JP2018171073A - Field work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a field work machine capable of easily and effectively solving a problem in which accuracy deterioration occurs in azimuth detection using a satellite at low speed.SOLUTION: A field work machine comprises: a positioning unit 5 having a GNSS module 50 and outputting positioning data; an automatic steering unit 83 performing, in a work travel route where the field work machine travels activating a field work device 2 among calculated travel routes, automatic steering so that a travelling machine body travels along the travel route on the basis of the positioning data and the travel route; a low speed shifting state determination unit 84 determining a low speed shifting state that a travel speed is shifted to be a prescribed speed or less; and an automatic steering determination unit 82 stopping, when the low speed shifting state is determined during execution of the automatic steering, the automatic steering.SELECTED DRAWING: Figure 1

Description

The present invention relates to a field work machine including a GNSS module and automatically steered along a set work travel route.
Here, GNSS (Global Navigation Satellite System) is used as a general term for systems that perform positioning using positioning satellites, and includes, for example, GPS.

  Based on the position information measured by the GPS device, a target route parallel to the teaching route generated by the teaching route generation means is generated, autonomously travels on the target route, and an automatic turning operation tool by the operator Has been known from Japanese Patent Application Laid-Open No. 2003-260260 that automatically turns to the next target route by the operation of the vehicle and autonomously travels on the next target route after the turning operation is completed. It has been. This agricultural work vehicle is provided with an autonomous driving SW composed of an autonomous driving (straight) SW and a turning SW, and the autonomous driving is started when the operator sets the autonomous driving (straight) SW to “ON”. At the same time, the autonomous driving is terminated by setting the autonomous driving (straight running) SW to “OFF”, and the turning is automatically performed by turning the turning SW in the turning direction desired by the operator. Automatic traveling is performed based on such an operation by the operator.

  However, such azimuth detection using a GPS satellite has a problem that an error becomes large during low-speed movement. For example, in Patent Document 2, a GPS receiver is mounted on a moving body, a north-south direction speed and an east-west direction speed during movement are obtained, and a direction in the traveling direction is obtained by calculating a ratio of these two speeds. When the speed is high, the north-south direction speed and the east-west direction speed value are large when moving at high speed, so even if an error occurs in each speed, there is little effect on the detection direction, but as the speed decreases, the speed error There has been a problem that the influence of the error on the bearing error becomes large. And in order to eliminate this problem, in this patent document 2, with respect to the antenna which receives the electromagnetic wave from a positioning satellite, the electromagnetic wave cutoff part which interrupts | blocks the electromagnetic wave from any one positioning satellite within a predetermined elevation angle range, Azimuth determining means for identifying a positioning satellite whose radio wave has been blocked by this radio wave blocking unit and whose tracking has been removed, and identifying the direction of the positioning satellite blocked by the radio wave blocking unit based on the azimuth information about the positioning satellite, and this azimuth determination Providing display means for visually displaying the orientation specified by the means.

  Furthermore, in Patent Document 3, when the vehicle is moving at medium / high speed, a GPS signal having a constant reception intensity is received. However, when the vehicle becomes low speed, a GPS signal having a low reception intensity is caught. Such weak signals are not always received, but are often received intermittently or suddenly. When this signal is used for positioning, position shifts and position jumps may occur. And the problem that the position detection accuracy deteriorates has been made. In order to solve this problem, in the apparatus according to Patent Document 2, a receiving unit that receives a GPS signal from a GPS satellite, a positioning unit that performs positioning of the GPS satellite based on the received GPS signal, and a positioning unit that performs positioning. Storage means for storing the identification information of the GPS satellites, and the positioning means to control the GPS satellites identified by the identification information stored in the storage means when the moving body falls below a certain speed Positioning control means. In other words, GPS satellites that are identified by the identification information stored in the storage means can be positioned when the moving body falls below a certain speed, so GPS satellites that are not in good condition in the low speed range are excluded from positioning targets. In addition, the deterioration of position detection accuracy is minimized.

JP 2008-92818 A Japanese Patent Laid-Open No. 11-118896 JP 2005-326198 A

  In an agricultural field work machine, it is not uncommon to shift from normal work travel to low speed travel during work, so a decrease in direction detection accuracy at low speed that causes instability of automatic steering travel is a problem. However, in the conventional techniques described above, any of the problems of low accuracy at the low speed in the GPS azimuth device raises the device cost and does not satisfy the effect. Therefore, there is a demand for a field work machine that can easily and effectively solve the problem of low accuracy at low speed in azimuth detection using a satellite.

