JP2019004793A - Work vehicle - Google Patents

Abstract

To enhance operability in transitioning to automatic travelling along a next travel route of a machine body in a work vehicle having a function to cause a machine body to travel automatically along a travel route.SOLUTION: A work vehicle includes a positioning part for detecting a position of a machine body 11, a travel route acquisition part for acquiring travel routes L01 and L02 where the machine body 11 travels, and an automatic travel control part for causing the machine body 11 to travel automatically so that the machine body 11 travels along the travel route L01. The present travel route L01 where the machine body 11 is travelling and the next travel route L02 where the machine body 11 is to travel next are displayed in a display device 42.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a working vehicle that travels while working on a farm field, such as a riding type rice transplanter, a riding type direct sowing machine, a combiner having a cutting unit, a tractor having a rotary tiller, and the like.

  As disclosed in Patent Document 1, a riding type rice transplanter that is an example of a work vehicle travels from one side to the other side in a farm field, and then turns at the other side. Then, traveling from the other ridge toward one ridge, traveling from one (the other) ridge to the other (one) ridge and turning at the one (the other) ridge It is repeating.

In Patent Document 1, a plurality of travel routes are set in a field at predetermined intervals so as to be parallel to each other, and the front wheels of the aircraft are automatically set so that the aircraft automatically travels along the travel route. Is steered.
When the aircraft reaches the shore, the automatic travel along the aircraft's travel route ends, and at the shore, the driver manually operates the steering handle, steering lever, etc., and turns the aircraft. After completing the turning at the shore, automatic traveling along the next traveling route of the aircraft is resumed.

JP 2008-92818 A

  As in Patent Document 1, after the aircraft has reached the shore and the automatic travel along the travel route of the craft has been completed, the driver manually operates the steering operation tool at the shore to remove the aircraft. There is room for improvement in terms of operability when the vehicle is turned to automatically travel along the next travel route of the aircraft.

  In the work vehicle, when the work vehicle has a function of automatically driving the aircraft along the travel route, the driver manually operates the steering operation tool to turn the aircraft so that the next travel of the aircraft is performed. The purpose is to improve operability when shifting to automatic traveling along a route.

The work vehicle of the present invention is
A positioning unit that detects the position of the aircraft,
A travel route acquisition unit for acquiring a travel route along which the aircraft travels;
Based on the position of the aircraft, an automatic travel control unit that performs automatic steering of the aircraft so that the aircraft travels along the travel route,
A display device for the driver to see;
A display control unit configured to display on the display device the current travel route on which the airframe travels and the next travel route on which the airframe should travel next;

According to the present invention, when the aircraft is automatically traveling along the travel route, the display device displays the current travel route on which the aircraft travels and the next travel route on which the aircraft should travel next. Is done.
Accordingly, the driver can recognize whether the next travel route is located on the right side or the left side of the current travel route, how far away from the current travel route, and the like.

According to the present invention, when the aircraft reaches the heel in the above-described state, the driver turns the aircraft by operating the steering operation tool toward the next travel route, which is in the opposite direction to the next travel route. It is unlikely that the aircraft will turn.
According to the present invention, when the driver turns the aircraft by operating the steering operation tool, in addition to not making a mistake in the turning direction of the aircraft, the position of the aircraft is set so that the aircraft is positioned on the next travel route. Since the aircraft can be turned while finely adjusting the direction, it is possible to smoothly shift to a state in which the aircraft automatically travels along the next travel route after the turn is completed.

In the present invention,
The travel route acquisition unit acquires a plurality of the travel routes in advance,
The display control unit displays the current travel route on which the aircraft travels and the next travel route on which the aircraft should travel next among the plurality of travel routes acquired by the travel route acquisition unit. It is preferable to display on the apparatus.

When the work vehicle has a function of automatically driving the aircraft along the travel route, a plurality of travel routes may be acquired and stored in advance.
According to the present invention, in a state in which the aircraft is automatically traveling along the traveling route, the current traveling route on which the aircraft is traveling and the next traveling route on which the aircraft is to be traveled next among the plurality of traveling routes. Are displayed on the display device. This reduces the driver's misunderstanding because it is less likely that the driver visually observes something unrelated to the next travel route.

