission information from multiple satellites, etc. No particular consideration was given to the control (see, for example, Patent Document 1).

JP 2016-23973 A

  As described above, when obtaining the position of the vehicle body based on transmission information transmitted from a plurality of satellites, the plurality of satellites to be received are not always in an appropriate position with respect to the current position of the vehicle body. . In other words, positioning accuracy improves if the position of the vehicle body, that is, the geometrical arrangement of the satellites as seen from the reception point of the transmission information is scattered over a wide range as seen from the reception point, but the positioning accuracy is improved. In this case, the positioning accuracy is deteriorated.

  However, in the conventional configuration, when the steering control by the control device is performed, the reception status of the transmission information is not considered, so the driver who is operating the vehicle body is in what state the positioning accuracy at that time I can not judge whether it is. As a result, there was a disadvantage that the driver could not cope with the variation in positioning accuracy.

  By the way, the satellite positioning unit as described above has a function of measuring DOP (Dilution Of Precision) (positioning accuracy degradation coefficient) indicating the degree of degradation of positioning accuracy determined by the arrangement state of the satellite as described above. . Therefore, it is conceivable to display the measured value of the DOP as it is on the display device, but this DOP value is not familiar to a general user who uses a work vehicle such as a driver and is difficult to understand. Is.

  Therefore, it has been desired that a user who uses a work vehicle can easily understand the current positioning accuracy.

The characteristic configuration of the work vehicle according to the present invention includes a receiving unit that receives transmission information transmitted from a plurality of satellites, and
A position measuring unit for determining the position of the vehicle body based on the transmission information received by the receiving unit;
A traveling control unit that executes vehicle body traveling control based on vehicle body position information obtained by the position measuring unit;
Based on the reception status of the transmission information from a plurality of the satellites, a positioning accuracy calculation unit that determines the positioning accuracy when determining its own position information as step display information;
And a display unit for displaying a calculation result of the positioning accuracy calculation unit.

  According to the present invention, the positioning accuracy calculation unit obtains the positioning accuracy when obtaining the position information of the vehicle body as the step display information based on the reception status of the transmission information from the plurality of satellites, and the display unit obtains the calculation result. indicate.

  The stage display information is information indicating the positioning accuracy in a stage number display that can be visually identified by a driver or the like driving the work vehicle. That is, the content displayed on the display unit is, for example, the positioning accuracy corresponding to which of the preset number of steps when the driver or the like visually observes, in other words, the positioning accuracy. Is an easy-to-understand level of the level in the range from the maximum level to the minimum level.

  Therefore, the user who uses the work vehicle can easily understand how much the current positioning accuracy is by visually observing the display content of the display unit, and can appropriately deal with the change in positioning accuracy. It became possible to respond.

In the present invention, a steering operation means capable of changing the direction of the vehicle body is provided,
The travel controller is
As the vehicle travel control, the target is based on the route traveled from when the manually operated start point command tool is operated at the start point position until the manually operated end point command tool is operated at the end point position. A route setting process for setting a travel route, and an automatic steering process for operating the steering operation means so that the vehicle body follows the target travel route based on the position information of the vehicle body;
It is preferable that the display unit displays the calculation result when the start point command tool is operated and when the end point command tool is operated.

  According to this configuration, the driver operates the start point command tool with the vehicle body positioned at the start position of the travel route, and the driver operates the end point command tool with the vehicle body positioned at the end point position of the target travel route. When operated, a route for traveling from when the start point command tool is operated to when the end point command tool is operated is obtained. Based on this route, a target travel route on which the vehicle body should travel, such as a travel route parallel to the route, is set. In the automatic steering process, the travel control unit operates the steering operation means so that the vehicle body follows the target travel route based on the vehicle body position information obtained by the position measurement unit.

  When the start point command tool is operated and the end point command tool is operated to set the target travel route, the calculation result of the positioning accuracy calculated by the positioning accuracy calculation unit is displayed on the display unit. .

  In this way, when calculating the vehicle body position that is the reference for the target travel route, the calculation result of the positioning accuracy is displayed, so that the driver can operate the start point command tool and the end point command tool according to the display content at that time. It is possible to take measures such as re-execution.