  One of the field work machines according to the present invention for solving the above-mentioned problems is a traveling machine body, an engine mounted on the traveling machine body, and a traveling power transmission mechanism that shifts power from the engine and transmits it to drive wheels. A positioning unit that outputs positioning data, and a work travel route that travels while driving a field work device in a travel route for travel of the traveling machine body, the positioning data and the travel An automatic steering unit that automatically steers the traveling vehicle body along the traveling route based on a route, a low-speed transition state determination unit that determines a low-speed transition state in which the traveling speed of the traveling vehicle body transitions to a predetermined speed or less, An automatic steering determination unit that stops the automatic steering when the low-speed transition state is determined during execution of automatic steering by the automatic steering unit.

  According to this configuration, when the low-speed transition state in which the traveling vehicle body shifts from the normal speed to a low speed equal to or lower than the predetermined speed is determined by the low-speed transition state determination unit while traveling by automatic steering, the automatic steering determination unit performs automatic steering. The automatic steering by the part is stopped, and the driving is switched to manual driving by the driver. This prevents the planting position accuracy and the sowing position accuracy from being lowered by continuing automatic steering even though the traveling machine is traveling at a low speed that reduces the accuracy of the orientation data. . Moreover, since the state signal as the detection result of various states of the traveling machine body including the traveling power transmission mechanism, which is output from the state detecting means, is used to determine the low speed transition state, various situations that cause the low speed state Therefore, it is possible to quickly determine the low speed transition state.

  One of the operations that greatly affects the traveling speed is a shift operation for the transmission. In particular, a gear shift for a continuously variable transmission is often performed without being conscious of a stronger force than a stepped transmission such as a gear transmission. Of course, the brake operation for braking the traveling force and the clutch disengaging operation for interrupting the transmission of the traveling power surely cause a rapid decrease in the traveling speed. Therefore, in one of the preferred embodiments in the planting field work machine in which the traveling power transmission mechanism includes a continuously variable transmission whose speed ratio is adjusted by a continuously variable transmission operation lever, the low speed transition is performed. The state signal used for determining the state includes a deceleration operation signal indicating a deceleration operation that causes a low speed less than a predetermined value by the continuously variable transmission operation lever, and a deceleration indicating an operation to the neutral position of the continuously variable transmission operation lever. At least one of an operation signal, a brake operation signal indicating a brake operation, a clutch disconnection operation signal indicating a clutch disconnection operation, and a speed signal indicating that the traveling speed is equal to or less than a predetermined value is included. Accordingly, it is possible to quickly detect the low speed of the traveling machine body and perform the above-described appropriate control related to automatic steering.

  Another one of the planting field work machines according to the present invention for solving the above problems is a traveling machine body, an engine mounted on the traveling machine body, and the power from the engine is shifted and transmitted to the drive wheels. A traveling power transmission mechanism that performs the planting work on the field, a positioning unit that has a GNSS module and outputs positioning data, and a path for calculating a traveling path for the traveling vehicle to travel In the work travel route that travels while driving the field work device in the travel route, the traveling body is automatically steered along the travel route based on the positioning data and the travel route. An automatic steering unit; state detecting means for detecting various states of the traveling machine body including the traveling power transmission mechanism and outputting a state signal; and a traveling speed of the traveling machine body based on the state signal A low-speed transition state determination unit that determines a low-speed transition state that transitions below a predetermined speed; and a low-speed transition avoidance command that avoids the low-speed transition when the low-speed transition state is determined during execution of automatic steering by the automatic steering unit And an automatic steering maintenance unit that outputs to the device control unit.

  According to this configuration, when the low-speed transition state in which the traveling vehicle body shifts from the normal speed to a low speed equal to or lower than the predetermined speed is determined by the low-speed transition state determination unit while traveling by automatic steering, the automatic steering maintenance unit A low speed shift avoidance command is output to the device control unit in order to avoid the low speed shift. As a result, the planting field work machine is prevented from traveling at a low speed such that the traveling machine body decreases the accuracy of the orientation data, and the stable seeding planting position accuracy and the seeding position accuracy are not deteriorated. Steering continues.