In the present invention,
A reference travel route acquisition unit for acquiring a reference travel route is provided,
The travel route acquisition unit acquires the travel route set in parallel with the reference travel route from the current position of the aircraft based on a driver's command,
The display control unit
Displaying the travel route acquired by the travel route acquisition unit on the display device as the current travel route on which the aircraft travels; and
Next, the aircraft should travel along the virtual travel route set in parallel with the reference travel route at a position separated by a predetermined interval from the travel route acquired by the travel route acquisition unit. It is preferable that the next travel route is displayed on the display device.

  According to the present invention, when the aircraft is provided with a function of automatically traveling along the travel route, the reference travel route acquisition unit that acquires the reference travel route and the reference from the current position of the aircraft based on the driver's command. By providing a travel route acquisition unit that acquires a travel route set in parallel with the travel route, the travel route acquisition unit does not have to acquire a large number of travel routes, so the load on the travel route acquisition unit is small It will be a thing.

  According to the present invention, in the state where the aircraft is automatically traveling along the travel route, the travel route acquired by the travel route acquisition unit is displayed on the display device. Not getting the travel route.

In this case, a virtual travel route set in parallel with the reference travel route is located at a position separated from the travel route acquired by the travel route acquisition unit by a predetermined interval (for example, the lateral width of the aircraft). Then, it is displayed on the display device as the next travel route on which the aircraft should travel.
As a result, if the aircraft reaches the edge in the above-described state, the driver operates the steering operation tool toward the next travel route to turn the aircraft, and the aircraft is rotated in the direction opposite to the next travel route. It is difficult to cause a state of turning.

  Next, after the turn is completed, the next travel route set in parallel with the reference travel route is acquired from the current aircraft position based on the driver's command, and along the next travel route of the aircraft Automatic driving is resumed.

In the present invention,
The display control unit
It is preferable to display the current position of the aircraft, the current travel route on which the aircraft is traveling, and the next travel route on which the aircraft is to travel next on the display device.

  According to the present invention, the display device displays the current position of the aircraft in addition to the current travel route on which the aircraft travels and the next travel route on which the aircraft is to travel next. The distance between the current aircraft position and the travel route is determined whether the next travel route is located on the right side or the left side with respect to the current aircraft position and the travel route. Can be recognized appropriately.

It is a whole side view of a riding type rice transplanter. It is a whole top view of a riding type rice transplanter. It is the schematic which shows the connection state of a control apparatus and each part. It is a top view which shows the state of the driving | running route set to the agricultural field. It is a top view which shows the state which an airframe drive | works along a driving | running route. It is a figure which shows the display state of a display apparatus. It is a figure which shows the display state of a display apparatus. It is a figure which shows the display state of a display apparatus. It is a figure which shows the display state of a display apparatus. In 1st another form of implementation of invention, it is the schematic which shows the connection state of a control apparatus and each part. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe. In 1st another form of implementation of invention, it is a top view which shows the driving | running | working state of an airframe.

In the embodiment of the present invention, a six-row planting type rice transplanter that is an example of a work vehicle that performs planting work in a farm field (paddy field) is shown.
The front-rear direction and the left-right direction in the embodiment of the present invention are described as follows unless otherwise specified. The traveling direction of the forward side during traveling of the airframe 11 is “front”, and the traveling direction of the backward side is “rear”. The direction corresponding to the right side is “right” and the direction corresponding to the left side is “left” based on the forward posture in the front-rear direction.

(Overall configuration of riding rice transplanter)
As shown in FIGS. 1 and 2, the riding type rice transplanter drives the link mechanism 3 and the link mechanism 3 up and down at the rear part of the body 11 having the right and left front wheels 1 and the right and left rear wheels 2. A hydraulic cylinder 4 is provided, and a seedling planting device 5 as a working device is supported at the rear of the link mechanism 3.

  The seedling planting device 5 includes a planting transmission case 6 disposed at a predetermined interval in the left-right direction, a rotating case 7 rotatably supported on the right and left sides of the rear portion of the planting transmission case 6, and a rotating case 7 are provided with a planting arm 8, a float 9, a seedling platform 10 and the like provided at both ends.

  A fertilizing device 18 as a working device is provided across the machine body 11 and the seedling planting device 5, and the fertilizing device 18 includes a hopper 13, a feeding portion 14, a blower 15, a grooving device 16, a hose 17, and the like. ing.

