JP2019097533A - Travel implement - Google Patents

Abstract

To provide a travel implement capable of accurately setting a target movement path adjacent to a work travel locus of a travel machine body.SOLUTION: A travel implement comprises: a travel machine body C traveling on a farm field; a work unit W for performing work to the farm field; and a path setting part for setting a target movement path LM for work travel in which the travel machine body C travels while performing work by the work unit. The path setting part sets a target LM2 for post step for traveling of the travel machine body C after traveling a target movement path LM, based on a position acquired in travel of the travel machine body C along the target movement path LM, when the travel machine body C travels in a state of alternately repeating work travel along the target movement path LM and turning travel for turning toward a next target movement path LM.SELECTED DRAWING: Figure 8

Description

  According to the present invention, a traveling machine for traveling in a field, a working device for performing work on the field, and a route setting unit for setting a target movement path for traveling for traveling while the traveling machine is working with the working device The present invention relates to a provided traveling work machine.

  For example, in Patent Document 1, a traveling machine body ("traveling vehicle body C" in the literature), a work device ("seedling planting device W" in the literature) for performing work on a field, and a target movement for the traveling machine body to travel in work traveling There is disclosed a work vehicle provided with a route setting unit (reference numeral "68" in the literature) for setting a route. The path setting unit is configured to set a teaching path corresponding to a target path to be automatically steered by teaching traveling and to set a plurality of target movement paths parallel to the teaching path.

JP, 2017-123804, A

  The traveling body alternately repeats work traveling along the target movement path and turning traveling toward the target movement path of the post-process at the moment. However, in the configuration of Patent Document 1, each target movement path is set based on the teaching path, and the traveling machine body along the target movement path is a target for the traveling body to travel in a later process. Not taken into account in the settings. From this, when work traveling is performed with the traveling aircraft shifted in position relative to the actual target movement path, when the work travel is performed along the target movement path of the later step, the planted seedlings in the existing work area However, there is a risk that an unoccupied area may occur between work travel paths before and after turning.

  In view of the above-described situation, an object of the present invention is to provide a traveling work machine capable of accurately setting a target movement route adjacent to a work traveling locus of a traveling machine body.

The traveling working machine of the present invention is
With a traveling aircraft that travels in the field,
A working device for performing work on the field,
A route setting unit configured to set a target movement route for work traveling in which the traveling machine body travels while performing work by the work device;
Is equipped with
The route setting unit is configured to move to the target movement route, in a case where the traveling body alternately and repeatedly travels the work traveling along the target movement route and a turning traveling to turn to the next target movement route. The target for the post-process for traveling after the traveling machine body travels after setting the target movement path is set based on the position acquired while traveling the traveling machine body along.

  According to the present invention, the traveling of the traveling airframe along the target movement path is considered in setting the target for the traveling airframe to travel in the later process. That is, even in the case where the traveling travel is performed in a state where the traveling vehicle deviates from the actual target movement path, the target of the post-process is set from the position acquired during traveling. For this reason, a target after turning is suitably set, and work traveling after turning is suitably performed along a work traveling trajectory before turning. As a result, a traveling work machine capable of accurately setting a target movement path adjacent to the work traveling locus of the traveling machine is realized.

In this configuration,
It is preferable that the post-process target is a post-process target movement route for the traveling machine body to travel.

  According to this configuration, the target travel route for the post process is set based on the work travel track on which work travel has already been performed. As a result, when the work travel is performed along the target movement route of the post process, the already planted seedlings in the already work area are stepped on, or an unworked area is generated between work travel trajectories before and after turning. The risk of doing so is avoided. As a result, a traveling work machine capable of accurately setting a target movement path adjacent to the work traveling locus of the traveling machine is realized.

In this configuration,
Informing means for notifying the deviation between the position of the traveling machine body and the next target movement path when the traveling body moves from the turning to traveling along the next target movement path Is preferable.

  The position of the traveling vehicle immediately after turning is likely to be misaligned with respect to the target movement path. From this, according to this configuration, when traveling along the next target movement route, the positional deviation is notified, so the driver can easily correct the positional deviation with respect to the target movement route.

In this configuration,
Preferably, the notification means is configured to notify after completion of the turning.

  Since the position of the traveling vehicle is displaced relative to the target movement path during turning, when the position deviation is notified during turning, the driver is likely to misunderstand the driver, etc. The driver may be bothersome. According to this configuration, since the positional deviation is notified after the turning travel is completed, the unnecessary notification is eliminated, and the driver can be notified of the necessary information.

In this configuration,
Preferably, the notification means is configured to notify that the setting of the post-process target can not be made when the post-process target can not be set.

  With this configuration, the driver is notified of a state in which the setting of the post-process target can not be made, so the driver can easily take measures such as manual operation.

In this configuration,
A detection means for detecting the proximity to the eye is provided.
It is preferable that the route setting unit sets the target for the post-process, when the detection unit detects the proximity to the position.

  Work travel along the target movement path is completed near the edge of the field. According to this configuration, since the target for the post-process is set by detecting the proximity to the actual position, it is possible to set the target for the post-process based on the work travel locus along the target movement path.

In this configuration,
It is preferable that the route setting unit sets the target for the post-process when the traveling body shifts from traveling along the target movement path to the turning traveling.

  With this configuration, it is possible to use the post-process target as a target position in cornering. For this reason, even when, for example, the turning is automatically turned, there is no need to separately provide a target position dedicated to the automatic turning, and the traveling machine can smoothly move to the target for the subsequent process.

In this configuration,
It is preferable that the route setting unit sets the target for the post-process when the traveling body tilts by a predetermined angle or more with respect to the target movement route.

  According to this configuration, the turning of the traveling machine can be determined based on the inclination of the traveling body with respect to the target movement path, so that the setting of the target for the subsequent process can be performed with a simple configuration.

In this configuration,
Preferably, the path setting unit sets the target for the post-process after the operation is performed on the artificial operation tool.

  In the case of this configuration, since the post-process target is set by manual operation, it is possible to prevent, for example, setting of an unintended post-process target. As a result, it is possible to select one of the work traveling along the target movement path for the post process and the work traveling not along the target movement path for the rear process.

In this configuration,
Position detection means for acquiring position information based on the positioning signal of the navigation satellite,
It is preferable that the post-process target is set based on an average position of the plurality of pieces of position information positioned immediately before the end of the work travel.

  The position detection means is exemplified by DGPS (Differential GPS) and RTK-GPS (Real Time Kinematic GPS). Generally, RTK-GPS is more expensive than DGPS, but RTK-GPS positioning accuracy is higher than DGPS positioning accuracy. Also, in general, when positioning between two points by DGPS is performed in a short time, it is known that the relative error between the two points is small. In the case where it is a short time during which the traveling vehicle travels to the target for the subsequent process after turning, the operation of the traveling vehicle can be performed without using expensive RTK-GPS. The target for the post-process adjacent to the traveling locus can be set accurately.

In this configuration,
It is preferable that the post-process target is configured to be able to set a plurality in parallel.

  With this configuration, it is possible to collectively set the post-process targets, so it becomes easy to set the post-process targets when, for example, a plurality of traveling working machines are traveling at the same time.

In this configuration,
The post-process target is preferably set based on a positional deviation of the traveling machine body with respect to the target movement path.

  According to this configuration, it is possible to set the target for the subsequent process based on the traveling of the traveling body along the target movement path.

In this configuration,
Preferably, the target for the post-process is set in a state in which it is moved in parallel from the position separated from the target movement path at a preset interval by the displacement of the traveling body relative to the target movement path. is there.

  With this configuration, when the work travel is performed along the target movement path of the post process, the existing planted seedlings in the already work area are stepped on or an unworked area is generated between work travel trajectories before and after turning. The risk of failure is reliably avoided.

In this configuration,
The post-process target is preferably configured to be able to be corrected after setting.

  Immediately after the completion of the turning, there is a case where the traveling body deviates from the target movement path immediately after the turning. With this configuration, even when the target for the post process is set, the driver can eliminate the positional deviation of the traveling machine body from the target movement route by changing the target for the post process as necessary.

In this configuration,
It is preferable that the post-process target is set along a work travel locus of the traveling machine body.

  Even if the target movement path is linear, the work traveling locus of the actual traveling airframe may be curved due to, for example, the slip of the traveling airframe or the avoidance of an obstacle in a field. With this configuration, even if the work travel locus is curved, the post-process target can be set so that the route based on the post-process target traces the work travel locus. As a result, when the work travel is performed along the target movement route of the post process, the already planted seedlings in the already work area are stepped on, or an unworked area is generated between work travel trajectories before and after turning. The risk of doing so is prevented.

In this configuration,
It is preferable that the route based on the post-process target has a linear shape that is more linear than the work travel path.

  When the work travel locus of the traveling machine body meanders in a complicated manner with respect to the target movement path, the path based on the post-process target is also set as the configuration in which the target for the subsequent process is set along the work travel locus of the traveling body. There is a risk that the traveling vehicle can not travel with high precision along the route due to the complicated meandering. According to this configuration, since the route based on the post-process target is set to have a linear linear shape, the traveling machine body can suitably travel along the target movement route.

In this configuration,
Control means is provided for outputting a control signal such that the work travel is performed,
The target movement path is substantially linear.
Preferably, the route setting unit is configured to set the target for the post-process as a function independent of the control unit.