  In the work traveling on the field, the traveling load increases rapidly due to the local state of the field, the engine is loaded, and the rotational speed of the engine is decreased, resulting in a decrease in the speed of the traveling machine body. For this purpose, it is necessary to increase the engine speed. However, if the engine speed is increased, the speed of the traveling machine body is increased, resulting in inconvenience in farm work. In order to solve such a problem, in one preferred embodiment according to the present invention, the low-speed transition state determination unit determines the low-speed transition state based on an increase in load in the engine, and the automatic steering maintenance unit The low-speed transition avoidance command includes an engine speed increase command for increasing the engine speed and a shift command for offsetting an increase in travel speed due to the increase in the engine speed to the travel power transmission mechanism. It is configured to output.

  In the planting field work machine according to the present invention, in order to improve the steering performance, the steering response is lowered when the traveling speed is high, and the steering responsiveness is improved when the traveling speed is low. A control unit is provided. In other words, even when the same steering angle is set, the direction of the traveling machine body is changed in a shorter time during high speed traveling than during low speed traveling. For this reason, the steering responsiveness is lowered at high speed, the steering responsiveness is improved at low speed, and appropriate steering performance can be obtained at both high speed and low speed.

In many cases, a positioning unit that outputs positioning data includes a gyro module having a gyro sensor, that is, a gyro sensor module, for the purpose of complementing azimuth detection by the GNSS module. When such a gyro sensor module (hereinafter simply referred to as a gyro module) is mounted on the planting field work machine, the gyro module detects acceleration, and therefore, in this case, the two-dimensional or three-dimensional traveling is detected from the acceleration detection value. The travel distance and direction vector of the airframe and / or the field work device or both can be obtained. Examples of function improvement using such vectors are listed below as preferred embodiments in a planting field work machine in which the positioning unit includes a gyro module.
(1) In this preferred embodiment, the amount of vertical fluctuation of the traveling aircraft that can be calculated from the positioning data (acceleration data) of the gyro module is used. That is, when the vertical fluctuation amount of the traveling vehicle calculated from the positioning data is larger than a predetermined value, the device control unit reduces the traveling speed and / or improves the steering response. Configured to do. As a result, stable steering is possible even if there are irregularities in the field.
(2) Also in this preferred embodiment, the vertical fluctuation amount of the traveling machine body that can be calculated from the positioning data (acceleration data) of the gyro module is used. That is, it is configured to change the control sensitivity of rolling control and / or lifting control for the traveling machine body of the field work device based on the vertical fluctuation amount of the traveling machine body calculated from the positioning data. Yes. This realizes stable rolling control or elevation control even if the field has irregularities.
(3) In this preferred embodiment, an instantaneous orientation of the traveling machine body that can be calculated from positioning data (acceleration data) from the gyro module is used. That is, when the direction of the traveling machine body calculated from the positioning data and the direction of the work travel route are different from each other by a predetermined value or more, the steering angle and the direction of the work travel route are different from each other by a predetermined value or more. The automatic steering by the automatic steering unit is prohibited. As a result, when the automatic steering becomes unsatisfactory due to an unexpected situation, the automatic steering can be quickly stopped and the driver can regain the steering.

  Furthermore, in one of the preferred embodiments of the present invention, a device control unit is provided that changes the steering response (for example, torque control amount) based on the field hardness. By changing the steering torque control amount according to the field hardness, the steering handle may be removed when the field is too hard, or the steering operation may be excessive when the field is too soft. Problems are reduced.

  Furthermore, in one of the preferred embodiments of the present invention, the automatic steering determination unit performs automatic steering by the automatic steering unit when the low-speed transition state is determined while the automatic steering by the automatic steering unit is stopped. Configured to prohibit starting. According to this configuration, when the automatic steering is stopped, that is, when the low-speed transition state is determined during running by artificial steering, the automatic steering determination unit prohibits the automatic steering unit from starting automatic steering. As a result, even though the planting field work machine is traveling at a low speed that reduces the accuracy of the orientation data, the planting position accuracy and sowing position can be improved by shifting from artificial steering to automatic steering. A reduction in accuracy is avoided.

It is a schematic diagram explaining the basic composition of the present invention. It is a schematic diagram explaining the flow of a specific control of this invention. It is a side view of the riding rice transplanter which is one of the embodiments of the present invention. It is a top view of the riding rice transplanter which is one of the embodiments of the present invention. It is a schematic diagram which shows the power transmission system of a riding rice transplanter. It is a mimetic diagram showing a power steering device of a riding rice transplanter. It is a functional block diagram which shows the control system mounted in the riding rice transplanter.

