JP2020000066A - Traveling work machine - Google Patents

Abstract

To provide a traveling work machine in which a target travel path adjacent to a work traveling trajectory of a traveling machine body can be set with high accuracy.SOLUTION: A traveling work machine includes a traveling machine body C traveling in a field, a working device W for performing the work to the field, and a path setting unit for setting a target travel path LM where the traveling machine body C should work and travel. The path setting unit sets a teaching path LT based on the teaching traveling where the traveling machine body C travels by manual operation at one end side of the field, and then sets the target travel path LM being parallel to the teaching path LT in the other end side of the field. Also, the path setting unit sets a post-process target for working and traveling after the traveling machine body C has traveled in the target travel path LM, based on an existing traveling position acquired during traveling of the traveling machine body C along the target travel path LM, at a side where the teaching path LT is positioned.SELECTED DRAWING: Figure 5

Description

  The present invention provides a traveling machine that travels in a field, a working device that performs work on the field, and a route setting unit that sets a target traveling route for a work traveling in which the traveling machine travels while performing work with the working device. The present invention relates to a traveling work machine provided.

  For example, Patent Document 1 discloses a traveling body (“traveling vehicle body” in the literature), a working device that performs work on a field (“seedling planting device” in the literature), and a target travel route on which the traveling body should travel in a work travel. A work vehicle provided with a route setting unit to be set is disclosed. The route setting unit is configured to set a teaching route corresponding to a target route to be automatically steered by the teaching travel at one end of the field, and to set a plurality of target travel routes parallel to the teaching route.

JP-A-2017-123804

  The traveling body alternately repeats, in order from the side where the teaching path is located in the field, a work traveling along the target traveling path and a turning traveling of turning toward the target traveling path in a post-process at the ridge. The work traveling and the turning traveling end at a location on the field opposite to the side where the teaching path is located. However, in the configuration of Patent Literature 1, unless the shape and size of the field are grasped in advance, the route setting unit cannot determine the point where the setting of the target travel route should be ended. In this case, there is a possibility that the route setting unit may set the target traveling route even in an area outside the field, and it is necessary to artificially determine the end of the work traveling based on the target traveling route. In order to solve such inconveniences, it is conceivable to provide an obstacle detecting means on the side of the traveling machine body. However, the production cost of the traveling work machine may increase due to the additional sensor devices. is there. For this reason, there is room for improving the end determination of the work traveling based on the target traveling route without increasing the production cost.

  In view of the above-mentioned circumstances, an object of the present invention is to provide a traveling work machine capable of determining the end of a work traveling based on a target traveling route even if the shape and size of a field are not grasped in advance. .

  The traveling work machine of the present invention includes: a traveling machine that travels in a field; a working device that performs a task on the field; and a route setting unit that sets a target traveling route on which the traveling machine should perform a task traveling. The setting unit, after setting the teaching path based on the teaching traveling in which the traveling body travels by an artificial operation at one end of the field, sets the target traveling path parallel to the teaching path at the other end of the field, and When the traveling body travels alternately and repeatedly with a work traveling along the target traveling path and a turning traveling turning toward the next target traveling path, the traveling body along the target traveling path Based on the already-running position acquired during the running, the post-process target for performing the working run after the running aircraft has traveled on the target running route is set to the position of the teaching route. And setting the that side.

  According to the present invention, a teaching path is set at one end of the field, a first target traveling path is set at the other end of the field, and after the work traveling along the target traveling path is completed, the teaching path is located at the side where the teaching path is located. A post-process target is set. For this reason, the post-process target is set between the teaching path and the target traveling path, and the traveling body approaches the teaching path each time the traveling body repeats the work traveling and the turning traveling. For this reason, the route setting unit can determine to end the setting of the post-process target based on the degree of approach of the teaching route without any artificial determination. That is, according to the present invention, the route setting unit can set the post-process target only inside the field without adding a sensor device to the traveling body. This realizes a traveling work machine that can determine the end of the work traveling based on the target traveling route even if the shape and size of the field are not grasped in advance.

  In the present invention, it is preferable that the post-process target is a post-process target travel route for the traveling body to perform the work traveling.

  According to this configuration, the target movement path for the post-process is set based on the work travel trajectory where the work travel has already been performed. As a result, when the work travel is performed along the target movement route in the post-process, the already planted seedlings in the already-worked area are stepped on, or an unworkable area is generated between the work travel trajectories before and after the ridge turn. The risk of occurrence is avoided.

  In the present invention, it is preferable that the route setting unit sets a turning traveling route for guiding the traveling body to the post-process target in the turning traveling.

  With this configuration, since the turning traveling route is set by the route setting unit, when the traveling body moves to the starting point position of the target for the post-process, it is automatically based on the turning traveling route without any manual operation. Can be moved.

  In the present invention, it is preferable that the route setting unit does not set the target for the post-process when the separation distance between the target for the post-process and the teaching path is smaller than a preset separation distance.