In the present invention, in the vehicle body operating part, the start point command tool and the end point command tool are arranged in a state of being distributed to the left and right sides,
When the travel control unit is executing the automatic steering process, it is preferable that the start point command tool and the end point command tool also serve as a steering operation tool for fine adjustment with respect to the operation of the steering operation means. is there.

  According to this configuration, when the travel control unit is executing the automatic steering process, if one of the start point command tool and the end point command tool is operated, the side corresponding to the installation position in the right direction or the left direction The steering operation means can be operated to slightly change the direction of the vehicle body. For example, if the start point commanding tool is installed on the right side and the end point commanding tool is installed on the left side, the vehicle body is turned to the right when the start point commanding tool is operated during the automatic steering process. When the end point commander is operated, the vehicle body is turned to the left.

  Accordingly, the position designation operation for setting the target travel route and the fine adjustment operation in the steering control can be executed together, and the number of operation tools is reduced to simplify the configuration. be able to.

In the present invention, the vehicle body driving unit is provided with a driver's seat and an operation panel positioned on the front side of the aircraft body of the driver's seat,
It is preferable that the start point command tool and the end point command tool are provided in a state of being distributed to the left and right sides of the operation panel.

  According to this configuration, the operation panel is located on the front side of the driver seat body, and the start-point command tool and the end-point command tool are provided on the operation panel in a state of being distributed to the left and right sides. As a result, for example, the driver sitting on the driver's seat operates the start point command tool and the end point command tool with fewer operational errors than the configuration in which the start point command tool and the end point command tool are arranged in the longitudinal direction of the aircraft. It becomes easy to do. In particular, when the automatic steering process is being executed, if the start point command tool and the end point command tool are also used as the steering operation tool for fine adjustment, there is little risk of incorrect steering directions.

In the present invention, a manually operated display command tool for commanding on / off of the operation of the display unit is provided,
It is preferable that the display unit displays the calculation result based on an input command of the display command tool.

  According to this configuration, when the input command operation of the display command tool is performed, the calculation result of the positioning accuracy calculated by the positioning accuracy calculation unit is displayed on the display unit.

  Thus, since the calculation result of positioning accuracy is displayed at the timing which a driver | operator requires, according to the display content, a driver | operator can take an appropriate response according to the positioning accuracy at that time.

  In the present invention, the positioning accuracy calculation unit obtains the positioning accuracy as the step display information based on the number of the satellites receiving the transmission information and a DOP value determined by an arrangement state of the plurality of satellites. It is preferable.

  According to this configuration, the positioning accuracy is improved when the number of satellites that receive transmission information is large, and is degraded when the number is small. In addition, if the geometrical arrangement of multiple satellites seen from the reception point of transmission information is scattered over a wide range as seen from the reception point, the positioning accuracy is improved, but if they are gathered in one direction, The positioning accuracy will deteriorate.

  Therefore, the positioning accuracy calculation unit obtains the positioning accuracy as step display information based on the number of satellites that receive transmission information and the measured value of DOP (Division Of Precision) determined by the arrangement state of the plurality of satellites. Therefore, the positioning accuracy can be obtained appropriately according to the actual reception status at that time.

  In the present invention, it is preferable that the positioning accuracy calculation unit is set to 5 stages as the set stage number of the stage display information.

  According to this configuration, since the positioning accuracy calculation unit obtains the positioning accuracy as five-step display information, the positioning accuracy according to any of the five steps when the driver visually determines. It is easy to determine intuitively how much the positioning accuracy is.

  In the present invention, the receiving unit has an action posture positioned at a position higher than the upper end portion of the frame member and a position lower than the upper end portion of the frame member. It is preferable that the position is supported so that the posture can be changed over the retracted posture positioned at the position.

  According to this configuration, when the receiving unit is switched to the operating posture, the radio wave from the satellite can be appropriately received because the receiving unit is positioned higher than the tall frame member. However, when the work vehicle is carried on a truck bed, for example, if the receiver remains set at such a high position, the vehicle height will be too high and when stored in the barn. There is a risk that the receiver touches and breaks when passing under a vehicle or under an elevated route. Therefore, according to the present configuration, by changing the posture to the retracted posture that is located at a position lower than the upper end portion of the frame member, the vehicle height can be suppressed to be low and contact with other objects as described above can be avoided. Can do.