  Before describing a specific embodiment of a field work machine according to the present invention, a basic configuration characterizing the present invention using FIG. 1 and a basic structure characterizing the present invention using FIG. Will be described. Here, as a field work machine, a work machine having a work condition that repeats a linear or substantially linear work traveling such as a rice transplanter or a sowing machine (also referred to as a direct sowing machine) is assumed. The working machine includes a traveling machine body 1 that self-travels in a farm field, and a farm field working device 2 that is attached to a rear portion of the traveling machine body 1 so as to be movable up and down. This working machine is provided with a positioning unit 5 that outputs positioning data, a state detection means 6, a device control unit 7, and an arithmetic control unit 8 as a control system particularly related to the present invention. The positioning unit 5, the state detection means 6, the device control unit 7, and the arithmetic control unit 8 are connected by an in-vehicle LAN and can exchange data with each other.

  The positioning unit 5 includes a GNSS module 50 that detects an orientation such as latitude and longitude using a GNSS (Global Navigation Satellite System), and its configuration is similar to that of a positioning unit used in a car navigation system or the like. ing. The state detection means 6 processes a detection signal from the state detector group 60 including various sensors and switches by the detection signal processing unit 61 to detect various states of the traveling machine body 1 and the field work device 2 and outputs a state signal. To do. The equipment control unit 7 controls the travel motion equipment provided in the traveling machine body 1 including the engine and the steering motion equipment in the steering device, and also controls the work motion equipment provided in the field work device 2. The positioning unit 5 is provided with a gyro module 51 having a gyro sensor in order to detect an instantaneous movement (direction vector) of the planting field work machine and to complement the GNSS module 50.

  The arithmetic control unit 8 includes an information storage unit 80 for storing operation programs, application programs, and various data, a route calculation unit 81, an automatic steering determination unit 82, an automatic steering unit 83, a low-speed transition state determination unit 84, and automatic steering maintenance. Part 85 is constructed. In the information storage unit 80, work information such as field information such as map position of the field that is the work target and position data of the straw that defines the boundary line of the field, and device setting data related to the field work to be performed. It is included.

  The route calculation unit 81 calculates a travel route for the traveling machine body 1 to travel. At this time, based on the linear travel trajectory previously performed by the driver, it is possible to calculate a target travel route that is sequentially shifted by the work width. Further, the target work travel route may be calculated based on the field information and work information read from the information storage unit 80.

  In addition, the planting system field work machine illustrated here includes a travel route (straight travel route) that travels straight over a long distance while performing field work (rice planting, sowing, etc.) using the field work device 2. A travel route (direction change non-work travel route) for turning around (turning 180 °) without the field work performed at the end of the travel route is set. Therefore, the automatic steering unit 83 is configured to follow the target linear work travel route calculated by the route calculation unit 81 in the work travel route that travels while driving the field work device 2 in the travel route. Using the positioning data obtained from the positioning unit 5, automatic steering is performed via the device control unit 7.

  The low speed transition state determination unit 84 determines a low speed transition state in which the traveling speed of the traveling machine body 1 transitions to a predetermined speed or less based on the state signal output from the state detection means 6. The low speed below the predetermined speed here is a speed at which the accuracy of the azimuth measurement by the GNSS module 50 is lowered, and special processing is performed when the low speed transition state determination unit 84 determines the low speed transition state. One of the special processes is performed by the automatic steering determination unit 82. That is, the automatic steering determination unit 82 stops the automatic steering when a low-speed transition state is determined during execution of automatic steering by the automatic steering unit 83. The automatic steering determining unit 82 prohibits the automatic steering unit 83 from starting automatic steering when a low-speed transition state is determined while automatic steering is stopped by the automatic steering unit 83. Thus, when the low-speed transition state is determined, traveling by automatic steering is stopped or traveling by automatic steering is prohibited, so automatic steering at a speed at which the accuracy of azimuth measurement by the GNSS module 50 is reduced. There is no running.