  With this configuration, since the route setting unit does not set the target for the post-process, the work traveling based on the target traveling route can be completed. For this reason, for example, when the seedlings already exist in the teaching path, the turning traveling and the work traveling are not further performed at the position where the teaching path is located, and there is no possibility that the planting seedlings in the teaching path are stepped on.

  In the present invention, when the separation distance between the target for the post-process and the teaching path is smaller than a preset separation distance, the path setting unit allows the overlap with the teaching path to be used for the post-processing. Preferably, the goal is set last.

  With this configuration, the route setting unit sets the target for the post-process at the end of the overlap with the teaching route, whereby the work traveling based on the target traveling route can be completed. Therefore, for example, when there is no planted seedling in the teaching route, the traveling machine body can finally perform work traveling on the position where the teaching route is located.

  In the present invention, it is preferable that a notifying unit for notifying the approach of the set separation distance is provided when the separation distance between the traveling vehicle body and the teaching path approaches the set separation distance.

  According to this configuration, the end determination of the setting of the post-process target by the route setting unit can be notified to the passenger and the field worker, and compared to a configuration in which the notification unit is not provided, the passenger and the field worker can Work can be set up quickly.

  In the present invention, the path setting unit is configured to adjust the working width of the last post-process target adjacent to the teaching path and the working width of the working device so that the working width of the working device matches or substantially matches with the traveled position. It is preferable to set the target for the post-process by adjusting the separation distance.

  With this configuration, in the work traveling along the post-process target set last, the work traveling can be performed with no gap in the field with the working width of the working device. This makes it possible to work on the field without generating unnatural gaps or the like in the work locus or the like on the field.

It is a whole side view of a rice transplanter. It is a whole plan view of a rice transplanter. It is a front view of a rice transplanter. FIG. 3 is a block diagram illustrating a control configuration. FIG. 4 is an explanatory view of the entire rice field showing a plan view of the operation of the automatic steering control. It is explanatory drawing which shows automatic steering control using an inertial measurement unit. It is explanatory drawing which shows setting of the target travel route for back processes. It is an explanatory view showing a display part. It is explanatory drawing which shows another embodiment of setting of the target travel route for post-processes. It is explanatory drawing which shows another embodiment of setting of the target travel route for post-processes.

[Basic configuration of traveling work machine]
An embodiment of the present invention will be described with reference to the drawings. Here, a riding type rice transplanter will be described as an example of the traveling work machine of the present invention. As shown in FIG. 2, in the present embodiment, an arrow “F” indicates a forward direction of the traveling aircraft C, an arrow “B” indicates a rearward direction of the traveling aircraft C, and an arrow “L” indicates a traveling aircraft. The arrow “R” is the rightward direction of the traveling aircraft C.

  As shown in FIGS. 1 to 3, the riding type rice transplanter is capable of planting seedlings on a traveling machine body C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11 and a field. And a seedling planting device W as a working device. A pair of left and right steering wheels 10 is provided on the front side of the traveling body C so as to be capable of changing the direction of the traveling body C, and a pair of left and right rear wheels 11 is provided on the rear side of the traveling body C. Has been. The seedling planting device W is connected to the rear end of the traveling machine body C via a link mechanism 21 that moves up and down by the expansion and contraction operation of a hydraulic cylinder 20 for lifting and lowering.

  An openable hood 12 is provided at the front of the traveling machine body C. A bar-shaped center mascot 14 serving as a guide for traveling along an index line (not shown) drawn on a field by the marker device 33 is provided at a tip end position of the bonnet 12. The traveling body C is provided with a body frame 15 extending in the front-rear direction, and a support column frame 16 is erected at a front portion of the body frame 15.

  An engine 13 is provided in the hood 12. Although not described in detail, the power of the engine 13 is transmitted to the steered wheels 10 and the rear wheels 11 via an HST (hydrostatic continuously variable transmission) (not shown) provided in the body, and the power after the shift is electrically driven. It is transmitted to the seedling planting device W via a motor-driven planting clutch (not shown).

  As shown in FIGS. 1 and 2, the seedling plant W is provided with four transmission cases 22, eight rotating cases 23, a leveling float 25, a seedling mounting table 26, and a marker device 33. And are provided. The rotating case 23 is rotatably supported on the left and right sides of the rear part of each transmission case 22, respectively. A pair of rotary planting arms 24 are provided at both ends of each rotating case 23. The leveling float 25 is for leveling the field surface of the field, and is provided in the seedling plant W in plural numbers. A mat-shaped seedling for planting is placed on the seedling mounting table 26. The marker devices 33 are provided on the left and right sides of the seedling planting device W, and form index lines (not shown) on the surface of a field.