It is the whole rice transplanter side view. It is a whole top view of a rice transplanter. It is a front view of a rice transplanter. It is a figure which shows a steering unit. It is a block diagram which shows a control structure. It is explanatory drawing of the planar view in the whole surface explaining the operation | movement of automatic steering control. It is a top view of the display part of the display state of positioning accuracy. It is a top view of the display part of the display state of positioning accuracy. It is a flowchart of control operation. It is a flowchart of control operation. It is a flowchart of control operation.

  Embodiments of the present invention will be described with reference to the drawings. Here, a riding type rice transplanter will be described as an example of the work vehicle of the present invention.

  As shown in FIGS. 1 to 3, the riding type rice transplanter includes a traveling vehicle body C having a pair of left and right front wheels 10 that can freely change the direction as a traveling device, and a pair of left and right rear wheels 11 that are fixed in orientation. A seedling planting device W is provided as a working device capable of planting seedlings in the field. The seedling planting device W is connected to the rear end of the traveling vehicle body C through a link mechanism 21 that moves up and down by the expansion and contraction of the lifting hydraulic cylinder 20.

  The arrow F shown in FIG. 2 indicates the front side of the body of the traveling vehicle body C, the arrow B indicates the rear side of the body of the traveling vehicle body C, the arrow L indicates the left side of the body of the traveling vehicle body C, and the arrow R indicates the right side of the body of the traveling vehicle body C. .

  As shown in FIGS. 1 to 3, an openable bonnet 12 is provided at the front of the traveling vehicle body C. A rod-shaped center mascot 14 serving as a guide for traveling along the index line LN (see FIG. 6) drawn on the farm field is provided at the tip of the bonnet 12. The traveling vehicle body C is provided with a body frame 15 extending in the front-rear direction, and a support column frame 16 is erected on the front portion of the body frame 15.

  An engine 13 is provided in the bonnet 12. Although not described in detail, the power of the engine 13 is transmitted to the front wheels 10 and the rear wheels 11 through a transmission provided on the vehicle body, and the power after the shift is transmitted through an electric motor-driven planting clutch (not shown). Is transmitted to the seedling planting device W.

  As shown in FIGS. 1 and 2, the seedling planting device W includes four transmission cases 22 and a total of eight rotation cases rotatably supported on the left side and right side of the rear part of each transmission case 22. 23, a pair of rotary type planting arms 24 provided at both ends of each rotating case 23, a plurality of leveling floats 25 for leveling the field of the field, and a seedling table 26 on which mat-like seedlings for planting are placed A marker device 33 and the like for forming an index line LN (see FIG. 6) are provided on the field surface of the field.

  The seedling planting device W rotates each rotary case 23 by the power transmitted from the transmission case 22 while driving the seedling platform 26 to reciprocate laterally to the left and right. The seedlings are alternately taken out by the arms 24 and are planted on the rice field in the field. The seedling planting device W is configured in an eight-row planting type in which seedlings are planted by the planting arms 24 provided in the eight rotating cases 23. Although not described in detail, the marker device 33 is provided on the left and right side portions of the seedling planting device W, and touches the field surface of the field, and as the traveling vehicle body C travels, an indicator line is formed on the surface corresponding to the next work process. It is configured to be operable to an action posture that forms the LN and a retracted posture that is spaced upward from the field surface of the field. The posture switching of the marker device 33 is performed by an electric motor (not shown).

  As shown in FIGS. 1 to 3, a plurality of (for example, four) normal spare seedlings on which the spare seedlings to be supplied to the seedling planting device W can be placed on the left and right sides of the bonnet 12 in the traveling vehicle body C. A stand 28 and one rail-type spare seedling table 29 on which a spare seedling for supplying to the seedling planting device W can be placed are provided. The left and right sides of the bonnet 12 in the traveling vehicle body C are provided with a pair of left and right spare seedling frames 30 as tall frame members that support the respective normal spare seedling stands 28 and rail type preliminary seedling stands 29. The upper parts of the preliminary seedling frame 30 are connected by a connecting frame 31.