  In order to perform another one of the special processes, an automatic steering maintenance unit 85 is required instead of the automatic steering determination unit 82. The automatic steering maintenance unit 85 outputs a low speed shift avoidance command for avoiding this low speed shift to the device control unit 7 when the low speed shift state is determined during the automatic steering. Thereby, the traveling machine body 1 is prevented from traveling at a low speed at which the accuracy of the azimuth measurement by the GNSS module 50 is lowered. For example, when the low-speed transition state determination unit 84 determines the low-speed transition state based on an increase in the load on the engine mounted on the traveling machine body 1, the automatic steering maintenance unit 85 sends the engine speed increase command and the shift command to the device. This is given to the control unit 7. The equipment control unit 7 instructs the engine control unit to increase the engine speed to a predetermined value based on the engine speed increase command. At the same time, the device control unit 7 outputs a shift command for canceling the increase in the traveling speed due to the increase in the engine speed to the traveling power transmission mechanism mounted on the traveling machine body 1 to the transmission. As a result, automatic steering traveling at a low speed at which the accuracy of the azimuth measurement by the GNSS module 50 is reduced is avoided.

  The planting field working machine according to the present invention can travel on a traveling route with a straight traveling route and a turn such as a headland turning by automatic steering or artificial steering. However, in order to simplify the description, in the planting system field work machine used in the description of FIG. 1 and FIG. 2, the linear travel route is traveled by automatic steering and travel with a turn such as a headland turn. It is assumed that the route is driven by artificial steering. Therefore, at the time of transition from the straight work travel path to the direction change non-work travel path, the automatic steering is switched to the artificial steering, and at the transition from the straight work travel path to the direction change non-work travel path, It is necessary to switch from steering to automatic steering. In addition, switching from human-steering to automatic steering or switching from automatic steering to human-steering is required depending on other various states of the traveling machine body 1 and the field work device 2 that are set in advance. The automatic steering determination unit 82 determines the start and stop of the automatic steering operation in the automatic steering unit 83 based on the state signal from the state detection unit 6, and gives the determination result to the automatic steering unit 83.

  The planting field working machine according to the present invention can travel on a traveling route with a straight traveling route and a turn such as a headland turning by automatic steering or artificial steering. However, in order to simplify the description, in the planting system field work machine used in the description of FIG. 1 and FIG. 2, the linear travel route is traveled by automatic steering and travel with a turn such as a headland turn. It is assumed that the route is driven by artificial steering. Therefore, at the time of transition from the straight work travel path to the direction change non-work travel path, the automatic steering is switched to the artificial steering, and at the transition from the straight work travel path to the direction change non-work travel path, It is necessary to switch from steering to automatic steering. In addition, switching from human-steering to automatic steering or switching from automatic steering to human-steering is required depending on other various states of the traveling machine body 1 and the field work device 2 that are set in advance. The automatic steering determination unit 82 determines the start and stop of the automatic steering operation in the automatic steering unit 83 based on the state signal from the state detection unit 6, and gives the determination result to the automatic steering unit 83.

  A basic control flow regarding the start and stop of automatic steering in the planting field farm machine configured as described above will be briefly described with reference to FIG. In FIG. 2, although simplified, the detection signal from the state detector group 60 including various sensors and various operation switches is processed by the detection signal processing unit 61 (for example, level adjustment, AD conversion, normalization, Unit conversion etc.) are performed and it is produced | generated as a state signal showing the various states (an operation state is included) of the traveling body 1 and the field work apparatus 2. FIG. The state signal is sent to the automatic steering determination unit 82 and the low speed transition state determination unit 84. Here, only the flow of control that is processed when the state signal is sent to the low speed transition state determination unit 84 will be described. .

  The low-speed transition state determination unit 84 processes the received state signal as an input parameter based on a preset calculation rule, and the traveling body 1 transitions to a low speed at which the accuracy of azimuth measurement by the GNSS module 50 is reduced. It is determined whether (low speed transition state) has occurred. The determination result is given to the automatic steering determination unit 82.

Examples of state signals associated with the determination of the low-speed transition state by the low-speed transition state determination unit 84 are listed below. It is assumed that a continuously variable transmission is mounted on the traveling power transmission mechanism of the planting field work machine.
(1) A signal generated when a shift operation tool for adjusting the shift position of the continuously variable transmission is operated below a predetermined low speed position;
(2) A signal generated by operating the speed change operation tool to the neutral position,
(3) A signal generated by detecting the disengagement state of at least one of the pair of left and right side clutches that controls power transmission to the pair of left and right drive wheels;
(4) A signal generated by a braking operation by a stop pedal,
(5) A signal generated when the clutch of the travel power transmission mechanism is disengaged,
(6) A signal generated when the speed of the traveling machine body 1 becomes a predetermined value or less,
The low speed transition state is determined by one or a combination of the above signals.