  In the airframe 11, a hopper 13 for storing fertilizer and a feeding part 14 are provided on the rear side of the driver seat 12, and a blower 15 is provided on the left lateral outer side of the feeding part 14. A groove forming device 16 is connected to the float 9 to provide six groove forming devices 16, and six hoses 17 are connected across the feeding portion 14 and the groove forming device 16.

(Front wheels and rear wheels. Power transmission system for seedling planting device and fertilizer application)
As shown in FIG. 1, the power of the engine 31 provided in the front portion of the airframe 11 is transmitted to a hydrostatic continuously variable transmission (not shown) via a transmission belt 32, Is transmitted to a gear transmission type auxiliary transmission (not shown).

  The right and left front axle cases 34 are connected to the right and left portions of the transmission case 33, and the right and left front wheels 1 are supported by the right and left portions of the front axle case 34 so as to be steerable. Yes. The power of the auxiliary transmission is transmitted to the right and left front wheels 1 via a front wheel differential device (not shown) and a transmission shaft (not shown) inside the front axle case 34.

  A rear axle case 35 is supported along the left-right direction at the lower part of the rear portion of the body 11, and the right and left rear wheels 2 are supported on the right and left portions of the rear axle case 35. The power of the auxiliary transmission is transmitted to the right and left rear wheels 2 via a transmission shaft 36, a transmission shaft (not shown) inside the rear axle case 35, and a side clutch (not shown).

  As shown in FIGS. 1, 2, and 3, a steering handle 20 is provided on the front side of the driver seat 12, and the front wheel 1 is steered by the steering handle 20. A shift lever 37 is provided on the left lateral side of the steering handle 20, and the continuously variable transmission can be continuously operated from the neutral position N to the forward side F and the reverse side R by the shift lever 37.

(Transmission system to seedling planting device and fertilizer application device)
As shown in FIGS. 1, 2, and 3, in the transmission case 33, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 via the planting clutch 26 and the PTO shaft 38, An electric motor 28 for operating the attached clutch 26 to a transmission state and a cutoff state is provided.

  When the planting clutch 26 is operated in the transmission state, the rotary case 7 is rotationally driven as the seedling platform 10 is reciprocated laterally to the left and right, and the planting arm 8 is driven from the lower portion of the seedling platform 10. Alternately take out the seedlings and plant them in the field. When the planting clutch 26 is operated in the disconnected state, the seedling bed 10 and the rotating case 7 are stopped.

  As shown in FIGS. 1, 2, and 3, in the transmission case 33, the power of the auxiliary transmission is transmitted to the feeding portion 14 of the fertilizer 18 through the fertilizer clutch 27, and the fertilizer clutch 27 is transmitted by the electric motor 28. Are operated to the transmission state and the cutoff state.

  When the fertilizer clutch 27 is operated in the transmission state, the fertilizer in the hopper 13 is fed out by the feeding section 14 and supplied to the groove forming device 16 through the hose 17 by the conveying air of the blower 15. Fertilizer is supplied from the grooving device 16 to the grooves in the field while grooves are formed in the field by 16. When the fertilizer application clutch 27 is operated in the disconnected state, the feeding portion 14 stops.

(Automatic lifting control of seedling planting device)
As shown in FIG. 3, the rear part of the center float 9 is supported so as to be swingable up and down around the axis P <b> 1 in the left-right direction of the seedling planting device 5. A potentiometer type height sensor 22 for detecting the height is provided, and a detection value of the height sensor 22 is input to the control device 23. As the body 11 advances, the center float 9 follows the field and detects the height from the field (center float 9) to the seedling planting device 5 by the detection value of the height sensor 22. Can do.

  An automatic lift control unit 51 is provided as software in the control device 23, and a control valve 24 for supplying and discharging hydraulic oil to and from the hydraulic cylinder 4 is provided. The control valve 24 is operated by the automatic lift control unit 51.

  When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the control valve 24 is operated to the lowered position, the hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

  As shown in FIG. 3, in the operating state of the automatic lifting control unit 51, based on the height from the field to the seedling planting device 5, the seedling planting device 5 is maintained at the set height from the field. The control valve 24 is operated by the automatic elevating control unit 51, the hydraulic cylinder 4 is expanded and contracted, and the seedling planting device 5 is automatically raised and lowered. Thereby, the planting depth of the seedling is maintained at the set depth.

(Raising / lowering operation of the seedling planting device using the operation lever)
As shown in FIGS. 2 and 3, an operation lever 39 is provided on the right lateral portion on the lower side of the steering handle 20, and the operation lever 39 extends to the right lateral outer side.