  According to this configuration, work travel can be automatically performed along a substantially linear target movement path. In addition, since the control means and the route setting unit are independent functions, the driver whether or not the traveling vehicle travels along the route based on the back process target after the traveling vehicle travels along the target movement route. It is possible to wait for the judgment of

In this configuration,
Control means is provided for outputting a control signal such that the work travel is performed,
The target movement path is substantially linear.
Preferably, the path setting unit is configured to set the target for the post-process as a function interlocked with the control unit.

  With this configuration, after the traveling machine body travels along the target movement path, a target for the subsequent process is set, and a configuration is realized in which the traveling travel is automatically performed along the path based on the target for the subsequent process. . This enables automatic work travel along the route based on the post-process target in conjunction with the setting of the post-process target.

In this configuration,
Preferably, the target movement path is configured not to be used for the work travel when the traveling body deviates from the target movement path by a distance greater than a preset distance.

  When the traveling airframe is largely misaligned from the target movement path, it is considered that the driver is likely to intentionally operate the traveling airframe. According to this configuration, since the target movement route can not be used for work travel, priority can be given to the driver's manual operation even without a dedicated operation tool or the like.

In this configuration,
A reference route is set based on the work travel immediately before the turning travel,
In another field, preferably, the route setting unit is configured to set the target for the post-process based on the reference route.

  With this configuration, it is possible to use the reference route for setting the post-process target of another field, so that the target movement route can be easily set without performing teaching travel in another field.

In this configuration,
It is preferable that a storage unit capable of storing a plurality of reference routes for each field is provided.

  In the case of this configuration, the target travel route can be set only by reading out the reference route corresponding to each farm field from the storage unit, and thus there is no need to repeat the teaching travel.

It is a whole side view of a rice transplanter. It is a whole top view of a rice transplanter. It is a front view of a rice transplanter. It is a figure which shows a steering steering unit. It is a block diagram showing control composition. It is explanatory drawing of the planar view in the whole field which shows operation | movement of automatic steering control. It is an explanatory view showing automatic steering control using an inertia measurement unit. It is explanatory drawing which shows the setting of the target movement path | route for back processes. It is an explanatory view showing automatic turning control in the field of a field. It is an explanatory view showing automatic turning control in the field of a field. It is an explanatory view showing automatic turning control in the field of a field. It is an explanatory view showing correction of a position gap in automatic steering control. It is explanatory drawing which shows a display part. It is explanatory drawing which shows another embodiment of the setting of the target movement path | route for back processes. It is explanatory drawing which shows another embodiment of the setting of the target movement path | route for back processes. It is explanatory drawing which shows another embodiment of the setting of the target movement path | route for back processes.

[Basic configuration of traveling work machine]
An embodiment of the present invention will be described based on the drawings. Here, a riding type rice transplanter will be described as an example of the traveling working machine according to the present invention. As shown in FIG. 2, in the present embodiment, the arrow F indicates the front side of the traveling vehicle C, the arrow B indicates the rear side of the traveling vehicle C, and the arrow L indicates the left side of the traveling aircraft C, Arrow R is on the right side of the traveling body C.

  As shown in FIG. 1 to FIG. 3, the riding type rice transplanter can plant a traveling vehicle C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11 and seedlings on the field. A seedling planting apparatus W as a working apparatus is provided. The pair of left and right steering wheels 10 are provided on the front side of the traveling body C so that the direction of the traveling body C can be freely changed, and the pair of left and right rear wheels 11 are provided on the rear side of the traveling body C. It is done. The seedling planting apparatus W is movably connected to the rear end of the traveling machine C via a link mechanism 21 which is moved up and down by the expansion and contraction of the elevating hydraulic cylinder 20.

  The front of the traveling vehicle C is provided with an openable / closable bonnet 12. At the tip end position of the bonnet 12, a rod-shaped center mascot 14 is provided as a reference for traveling along an index line (not shown) drawn on the field by the marker device 33. The traveling airframe C is provided with an airframe frame 15 extending along the front-rear direction, and a support support frame 16 is provided upright at the front of the airframe frame 15.

  An engine 13 is provided in the hood 12. Although not described in detail, the motive power of the engine 13 is transmitted to the steering wheel 10 and the rear wheel 11 via an HST (hydrostatic stepless transmission) (not shown) provided on the airframe, and the motive power after gear change is electric. It is transmitted to the seedling planting apparatus W via a motor driven planting clutch (not shown).

  As shown in FIGS. 1 and 2, the seedling planting apparatus W includes four transmission cases 22, eight rotation cases 23, a ground adjustment float 25, a seedling platform 26, and a marker device 33. And are equipped. The rotating case 23 is rotatably supported on the left side and the right side of the rear of each transmission case 22 respectively. A pair of rotary type planting arms 24 is provided at both ends of each rotation case 23. The ground adjustment float 25 is used to level the surface of the field, and a plurality of seedling planting devices W are provided. The seedling for planting is placed on the seedling stand 26. The marker device 33 is provided on the left and right sides of the seedling planting device W, and forms an index line (not shown) on the field of the field.

  The seedling planting apparatus W rotationally drives each rotating case 23 by power transmitted from the transmission case 22 while reciprocating feeding the seedling loading stand 26 laterally to the left and right, and carries out each planting from the lower part of the seedling loading stand 26 The seedlings are alternately taken out by the arms 24 and planted in the field of the field. The seedling planting apparatus W is comprised by the eight-row planting type which plants a seedling with the planting arm 24 with which eight rotation cases 23 were equipped. The seedling planting apparatus W may be a four-row planting type, a six-row planting type, a seven-row planting type, or a ten-row planting type.

  Although not described in detail, the marker device 33 is configured to be switchable between an action posture and a storage posture. In the working posture, the marker device 33 is in contact with the field of the field as the traveling body C travels, and forms an index line (not shown) on the field corresponding to the next operation process. In the storage posture, the marker device 33 moves upward from the field of the field. The attitude switching of the marker device 33 is performed by an electric motor (not shown).

  As shown in FIGS. 1 to 3, on the left and right sides of the hood 12 in the traveling airframe C, a plurality of (for example, four) normal spare seedling beds 28 and a spare seedling bed 29 are provided. There is. The normal spare seedling stand 28 is configured to be able to mount a spare seedling for replenishing the seedling planting device W. The spare seedling stand 29 is configured in a rail type on which spare seedling for supplying the seedling planting device W can be placed. A pair of left and right spare seedling frames 30 as a frame member of a height supporting the respective normal spare seedling beds 28 and spare seedling pads 29 is provided on the left and right sides of the bonnet 12 in the traveling machine body C. Top portions of the frame 30 are connected by a connecting frame 31.

  As shown in FIGS. 1 to 3, at the central portion of the traveling body C, an operating unit 40 is provided in which various driving operations are performed. The driving unit 40 is provided with a driver's seat 41, a steering handle 43, a main shift lever 44, and an operation lever 45. The driver's seat 41 is provided at the central portion of the traveling vehicle C, and is configured to be able to be seated by the driver. The steering handle 43 is configured to be able to steer the steering wheel 10 by manual operation. The main shift lever 44 is configured to be capable of switching between forward and reverse travel and changing the traveling speed. The raising and lowering operation of the seedling planting device W and the switching of the left and right marker devices 33 are performed by the operation lever 45. The steering handle 43, the main shift lever 44, the operation lever 45 and the like are provided on the upper portion of the control tower 42 located on the front side of the driver seat 41. A boarding step 46 is provided at the foot of the driver 40. The boarding step 46 also extends to the left and right sides of the hood 12.

  When the main shift lever 44 is operated, the angle of the swash plate in the HST (not shown) is changed, and the power of the engine 13 is continuously shifted. Although not shown, the swash plate angle of the HST is controlled by a hydraulic unit equipped with a servo hydraulic control device. A well-known hydraulic pump, a hydraulic motor, etc. are used for a servo hydraulic control apparatus.

  When the control lever 45 is operated to the raised position, the planting clutch (not shown) is turned off to interrupt the transmission to the seedling planting device W, and the lifting hydraulic cylinder 20 is operated to raise the seedling planting device W , And the left and right marker devices 33 (see FIG. 1) are operated in the storage posture. When the operation lever 45 is operated to the lowered position, the seedling planting device W is lowered to be in contact with the rice surface and stopped. When the operation lever 45 is operated to the right marker position in this lowered state, the right marker device 33 changes from the storage posture to the action posture. When the operation lever 45 is operated to the left marker position, the left marker device 33 changes from the storage attitude to the action attitude.

  When starting the rice planting operation, the driver operates the operation lever 45 to lower the seedling planting device W and starts transmission to the seedling planting device W to start the rice planting operation. And when stopping a rice planting operation, while operating the control lever 45 and raising a seedling planting apparatus W, the transmission with respect to the seedling planting apparatus W is interrupted | blocked.

  The operation panel 47 at the top of the control tower 42 of the operation unit 40 is provided with a display unit 48 capable of displaying various information using a liquid crystal display. The display unit 48 may be a touch panel liquid crystal display. Further, on the right side of the display unit 48, a push operation start and end point setting switch 49A is provided, and on the left side of the display unit 48, a push operation target setting switch 49B is provided. The start point / end point setting switch 49A may be provided on the left side of the display unit 48, and the target setting switch 49B may be provided on the right side of the display unit 48. The functions of the start point / end point setting switch 49A and the target setting switch 49B will be described later.