  As shown in FIGS. 1 to 3, a driving unit 40 for performing various driving operations is provided at the center of the traveling vehicle body C. The driving unit 40 includes a driver seat 41 on which a driver can be seated, a steering handle 43 for manual steering operation of the front wheels 10, and a main transmission lever 44 capable of forward / reverse switching and travel speed change operation. An operation lever 45 and the like for performing the raising / lowering operation of the seedling planting device W and the switching of the left and right marker device 33 are provided. The driver seat 41 is provided at the center of the traveling vehicle body C. The steering handle 43, the main transmission lever 44, the operation lever 45, and the like are provided in the upper part of the control tower 42 that is located on the front side of the aircraft seat of the driver seat 41. A boarding step 46 is provided at the foot portion of the driving unit 40. The boarding step 46 extends to both the left and right sides of the bonnet 12.

  As shown in FIGS. 1 to 3, the operation lever 45 is provided on the right side below the steering handle 43. Although not shown in detail, the operation lever 45 is configured to be movable in the cross direction from the neutral position to the ascending position, the descending position, the right marker position, and the left marker position, and is biased to the neutral position.

  When the operating lever 45 is operated to the raised position, the planting clutch is disengaged and transmission to the seedling planting device W is cut off, the hydraulic cylinder 20 is actuated to raise the seedling planting device W, and the left and right marker devices 33 are operated. (See FIG. 1) is operated to the retracted posture. When the operation lever 45 is operated to the lowered position, the seedling planting device W descends, comes into contact with the rice field, and stops. When the operating lever 45 is operated to the right marker position in this lowered state, the right marker device 33 changes from the retracted posture to the operating 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.

  When starting the seedling planting operation, the driver operates the operation lever 45 to lower the seedling planting device W and starts transmission to the seedling planting device W to start the seedling planting operation. Then, when stopping the seedling planting operation, the operation lever 45 is operated to raise the seedling planting device W, and the transmission to the seedling planting device W is interrupted.

  An operation panel 47 on the upper part of the control tower 42 of the operation unit 40 is provided with a display unit 48 capable of displaying various information using a liquid crystal display. Further, a push operation type first setting switch 49 (an example of a start point operating tool) is provided on the right side of the display unit 48, and a push operation type second setting switch 50 (end point operation) is provided on the left side of the display unit 48. An example of a tool) is provided. The functions of the first setting switch 49 and the second setting switch 50 will be described later. The first setting switch 49 and the second setting switch 50 are provided with illumination lamps 49a and 50a, and the illumination lamps 49a and 50a The operation mode can be displayed depending on the operating state.

  A push operation type automatic on / off switch 51 is provided at the grip of the main transmission lever 44. The automatic on / off switch 51 is provided in an automatic return type, and instructs to switch on / off of the automatic steering control every time it is pushed. The automatic on / off switch 51 is disposed at a position where it can be pressed with, for example, a thumb in a state where the grip portion of the main transmission lever 44 is gripped with a hand.

  As shown in FIG. 4, the traveling vehicle body C includes a steering unit U that can steer the left and right front wheels 10. The steering unit U includes a steering operation shaft 54 linked to the steering handle 43, a pitman arm 55 that swings as the steering operation shaft 54 rotates, and a left and right linkage mechanism linked to the pitman arm 55. 56, a steering motor 58 as steering operation means, a gear mechanism 57 for interlockingly connecting 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. A steering angle sensor 60 comprising a rotary encoder is provided at the lower end of the steering operation shaft 54, and the amount of rotation of the steering operation shaft 54 is detected by the steering angle sensor 60. A torque sensor 61 that detects torque applied to the steering handle 43 is provided in the middle of the steering operation shaft 54. For example, when the steering motor 58 rotates the steering operation shaft 54 in a predetermined direction, the steering motor 58 is manually operated in a direction opposite to the rotation direction, or the steering motor 58 is deactivated. When the steering handle 43 is operated so as to be manually operated in an arbitrary direction, the torque sensor 61 can detect this. When such a manual operation is performed, the steering motor 58 can be operated based on the manual operation in preference to the automatic steering control.