  The operation lever 39 is operably supported from the neutral position N to the upper first raised position UU1, the second raised position UU2, the lower first lowered position DD1, and the second lowered position DD2, and is attached to the neutral position N. The operation position of the operation lever 39 is input to the control device 23.

  When the operation lever 39 is operated to the second ascending position UU2, the planting clutch 26 and the fertilizer clutch 27 are operated to be disconnected by the electric motor 28, the automatic elevating control unit 51 is stopped, and the control valve 24 is set to the ascending position. Operated, the seedling planting device 5 is raised. When the seedling planting device 5 reaches the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 automatically stops.

  When the operation lever 39 is operated to the second lowered position DD2, the planting clutch 26 and the fertilizer clutch 27 are operated to be disconnected by the electric motor 28, the automatic elevation controller 51 is stopped, and the control valve 24 is lowered. Operated, the seedling planting device 5 is lowered. When the central float 9 comes into contact with the farm field, the automatic lifting control unit 51 is activated, and the seedling planting device 5 comes into contact with the farm field and stops.

  After operating the operating lever 39 to the second lowered position DD2 to the neutral position N and then operating the operating lever 39 to the second lowered position DD2 again, the electric motor 28 is operated by the electric motor 28 in the activated state. The attached clutch 26 and the fertilizer application clutch 27 are operated to the transmission state.

  When the operation lever 39 is operated to the first raised position UU1, the planting clutch 26 and the fertilizer clutch 27 are operated to be disconnected by the electric motor 28, the automatic lifting control unit 51 is stopped, and the control valve 24 is moved to the raised position. The seedling planting device 5 is operated and the seedling planting device 5 is raised, and the seedling planting device 5 is raised only while the operation lever 39 is operated to the first raised position UU1. When the operation lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position, and the raising of the seedling planting device 5 is stopped.

  When the operation lever 39 is operated to the first lowered position DD1, the planting clutch 26 and the fertilizer clutch 27 are operated to be disconnected by the electric motor 28, the automatic lifting control unit 51 is stopped, and the control valve 24 is moved to the lowered position. It is operated and the seedling planting device 5 is lowered, and the seedling planting device 5 is lowered only while the operation lever 39 is operated to the first lowered position DD1. When the operation lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position, and the descent of the seedling planting device 5 is stopped.

  As described above, the seedling planting device 5 can be raised and lowered only while the operation lever 39 is operated to the first raised position UU1 and the first lowered position DD1. Can be raised and lowered to a height of

(Configuration of detection of aircraft position and aircraft orientation)
As shown in FIG. 1 and FIG. 2, right and left support frames 19 are provided at the right and left portions of the front portion of the machine body 11, and a reserve seedling base 21 is supported on the support frame 19. A support frame 25 is connected over the upper portions of the right and left support frames 19.

  In the support frame 25, a measuring device 29 (corresponding to a positioning unit) is attached to a portion located at the left and right center CL of the body 11 in plan view. The measuring device 29 is provided with a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measuring device (not shown) that detects the inclination (pitch angle, roll angle) of the airframe 11. The measuring device 29 outputs positioning data indicating the position of the machine body 11.

  An inertial measurement device 30 that measures inertial information is attached to a portion of the rear axle case 35 that is positioned at the left and right center CL of the airframe 11 in plan view. The inertial measurement of the inertial measurement device 30 and the measurement device 29 is configured by an IMU (Internal Measurement Unit).

  A typical example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) is a GPS (Global Positioning System). The GPS uses a plurality of GPS satellites that orbit the earth, a control station that tracks and controls the GPS satellites, and a receiver that is included in the object to be measured (airframe 11). The position of is measured.

The inertial measurement device 30 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle of the airframe 11 (the turning angle of the airframe 11), and an acceleration sensor (not shown) that detects acceleration in three axis directions orthogonal to each other. )). The inertia information measured by the inertial measurement device 30 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor.
Accordingly, the position of the body 11 and the orientation of the body 11 are detected by the measuring device 29 and the inertial measuring device 30.

(Configuration related to automatic driving of aircraft)
As shown in FIG. 3, a steering motor 40 for operating the steering handle 20 is provided, and a display device 42 constituted by a liquid crystal display or the like is provided on the front side of the steering handle 20.