  The grip portion of the main shift lever 44 is provided with a push-type automatic steering switch 50. The automatic steering switch 50 is provided in an automatic return type, and instructs switching of automatic steering control on / off each time the push operation is performed. The automatic steering switch 50 is disposed, for example, at a position where it can be pressed by the thumb while holding the grip portion of the main shift lever 44 by hand.

  As shown in FIG. 4, the traveling body C is equipped with a steering unit U as a steering operation unit capable of steering the left and right steering wheels 10. The steering unit U includes a steering operation shaft 54, a pitman arm 55, right and left connecting mechanisms 56 interlocked with the pitman arm 55, a steering motor 58, and a gear mechanism 57. . The steering operation shaft 54 is interlocked with the steering wheel 43 via a clutch 53. The pitman arm 55 is configured to swing as the steering operation shaft 54 rotates. The gear mechanism 57 is configured to interlock and couple the steering motor 58 with the steering operation shaft 54.

  The steering operation shaft 54 is interlockingly connected to the left and right steering wheels 10 via the pitman arm 55 and the left and right connecting mechanism 56. A steering angle sensor 60 consisting of a rotary encoder is provided at the lower end portion of the steering operation shaft 54, and the amount of rotation of the steering operation shaft 54 is detected by the steering angle sensor 60. A torque sensor 61 for detecting a torque applied to the steering wheel 43 is provided in the middle of the steering operation shaft 54.

  For example, when the steering motor 58 rotates the steering operation shaft 54 in a predetermined direction, when the steering handle 43 is manually operated in the direction opposite to the rotation direction, the torque sensor 61 It is possible to detect that. Further, when the steering wheel 43 is manually operated in any direction while the steering motor 58 is stopped, the torque sensor 61 can detect that. When such a manual operation is performed, the steering motor 58 can be operated based on the manual operation in preference to the automatic steering control.

  The clutch 53 is provided between the steering operation shaft 54 and the steering handle 43, and power is not transmitted between the steering handle 43 and the steering operation shaft 54 when the clutch 53 is disengaged. The clutch 53 is configured to be disengaged, for example, at the time of automatic turning, and the rotation of the steering operation shaft 54 due to the operation of the steering motor 58 is not transmitted to the steering handle 43 at the time of automatic turning.

  When automatic steering of the steering unit U is performed, the steering motor 58 is driven to turn the steering operation shaft 54 by the driving force of the steering motor 58, and the steering angle of the steering wheel 10 is calculated. It is supposed to change. When automatic steering is not performed, the steering unit U can be turned by manual operation of the steering handle 43.

[Configuration of automatic steering control]
Next, a configuration for performing automatic steering control will be described.
As an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from satellites and detects the position of the aircraft on the traveling vehicle C, GPS (Global Positioning System), which is a well-known technology, is used. , And a satellite positioning unit 70 (position detection means) for obtaining the position of the airframe. In the present embodiment, the satellite positioning unit 70 uses DGPS (Differential GPS: relative positioning method), but it is also possible to use RTK-GPS (Real Time Kinematic GPS: interference positioning method).

  Specifically, as a position detection means, the satellite positioning unit 70 is provided in a target (traveling machine C) on which positioning is performed. The satellite positioning unit 70 has a receiver 72 with an antenna 71 for receiving radio waves emitted from a plurality of GPS satellites orbiting the earth. The position of the receiver 72, that is, the satellite positioning unit 70 is determined based on the information of the radio wave received from the navigation satellite.

  As shown in FIGS. 1 to 3, the satellite positioning unit 70 is attached to the connection frame 31 via a plate-like support plate 73 in a state of being located at the front of the traveling vehicle C. As shown in FIGS. 1 and 3, the receiving device 72 is supported by the connecting frame 31 and the spare seedling frame 30 at a high position. As a result, there is little possibility that reception failure will occur in the receiving device 72, and the reception sensitivity of radio waves in the receiving device 72 can be enhanced.

  In addition, the receiving apparatus 72 is not limited to the structure attached to the connection frame 31 provided in the upper part of the backup seedling flame | frame 30. FIG. For example, a separate frame having a function of transferring the receiving device 72 to a position lower than the top of the spare seedling frame 30 may be provided separately from the spare seedling frame 30. In addition, the individual frame may be configured to extend to the rear side of the machine.

  In addition to the satellite positioning unit 70, the traveling body C is provided with an inertial measurement unit 74 having, for example, an IMU (Inertial Measurement Unit) 74A as a direction detection means for detecting the direction of the traveling body C. The inertial measurement unit 74 may be configured to have a gyro sensor or an acceleration sensor instead of the IMU 74A. Although not shown, the inertial measurement unit 74 is provided, for example, at a lower position on the rear side of the driver's seat 41 and at a lower center in the widthwise direction of the traveling body C. The inertial measurement unit 74 can detect the angular velocity of the turning angle of the traveling vehicle body C, and can calculate the azimuth change angle ΔNA (see FIG. 7) of the vehicle by integrating the angular velocity. Therefore, the measurement information measured by the inertial measurement unit 74 includes the azimuth information of the traveling vehicle C. Although not described in detail, in addition to the angular velocity of the turning angle of the traveling body C, the inertial measurement unit 74 can also measure the angular velocity of the traveling aircraft C, the angular speed of the longitudinal inclination angle of the traveling vehicle C, and the like.

  As shown in FIG. 5, the traveling body C is provided with a control device 75. The controller 75 is configured to be switchable between an automatic steering mode in which the automatic steering control is performed and a manual steering mode in which the automatic steering control is not performed.

  The control device 75 includes a route setting unit 76 (route setting unit), an azimuth deviation calculation unit 77, a control unit 78 (control unit), and a steering control unit 79 (control unit). The route setting unit 76 sets a target movement route LM (see FIG. 6) on which the traveling body C should travel. Details of the azimuth deviation calculation unit 77 will be described later. The control unit 78 controls the traveling body C to be a target movement route based on the position information of the traveling body C measured by the satellite positioning unit 70 and the orientation information of the traveling body C measured by the inertia measurement unit 74. Calculate and output the manipulated variable so that it travels along the LM. The steering control unit 79 controls the steering motor 58 based on the operation amount. Specifically, the control device 75 includes a microcomputer, and a path setting unit 76, an azimuth deviation calculation unit 77, a control unit 78, and a steering control unit 79 are configured by a control program.

  A start point / end point setting switch 49A is provided to set a target movement path LM used for automatic steering control by teaching processing. The setting of the start point position Ts and the setting of the end point position Tf are performed by operating the start point / end point setting switch 49A. The start point / end point setting switch 49A does not have to be configured by one switch, and a switch for setting the start point position Ts and a switch for setting the end point position Tf are provided in a line. It may be As described above, although the start point / end point setting switch 49A is provided on the right side of the display unit 48, it is not limited thereto, and may be provided on the left side of the display unit 48.

  In the control device 75, the satellite positioning unit 70, inertia measurement unit 74, automatic steering switch 50, start point / end point setting switch 49A, target setting switch 49B, steering angle sensor 60, torque sensor 61, vehicle speed sensor 62, obstacle detection unit Information such as 63 (presence detection unit) is input. The vehicle speed sensor 62 is configured to detect the vehicle speed, for example, by the rotational speed of the transmission shaft in the transmission mechanism with respect to the rear wheel 11. The vehicle speed may be configured to take into consideration not only the vehicle speed sensor 62 but also the positioning data of the satellite positioning unit 70. The obstacle detection unit 63 is provided at the front and both left and right sides of the traveling vehicle C, and is, for example, a light wave distance measurement type distance sensor or an image sensor. It is comprised so that a steel tower etc. can be detected. When an obstacle is detected by the obstacle detection unit 63, an alarm is notified to the driver by the alarm unit 64 which is, for example, a buzzer or voice guidance. Further, the control device 75 is connected to a notification unit 59 (notification means), and the notification unit 59 is configured to notify, for example, the conditions such as the vehicle speed and the engine rotational speed. The notification unit 59 may be configured to be displayed on the display unit 48 or may be configured to change the blinking pattern of the LED illumination provided on the center mascot 14. Further, the alarm unit 64 may be configured to display an alarm on the display unit 48 via the notification unit 59. In this case, for example, a warning of detection of the actual condition is displayed on the display unit 48. In addition, the alarm unit 64 may be configured as a part of the notification unit 59.

  The teaching path corresponding to the target path to be automatically steered is set by the path setting unit 76 by teaching processing based on the operation of the start point / end point setting switch 49A.

  The azimuth deviation calculation unit 77 calculates an angular deviation, that is, an azimuth deviation, between the detected orientation (the own aircraft orientation NA) of the traveling vehicle C detected by the inertia measurement unit 74 and the target orientation LA on the target movement route LM. . Then, when the control device 75 is set to the automatic steering mode, the control unit 78 calculates and outputs an operation amount for controlling the steering motor 58 so that the angle deviation becomes smaller.

  The steering control unit 79 executes the automatic steering control based on the operation amount output by the control unit 78 during the automatic steering control of the traveling vehicle body C. That is, the steering motor 58 is operated such that the detected position (the own machine position NM) of the traveling vehicle C detected by the satellite positioning unit 70 and the inertia measurement unit 74 becomes the position on the target movement path LM.