  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. When automatic steering is not performed, the steering unit U can be rotated by manual operation of the steering handle 43.

Next, a configuration for performing automatic steering control will be described.
As an example of a satellite positioning system (GNSS) that receives radio waves from a satellite and detects the position of the vehicle body on the traveling vehicle body C, a well-known technology GPS (Global Positioning System) is used. A satellite positioning unit 62 for obtaining the position of the vehicle body is provided.

  As shown in FIG. 5, the satellite positioning unit 62 includes a receiving unit 63 with an antenna that receives transmission information transmitted by radio waves from a plurality of GPS satellites that orbit the earth, and a plurality of GPS satellites that receive the information. And a position measuring unit 64 that measures the position of the vehicle body based on the transmission information.

  As shown in FIGS. 1 to 3, the receiving unit 63 is attached to the connection frame 31 via a plate-like support plate 65 in a state of being positioned at the front portion of the traveling vehicle body C. The connection frame 31 is supported by the left and right spare seedling frames 30 via the connection bracket 32 so as to be rotatable around the horizontal axis X along the horizontal direction of the machine body.

  The receiving unit 63 is upside down with respect to the action posture S1 positioned above the upper end portion of the preliminary seedling frame 30, and the action posture, and the receiving unit 63 is positioned below the upper end portion of the preliminary seedling frame 30. It is supported by the retracted posture S2 so that the posture can be switched. That is, the connecting frame 31 is rotatable around the horizontal axis X along the horizontal direction of the machine body, and corresponds to the position corresponding to the state in which the receiving unit 63 is in the acting posture S1 and the state in which it is in the retracted posture S2. It is supported by the left and right spare seedling frames 30 so that the position can be fixed at the position.

  As shown in FIGS. 1 and 3, by fixing the connection frame 31 at a position corresponding to the action posture S <b> 1, the receiving unit 63 is supported at a high place by the connection frame 31 and the preliminary seedling frame 30. It will be a thing. There is little possibility of radio wave interference in the receiving unit 63, and the radio wave reception sensitivity of the receiving unit 63 can be increased.

  In addition to the satellite positioning unit 62, the traveling vehicle body C is provided with an inertial measurement unit 66 having a gyro sensor 66 </ b> A and the like as azimuth detection means for detecting the azimuth of the traveling vehicle body C. Although not shown, the inertial measurement unit 66 is provided at, for example, a lower position at the rear side of the driver's seat 41 and at a lower position in the center in the lateral width direction of the traveling vehicle body C. The inertial measurement unit 66 can detect the angular velocity of the turning angle of the traveling vehicle body C, and can obtain the azimuth change angle of the vehicle body by integrating the angular velocity.

  As shown in FIG. 5, the traveling vehicle body C includes a control device 67 that controls the steering motor 58 and the display unit 48. The control device 67 sets a target travel route for the traveling vehicle body C to travel, and also includes positional information of the traveling vehicle body C measured by the satellite positioning unit 62 and the traveling vehicle body C measured by the inertial measurement unit 66. Based on the azimuth information, based on the traveling control unit 68 that controls the steering motor 58 so that the traveling vehicle body C travels along the target movement route, and the reception status of transmission information from a plurality of GPS satellites, A positioning accuracy calculating unit 69 that determines the positioning accuracy when determining its own position information as step display information of the set number of steps. The stage display information is for displaying the positioning accuracy by displaying the number of stages that can be identified visually. Specifically, the positioning accuracy is displayed in a 5-level display. The control device 67 includes a microcomputer, and a travel control unit 68 and a positioning accuracy calculation unit 69 are configured by a control program.

  As shown in FIG. 5, there are a first setting switch 49 for setting a starting point position and a second setting switch 50 for setting an end point position in order to set a target movement path used for automatic steering control by teaching processing. As described above, the first setting switch 49 is provided on the right side of the display unit 48, and the second setting switch 50 is provided on the left side of the display unit 48.