The operating position of the speed change lever 37 is input to the control device 23, and a speed change motor 41 for operating the speed change lever 37 is provided. A push button type automatic operation unit 43 for starting and stopping automatic traveling is provided in a grip portion of the shift lever 37, and a signal from the automatic operation unit 43 is input to the control device 23.
A storage unit 52, a travel route setting unit 53, a travel route acquisition unit 54, an automatic travel control unit 55, and a display control unit 56 are provided in the control device 23 as software.

(Acquisition of position data on the verge)
As shown in FIG. 4, for example, in a field provided with ridges B1, B2, B3, and B4, the position data of the ridges B11, B21, B31, and B41 of the ridges B1 to B4 are represented by, for example, ) Is obtained in advance by any one (or plural) of the methods shown in FIG.

(1) The measurement device 29 shown in FIG. 1 and FIG. 2 is removed from the airframe 11, and the worker holding the measurement device 29 walks along the shore B11-B41, so that the worker's position is measured by the measurement device 29. Is obtained as position data of the borders B11 to B41.

(2) Positioning indicating the position of the body 11 by the measuring device 29 by running the riding type rice transplanter shown in FIG. 1 and FIG. 2 (the state in which the measuring device 29 is attached) along the coasts B11 to B41. Data is obtained as position data of the borders B11 to B41.

  In this case, since the measuring device 29 is attached to the part located in the left and right center CL of the machine body 11 and the outer end portion of the machine body 11 (the seedling planting device 5) is located at the edge B11-B41, the measuring device. 29 is corrected from the positioning data indicating the position of the airframe 11 by 29 so that the position outside the horizontal width of the airframe 11 (the seedling planting device 5) becomes the position data of the edges B11 to B41. .

(3) The same riding type rice transplanter (or another riding type rice transplanter or riding type seeder equipped with the measuring device 29) travels in the past in the past, and positioning data indicating the position of the body 11 that has traveled in the past. If the position data is obtained, this positioning data is used as the position data of the borders B11 to B41. In this case, the correction described in the previous item (2) is performed.

(4) When various work vehicles such as a combine and a tractor provided with the measuring device 29 have traveled in the past (or present) and have obtained positioning data indicating the position of the work vehicle that has traveled through the field, This positioning data is used as the position data of the borders B11 to B41.

(5) If there is a commercially available storage medium that records the position data of the borders B11 to B41, this storage medium is used.

(Driving route setting)
As shown in FIG. 4, when the riding type rice transplanter arrives in the vicinity of the field, the travel route setting unit 53 causes the travel routes L01 to L07 as described below based on the position data of the coasts B11 to B41. Is set.

  As shown in FIG. 4, headland lines LA1 and LA2 are located along the edges B11 and B21 from the edges B11 and B21 to the center of the field by the width of the machine body 11 (seedling planting device 5). Is set. Headland lines LB1, LB2 are set along the heel B31, B41 from the heel B31, B41 at the position on the center side of the field by the width of the machine body 11 (the seedling planting device 5).

  The travel routes L01, L02, L03, L04, L05, L06, and L07 are parallel to the headland lines LB1 and LB2 and parallel to each other at a predetermined interval W1 (the lateral width of the machine body 11 (seedling planting device 5)). And the direction of the travel routes L01 to L07 (see the arrows of the travel routes L01 to L07 shown in FIG. 7) is set.

  The start ends of the travel routes L01 to L07 are start positions C1, C2, C3, C4, C5, C6, and C7. End portions of the travel routes L01 to L07 are end positions D1, D2, D3, D4, D5, D6, and D7. Thereby, what connected start position C1-C7 and end position D1-D7 becomes driving course L01-L07.

Since the start positions C1 to C7, the end positions D1 to D7, and the travel routes L01 to L07 are displayed on the display device 42 (see FIG. 3), when the driver determines that there is no problem, the driver presses an approval button (see FIG. Press (not shown).
Thereby, the position data of the travel routes L01 to L07, the start positions C1 to C7, and the end positions D1 to D7 are acquired and stored in the travel route acquisition unit 54 (see FIG. 3).

(Aircraft automatic driving)
As described in the above (Setting of travel route), in the state where the travel routes L01 to L07 are set, as shown in FIG. The driver operates the automatic operation unit 43 in a state where the vehicle body 11 is positioned at the start position C1 and starts traveling.

  At the same time, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field, and operates the planting clutch 26 and the fertilizer application clutch 27 in a transmission state to plant seedlings and supply fertilizer. Start.