  The seedling placement device W drives each rotating case 23 by the power transmitted from the transmission case 22 while driving the seedling placing table 26 to reciprocate laterally to the left and right, so that each seedling placing apparatus W is planted from the lower portion of the seedling placing table 26. The seedlings are alternately taken out by the arm 24 and planted on the surface of the field. The seedling planting apparatus W is configured in an eight-row planting type in which seedlings are planted by planting arms 24 provided in eight rotating cases 23. Note that the seedling planting device 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 operation posture and a storage posture. In the working posture, the marker device 33 contacts the field surface of the field with the travel of the traveling machine C and forms an index line (not shown) on the field surface corresponding to the next work process. In the storage posture, the marker device 33 moves upward from the surface of the field. The attitude of the marker device 33 is switched by an electric motor (not shown).

  As shown in FIGS. 1 to 3, a plurality (for example, four) of normal spare seedling stands 28 and spare seedling stands 29 are provided on the left and right sides of the bonnet 12 in the traveling machine body C. I have. Normally, the spare seedling stand 28 is configured so that spare seedlings for replenishing the seedling planting device W can be placed thereon. The spare seedling stand 29 is configured as a rail type on which spare seedlings for replenishing the seedling planting device W can be placed. A pair of left and right spare seedling frames 30 as tall frame members that support the respective normal spare seedling stands 28 and spare seedling stands 29 are provided on the left and right sides of the bonnet 12 in the traveling machine body C. The upper portions of the frames 30 are connected by a connection frame 31.

  As shown in FIGS. 1 to 3, a riding section 40 on which various driving operations are performed is provided at the center of the traveling body C. The riding section 40 includes a driver's seat 41, a steering handle 43, a main speed change lever 44, and an operation lever 45. The driver's seat 41 is provided at a central portion of the traveling machine body C, and is configured so that a passenger can take a seat. The steering wheel 43 is configured so that the steering operation of the steered wheels 10 can be performed by manual operation. The main transmission lever 44 is configured to be capable of performing a forward / backward switching operation and a traveling speed changing operation. 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 transmission lever 44, the operation lever 45, and the like are provided on an upper part of a control tower 42 located on the front side of the driver seat 41 with respect to the body. A boarding step 46 is provided at the foot portion of the boarding section 40. The boarding steps 46 also extend 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 changed. Although not shown, the swash plate angle of the HST is controlled by a hydraulic unit equipped with a servo hydraulic control device. Known hydraulic pumps and hydraulic motors are used for the servo hydraulic control device.

  When the operating lever 45 is operated to the raised position, the planting clutch (not shown) is disengaged, the transmission to the seedling planting device W is cut off, and the hydraulic cylinder 20 for raising and lowering is operated to raise the seedling planting device W. , The left and right marker devices 33 (see FIG. 1) are operated to the storage posture. When the operating lever 45 is operated to the lowered position, the seedling planting device W is lowered, comes into contact with the rice field, and stops. When the operation lever 45 is operated to the right marker position in this lowered state, the right marker device 33 is changed from the stored position to the operating position. When the operation lever 45 is operated to the left marker position, the left marker device 33 changes from the stored position to the operating position.

  When starting the rice planting operation, the passenger 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. Then, when the rice planting operation is stopped, the operation lever 45 is operated to raise the seedling planting device W, and the transmission to the seedling planting device W is shut off.

  An operation panel 47 on the upper part of the control tower 42 of the riding section 40 is provided with a display section 48 capable of displaying various information using a liquid crystal display. The display unit 48 may be a touch panel type liquid crystal display. On the right side of the display unit 48, a push-operation type start point end point setting switch 49A is provided, and on the left side of the display unit 48, a push-operation type target setting switch 49B is provided. Note that a configuration may be provided in which a start point end point setting switch 49A is provided on the left side of the display unit 48 and a target setting switch 49B is 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 transmission lever 44 is provided with a push-operation 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 and off each time the push operation is performed. The automatic steering switch 50 is arranged at a position where it can be pressed with, for example, a thumb in a state where the grip portion of the main shift lever 44 is gripped by hand.

  When performing automatic steering of the steering unit U, the steering motor 58 (see FIG. 4) is driven, and the steering operation shaft (not shown) is rotated by the driving force of the steering motor 58. The steering angle of the steered wheels 10 is changed. When automatic steering is not performed, the steering unit U can be rotated 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 a radio wave from a satellite and detects the position of the aircraft, the traveling aircraft C uses a well-known technology (GPS (Global Positioning System)). And a satellite positioning unit 70 for determining the position of the aircraft. 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 Kinetic GPS: interference positioning method).

  Specifically, the satellite positioning unit 70 is provided for the target (traveling aircraft C) to perform positioning. The satellite positioning unit 70 has a receiving device 72 with an antenna 71 for receiving radio waves transmitted from a plurality of navigation satellites orbiting the earth. The position of the receiving device 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-shaped support plate 73 in a state where the satellite positioning unit 70 is located in front of the traveling vehicle C. As shown in FIGS. 1 and 3, the receiving device 72 is supported at a high position by the connection frame 31 and the spare seedling frame 30. Thereby, there is little possibility that the reception failure occurs in the reception device 72, and the reception sensitivity of the radio wave in the reception device 72 can be increased.