  The control signal in the present embodiment may be an operation amount output from the control unit 78, or may be a voltage value or current value for the steering control unit 79 to operate the steering motor 58. .

[Target travel route]
In the paddy field, the rice transplanter alternately repeats work traveling with rice planting work along a straight striping path and winding travel for moving to the next strip planting route near the border. FIG. 6 shows a plurality of target movement paths LM arranged in parallel along the teaching path. In the present embodiment, the target movement routes LM (1) to LM (6) are set by the route setting unit 76 according to the following procedure.

  First, the driver positions the traveling vehicle C at the starting point Ts at the edge of the field, and operates the starting point / end point setting switch 49A. At this time, the control device 75 is set to the manual steering mode. Then, while the driver manually maneuvers, the traveling vehicle C travels from the starting position Ts along the rectilinear shape of the side of the side, and moves to the end position Tf near the side of the other side from the starting point to the end point The setting switch 49A is operated again. Thus, the teaching process is performed. That is, from the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the start position Ts and the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the end position Tf, the start position Ts and the end position Tf And a teaching path connecting the The direction along the teaching path is set as a target azimuth LA as a reference. The position coordinates at the end position Tf are based not only on the positioning data by the satellite positioning unit 70 but also on the distance from the start position Ts based on the vehicle speed sensor 62 and the azimuth information of the traveling vehicle C based on the inertia measurement unit 74. It may be calculated. In addition, traveling of the traveling body C across the start position Ts and the end position Tf may be work traveling involving rice planting work or traveling in a non-work state.

  After the setting of the teaching path is completed, the cornering traveling for moving to the path for planting a strip adjacent to the teaching path is performed, and in the present embodiment, the traveling machine C moves to the starting position Ls (1). In this case, cornering may be performed by the driver manually operating the steering handle 43, or may be performed by automatic cornering control to be described later. At this time, the control unit 78 can determine that turning of the traveling body C has been performed by reversing the own-machine direction NA. The reversal of the self-orientation NA can be detected by the satellite positioning unit 70 or the inertial measurement unit 74.

  The turning of the traveling vehicle C may be determined by the operation of various devices other than the reversal of the self-orientation NA. Examples of operations of various devices are raising operation of the seedling planting device W, the ground adjustment rotor (not shown), the ground adjustment float 25, etc., the side clutch (not shown) is disconnected, or the seedling planting device It may be cut off of the transmission to W. In addition, the arrival of the traveling body C at the start position Ls (1) may be determined by the satellite positioning unit 70.

  After setting of the teaching path is completed, the target movement path LM (1) is set by the path setting unit 76 at an arbitrary timing. The target movement path LM (1) may be set when the setting of the teaching path is completed, may be set during turning of the traveling body C, or may be set after turning of the traveling body C. At the above-described timing, the target movement route LM (1) is set by the driver operating the target setting switch 49B. In addition, it is not limited to target setting switch 49B, For example, when the driver operates automatic steering switch 50 grade | etc., The structure by which target movement path | route LM (1) may be set may be sufficient. Furthermore, the target movement route LM (1) may be automatically set without the driver's operation.

  After the turning completion of the traveling body C is determined, the manual steering mode of the control device 75 is continued, and the straight traveling by human operation is continued. During this time, the control device 75 confirms the determination conditions such as the deviation of the heading NA calculated by the deviation calculating unit 77, the orientation of the steering wheel 10, the steering angle of the steering wheel 43, etc. It is determined whether it is possible to switch to Then, the control device 75 permits the operation of the automatic steering switch 50 if it can be switched to the automatic steering mode. At this time, the notification unit 59 notifies whether the control device 75 can switch to the automatic steering mode.

  When the control device 75 can not switch to the automatic steering mode, the notification unit 59 is configured to notify also the reason. Therefore, for example, since the driver can be notified of an adverse condition for automatic steering control, the driver can easily set the conditions for starting the automatic steering control. The notification by the notification unit 59 may be a sound such as a buzzer, or may be lighting or blinking of the LED illumination provided to the center mascot 14, or may be displayed on the display unit 48. good. Further, the notification by the notification unit 59 may be configured to be temporarily notified, or may be configured to be always notified.

  As an adverse condition for the automatic steering control, the azimuth deviation of the own heading NA with respect to the target heading LA is significantly large, the direction of the steering wheel 10 is largely displaced to the left and right, and the vehicle speed of the traveling vehicle C is It is exemplified that it is too fast or too slow. Also, the number of navigation satellites that can be captured by the satellite positioning unit 70 is less than a preset number, which is exemplified as a bad condition for automatic steering control.

  When the driver operates the automatic steering switch 50 while the operation of the automatic steering switch 50 is permitted, the route setting unit 76 sets the target movement route LM (1), and the control device 75 operates in the manual steering mode. Is switched to the automatic steering mode. Then, automatic steering control along the target movement path LM (1) is started. The target movement route LM (1) is a target movement route LM which is set along the direction of the target direction LA in a state adjacent to the teaching route, and the traveling body C performs work traveling first after the teaching process. The driver operates the operation lever 45 to lower the seedling planting device W after turning of the traveling machine body C to execute rice planting work, but the control device 75 changes the manual steering mode to the automatic steering mode. When switched, the seedling planting apparatus W may be lowered to start rice planting work.

  In the automatic steering control, the obstacle detection unit 63 detects an eyelid upon the end position Lf (1) that is opposite to the side where the start position Ls (1) of the target movement path LM (1) is located. Continue until determined. During this time, for example, at the time of automatic steering control, even if the swash plate of the HST is operated by the electric motor and the driver operates the main shift lever 44, the operation of the main shift lever 44 is not transmitted to HST (not shown). Further, the main shift lever 44 may be restrained at a predetermined position so as not to move during automatic steering control. This configuration is particularly useful in a configuration in which the main shift lever 44 and the HST mechanically interlock. Even when the main shift lever 44 can not operate the HST during automatic steering control, the engine 13 is stopped or the traveling machine C is stopped by a dedicated operating tool or brake operation (not shown). The main shift lever 44 may be configured to be able to operate the HST.

  If the obstacle detection unit 63 determines that the distance between the traveling vehicle C and the position is within a preset range, the driver is notified by the alarm unit 64. At this time, the alarm by the alarm unit 64 may be a sound such as a buzzer, or may be lighting or blinking of the LED illumination provided to the center mascot 14 or displayed on the display unit 48. It may be. Then, the obstacle detection unit 63 continues to detect the crawling over a preset time, so that the detection of the crawling is determined, the engine 13 is stopped, and the control device 75 enters the manual steering mode. The automatic steering control is canceled by switching. In addition, when the detection of the actual situation is determined, the engine 13 may not be stopped, and the traveling machine C may be decelerated or stopped. That is, if it is determined that the distance between the traveling vehicle C and the actual position is within a preset range, the automatic steering control may be canceled.

  As described above, the automatic steering control is canceled in the vicinity of the point by determining the detection of the point, but the predetermined condition is satisfied even in the vicinity of the point. For example, automatic steering control may be continued. For example, even if the obstacle detection unit 63 detects a crawling, and the driver is notified of an alarm, the determination of the detection of the crawling is performed by the driver continuing the operation of the automatic steering switch 50. Automatic steering control may be continued without being performed. At this time, when the driver cancels the operation of the automatic steering switch 50, the automatic steering control may be canceled. Thus, automatic steering control can be continued regardless of the determination of detection immediately before the traveling vehicle body C reaches the end point position Lf (1). Further, the continuation of the above-described automatic steering control is not limited to the operation by the automatic steering switch 50, and may be by the operation of the start point / end point setting switch 49A or the target setting switch 49B, for example.

  When the traveling body C reaches the end point position Lf (1) of the target movement route LM (1), the driver operates the steering handle 43 toward the unworked area side of the target movement route LM (1) to turn The traveling vehicle C travels to the starting position Ls (2) of the next work traveling. In addition, the said turning traveling may be performed by the automatic turning control mentioned later. Before turning of the traveling vehicle C, the driver can operate the operation lever 45 to raise the seedling planting device W, but by operating the steering handle 43, the transmission to the seedling planting device W is interrupted. The seedling planting apparatus W may be configured to rise. Then, it is determined that the traveling machine C has been turned.

  After completion of work travel on the target travel route LM (1), the target travel route LM (2) is set by the route setting unit 76 at an arbitrary timing. The target movement route LM (2) may be set when the obstacle detection unit 63 determines that the vehicle is in a crawling position, may be set during turning of the traveling body C, or may be set after turning of the traveling body C Also good. At the above-described timing, the target movement route LM (2) is set by the driver operating the target setting switch 49B. In addition, it is not limited to target setting switch 49B, For example, when the driver operates automatic steering switch 50 grade | etc., The structure by which target movement path | route LM (2) may be set may be sufficient. Furthermore, the target movement route LM (2) may be configured to be automatically set without the driver's operation. After the target travel route LM (2) is set adjacent to the unworked area side of the target travel route LM (1), automatic steering control is started along the target travel route LM (2), and the traveling vehicle is C runs at work.