  When the determination result of the low-speed transition state determination unit 84 during manual steering is a low-speed transition state, the automatic steering determination unit 82 prohibits the start of automatic steering, for example, instructs the start of automatic steering by human operation. Even if the start of automatic steering is commanded using the operating body, the command becomes invalid. Even if the function of switching to automatic steering is working when a specific condition is satisfied, switching to automatic steering is also invalidated if the automatic steering determination unit 82 is in a state that prohibits the start of automatic steering. .

Further, when the determination result is the low-speed transition state during automatic steering, the automatic steering determination unit 82 can perform one of the following two processes.
(1) If the determination result is a low-speed transition state during automatic steering, automatic steering stop processing is performed. In this automatic steering stop process, the automatic steering determination unit 82 gives an operation stop command to the automatic steering unit 83. Based on the command received from the automatic steering determination unit 82, the automatic steering unit 83 issues an execution command for causing the device control unit 7 to execute the corresponding control.
(2) When the determination result is a low-speed transition state during automatic steering, a low-speed transition avoidance process is performed. In this low speed shift avoidance process, the automatic steering determination unit 82 gives an operation stop command to the automatic steering unit 83. Based on the command received from the automatic steering determination unit 82, the automatic steering unit 83 performs processing for returning to the original speed, processing for removing the engine load by increasing the engine speed and decreasing the gear ratio, and the like. Then, an execution command is issued to the device control unit 7.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  Although only schematically shown in FIG. 5, the transmission 32 is provided with a speed change device 32 a, and the speed of the traveling machine body can be changed through operation of the speed change operation lever. Further, a pair of left and right side clutches 11B are provided in a power transmission system that transmits power from the transmission 32 to the pair of left and right rear wheels 11b. The steering (steering) of the traveling machine body 1 can be controlled by the selective ON / OFF operation of the pair of left and right side clutches 11B.

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

  Furthermore, although only schematically shown in FIG. 6, the elevating cylinder 37 of the link mechanism 36 is driven and controlled via a solenoid control circuit 7 </ b> B based on a control signal from the device control unit 62. The seedling planting work and the fertilization work are stopped as the elevating cylinder 37 is raised, and the seedling planting work and the fertilization work are started as the elevating cylinder 37 is lowered. The operation of the elevating cylinder 37 is raised or lowered by operating the elevating lever 49, which is a kind of work operating tool provided around the steering handle 33b, to the raised position or to the lowered position.

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

  FIG. 7 shows a control system equipped in this riding rice transplanter. This control system uses the basic principle regarding automatic steering explained with reference to FIGS. 1 and 2. The functional block diagram of FIG. 7 shows several functional units that were not shown in the functional block diagram of the control system in FIG. For example, the notification processing unit 64, the work setting unit 86, the slip rate calculation unit 87, which are connected to each functional unit of the arithmetic control unit 8 so as to be able to exchange data, input signal processing of signals input from the outside by wire or wireless And a driving support unit 89 that manages various types of support given to the driver regarding the field work using the riding rice transplanter.

  The notification processing unit 64 processes the information generated by the notification information generation unit 89a built in the driving support unit 89 to notify the driver or the outside, and outputs the processed information to the notification processing unit 64. As a notification device connected to the notification processing unit 64, a display 64a for displaying image information and a speaker 64b for emitting sound information are typical, but a buzzer and a lamp are also included. The display 64 a is equipped with a touch panel 66, and information input through the touch panel 66 is sent via the input signal processing unit 65 to a function unit that requires the information. Since the configuration of the state detection means 6 in this embodiment is substantially the same as the configuration described with reference to FIGS. 1 and 2, the description thereof is omitted here. In addition, the input signal processing unit 65 includes the engine speed, the wheel speed, the remaining fuel amount, the seedling remaining amount, the fertilizer remaining amount, the shift position, and the posture of the paddy field work device (farm field work device) 2 (in an up state or a down state). It is also possible to integrate with the state detection means 6 to which a signal specifying such as is input.