  In addition to the satellite positioning unit 70, an inertial measurement unit 74 having, for example, an IMU 74A (Inertial Measurement Unit) is provided in the traveling body C as an azimuth detecting means for detecting the azimuth of the traveling body C. Inertial measurement unit 74 may have a gyro sensor or an acceleration sensor instead of IMU 74A. Although not shown, the inertial measurement unit 74 is provided, for example, at a lower rear position of the driver's seat 41 and at a lower position in the center of the traveling body C in the width direction. The inertial measurement unit 74 can detect the angular velocity of the turning angle of the traveling aircraft C, and can obtain the azimuth change angle ΔNA (see FIG. 6) of the aircraft by integrating the angular velocity. Therefore, the measurement information measured by the inertial measurement unit 74 includes the azimuth information of the traveling body C. Although not described in detail, the inertial measurement unit 74 can measure not only the angular velocity of the turning angle of the traveling body C, but also the left-right inclination angle of the traveling body C, the angular velocity of the longitudinal inclination angle of the traveling body C, and the like.

  As shown in FIG. 4, the traveling machine C is provided with a control device 75. The control device 75 is configured to be switchable between an automatic steering mode in which the automatic steering control is executed and a manual steering mode in which the automatic steering control is not executed.

  The control device 75 includes a route setting unit 76, an azimuth deviation calculating unit 77, an automatic traveling control unit 78, and a steering control unit 79. The route setting unit 76 sets a target travel route LM (see FIG. 5) on which the traveling body C should travel. Details of the azimuth deviation calculating unit 77 will be described later. The automatic traveling control unit 78 sets the target of the traveling aircraft C based on the position information of the traveling aircraft C measured by the satellite positioning unit 70 and the azimuth information of the traveling aircraft C measured by the inertial measurement unit 74. An operation amount is calculated and output so as to travel along the traveling route 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 the route setting unit 76, the azimuth deviation calculating unit 77, the automatic traveling control unit 78, and the steering control unit 79 are configured by a control program.

  A start / end point setting switch 49A for setting the target traveling route LM used for the automatic steering control by the teaching process is provided. 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. Note that the start point / end point setting switch 49A does not need to be constituted 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 state where they are arranged side by side. It may be. As described above, the start point end point setting switch 49A is provided on the right side of the display unit 48, but is not limited thereto, and may be provided on the left side of the display unit 48.

  The control device 75 includes a satellite positioning unit 70, an inertial measurement unit 74, an automatic steering switch 50, a start point / end point setting switch 49A, a target setting switch 49B, a steering angle sensor 60, a torque sensor 61, a vehicle speed sensor 62, and an obstacle detecting unit. Information such as 63 is input. The vehicle speed sensor 62 is configured to detect a vehicle speed based on, for example, a rotation speed of a transmission shaft in a transmission mechanism for the rear wheels 11. It should be noted that the vehicle speed may take into account not only the vehicle speed sensor 62 but also positioning data of the satellite positioning unit 70. The obstacle detection unit 63 is provided at the front part and the left and right sides of the traveling machine C, and is, for example, a distance sensor of a light wave distance measuring type, or an image sensor, and is located on a ridge of a field or in a field. It is configured so that a steel tower or the like can be detected. When an obstacle is detected by the obstacle detection unit 63, an alarm is notified to the occupant by, for example, an alarm unit 64 that is a buzzer or voice guidance. Further, the control device 75 is connected to the notifying unit 59, and the notifying unit 59 is configured to notify a state such as a vehicle speed and an engine 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 ridgeline detection is displayed on the display unit 48. Further, the alarm unit 64 may be configured as a part of the notification unit 59.

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

  The azimuth deviation calculating unit 77 calculates an angular deviation between the detected azimuth of the traveling body C (own azimuth NA) detected by the inertial measurement unit 74 and the target azimuth LA on the target traveling route LM, that is, an azimuth deviation. . Then, when the control device 75 is set to the automatic steering mode, the automatic traveling control unit 78 calculates and outputs an operation amount for controlling the steering motor 58 so as to reduce the angle deviation.

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

  Note that the control signal in the present embodiment may be an operation amount output by the automatic traveling control unit 78, or a voltage value or a current value for the steering control unit 79 to operate the steering motor 58. Is also good.

[Target travel route]
In rice fields, the rice transplanter alternately repeats work traveling with rice planting work along a straight line planting path and turning movement around the ridge to move to the next path for planting near the ridge. Finally, the rice planting work is performed while circling the field along the ridge of the field. FIG. 5 shows a teaching route LT and a plurality of target traveling routes LM arranged in parallel along the teaching route LT. In consideration of the fact that the rice transplanter performs the rice transplanting work that lasts around the field, the teaching width LT and the target traveling path LM are such that the working width of the seedling planting device W along the periphery of the ridge in the field is adjusted. It is provided in a secured state. In the present embodiment, each of the target travel routes LM (1) to LM (6) is set by the route setting unit 76 in the following procedure.