  After the traveling body C reaches the end point position Lf (2) of the target movement route LM (2), in the order of the target movement route LM (3), LM (4), LM (5), LM (6) In this case, the setting of the target movement route LM after turning and the work traveling are repeated. That is, each target movement path LM is set one by one.

  During the automatic steering control, the information on the own vehicle position NM is acquired by the satellite positioning unit 70 over time. Further, the vehicle speed is calculated by the vehicle speed sensor 62, and as shown in FIG. 7, the relative azimuth change angle ΔNA by the inertia measurement unit 74 is measured over time. The azimuth deviation calculation unit 77 temporally calculates the own azimuth NA from the point at which the automatic steering control is started, by integrating the azimuth change angle ΔNA. Then, the azimuth deviation calculation unit 77 calculates the azimuth deviation between the self-orientation NA and the target azimuth LA. The control unit 78 outputs an operation amount so that the own azimuth NA agrees with the target direction LA, and the steering control unit 79 operates the steering motor 58 based on the operation amount. As a result, the traveling body C travels accurately along the target movement path LM. The driver does not operate the steering wheel 43.

[Setting of target movement route]
FIG. 8 shows a post-process target travel path LM2 that is a post-process target in a state adjacent to the target travel path LM. The target traveling route LM2 for the post process is set as a target traveling route where the traveling body C performs work traveling next to the target traveling route LM. From this, when the target movement route LM of FIG. 8 corresponds to the target movement route LM (1) of FIG. 6, the target movement route LM2 for the post process of FIG. 8 is the target movement route LM (2) of FIG. Equivalent to. Further, when the target movement route LM in FIG. 8 corresponds to the target movement route LM (2) in FIG. 6, the post-process target movement route LM2 in FIG. 8 corresponds to the target movement route LM (3) in FIG. . The same applies to a target movement route LM and a post-process target movement route LM2 in FIGS. 9 to 11 described later.

  The target movement path LM in FIG. 8 may be the teaching path described above. In this case, the post-process target travel route LM2 in FIG. 8 corresponds to the target travel route LM (1) in FIG.

  Basically, based on the positioning data of the satellite positioning unit 70, the target travel route LM2 for the post process is set apart from the target travel route LM by a preset distance P which is set in advance. Here, the set distance P is a distance corresponding to a work width in which the seedling planting device W performs the rice planting work.

  However, in general, the error of DGPS may be in the range of several meters. Therefore, when DGPS is used as the satellite positioning unit 70, the coordinate position of the own position NM based on the positioning data actually acquired by the satellite positioning unit 70 is displaced with respect to the actual target movement route LM. Is considered. From this, when the target movement route LM2 for the post-process is set based only on the coordinate position of the self-machine position NM actually acquired by the satellite positioning unit 70, the planted seedlings of the work area are stepped on There is a risk that the work area may be roughened or a non-operation area may be generated between the work travel paths before and after turning.

  In this embodiment, the separation distance of the target movement route LM2 for the post-process to the target movement route LM is calculated based on the actual positional deviation of the traveling vehicle body C for which automatic steering control has been performed along the target movement route LM. Ru. As described above, the error of DGPS may extend in the range of several meters, but when positioning between two points by DGPS is performed in a short time of, for example, ten seconds, the relative position between the two points The error of is known to be extremely small. By using this characteristic, when setting the target travel route LM2 for the post process, based on the positioning data positioned immediately before the final turn, for the post process at a position separated by a relative distance from the own position NM. The route setting unit 76 is configured to set the target movement route LM2. That is, the target travel route LM2 for post-process is set at a position separated by the set distance P from the own position NM calculated based on the positioning data of the satellite positioning unit 70.

  In the case of automatic traveling control along the target movement path LM, when the traveling body C travels in a state of being displaced by the positional deviation deviation d to the unworked area side with respect to the target movement path LM, The work travel locus is a travel locus of a dashed dotted line La shown in FIG. The traveling locus of the dashed-dotted line La is calculated based on the positioning data of the satellite positioning unit 70. The absolute error of the positioning data measured by the satellite positioning unit 70 is also included in the positional deviation deviation d.

  Just before turning, the position coordinate NM3 of the own position NM is measured by the satellite positioning unit 70 as positioning data. After the position coordinate NM3 is positioned and before automatic travel control is started, a corner turning travel is performed, and a post-process target travel path LM2 is set at an arbitrary timing. Since the normal extra-ordinary turning is completed in about a few seconds, the relative position between the position coordinates measured by the satellite positioning unit 70 immediately after the completion of the extra-turning and the position coordinate NM3 immediately before the extremely turning Errors will be small. The position coordinates NM3 may be obtained by averaging a plurality of positioning data measured by the satellite positioning unit 70 in the vicinity of the end point Lf.

  Essentially, the post-process target movement route LM2 is set at a position separated by the set distance P from the target movement route LM, that is, at the position of the dashed line lm shown in FIG. On the other hand, in the present embodiment, the target movement route LM2 for the post-process is set in parallel to the unworked area by the positional deviation deviation d from the broken line lm corresponding to the positional deviation deviation d of the traveling machine body C. Ru.

  In addition, there may be a case where the actual work travel locus of the travel body C deviates from the target movement path LM toward the work area by the position deviation deviation d. In this case, the post-process target movement route LM2 is set in parallel to the work area from the set distance P with respect to the target movement route LM by the position deviation deviation d.

  Thus, even if the positioning data measured by the satellite positioning unit 70 includes an error, it can be set to a position separated from the own position NM by the set distance P. With the configuration in which the target movement path LM2 for the post-process is set at a position separated by the work width of the seedling planting device W, the existing planted seedlings in the work area are stepped on or work travel locus before and after turning. It is possible to prevent the occurrence of a non-working area during the process. This configuration is particularly useful as a satellite positioning unit 70 in a configuration in which DGPS is used.

[About automatic turning at any time]
Basically, the turning of the field is performed by the driver operating the steering handle 43. However, in the case of artificial turning, the aircraft is turned to reach the start position Ls of the next target movement route LM, and the forward direction of the vehicle coincides with the target direction of the target movement route LM. There is a need. For this reason, there are many factors that depend on the driver's skill level, which puts a burden on unaccustomed drivers. In particular, in the configuration in which the target movement route LM2 for the post-process is set based on the position coordinate NM3 measured immediately before the final turn, as described above, the traveling body C performs the next work traveling within a predetermined time. It is desirable to adjust the conditions for reaching the start position Ls and starting the automatic steering control within the predetermined time. For this reason, in the present embodiment, the control unit 78 is configured to be able to switch to automatic turning control.

  In the automatic turning control, the control unit 78 instructs the steering control unit 79 to perform steering operation, for example, through data conversion of the look-up table based on the own position NM measured by the satellite positioning unit 70. It is configured. Further, not only the satellite positioning unit 70 but, for example, the vehicle speed measured by the vehicle speed sensor 62 and the azimuth change angle ΔNA (see FIG. 7) measured by the inertia measurement unit 74 are respectively integrated The configuration may be such that NM is calculated. The control unit 78 is configured to determine the detection by the obstacle detection unit 63 as the condition for starting the automatic turning, and to start the automatic turning control at an arbitrary timing. The target position of the automatic turning control is the starting position Ls of the next work traveling, and the turning control is performed so that the own direction NA of the traveling vehicle C and the target direction LA coincide with each other at the starting position Ls.

Below, the pattern of turning traveling at the edge of a field will be described.
In the turning travel pattern shown in FIG. 9, after work travel is performed with the left and right width across the work width W1 along the target travel path LM, the start position of the next work travel from the end position Lf of the work travel U-shaped turning is performed toward Ls. In addition, the working width W1 is a working width of the seedling planting apparatus W, and the working width W1 and the working width W2 have the same width. The same applies to the work width W1 and the work width W2 shown in FIGS. 10 and 11 described later.

  In the turning travel pattern shown in FIG. 9, the separation distance W3 between the end position Lf or the start position Ls and the edge of the field is twice the work width W1 or the work width W2. From this, the traveling body C performs the work travel while performing the circumferential travel for two rounds along the edge of the field after the completion of the work travel on all the target movement paths LM. The turning pattern shown in FIG. 9 is mainly used in rice transplanters having a four-row or six-row seedling planting plant W.

  In the state where the traveling body C approaches the edge of the field, the obstacle detection unit 63 detects the end of the passage with time, and after it is determined that the traveling body C leaves the edge of the field, the automatic turning control is performed. It is configured to be started. The part shown by P1 in FIG. 9 is a substantially intermediate position of the cornering travel, and is the position where the traveling airframe C approaches closest to the edge of the field. From this, after the traveling body C passes through the point P1, it is determined that the traveling body C leaves the base, and the automatic turning control by the control unit 78 is started. The same applies to the portion indicated by P1 in FIG. 10 described later.

  As the timing at which the automatic turning control is started, for example, after the traveling machine body C passes the point P1, the driver is notified of a state capable of automatic turning via the notification unit 59, and the start point / end point setting switch 49A or the target setting The automatic turning control may be started by the operation of the switch 49B, the automatic steering switch 50, and the like. Also, the automatic turning control may be configured to be automatically started. In addition, even before the traveling vehicle C passes through the point P1, automatic turning control is permitted by the operation of the start point / end point setting switch 49A, the target setting switch 49B, the automatic steering switch 50, etc., and the traveling vehicle C is P1. It may be determined that the traveling body C is separated from the edge of the field after having passed through the point and the automatic turning control is started.