  When the automatic operation unit 43 is operated, the automatic travel control unit 55 is activated. In the operating state of the automatic travel control unit 55, the steering motor 40 is operated based on the detection of the measuring device 29 and the inertial measuring device 30, and the automatic steering operation of the front wheel 1 is performed, and the transmission motor 41 is operated. Then, the speed change lever 37 is automatically operated, and the body 11 automatically travels at a constant speed along the travel route L01.

The display control unit 56 displays on the display device 42 the position of the aircraft 11, the current travel route L 01 on which the aircraft 11 travels, and the next travel route L 02 on which the aircraft 11 should travel next.
As shown in FIG. 5, when the aircraft 11 is located in the vicinity of the start position C1, as shown in FIG. 6, the aircraft 11 and the travel route L01 are displayed in the approximate center on the display device 42, and the travel route L02 is displayed. Is displayed on the right. In this case, in the display device 42, the airframe 11 is fixed at the position shown in FIG. 6, and the travel routes L01 and L02 flow to the lower side of the screen.

  As shown in the position K1 of FIG. 5, when the airframe 11 approaches the end position D1, as shown in FIG. 7, in addition to the airframe 11 and the travel routes L01 and L02, the end position D1, the start position C2, and the turning direction LL1. Is displayed.

  As shown in FIG. 5, when the vehicle body 11 reaches the end position D1, the driver operates the operation lever 39 to raise the seedling planting device 5 from the field to stop seedling planting and fertilizer supply. As the seedling planting device 5 is raised by the operation lever 39, the automatic travel control unit 55 is stopped.

  The driver operates the steering handle 20 and the shift lever 37 to turn the body 11 along the turning direction LL1 of the display device 42. As shown in FIG. 8, as the body 11 turns, the turning direction LL <b> 1 and the travel routes L <b> 01 and L <b> 02 move and rotate with respect to the body 11 whose position is fixed on the display device 42.

  As shown in FIG. 9, when the aircraft 11 reaches the start position C <b> 2, the travel route L <b> 01 disappears on the display device 42, and the travel route L <b> 02 is displayed as the current travel route on which the aircraft 11 travels. The travel route L03 is displayed on the left side as the next travel route on which the vehicle should travel.

As shown in FIG. 4, the driver operates the automatic operation unit 43 and starts traveling in a state where the body 11 is positioned at the start position C2. At the same time, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field, operate the planting clutch 26 and the fertilizer clutch 27 to the transmission state, and start planting seedlings and supplying fertilizer. To do.
As a result, the automatic travel control unit 55 is activated, and the same operation as described above is performed, so that the airframe 11 automatically travels at a constant speed along the travel route L02.

  Thereafter, when the body 11 approaches the end position D2, the display device 42 displays the end position D2, the start position C3, and the turning direction in addition to the body 11 and the travel routes L02 and L03.

  When the fuselage 11 reaches the end position D2, the fuselage 11 is turned in the same manner as described above. When the fuselage reaches the start position C3, the travel route L02 disappears on the display device 42, and the present time when the fuselage 11 travels. The travel route L03 is displayed as the travel route, and the travel route L04 is displayed on the right side as the next travel route on which the vehicle body 11 should travel.

  Thereafter, the same operation is repeated. Finally, the driver travels the vehicle body 11 along the edge B11-B41, planting seedlings (rotating planting) and supplying fertilizer, and in one field. Planting of seedlings and supplying fertilizer will be terminated.

(First embodiment of the invention)
In the above-mentioned (Mode for Carrying Out the Invention), instead of setting the travel routes L01 to L07 as described in (Acquisition of position data on the fly) (setting of the travel route) in the preceding paragraph, You may do it.

(In the first embodiment of the invention, the configuration relating to the automatic traveling of the aircraft)
As shown in FIG. 10, right and left markers 44 are provided on the right and left parts of the seedling planting device 5, and the right and left markers 44 are in an action posture to contact the field and upward from the field. It can be changed to a separate storage posture.

  The right and left markers 44 include an arm portion 44a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 44b supported at the tip of the arm portion 44a so as to be freely rotatable. An electric motor 45 is provided for operating the right and left markers 44 to the action posture and the retracted posture, and the electric motor 45 is operated by operating the operation lever 39.