  First, the occupant positions the traveling body C at the start point Ts on the ridge in the field and operates the start point end point setting switch 49A. At this time, the control device 75 is set to the manual steering mode. Then, while the passenger manually controls, the traveling body C travels from the starting point position Ts along the linear shape on the side ridge, and the traveling body C is moved to the end point position Tf near the opposite ridge. . In the present embodiment, manually traveling the traveling body C from the start point position Ts to the end point position Tf is referred to as teaching traveling. When the traveling body C moves to the end point position Tf, the passenger operates the start point end point setting switch 49A again. As a result, the teaching process is performed. That is, the start point position Ts and the end point position Tf are obtained from the position coordinates based on the positioning data obtained by the satellite positioning unit 70 at the start point position Ts, and the position coordinates based on the positioning data obtained by the satellite positioning unit 70 at the end point position Tf. Is set at one end of the field. The direction along the teaching path LT is set as the reference target direction LA. The position coordinates at the end point position Tf are based not only on the positioning data from 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 aircraft C based on the inertial measurement unit 74. It may be configured to be calculated by the following. The traveling of the traveling body C between the start point position Ts and the end point position Tf may be a work traveling accompanied by a rice planting operation or a non-working traveling.

  After the setting of the teaching route LT, the traveling body C turns by 90 degrees and travels along the ridge of the field, while traveling along the ridge, while the starting point position Ls located on the side opposite to the side where the teaching route LT is located in the field. Move to (1). While the teaching route LT is set at one end of the field, the start point position Ls (1) is located at the other end of the field. Then, when the traveling body C approaches the start point Ls (1), the traveling body C further turns by 90 degrees, and the traveling body C reaches the start point Ls (1). The traveling of the traveling body C on the ridge may be performed by the passenger manually operating the steering handle 43 or may be performed by automatic control. At this time, the automatic traveling control unit 78 can determine that the traveling body C has reached the start point position Ls (1) by reversing the own machine direction NA. The arrival of the start point position Ls (1) can also be detected by the satellite positioning unit 70 or the inertial measurement unit 74.

  The arrival at the start point position Ls (1) may be determined by the operation of various devices other than the reversal of the azimuth NA. The operation of the various devices is, for example, a raising operation of a seedling planting device W, a leveling rotor (not shown), a leveling float 25, or the like, a side clutch (not shown) being disengaged, a seedling planting device. The transmission to W may be interrupted. The arrival of the traveling body C at the start point position Ls (1) may be determined by the satellite positioning unit 70.

  When the traveling body C reaches the start point Ls (1), the target traveling route LM (1) is set by the route setting unit 76 at an arbitrary timing. The target travel route LM (1) is set along the azimuth of the target direction LA at the other end of the field, that is, on the opposite side to one end of the field where the teaching route LT is located. This is a target travel route LM for performing work travel. The target travel route LM (1) may be set during the turning of the traveling body C, or may be set after the traveling body C turns. At the above timing, the target traveling route LM (1) is set by the passenger operating the target setting switch 49B. The configuration is not limited to the target setting switch 49B. For example, the target traveling route LM (1) may be set by a passenger operating the automatic steering switch 50 or the like. Further, a configuration may be adopted in which the target traveling route LM (1) is automatically set without the operation of the passenger.

  When the target travel route LM (1) is set by the route setting unit 76, the control device 75 switches from the manual steering mode to the automatic steering mode. Then, the automatic steering control along the target traveling route LM (1) is started, and at the same time, the seedling planting device W descends and the rice planting operation is started.

  In the automatic steering control, the detection of the ridge by the obstacle detection unit 63 near the end point position Lf (1) on the opposite side of the start point position Ls (1) of the target traveling route LM (1) is performed. Continue until judged.

  When the traveling body C approaches the end point position Lf (1) of the target traveling route LM (1), the turning traveling route RM (1) and the target traveling route LM (2) are automatically set at an arbitrary timing. You. The turning travel route RM (1) is a curved travel along a ridge connecting the end point position Lf (1) of the target travel route LM (1) and the start point position Ls (2) of the target travel route LM (2). It is a route. That is, the turning traveling route RM (1) is a traveling route for guiding the traveling machine C to the next target traveling route LM (2) in the ridge-turning traveling. After the completion of the work traveling on the target traveling route LM (1), the transmission to the seedling planting device W is cut off, and the seedling planting device W rises. Then, the automatic traveling control unit 78 executes the automatic turning control so that the traveling body C follows the turning traveling route RM (1). Due to the ridge-turning along the turning path RM (1), the own aircraft direction NA of the traveling body C at the start position Ls (2) becomes 180 from the own aircraft direction NA of the traveling aircraft C at the end position Lf (1). Invert degrees.

  The target travel route LM (2) is set adjacent to the teaching route LT side of the target travel route LM (1), that is, the non-work area side. Then, the automatic steering control is started along the target traveling route LM (2), and the traveling machine body C performs work traveling, and the seedling planting device W descends to start the rice planting operation.