  In the turning travel pattern shown in FIG. 10, after work travel is performed with the left and right width across work width W1 along the target travel path LM, the start position of the next work travel from the end position Lf of the work travel U-shaped turning is performed toward Ls.

  In the turning travel pattern shown in FIG. 10, the separation distance between the end position Lf or the start position Ls and the edge of the field is equal to the working width of the seedling planting device W. For this reason, for example, in the case of a rice transplanter having a seedling planting apparatus W of a seven-row planting type or a eight-row planting type, there is a risk that the front portion of the traveling airframe C may come into contact with the other side . From this, in the turning travel pattern shown in FIG. 10, after the traveling body C reaches the end point position Lf of the target movement route LM, the traveling body C temporarily reverses to the position of Lff, and The traveling body C is configured to perform a U-shaped turning traveling toward the starting position Ls.

  As the timing at which automatic turning control is started in the turning travel pattern shown in FIG. 10, not only the timing already described in the turning travel pattern shown in FIG. 9 but, for example, traveling vehicle C from end point Lf to Lff It may be determined that the vehicle has moved backward to the position of and the automatic turning control may be started. In addition, after the traveling body C reaches the end point Lf, the automatic steering control travel including the reverse movement from the end point Lf to the Lff position is performed by the operation of the automatic steering switch 50 or the like. Also good.

  In the turning travel pattern shown in FIG. 11, the separation distance between the end point position Lf or the start point position Ls and the edge of the field is the same as the working width of the seedling planting device W. Furthermore, the traveling body C is configured such that the turning curvature radius of the traveling body C is smaller than the working width of the seedling planting device W. From this, in the turning travel pattern shown in FIG. 11, after the work travel is performed in the left and right width across the work width W1 along the target movement path LM, the traveling body C is first From the end point position Lf to a position P1 along the edge of the field, it turns in an L shape. Next, the traveling body C travels straight to the position P2 along the edge of the field. Then, the traveling body C performs another L-shaped turning and traveling from the position P2 to the starting position Ls of the next work traveling, and the turning is completed. The turning travel pattern shown in FIG. 11 is mainly used in a rice transplanter having a ten-row type seedling planting apparatus W.

  The turning travel from the position P2 to the start position Ls of the next work travel is a turning travel in which the steering wheel 10 is steered in a direction in which the traveling airframe C is separated from the edge of the agricultural field. From this, after the traveling body C passes through the point P2, it is determined that the traveling body C leaves the base, and the automatic turning control by the control unit 78 is started. As the timing at which the automatic turning control is started, for example, in a state where the traveling vehicle C travels along the edge of the field, the steering handle 43 is operated on the side where the starting position Ls of the next work travel is located May be detected and automatic turning control may be started. In addition, the automatic turning control may be started by the operation of the automatic steering switch 50 or the like after the traveling body C passes through the point P2. In addition, even before the traveling vehicle C passes the point P2, automatic turning control is permitted by the operation of the start point / end point setting switch 49A, the target setting switch 49B, the automatic steering switch 50, etc. After passing through the point P2, the traveling body C may be determined to be separated from the edge of the field, and the automatic turning control may be started.

  The steering wheel 43 is configured such that the steering angle of the steering wheel 10 is not transmitted to the steering wheel 43 even if the steering angle of the steering wheel 10 is changed while the automatic turning control is performed. For example, when the operation of the steering handle 43 is transmitted to the steering control unit 79 by an electric signal, the steering control unit 79 performs automatic turning control regardless of the operation of the steering handle 43. It only needs to be configured. In the case where the clutch is interposed between the steering wheel 43 and the steering wheel 10, the clutch may be disengaged while the automatic turning control is being performed. Note that the driver is notified that the automatic turning control is to be started by the notification unit 59 or the alarm unit 64 before the automatic turning control is started, and the driver is urged to release his hand from the steering handle 43 . In addition, even when the driver can not operate the steering handle 43 at the time of automatic turning control, the driver can operate the steering handle 43 by a dedicated operation tool or a brake operation (not shown). Also good.

Misalignment correction processing
When the traveling body C is displaced in the lateral direction of the vehicle than a range preset from the target movement route LM, the following positional deviation correction processing is performed. As shown in FIG. 12, when the traveling body C travels in a state in which the own machine position NM is displaced in the lateral direction from the target movement path LM by the positional deviation amount ΔP, the control unit 78 determines the target direction LA. Is changed to a direction inclined by the set inclination angle α1. That is, the control unit 78 executes the automatic steering control by changing the target heading LA to a heading inclined by the set inclination angle α1 on the side where the target movement path LM is located as the target heading LA when performing the automatic steering control. Do.

  At this time, the setting inclination angle α1 is set to a larger side as the own position NM is farther from the position corresponding to the target movement route LM, and as the own position NM approaches the position corresponding to the target movement route LM, The set inclination angle α1 is set loosely. When the vehicle speed is low, the set inclination angle α1 is set to the large side, and the set inclination angle α1 is set looser as the vehicle speed is higher. However, the upper limit value is set to the set inclination angle α1, and the set inclination angle α1 never exceeds the set upper limit value regardless of how low the vehicle speed is or whether the positional deviation is large. As a result, the possibility of the traveling body C turning sharply and the traveling state becoming unstable is prevented.

  When the own azimuth NA reaches the target azimuth LA inclined by the set inclination angle α1, the target azimuth LA is changed to an azimuth inclined by the inclination angle α2 which is smaller than the set inclination angle α1. Furthermore, when the own azimuth NA reaches the target azimuth LA inclined by the inclination angle α2, the target azimuth LA is changed to an azimuth inclined by the inclination angle α3 smaller than the inclination angle α2. As described above, the traveling body C travels in an oblique direction in a state in which the azimuth deviation with respect to the target movement path LM gradually decreases, so that the positional deviation amount ΔP can be rapidly reduced.

  The portion corresponding to the target movement route LM described above has a region with a predetermined width in the lateral direction on the left and right sides of the position corresponding to the target movement route LM. That is, the control dead zone with respect to the positional deviation is set, and when the positional deviation falls within the range of the control dead zone, the target azimuth LA is not inclined but is set in the direction along the original target moving path LM.

  Since the traveling body C is guided to the target movement path LM by the above-described configuration, the positional deviation of the traveling body C relative to the target movement path LM occurs particularly in the automatic steering control started immediately after the above-described automatic turning control. It converges quickly.

  In addition, if the fall of the precision of the positioning data by the satellite positioning unit 70 is determined, you may be comprised so that correction | amendment control of position shift mentioned above may not be performed. In this case, automatic steering control is performed such that the own heading NA follows the target heading LA in the direction along the target movement path LM, without considering the positional deviation.

[Display unit]
As shown in FIG. 13, the state of the machine is displayed on the screen of the display unit 48 via the notification unit 59. The display unit 48 is divided into a plurality of display areas such as a work information area 100, a positional deviation information area 101, and a vehicle speed information area 102. The work information area 100 displays the work date, the work result, and the like on the upper left end of the display unit 48. The positional deviation information area 101 displays the positional deviation amount of the traveling vehicle C (the own machine position NM) with respect to the target movement route LM at the upper center. The vehicle speed information area 102 displays the vehicle speed at the upper right end. A large area other than the upper side of the display unit 48 is a position information area 104, and the position information area 104 indicates the position of the traveling vehicle C in the field. A small area at the left end of the position information area 104 is a steering state information area 103, and the steering state information area 103 displays the state of the automatic steering mode or the manual steering mode of the control device 75. At the right end of the position information area 104, a touch panel operation software button group 120 is disposed. A physical button group 121 is disposed further to the right of the display unit 48.

  In the position information area 104, the working condition of the field around the traveling machine C, the target movement route LM, and the machine symbol SY indicating the own machine position NM are displayed. Note that among the target movement routes LM, the target movement routes LM during work travel are drawn by thick solid lines in order to make them easy to understand. Furthermore, the area where rice planting has already been completed is displayed by stylizing each planted seedling. Thereby, the already-worked area and the unworked area are clearly distinguished visually. In addition, the display of this planting seedling mark may be a line which shows a linear planting stripe besides dot-drawing.

  Although not clearly shown in FIG. 13, it is also possible to display the actually traveled path of the traveling body C, that is, the traveling locus, on the display unit 48. The accuracy of the automatic steering control can be checked by comparing the traveling locus with the target movement route LM. The traveling locus is displayed on the display unit 48 based on the positioning data by the satellite positioning unit 70. In addition, the machine symbol SY is shown in the form of an arrow, and the sharp direction indicates the traveling direction, that is, the self-orientation NA. In order to make the misregistration between the self-orientation NA and the target orientation LA easier to understand visually, the pointer 110 extending in the traveling direction from the center of the body symbol SY and the orientation scale 111 indicating the angular range of the orientation It has been overwritten. Also, a boundary line 112 indicating an allowable range of misorientation is also displayed. Digital values of misorientation can also be displayed. The driver can visually recognize the positional deviation and the azimuthal deviation of the traveling vehicle C with respect to the target movement path LM through the display unit 48.