  A reference travel route acquisition unit 57 is provided in the control device 23 as software. A push button type first operation unit 46 is provided on the left side of the steering handle 20, and a push button type second operation unit 47 is provided on the right side of the control handle 20. Operation signals from the operation unit 46 and the second operation unit 47 are input to the control device 23.

(In the first alternative embodiment of the invention, setting of the reference travel route)
As shown in FIG. 11, the driver operates the body 11 to be positioned at, for example, the position K2, operates the operation lever 39 to lower the seedling planting device 5 to the field, and sets the left marker 44 to the action posture. In operation, the airframe 11 is driven to travel along the edge B31, and the left marker 44 forms the index S1 on the field. In this case, seedlings are not planted and fertilizer is not supplied.

As shown in FIG. 12, when the machine body 11 reaches 畦 B2, the operator operates the operation lever 39 to raise the seedling planting device 5 and turn the machine body 11 (turning direction LL2). Is positioned at the index S1 (position K3), and the first operation unit 46 is operated.
By the operation of the first operation unit 46, the position (K3) of the body 11 is detected by the measuring device 29, and the position K3 is stored in the storage unit 52 as the first predetermined position A1.

  As shown in FIGS. 12 and 13, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field, operates the planting clutch 26 and the fertilizer clutch 27 to the transmission state, The marker 44 is operated to the acting posture. The driver makes the vehicle body 11 travel along the index S1 while observing the index S1 of the field, and performs seedling planting and fertilizer supply while forming the index S2 on the field by the right marker 44.

  As shown in FIG. 13, when the aircraft 11 reaches 畦 B1 (position K4), the driver operates the operation lever 39 to raise the seedling planting device 5 and finish planting seedlings and supplying fertilizer. Then, the second operation unit 47 is operated.

  By the operation of the second operation unit 47, the position (K4) of the machine body 11 is detected by the measuring device 29, and the position K4 is stored in the storage unit 52 as the second predetermined position A2. The straight line connecting the first predetermined position A1 and the second predetermined position A2 is set by the reference travel route acquisition unit 57 as the reference travel route L1.

(In the first alternative embodiment of the invention, setting of the travel route and automatic travel of the aircraft)
As shown in FIGS. 14 and 15, the driver turns the airframe 11 (turning direction LL3), positions the airframe 11 at the index S2 (position K5), and operates the automatic operation unit 43. By operating the automatic operation unit 43, a travel route L01 parallel to the reference travel route L1 is set by the travel route setting unit 53 forward from the position (K5) of the machine body 11, and the travel route L01 is set to the travel route acquisition unit 54. To be acquired.

  At the same time, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field, and operates the planting clutch 26 and the fertilizer application clutch 27 in a transmission state to plant seedlings and supply fertilizer. The left marker 44 is operated to the acting posture.

  When the automatic operation unit 43 is operated, the automatic travel control unit 55 is activated. In the operating state of the automatic travel control unit 55, as shown in FIGS. 15 and 16, the steering motor 40 is operated based on the detection of the measuring device 29 and the inertia measuring device 30 to automatically steer the front wheels 1. The operation is performed, the transmission motor 41 is operated, the transmission lever 37 is automatically operated, and the body 11 automatically travels at a constant speed along the travel route L01.

  Similar to the state shown in FIG. 6, the display device 42 displays the position of the airframe 11 and the current travel route L01 on which the airframe 11 travels. The next travel route L02 that the airframe 11 should travel next is displayed. Is not acquired by the travel route acquisition unit 54.

  In this case, the display control unit 56 sets the position parallel to the reference travel route L1 at a position separated from the travel route L01 by a predetermined interval W1 (width of the machine body 11 (seedling planting device 5)) (see FIG. 4). The virtual travel route is displayed on the display device 42 as the next travel route L02 for the aircraft 11 to travel next.

As shown in FIG. 16, when the aircraft body 11 reaches ２B2 (position K6), the driver operates the operation lever 39 to raise the seedling planting device 5 and finish planting seedlings and supplying fertilizer. To do.
As shown in FIG. 17, the driver turns the body 11 (turning direction LL4), positions the body 11 at the index S3 (position K7), and operates the automatic operation unit 43. By the operation of the automatic operation unit 43, a travel route L02 parallel to the reference travel route L1 is set by the travel route setting unit 53 forward from the position (K7) of the body 11, and the travel route L02 is set to the travel route acquisition unit 54. To be acquired.