  When the traveling body C approaches the end position Lf (2) of the target traveling route LM (2), a turning traveling route RM (2) and a target traveling route LM (3) are set, and the turning traveling route RM (2) is set. A turn along the ridge is automatically performed along the ridge. Then, the target traveling route LM (3), the turning traveling route RM (3), the target traveling route LM (4), the turning traveling route RM (4), the target traveling route LM (5), the turning traveling route RM (5), In the order of the target traveling route LM (6), the setting of the turning traveling route RM and the target traveling route LM, the ridge turning traveling, and the work traveling are repeated. That is, each target travel route LM is set one by one.

  In the present embodiment, the target travel route LM (6) is a travel route adjacent to the teaching route LT. For this reason, when an already planted seedling exists in the teaching route LT, the target traveling route LM (6) is a traveling route on which the traveling aircraft C performs the automatic steering control last. When the last automatic steering control along the target traveling route LM (6) is completed, the traveling machine C travels along the ridge of the field, and the rice planting work orbiting the field is performed. Then, when the rice planting work orbiting the field is completed, all the rice planting work in the field is completed. In the case where the planting seedling does not exist in the teaching route LT, the teaching route LT may be a traveling route on which the traveling machine C performs the automatic steering control last.

  During the automatic steering control, information on the own position NM is acquired by the satellite positioning unit 70 over time. In addition, the vehicle speed is calculated by the vehicle speed sensor 62 and, as shown in FIG. 6, the relative azimuth change angle ΔNA by the inertial measurement unit 74 is measured over time. The azimuth deviation calculating unit 77 calculates the own azimuth NA from the point where the automatic steering control is started, with time, by integrating the azimuth change angle ΔNA. Then, the azimuth deviation calculating unit 77 calculates the azimuth deviation between the own azimuth NA and the target azimuth LA. The automatic traveling control unit 78 outputs an operation amount so that the own aircraft direction NA matches the target direction LA, and the steering control unit 79 operates the steering motor 58 based on the operation amount. Thereby, the traveling body C travels accurately along the target traveling route LM.

  In the automatic turning control, the automatic traveling control unit 78 instructs the steering control unit 79 to perform a steering operation based on the own vehicle position NM measured by the satellite positioning unit 70, for example, through data conversion of a lookup table. It is configured as follows. In addition to the satellite positioning unit 70, for example, each of the vehicle speed measured by the vehicle speed sensor 62 and the azimuth change angle ΔNA measured by the inertial measurement unit 74 is integrated to calculate the own position NM. A configuration may be used. The automatic traveling control unit 78 is configured to start the automatic turning control at an arbitrary timing by using the determination of the detection of the ridge by the obstacle detecting unit 63 as a condition for starting the automatic turning. The target position of the automatic turning control is the starting point position Ls of the next work traveling. At the starting point position Ls, the turning control is performed so that the own direction NA of the traveling body C and the target direction LA match.

(Setting of target travel route)
FIG. 7 shows a post-process target travel route LM2 which is a post-process target in a state adjacent to the target travel route LM. The post-process target travel route LM2 is set as a target travel route in which the traveling body C performs a work travel after the target travel route LM. From this, when the target travel route LM in FIG. 7 corresponds to the target travel route LM (1) in FIG. 5, the post-process target travel route LM2 in FIG. 7 becomes the target travel route LM (2) in FIG. Equivalent to. When the target travel route LM in FIG. 7 corresponds to the target travel route LM (2) in FIG. 5, the target post-process travel route LM2 in FIG. 7 corresponds to the target travel route LM (3) in FIG. .

  Note that the target traveling route LM in FIG. 7 may be the above-described teaching route LT. In this case, the post-process target travel route LM2 in FIG. 7 corresponds to the target travel route LM (1) in FIG.

  Basically, the post-process target travel route LM2 is set at a predetermined set distance P from the target travel route LM based on the positioning data of the satellite positioning unit 70. Here, the set distance P is a distance corresponding to a work width in which the seedling planting apparatus W performs the rice planting work.

  In the present embodiment, the separation distance of the post-process target travel route LM2 from the target travel route LM is calculated based on the actual displacement of the traveling body C for which the automatic steering control has been performed along the target travel route LM. You. At the time of setting the post-process target travel route LM2, the post-process target travel is moved to a position separated by a relative distance from its own position NM (already-traveled position) based on the positioning data measured immediately before the ridge-side turn. The route setting unit 76 is configured to set the route LM2. That is, the post-process target travel route LM2 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 automatic steering control along the target traveling route LM, when the traveling machine C travels in a state of being displaced by a displacement deviation d toward the non-working area with respect to the target traveling route LM, the actual movement of the traveling The work travel locus is a travel locus indicated by a dashed-dotted line La shown in FIG. The travel trajectory of the dashed line La is calculated based on the positioning data of the satellite positioning unit 70. Further, an absolute error of the positioning data measured by the satellite positioning unit 70 is also included in the position deviation d.

  Originally, the post-process target travel route LM2 is set to a position separated from the target travel route LM by the set distance P, that is, a position indicated by a broken line lm shown in FIG. On the other hand, in the present embodiment, the post-process target travel route LM2 is set in a state in which the target travel route LM2 for the post-process is translated from the broken line lm toward the non-work area by the positional deviation d in correspondence with the positional deviation d. You.