  The notification processing unit 64 exchanges data with the automatic steering unit 83. For example, when traveling by automatic steering, the notification processing unit 64 displays that the automatic steering is being performed through the display 64a, and notifies that through the speaker 64b.

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

  The work setting unit 86 sets a field boundary shape, a travel start point, a travel end point, a replenishment point such as a seedling, and the like to be performed using the paddy field work device 2 as a field work device. The set data is given to the route calculation unit 81 in order to calculate a target travel route during automatic steering. The slip ratio calculation unit 87 is output from the positioning unit 5 and the travel distance of the traveling machine body 1 calculated based on the rotation of drive wheels (in this embodiment, the front wheels 11 a and the rear wheels 11 b) provided in the traveling machine body 1. The slip ratio of the driving wheel is calculated from the travel distance of the traveling machine 1 calculated based on the positioning data. In the field work, it is preferable to rotate the drive wheel, that is, the work amount per mileage based on the vehicle speed (the planting seedling interval with respect to the field and the seeding amount on the field) is constant. This leads to uneven work volume. For this reason, the slip ratio calculated by the slip ratio calculation unit 87 is also used for correcting the operation control for avoiding such uneven work amount, for example, stopping automatic steering.

  Description of functions of the information storage unit 80, the route calculation unit 81, the automatic steering determination unit 82, the automatic steering unit 83, the low-speed transition state determination unit 84, and the automatic steering maintenance unit 85 built in the arithmetic control unit 8 is shown in FIG. And the content demonstrated using FIG. 2 is used. In particular, in this embodiment, the low-speed transition state determination unit 84 determines that the low-speed transition state is established when the speed of the traveling machine body 1 is considered to be equal to or less than a predetermined value from the state signal from the state detection means 6. The speed of the predetermined value here is a lower limit speed at which the azimuth detection accuracy of the GNSS module 50 is significantly lowered, and is not limited to this speed, and can be arbitrarily changed. When the low-speed transition state determination unit 84 determines that the state is a low-speed transition state, the automatic steering determination unit 82 requests execution of the processing mode selected from the first processing mode and the second processing mode. The first processing mode is a simple control mode, and when automatic steering is being executed at that time, the automatic steering is stopped and shifted to artificial steering. In addition, when manual steering is performed at that time, entry into automatic steering is prohibited. The second processing mode is a control mode in which the traveling machine body 1 that has become lower than the lower limit speed is increased so as to exceed the lower limit speed. Specifically, if the deceleration is caused by an increase in engine load, the engine speed is increased and the gear ratio of the transmission is switched to a load reduction direction. The control in the second processing mode is normally performed only at the time of automatic steering, but may be performed at the time of artificial steering.

  The first processing mode and the second processing mode described above may be configured to be selectable in advance, or only one of them may be provided. Alternatively, both processing modes may be provided, and the lower limit speed as an execution condition of each processing mode may be different. Normally, the lower deceleration as the execution condition of the first processing mode is set larger than the lower deceleration as the execution condition of the second processing mode.

  In this embodiment, with respect to the U-turn running at the headland, an automatic lifting control function for automatically moving the field work device 2 up and down in response to detection of entry into the headland and separation from the headland is added. Also good. In this case, when the farm work is temporarily stopped by entering the headland, the raising operation of the paddy field work device 2 by the lifting cylinder 37 is performed together with the automatic steering being turned off. Conversely, when the automatic steering operation starts, the paddy field work device 2 is lowered.

  In some cases, it may be necessary to evacuate the work travel route in an emergency evacuation manner for some reason during the automatic linear work travel. In such a case, the operation amount of the steering handle 33b, the shaft torque, the front wheel turning angle, and the like become abnormal values that are impossible during automatic control. By utilizing this, when such an abnormal value occurs, the automatic steering determination unit 82 gives a command to interrupt the automatic steering operation stop to the automatic steering unit 83 performing automatic steering. Thereby, quick processing at the time of abnormality becomes possible.

  In this embodiment, as can be understood from the enlarged view of FIG. 7, an artificial operation body 70 is provided as a toggle switch at the free distal end portion of the elevating lever 49. When the human operator 70 is pressed once, the automatic steering determination unit 82 commands the start of the automatic steering operation by the automatic steering unit 83, and when pressed again, the automatic steering determination unit 82 stops the automatic steering operation by the automatic steering unit 83. Command. Of course, instead of the toggle switch, a two-way lever switch or seesaw switch in which the positions of the automatic steering operation start and operation stop are set may be used. Examples of the attachment position of the manipulating body 70 other than the lift lever 49 include a steering handle 33b, a main transmission lever and an accelerator lever (not shown), and the like. Further, the artificial operation body 70 may be provided at a plurality of locations.