  At the same time, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field, and operates the planting clutch 26 and the fertilizer application clutch 27 in a transmission state to plant seedlings and supply fertilizer. The right marker 44 is operated to the action posture.

  As in the state shown in FIG. 9, the travel route L01 disappears and the travel route L02 is displayed as the current travel route on which the airframe 11 travels on the display device 42. Next, the airframe 11 should be traveled. The next travel route L03 is not acquired by the travel route acquisition unit 54.

  In this case, the display controller 56 sets the position parallel to the reference travel route L1 at a position separated from the travel route L02 by a predetermined interval W1 (width of the machine body 11 (seedling planting device 5)) (see FIG. 4). The virtual travel route is displayed on the display device 42 as the next travel route L03 for the aircraft 11 to travel next. Thereafter, the same operation as described above is repeated.

(Second embodiment of the invention)
In the above-described (Mode for Carrying Out the Invention) (First Another Mode for Carrying Out the Invention), the travel route setting unit 53 may not be provided in the control device 23.

According to this configuration, the travel route setting unit 53 is provided in an external computer (not shown) separate from the riding rice transplanter.
The reference travel route L1 and the travel routes L01 to L07 (start positions C1 to C7 and end positions D1 to D7) are set by the travel route setting unit 53 of the external computer, and the set reference travel route L1 and travel route are set. L01 to L07 (start positions C1 to C7 and end positions D1 to D7) are transmitted to the control device 23 and acquired by the reference travel route acquisition unit 57 and the travel route acquisition unit 54.

(Third Another Embodiment of the Invention)
The automatic travel control unit 55 may be configured as follows.
State of mud in the field (hard, soft), unevenness of the cultivator in the field (more or less), depth of mud to the cultivator in the field (deep, shallow), water layer on the surface of the field (deep, shallow) ) And the like are set in advance, and the driver selects the parameters in advance.
In the operating speed of the steering motor 40, the operating speed of the transmission motor 41, and the like, appropriate values corresponding to the respective parameters are set in advance, and the steering motor 40 and the transmission motor 41 are set based on the selected parameters. Operates.

  The present invention is not only a riding type rice transplanter equipped with a seedling planting device 5 as a working device at the rear part of the machine body 11 so as to be movable up and down, but also a rider equipped with a seeding device as a working device at the rear part of the machine body 11 so as to be raised and lowered. A direct seeding machine, a tractor equipped with a rotary tiller as a working device and a chemical spraying device as a working device at the rear part of the machine 11, and a cutting part as a working device at the front of the machine 11 can be raised and lowered. The present invention can also be applied to a work vehicle that travels while working on a farm field, such as a combine combine.

DESCRIPTION OF SYMBOLS 11 Airframe 29 Positioning part 42 Display apparatus 54 Travel route acquisition part 55 Automatic travel control part 56 Display control part 57 Reference | standard travel route acquisition part L01-L07 Travel path W1 predetermined interval

Claims (4)

A positioning unit that detects the position of the aircraft,
A travel route acquisition unit for acquiring a travel route along which the aircraft travels;
Based on the position of the aircraft, an automatic travel control unit that performs automatic steering of the aircraft so that the aircraft travels along the travel route,
A display device for the driver to see;
A work vehicle comprising: a display control unit configured to display on the display device the current travel route on which the airframe travels and the next travel route on which the airframe should travel next. The travel route acquisition unit acquires a plurality of the travel routes in advance,
The display control unit displays the current travel route on which the aircraft travels and the next travel route on which the aircraft should travel next among the plurality of travel routes acquired by the travel route acquisition unit. The work vehicle according to claim 1 displayed on a device. A reference travel route acquisition unit for acquiring a reference travel route is provided,
The travel route acquisition unit acquires the travel route set in parallel with the reference travel route from the current position of the aircraft based on a driver's command,
The display control unit
Displaying the travel route acquired by the travel route acquisition unit on the display device as the current travel route on which the aircraft travels; and
Next, the aircraft should travel along the virtual travel route set in parallel with the reference travel route at a position separated by a predetermined interval from the travel route acquired by the travel route acquisition unit. The work vehicle according to claim 1, wherein the work vehicle is displayed on the display device as the next travel route. The display control unit
The current position of the aircraft, the current travel route on which the aircraft travels, and the next travel route on which the aircraft should travel next are displayed on the display device. Work vehicle as described in the paragraph.

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