  Further, a case is conceivable in which the actual work traveling locus of the traveling machine body C is displaced from the target traveling route LM by the displacement deviation d toward the work area. In this case, the post-process target travel route LM2 is set in a state of being translated from the set distance P to the target travel route LM toward the existing work area by the positional deviation d.

  Thus, even if the positioning data measured by the satellite positioning unit 70 includes an error, the positioning data can be set to a position separated from the own position NM by the set distance P. According to the configuration in which the target travel route LM2 for the post-process is set at a position separated by the working width of the seedling planting device W, the already planted seedlings in the already-worked area are depressed, or the work traveling locus before and after turning around the ridge. The possibility that a non-work area is generated during the operation can be prevented.

  The target travel route LM2 for the post-process is set on the non-work area side with respect to the target travel route LM, that is, on the side where the teaching route LT is located. For this reason, when the work traveling of the traveling body C along the target traveling path LM is repeated, the traveling body C approaches the teaching path LT each time the ridge turns. For this reason, when the traveling body C approaches the distance between the traveling body C and the teaching path LT that is equal to or less than the preset separation distance P1 (see FIG. 5), the path setting unit 76 sets the target traveling path LM2 for the post-process. It is configured not to set. The set separation distance P1 is set at a distance from the teaching route LT to the other end of the field by the same or substantially the same width as the working width of the seedling planting device W, and the set separation distance P1 can be changed by manual operation. It is. That is, by the configuration in which the approach of the teaching route LT is determined and the post-process target travel route LM2 is not set, the setting of the post-process target travel route LM2 is performed between the first target travel route LM (1) and the teaching route LT. And the end point of the automatic steering control can be determined.

(Display)
As shown in FIG. 8, the state of the aircraft 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 displacement information area 101, and a vehicle speed information area 102. The work information area 100 displays work date and time, work results, and the like on the upper left side of the display unit 48. The displacement information area 101 displays the displacement of the traveling machine C (own position NM) with respect to the target traveling route LM in 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 machine C in the field. A small area at the left end of the position information area 104 is a steering state information area 103. The steering state information area 103 displays the state of the control device 75 in the automatic steering mode or the manual steering mode. At the right end of the position information area 104, a touch panel operable software button group 120 is arranged. On the further right side of the display unit 48, a physical button group 121 is arranged.

  In the position information area 104, the work state of the field around the traveling machine C, the target traveling route LM, and the machine symbol SY indicating the own machine position NM are displayed. Note that, of the target travel routes LM, the target travel route LM during work traveling is drawn with a thick solid line for easy understanding. Further, the region where the rice planting has already been completed is displayed by stippling each planted seedling. Thereby, the already-worked area and the un-worked area are visually clearly distinguished. The display of the planting seedling trace may be a line indicating a linear planting streak other than the stippling.

  Although not explicitly shown in FIG. 8, the route on which the traveling body C actually traveled, that is, the traveling locus may be displayed on the display unit 48. By comparing the traveling locus with the target traveling route LM, the accuracy of the automatic steering control can be checked. The traveling locus is displayed on the display unit 48 based on the positioning data by the satellite positioning unit 70. The body symbol SY is shown in an arrow shape, and the sharp direction indicates the traveling direction, that is, the own aircraft direction NA. In order to make it easier to visually recognize the azimuth deviation between the own azimuth NA and the target azimuth LA, a pointer 110 extending in the traveling direction from the center of the airframe symbol SY and a direction scale 111 indicating an angular range of the direction are provided. It is overwritten. A boundary line 112 indicating the allowable range of the azimuth deviation is also displayed. The digital value of the azimuth deviation can also be displayed. The occupant can visually recognize the positional deviation and the azimuth deviation of the traveling body C with respect to the target traveling route LM through the display unit 48.

  When the post-process target travel route LM2 is set based on the work travel on the target travel route LM, as shown in FIG. The displacement amount of C is displayed. The timing at which the amount of positional deviation is displayed may be during turning on the ridge from the target driving route LM to the target driving route LM2 for the post-process, or may be after the turning on the ridge. .

  While the automatic turning control is being performed, the position and the amount of the displacement of the traveling body C are not displayed in the displacement information area 101 and the position information area 104 of the screen displayed on the display unit 48. I have. That is, the display on the display unit 48 during the automatic turning indicates that the vehicle is automatically turning, and the display can be made easy for the passenger to understand. Further, the configuration may be such that the position and the amount of displacement of the traveling body C during the automatic turning can be switched so as to be displayed according to the intention of the occupant. The display or non-display may be switched by operating the software button group 120 or the physical button group 121. In addition, the notification of the positional deviation amount may be a voice notification by the notification unit 59 or a lighting or blinking display of the switch.