  As shown in FIG. 5, the control device 67 includes a satellite positioning unit 62, an inertial measurement unit 66, an automatic on / off switch 51, a first setting switch 49, a second setting switch 50, a steering angle sensor 60, and a torque sensor 61. Etc. are input.

  The control device 67 sets the teaching path corresponding to the target path to be automatically steered by teaching processing based on the operation of the first setting switch 49 and the second setting switch 50, and at the start of the path when performing actual work. When the automatic mode is commanded by the unit, the target movement path LM parallel to the teaching path at that position is set.

  When the automatic entry mode is set, the control device 67 is configured so that the detection position (own position) NM of the traveling vehicle body C detected by the satellite positioning unit 62 is a position on the target movement route LM. In addition, an automatic steering process for operating the steering motor 58 is executed so that the detected direction (own direction) of the traveling vehicle body C detected by the inertial measurement unit 66 becomes the target direction in the target movement route LM.

  The satellite positioning unit 62 has a function of measuring DOP (Dilution Of Precision) (positioning accuracy degradation coefficient) indicating the degree of degradation of positioning accuracy determined by the arrangement state of the satellites based on transmission information from a plurality of GPS satellites. ing. The number of GPS satellites currently receiving radio waves can also be determined from the received data.

  Information on the DOP value obtained by the satellite positioning unit 62 and the number of GPS satellites to be received is transmitted to the control device 67. From this information, the control device 67 can visually identify the positioning accuracy when obtaining the position information of the user so that the user using the work vehicle can easily understand the current positioning accuracy. Calculation processing to be obtained as stage display information of 5 stages which is a stage number display is executed. That is, the state in which the positioning accuracy is the lowest is represented by “1”, the state in which the positioning accuracy is the highest is represented by “5”, and the positioning accuracy is visually determined in five stages from “1” to “5”. I try to make it easy to understand. The calculation result is displayed on the display unit 48 (see FIGS. 7 and 8). FIG. 7 shows the positioning accuracy “5”, and FIG. 8 shows the positioning accuracy “3”.

  When executing the automatic steering control as described above, the control device 67 displays the calculation result of the positioning accuracy as described above on the display unit 48 in five stages. When automatic steering control is off, positioning accuracy is not basically displayed. However, when setting the start and end positions in the route setting process, the positioning accuracy is set in five levels. It is made to display.

  The display of the positioning accuracy by the display unit 48 is not only performed based on the determination result by the control device 67 as described above, but can be arbitrarily performed by the driver's intention. That is, as shown in FIG. 5, the display unit 48 is provided with a manually operated display changeover switch 70 as a display command tool, and the driver operates the display changeover switch 70 at an arbitrary timing. The positioning accuracy calculation result can be displayed for the set time.

Hereinafter, the control operation of the control device 67 will be described with reference to FIGS. 9 to 11, taking as an example a case where seedling planting work is performed in a rectangular paddy field.
As shown in FIG. 6, in the rice field, the rice transplanter travels straight along the target travel route LM while performing the seedling planting operation, and the next time parallel to the target travel route LM at the end position of the target travel route LM. The vehicle travels by alternately repeating the turning traveling that turns toward the target movement route LM. The control device 67, as a general rule, executes automatic steering control during straight traveling where seedling planting work is performed, and does not execute automatic steering control for traveling other than straight traveling.

First, before executing the automatic steering control, a process for setting the target movement route LM in the automatic steering control is performed.
First, the traveling vehicle body C is positioned at the starting point position Q1 on the side of the farm and the first setting switch 49 is operated. At this time, the control device 67 is set to the automatic cut mode, and the display unit 48 displays The positioning accuracy is not displayed, and both the built-in illumination lamps 49a and 50a of the first setting switch 49 and the second setting switch 50 are turned off. When the display changeover switch 70 is operated, the positioning accuracy is displayed on the display unit 48 in five stages for a set time (for example, 5 seconds) (steps 1 to 5).