  When the target travel route LM2 for the post process is set based on the work travel on the target travel route LM, as shown in FIG. 13, in the misregistration information area 101, the traveling body for the target travel route LM2 for the post process The misalignment amount of C is displayed. The timing at which the positional deviation amount is displayed may be during turning from the target moving path LM to the target moving path LM2 for the subsequent process, or may be after completion of the turning. .

  As described above, when positioning between two points by DGPS is performed in a short time of, for example, about ten seconds, the relative positional error between the two points is extremely small. However, the error of the position coordinates measured with time by DGPS is the time elapsed from the timing at which the position coordinate NM3 was measured with respect to the position coordinate NM3 (see FIG. 8) measured immediately before turning. Becomes larger as it is positioned. That is, the relative positioning accuracy with respect to the position coordinate NM3 decreases with the passage of time. Therefore, when DGPS is used in the satellite positioning unit 70, the display unit 48 is configured such that the positional deviation amount is not displayed in the positional deviation information area 101 when it is determined that the accuracy of the positional deviation is reduced. ing. For example, the set time for displaying the amount of misregistration in the misregistration information area 101 is set in advance, and the amount of misregistration is not displayed in the misregistration information area 101 when the set time elapses from the timing when the position coordinate NM3 is measured. It may be of such a configuration.

  While the automatic turning control described above is performed, the position and the positional deviation of the traveling vehicle C are not displayed in the positional deviation information area 101 and the positional information area 104 in the screen displayed on the display unit 48. It is done. That is, it is displayed on the display of the display unit 48 during the automatic turning that the automatic turning is being performed, and the display can be made easy for the driver to understand. In addition, it may be configured to be switchable so that the position or positional deviation amount of the traveling vehicle C during automatic turning is displayed by the driver's intention. Switching between display and non-display may be performed by operating the software button group 120 or the physical button group 121. Further, the notification of the positional deviation amount may be voice notification by the notification unit 59 or lighting display or blinking display of a switch.

  If the reception sensitivity of the satellite positioning unit 70 is insufficient due to a factor such as a small number of navigation satellites that can be supplemented by the satellite positioning unit 70, the positioning data of the satellite positioning unit 70 may contain large errors. In such a case, the displacement amount may not be displayed in the displacement information area 101. In addition, the positional deviation information area 101 and the positional information area 104 may be notified via the notifying unit 59 that the reception sensitivity of the satellite positioning unit 70 is insufficient. As a result, the driver is prompted to perform work travel by human operation. The notification that the reception sensitivity of the satellite positioning unit 70 is insufficient may be voice guidance or lighting display or blinking display of a switch, and is configured to be switchable so as not to notify. Moreover, the time which the alerting | reporting part 59 alert | reports may be comprised so that setting adjustment is arbitrarily possible. Furthermore, when the automatic steering switch 50 is operated in this state, the positional deviation may not be taken into consideration, and automatic steering control may be performed such that the own azimuth NA follows the target azimuth LA.

  The target movement route LM may be configured to be able to be corrected after setting. For example, work travel by manual operation is performed immediately after the completion of the cornering travel, and the own machine position NM is displaced either left or right with respect to the target movement path LM in the forward view of the traveling body C The case is conceivable. In such a case, the driver may be configured to be capable of performing parallel displacement of the target movement path LM in the forward direction of the traveling vehicle C in the direction in which the driver's own position NM is located. With this configuration, even if the positional deviation of the own machine position NM with respect to the target movement path LM is out of the allowable range, the positional deviation of the own machine position NM with respect to the target movement path LM is corrected by correcting the target movement path LM. Within the tolerance range. As a result, automatic steering control along the target movement path LM can be promptly started. The correction of the target movement path LM may be performed by the operation of the software button group 120 or may be performed by the operation of the physical button group 121.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and hereinafter, another representative embodiment of the present invention will be illustrated.

[1] In the embodiment described above, the post-process target movement path LM2 is configured to be set one by one, but is not limited to the embodiment described above. For example, as illustrated in FIG. 14, a plurality of post-process target movement paths LM2 may be set at the same time. In FIG. 14, target movement routes LM2 (A1), LM2 (A2), and LM2 (A3) for the post process are respectively set at equal intervals set in advance on the side of the unworked region of the target movement route LM. The target travel paths LM2 (A1), LM2 (A2), and LM2 (A3) for the post-process are set based on the work travel locus of the traveling body C on the target travel path LM. Further, the target movement routes LM2 (B1), LM2 (B2), and LM2 (B3) for the post process are equally spaced on the basis of the work travel locus of the traveling body C in the target movement route LM2 (A3) for the post process. It is set.

  The timing at which the target movement paths LM2 (A1), LM2 (A2), and LM2 (A3) for the post process are set may be set when the obstacle detection unit 63 determines near the end position Lf. The traveling body C may be set on the way to the cornering traveling toward the starting position Ls (A1), or may be set after the traveling body C reaches the starting position Ls (A1). Further, the timing at which the target movement paths LM2 (B1), LM2 (B2), and LM2 (B3) for the post process are set is set when the obstacle detection unit 63 determines near the end position Lf (A3). The traveling body C may be set on the way to the corner turning toward the starting position Ls (B1), or may be set after the traveling body C reaches the starting position Ls (B1) Also good. At the above-described timing, each post-process target movement route LM2 is set by the driver operating the target setting switch 49B, but is not limited to this configuration. For example, the automatic steering switch 50 etc. It may be configured to be set by the operation of a person, or may be configured to be automatically set without the driver's operation.

  When a plurality of traveling working machines are configured to work simultaneously, each traveling working machine travels in parallel along the target movement paths LM2 (A1), LM2 (A2), and LM2 (A3) for the rear process. After that, work traveling may be performed in parallel along the post-process target movement paths LM2 (B1), LM2 (B2), and LM2 (B3).

[2] In the embodiment described above, the route setting unit 76 is configured such that the post-process target movement route LM2 is set to the unworked area side of the target movement route LM. It is not limited. For example, when the left and right sides of the target movement route LM are unworked areas, as shown in FIG. 15, the target movement route LM2 (L), LM2 (R ) May be set. In this case, after the cornering travel is performed toward any one of the post-process target movement paths LM2 (L) and LM2 (R) and the turning of the traveling body C is determined, any one of them is determined. The setting of the post-process target movement route LM2 may be determined. Under normal circumstances, the target movement paths LM2 (L) and LM2 (R) for the post-process are at positions separated from the target movement path LM by the set distance P, that is, broken lines lm (L) shown in FIG. It is set to the position of lm (R). On the other hand, in the present embodiment, the target movement paths LM2 (L) and LM2 (R) for the post-process are positioned from the broken lines lm (L) and lm (R) corresponding to the positional deviation deviation d of the traveling vehicle body C. It is set in a state of parallel movement by the deviation deviation d.

[3] Even when the target movement route LM is set in a straight line, the actual work travel locus of the traveling airframe C is, for example, as shown in FIG. 16 due to the slip of the traveling airframe C and avoidance of obstacles in the field. It may meander as indicated by the broken line. In such a case, the post-process target travel route LM2 is set along the actual work travel trajectory of the traveling body C. The post-process target travel route LM2 (1) shown in FIG. 16 meanders along the actual work travel trajectory of the traveling airframe C. As a result, when work travel is performed along the target process travel path LM2 for the post process, the existing planted seedlings in the already work area are stepped on, or an unworked area occurs between work travel trajectories before and after turning. It is possible to prevent the risk of Note that the actual working travel locus of the traveling vehicle C may be calculated based on the positioning data of the satellite positioning unit 70, or the vehicle speed measured by the vehicle speed sensor 62 and the inertia measurement unit 74 The configuration may be calculated by integrating each of the orientation change angles ΔNA (see FIG. 7) to be calculated.

  When the post-process target movement path LM2 is set along the actual work travel path of the traveling body C, the post-process target travel path LM2 has a linear shape that is linear than the actual work travel path of the traveling body C It is configured to be For example, when the work travel locus of the traveling body C with respect to the target movement path LM meanders in a complicated manner, the target movement path LM2 for the subsequent process also meanders complicatedly, and the traveling body C is accurate along the target movement path LM2 for the subsequent process There is a risk that you can not drive well. From this, the post-process target movement path LM2 (1) shown in FIG. 16 is set at a position further separated from the position separated by the set distance P from the target movement path LM by Δp. Then, the target movement route LM2 (1) for the subsequent process is set in a state where the meandering portion shown by the broken line in FIG. 16 and the meandering region of the target movement route LM2 (1) for the subsequent process are separated by the set distance P. Be done. Thus, the post-process target travel route LM2 (2) set after the post-process target travel route LM2 (1) is set to be more linear than the post-process target travel route LM2 (1). The post-process target movement route LM2 (3) set after the process target movement route LM2 (2) is set to be substantially linear. As a result, even if the actual work travel track of the traveling vehicle C accidentally meanders, it is gradually corrected in a straight line by the post-process target movement path LM2 set thereafter. A target for post-process having a meandering point between the target movement path LM shown in FIG. 16 and the substantially linear post-process target movement path LM2 (3) shown at the right end of FIG. The number of movement routes LM2 can be changed as appropriate.