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

In the planting field farm machine of this embodiment, the automatic steering unit 83 has the following functions in order to improve drivability in addition to the above-described automatic steering in cooperation with the arithmetic control unit 8. .
(1) In order to improve the steering performance, the steering responsiveness is reduced when the traveling speed is high, and the steering responsiveness is improved when the traveling speed is low. Steering responsiveness is reduced at high speeds, and by increasing steering responsiveness at low speeds, good steering is realized at both high and low speeds.
(2) The vertical fluctuation amount of the traveling machine body 1 is calculated from the acceleration detection value output from the gyro module 51, and the rolling control and / or the raising / lowering control for the traveling machine body of the field work device 2 are controlled based on the vertical fluctuation amount. Is configured to change the control sensitivity. This realizes stable rolling control or elevation control even if the field has irregularities. (3) When the instantaneous orientation of the traveling vehicle and the orientation of the work travel route that can be calculated from the positioning data (vehicle motion vector) based on the acceleration detection value output from the gyro module 51 are different from each other by a predetermined value or When the steering angle and the direction of the work travel route are different from each other by a predetermined value or more, automatic steering by the automatic steering unit 83 is prohibited. As a result, when the automatic steering becomes unsatisfactory due to an unexpected situation, the automatic steering can be quickly stopped and the driver can regain the steering.
(4) A correction control amount is added to the motor control circuit 7A on the basis of the field hardness ascertained from the float sensing setting value, and the steering torque control amount is changed.

[Another embodiment]
(1) In the above-described embodiment, the route calculation unit 81 is built in the calculation control unit. However, if the route calculation algorithm is complicated, the required calculation capability increases. You may employ | adopt the cloud network system performed by a computer. Similarly, the information storage unit 80 may also be constructed in an external computer and accessed from the planting field work machine as necessary. For this purpose, the planting field work machine is provided with a communication unit that can be connected to a data communication line such as the Internet, or is brought in by the driver.
(2) The lower limit speed used by the low-speed transition state determination unit 84 to determine the low-speed transition state is adjusted manually or automatically in consideration of past work travel data, actual travel route, field conditions, and the like. May be adopted.
(3) Although the traveling body 1 may be automatically controlled by the automatic steering unit 83 in both the straight working traveling and the non-working traveling with a change of direction, the non-working traveling (particularly the direction) includes an exceptional operation. It is preferable that the vehicle is manually steered by the driver in the conversion traveling).
(4) The field work machine according to the present invention is provided with a GNSS function and a map data storage function, and can be used to perform automatic steering or travel route guidance to the field to be worked. It is.

  The present invention is applicable not only to a riding rice transplanter but also to various field work machines such as a seeder capable of automatic traveling equipped with a field work device.

1: Traveling machine body 2: Paddy field work device (field work device)
5: Positioning unit 6: State detection means 7: Device control unit 8: Arithmetic control unit 11B: Side clutch 11a: Front wheel 11b: Rear wheel 32: Transmission 32a: Transmission 33: Driving unit 33a: Driving seat 33b: Steering handle 49 : Lift lever 50: GNSS module 51: Gyro module (gyro sensor module)
60: State detector group 61: Detection signal processing unit 70: Artificial operation body 73: Route calculation unit 80: Information storage unit 81: Route calculation unit 81: Automatic operation determination unit 82: Automatic steering determination unit 83: Automatic steering unit

Claims (1)

Traveling aircraft,
An engine mounted on the traveling body;
A traveling power transmission mechanism that shifts power from the engine and transmits the power to the drive wheels;
A positioning unit having a GNSS module and outputting positioning data;
Of the travel routes for traveling by the traveling machine body, in the work travel route that travels while driving the field work device, the travel aircraft body is automatically set along the travel route based on the positioning data and the travel route. An automatic steering section for steering;
A low-speed transition state determination unit that determines a low-speed transition state in which the traveling speed of the traveling body transitions to a predetermined speed or less;
An automatic steering determination unit that stops the automatic steering when the low-speed transition state is determined during execution of automatic steering by the automatic steering unit;
Field work machine equipped with.

Images