  When the first setting switch 49 is operated, the illumination lamp 49a built in the first setting switch 49 is switched to the continuous lighting state, and the starting point position is set (steps 6, 7, and 8). In this way, when the first setting switch 49 is operated, the positioning accuracy is displayed in five stages on the display unit 48 only during the set time (5 seconds) (step 9). This is to determine whether or not the accuracy of the position when the driver sets the starting point position is good. At this time, if the positioning accuracy is too low, a new starting point position can be set by operating the first setting switch 49 again (step 10).

  Then, while the driver is manually maneuvering, the vehicle body C travels straight in a non-working state from the starting point position Q1 along the reclining linear shape on the side portion side, and moves to the ending point position Q2 near the opposite apex. Then, the second setting switch 50 is operated.

  When the second setting switch 50 is operated, the illumination lamp 50a built in the second setting switch 50 is switched to the continuous lighting state, and the end point position is set (steps 11, 12, and 13). Thus, as with the first setting switch 49, the positioning accuracy is displayed in five stages on the display unit 48 only during the set time (5 seconds) (step 14). At this time, if the positioning accuracy is too low, a new end point position can be set by operating the second setting switch 50 again (step 15).

  When the start point position and the end point position are set, a teaching path is set based on the position information (step 16). That is, a teaching path that connects the start point position Q1 and the end point position Q2 is set from the position information acquired by the receiving unit 63 at the start point position Q1 and the position information acquired by the receiving unit 63 at the end point position Q2.

  Next, the driver manually operates the steering handle 43 to turn the traveling vehicle body C. At this time, the control device 67 can determine that the turning of the traveling vehicle body C has been performed by reversing the vehicle direction NA.

After the turning of the traveling vehicle body C is completed, when the driver operates the automatic on / off switch 51, the mode is switched to the automatic on mode (step 3).
When the mode is switched to the automatic mode, both the built-in illumination lamps 49a and 50a of the first setting switch 49 and the second setting switch 50 are switched to the blinking state (step 17), and the display unit 48 has the positioning accuracy. Displayed in five levels (step 18). The display of the positioning accuracy is continuously performed while the automatic entry mode is set.

  In this automatic on / off mode, when the automatic on / off switch 51 is operated at the beginning of the path, a target movement path LM parallel to the teaching path at that position is set and detected by the satellite positioning unit 62. The detection position (own apparatus direction) of the traveling vehicle body C detected by the inertial measurement unit 66 is set so that the detection position (own apparatus position) NM of the traveling vehicle body C becomes a position on the target movement route LM. An automatic steering process is performed to operate the steering motor 58 so that the target direction in the movement route LM is reached (step 23). As a result, the traveling vehicle body C accurately travels along the target movement route LM. The driver has released his hand from the steering handle 43. However, the vehicle speed is adjusted manually.

  When the first setting switch 49 is operated by the driver's manual operation while the automatic steering process is being executed, the automatic steering process has priority over the operation. The steering motor 58 is operated so that the direction of the vehicle body changes to the right side (steps 19 and 20). In addition, when the second setting switch 50 is operated by the driver's manual operation, the vehicle body direction is changed to the left side prior to the automatic steering process while the operation is being performed. The direction motor 58 is actuated (steps 21 and 22).

  At this time, the operation amount per unit time by the steering motor 58 is set to a value smaller than that of the normal operation. That is, the steering operation can be finely adjusted by manual switch operation.

  When the traveling vehicle body C reaches the end point position Q4 (see FIG. 6) of the straight traveling route, the driver operates the automatic on / off switch 51 to switch to the automatic cutting mode. At this time, the operation lever 45 is operated, the transmission to the seedling planting device W is interrupted, and the seedling planting device W is raised. Thereafter, the driver manually operates the steering handle 43 to turn the traveling vehicle body C toward the next straight traveling route. Thereafter, as in the previous straight traveling route, when the automatic on / off switch 51 is operated, the automatic steering control is started, and the traveling vehicle body C travels straight while executing the automatic steering control. Then, the above-described turning traveling and straight traveling are repeated.

[Another embodiment]
(1) In the above embodiment, as the stage display information, the positioning accuracy in five stages “1” to “5” is displayed. However, in place of this structure, four stages or less, or six stages or more. This stage display may be used, and it can be implemented in various forms such as displaying using alphabets or pictures (icons) instead of those represented by numerals, or displaying them in the form of a bar graph.