[4] In the embodiment described above, the target movement route LM is configured to be set in one completed field, but is not limited to the embodiment described above. For example, the target movement route LM may be configured to be set over a plurality of fields. In this case, the teaching route and the actual work travel locus with respect to the target movement route LM may be stored as a reference route and used for setting the target movement route LM in another field. The reference route may be configured to be stored in a storage unit of a microcomputer provided in the traveling machine body C, or may be configured to be stored in a storage unit of an external terminal. When the reference route is configured to be stored in the storage unit of the external terminal, the traveling machine C is equipped with a communication device capable of communicating with the external terminal via a WAN (Wide Area Network) or the like, and the reference route is the external terminal. The configuration may be such that the microcomputer of the traveling vehicle C is read from the storage unit. A plurality of reference paths may be stored in the storage unit provided in the external terminal or the microcomputer of the traveling machine body C. With this configuration, only by reading out the reference route corresponding to each field, the target movement route LM can be set even without teaching traveling.

[5] The setting of the post-process target movement route LM2 shown in the embodiment described above is configured not to be performed when the set time has elapsed from the timing at which the position coordinate NM3 (see FIG. 8) is positioned. Also good. When DGPS is used in the satellite positioning unit 70, the relative positioning accuracy with respect to the position coordinate NM3 decreases with the passage of time. For this reason, when the route setting unit 76 determines that the post-process target travel route LM2 can not be set with high accuracy, the post-process target travel route LM2 may not be set.

[6] If the setting of the target travel route LM2 for the rear process can not be performed, the driver is notified that the setting of the target travel route LM2 for the rear process can not be performed via the notification unit 59. Also good. The notification by the notification unit 59 may be a sound such as a buzzer, or may be lighting or blinking of the LED illumination provided to the center mascot 14, or may be displayed on the display unit 48. good. When setting of the target movement route LM2 for the post process is not possible, there is a headland or border of the field on the setting route of the target movement route LM2 for the post process, or a setting position of the target movement route LM2 for the post process Cases in which the obstacle is detected on the set route of the post-process target movement route LM2 or a defect in the satellite positioning unit 70 is detected. .

[7] The target movement route LM may be configured not to be used for work travel when the traveling body C is displaced from the target movement route LM by a distance greater than a preset distance. When the traveling body C is largely displaced from the target movement route LM, it is considered that the driver is likely to operate the traveling body C intentionally. In such a case, it is preferable to give priority to the driver's artificial operation. Of course, even if the cornering travel is performed after the completion of the work travel along the target travel path LM, and the traveling body C is displaced by a distance larger than the distance set in advance from the target travel path LM2 for the post process, The target movement route LM2 may be configured not to be used for work travel.

[8] The route setting unit 76 may be configured to set the post-process target movement route LM2 in conjunction with the control unit 78 or the steering control unit 79. For example, the control unit 78 may determine the setting of the post-process target movement route LM2 by the route setting unit 76, and perform one or both of the above-described automatic turning control and automatic traveling control. In addition, after the traveling body C performs work traveling along the target movement route LM, the driver may individually determine whether work traveling along the post-process target movement route LM2 is performed. Therefore, the route setting unit 76 sets the target movement route LM2 for the post-process in conjunction with the control unit 78 and the steering control unit 79, and the post-process independently of the control unit 78 and the steering control unit 79. It may be configured to be switchable between the configuration for setting the target movement path LM2 and the configuration for setting the target movement path LM2.

[9] The present invention is not limited to the above-described embodiment. For example, the azimuth deviation between the self-orientation NA of the traveling vehicle C and the target azimuth LA of the target movement route LM is larger than a preset range. The route setting unit 76 may be configured to set the post-process target movement route LM2 when it deviates. For example, when the angle of the azimuth deviation is 90 degrees or more, the turning of the traveling body C may be determined, and the target movement route LM2 for the post-process may be set. In this case, the post-process target travel route LM2 may be automatically set, or the post-process target travel route LM2 is set by the operation of the target setting switch 49B, the automatic steering switch 50, etc. It may be a configuration. In addition, after the setting of the post-process target movement route LM2 is permitted by the operation of the target setting switch 49B, the automatic steering switch 50, etc., the azimuth deviation angle becomes larger than the preset range, The process target movement route LM2 may be set.

[10] As an operating tool for setting the target movement path LM2 for the back process, besides the target setting switch 49B, for example, the software button group 120 on the display unit 48 or the physical button group 121 on the right side of the display unit 48. It may be That is, the operating tool may be a dedicated operating tool, or may be an existing button switch or lever to which an additional function is added.

[11] In the embodiment described above, the post-process target is the post-process target movement path LM2, but the post-process target may be, for example, the starting point position Ls after turning. Then, when the driver operates the target setting switch 49B, a post-process target movement route LM2 parallel to the already traveled target movement route LM may be set based on the start position Ls. The post-process target may be a part of the post-process target movement route LM2, and may be, for example, an area of several meters from the start position Ls in the post-process target movement route LM2. . Furthermore, when the traveling machine C completes all work traveling along the target movement path LM, or when it becomes necessary to refuel in the middle of rice planting work, the target for the post process is the headland area along the edge It may be.

[12] The present invention is applicable not only to the above-described rice transplanter but also to other direct-sowing type work machines including direct-sowing machines and the like. Moreover, this invention is applicable also to agricultural work machines, such as a tractor and a combine, other than a direct-sowing type | system | group working machine.

  The present invention is applicable to a traveling working machine in which work traveling is performed along a target movement route of a field.

43: Steering handle (artificial operation tool)
59: Notification unit (notification means)
63: Obstacle detection unit (detecting means)
70: Satellite positioning unit (position detection means)
76: Path setting unit 78: Control unit (control means)
79: Steering control unit (control means)
C: Traveling vehicle W: Seedling planting device (working device)
LM: Target travel path LM2: Target travel path for back processing (target for back processing)

Claims (21)

With a traveling aircraft that travels in the field,
A working device for performing work on the field,
A route setting unit configured to set a target movement route for work traveling in which the traveling machine body travels while performing work by the work device;
Is equipped with
The route setting unit is configured to move to the target movement route, in a case where the traveling body alternately and repeatedly travels the work traveling along the target movement route and a turning traveling to turn to the next target movement route. A traveling working machine, which sets a target for a post-process for traveling after the traveling machine body travels along the target movement path, based on a position acquired during traveling of the traveling machine body along.   The traveling work machine according to claim 1, wherein the post-process target is a post-process target movement route for the traveling machine body to travel.   Informing means for notifying the deviation between the position of the traveling machine body and the next target movement path when the traveling body moves from the turning to traveling along the next target movement path A traveling work machine according to claim 1 or 2.   The travel working machine according to claim 3, wherein the notification means is configured to notify after completion of the turning.   The travel working machine according to claim 3 or 4, wherein the notification means is configured to notify that the setting for the post process target can not be performed when the post process target can not be set. A detection means for detecting the proximity to the eye is provided.
The traveling work machine according to any one of claims 1 to 5, wherein the route setting unit sets the target for the post-process when the detection unit detects the proximity to the position.   The traveling operation according to any one of claims 1 to 6, wherein the route setting unit sets the target for the post-process when the traveling body shifts from traveling along the target movement path to the turning traveling. Machine.   The traveling work machine according to any one of claims 1 to 7, wherein the route setting unit sets the target for the post-process when the traveling body tilts by a predetermined angle or more with respect to the target movement route.   The travel working machine according to any one of claims 1 to 8, wherein the route setting unit sets the target for the post-process after the operation is performed on the artificial operation tool. Position detection means for acquiring position information based on the positioning signal of the navigation satellite,
The traveling work machine according to any one of claims 1 to 9, wherein the post-process target is set based on an average position of the plurality of pieces of position information positioned immediately before the end of the work travel.   The traveling work machine according to any one of claims 1 to 10, wherein a plurality of targets for the post-process can be set in parallel.   The traveling work machine according to any one of claims 1 to 11, wherein the post-process target is set based on a positional deviation of the traveling machine body with respect to the target movement path.   The target for the post-process is set in a state in which it is moved in parallel from the position separated at a preset interval with respect to the target movement path by the positional deviation of the traveling machine body with respect to the target movement path. The traveling work machine described in.   The traveling work machine according to any one of claims 1 to 13, wherein the post-process target is configured to be able to be corrected after setting.   The traveling work machine according to any one of claims 1 to 14, wherein the post-process target is set along a work traveling locus of the traveling machine body.   The traveling working machine according to claim 15, wherein the route based on the post-process target is configured to have a linear shape that is more linear than the work traveling locus. Control means is provided for outputting a control signal such that the work travel is performed,
The target movement path is substantially linear.
The traveling work machine according to any one of claims 1 to 16, wherein the route setting unit is configured to set the target for the post-process as a function independent of the control unit. Control means is provided for outputting a control signal such that the work travel is performed,
The target movement path is substantially linear.
The traveling work machine according to any one of claims 1 to 16, wherein the route setting unit is configured to set the target for the post-process as a function interlocked with the control unit.   19. The target travel path is configured not to be used for the work travel when the traveling body deviates from the target travel path by a distance greater than a preset distance. The traveling work machine described in the section. A reference route is set based on the work travel immediately before the turning travel,
The traveling work machine according to any one of claims 1 to 19, wherein in the other field, the route setting unit is configured to set the target for the post-process based on the reference route.   The traveling work machine according to claim 20, wherein a storage unit capable of storing a plurality of the reference routes for each field is provided.

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