(2) In the above embodiment, the first setting switch 49 as the start point commanding tool and the second setting switch 50 as the end point commanding tool are also used as the steering operation tool for fine adjustment. Each of them may have a dedicated function as a start point command tool and an end point command tool.

(3) In the above embodiment, the first setting switch 49 as the start point commanding tool and the second setting switch 50 as the end point commanding tool are provided in a state of being distributed to the left and right sides of the operation panel 47. Instead, they may be provided in a state where they are arranged in the longitudinal direction of the machine body, and their installation state can be changed as appropriate.

(4) In the above embodiment, the display changeover switch 70 as a display command tool is provided. However, such a display changeover switch 70 may not be provided.

(5) In the above embodiment, the receiving unit 63 is supported so that the posture can be changed over the action posture and the storage posture. However, the receiving unit 63 may be provided in a fixed position.

(6) In the above embodiment, the satellite positioning unit as the position detecting means is exemplified by the one using GPS, but other types of satellite positioning units may be used.

  In addition to the riding type rice transplanter, the present invention can be applied to various working vehicles such as a riding type direct sowing machine, an agricultural working vehicle such as a tractor and a combiner, or a construction working vehicle.

DESCRIPTION OF SYMBOLS 30 Frame member 40 Car body drive part 41 Driver's seat 47 Operation panel 48 Display part 49 Start point command tool 50 End point command tool
58 Steering operation means 63 Receiving part 64 Position measuring part 68 Traveling control part 69 Positioning accuracy calculating part 70 Display command tool

Claims (8)

A receiving unit for receiving transmission information transmitted from a plurality of satellites;
A position measuring unit for determining the position of the vehicle body based on the transmission information received by the receiving unit;
A traveling control unit that executes vehicle body traveling control based on vehicle body position information obtained by the position measuring unit;
Based on the reception status of the transmission information from a plurality of the satellites, a positioning accuracy calculation unit that determines the positioning accuracy when determining its own position information as step display information;
A work vehicle including a display unit that displays a calculation result of the positioning accuracy calculation unit. Steering operation means that can change the direction of the vehicle body is provided,
The travel controller is
As the vehicle travel control, the target is based on the route traveled from when the manually operated start point command tool is operated at the start point position until the manually operated end point command tool is operated at the end point position. A route setting process for setting a travel route, and an automatic steering process for operating the steering operation means so that the vehicle body follows the target travel route based on the position information of the vehicle body;
The work vehicle according to claim 1, wherein the display unit displays the calculation result when the start point command tool is operated and when the end point command tool is operated. In the vehicle body driving part, the start point command tool and the end point command tool are arranged in a state of being distributed to the left and right sides,
The start point command tool and the end point command tool also serve as a steering operation tool for fine adjustment with respect to the operation of the steering operation means when the travel control unit is executing the automatic steering process. 2. The work vehicle according to 2. The vehicle body driving unit includes a driver's seat and an operation panel positioned on the front side of the driver's seat.
The work vehicle according to claim 3, wherein the start point command tool and the end point command tool are provided in a state of being distributed to the left and right sides of the operation panel. A manually operated display command tool for commanding on / off of the operation of the display unit is provided,
The work vehicle according to any one of claims 1 to 4, wherein the display unit displays the calculation result based on an input command of the display command tool.   The positioning accuracy calculation unit obtains the positioning accuracy as the stage display information based on the number of the satellites that receive the transmission information and a DOP value determined by an arrangement state of the plurality of satellites. The work vehicle according to any one of the above.   The work vehicle according to any one of claims 1 to 6, wherein the positioning accuracy calculation unit has five stages set as the number of stages set in the stage display information.   The receiving section is provided on a tall frame member erected from the vehicle body, and has an action posture positioned at a position higher than the upper end portion of the frame member and a storage posture positioned at a position lower than the upper end portion of the frame member. The work vehicle according to claim 1, wherein the work vehicle is supported so as to be capable of changing its posture.

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