  Further, when the separation distance between the traveling aircraft C and the teaching route LT approaches the set separation distance P1, the approach of the set separation distance P1 may be displayed on the display unit 48 via the notification unit 59, A configuration may be adopted in which the approach of the set separation distance P <b> 1 is abandoned via the notification unit 59 by voice guidance or by turning on or off a switch. It should be noted that the notification unit 59 may be configured so that the notification time can be arbitrarily set and adjusted.

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

[1] In the above-described embodiment, the work traveling of the traveling machine C and the turning traveling on the ridge are configured to be automatically performed, but the invention is not limited to this embodiment. For example, a configuration may be employed in which the ridge-turning travel is performed by a manual operation, and the work travel is automatically performed. For example, in FIG. 5, each target traveling route LM is set, and after the completion of turning of the traveling body C is determined, the manual steering mode of the control device 75 is continued, and the straight traveling by the manual operation is continued. There may be. During this time, the control device 75 checks the azimuth deviation of the own machine direction NA calculated by the azimuth deviation calculating unit 77, the direction of the steered wheels 10, the steering angle of the steering wheel 43, and the like, and determines the automatic steering mode. It is determined whether or not the state can be switched to. Then, the control device 75 permits the operation of the automatic steering switch 50 if the automatic steering mode can be switched. At this time, whether or not the control device 75 can be switched to the automatic steering mode is notified by the notification unit 59. Then, when the passenger operates the automatic steering switch 50, the control device 75 is switched from the manual steering mode to the automatic steering mode, and the automatic steering control along the target traveling route LM is executed. It may be.

  When the control device 75 is in a state where it is not possible to switch to the automatic steering mode, the notification unit 59 may be configured to also notify the reason. With this configuration, for example, a bad condition for the automatic steering control can be notified to the passenger, so that the condition for the passenger to start the automatic steering control can be easily set. The notification by the notification unit 59 may be a sound such as a buzzer, lighting or blinking of the LED lighting provided in the center mascot 14, or display on the display unit 48. good. In addition, the notification by the notification unit 59 may be configured to be notified temporarily, or may be configured to be constantly notified.

  During the automatic steering control, when the obstacle detection unit 63 determines that the distance between the traveling body C and the ridge is within a preset range, the passenger is notified by an alarm of the alarm unit 64. May be adopted. At this time, the warning by the warning unit 64 may be a sound such as a buzzer, lighting or blinking of the LED lighting provided in the center mascot 14, or displayed on the display unit 48. There may be. Then, the obstacle detection unit 63 keeps detecting the edge of the ridge for a preset time, so that the detection of the edge of the ridge is determined, and the control device 75 is switched to the manual steering mode to perform the automatic steering control. May be canceled.

[2] In the above-described embodiment, the post-process target travel route LM2 is set as the post-process target, but the post-process target is not limited to the post-process target travel route LM2. For example, the end point position Lf located on the opposite side of the start point position Ls from the post-process target travel route LM2 may be set as the post-process target. Then, the automatic traveling control unit 78 may be configured to execute automatic steering control with the end point position Lf at the target position. In short, the post-process target for performing the work traveling after the traveling body C travels on the target traveling route LM may be set on the side where the teaching route LT is located.

[3] In the above-described embodiment, when the traveling body C approaches the separation distance between the traveling body C and the teaching route LT that is equal to or less than a preset separation distance P1, the route setting unit 76 sets the post-process target traveling route LM2. Is not set, but is not limited to this embodiment. For example, when there is no planted seedling in the teaching route LT, the route setting unit 76 may be configured to allow the overlap with the teaching route LT and to finally set the post-process target travel route LM2. Of course, a turning traveling route RM for guiding to the target post-process traveling route LM2 that overlaps the teaching route LT may be set.

  Further, after the work traveling is performed along the post-process target traveling path LM2 overlapping with the teaching path LT, the traveling machine C travels along the ridge of the field, and the rice planting work orbiting the field is performed. . At this time, it is necessary to secure the working width of the seedling plant W along the periphery of the ridge in the field. For this reason, of the working width of the seedling planting device W when the work traveling is performed along the post-process target travel route LM2, a portion overlapping with the working width to be secured along the periphery of the ridge is: The rice planting operation may be performed only in an area that does not overlap with the operation width to be secured along the periphery of the ridge by operating each strip clutch (not shown) of the seedling planting device W.

[4] In the above-described embodiment, the route setting unit 76 is configured to set the post-process target traveling route LM2 at a position separated by the set distance P from the already-traveled position. Not limited. As shown in FIG. 9, the plantable width Wa (post-process target working width) in which seedlings can be planted in the post-process target travel route LM2 adjacent to the teaching route LT is the planting width of the seedling planting device W. It may be smaller than the attached working width Wb (working width of the working device). When the plantable width Wa and the planting work width Wb are substantially the same, the rice planting operation is performed along the target post-process travel path LM2 with no gap at the working width of the seedling planting device W. For this reason, it is desirable that the plantable width Wa and the planting work width Wb match as much as possible. As illustrated in FIG. 10, the route setting unit 76 may be configured to adjust the separation distance from the already-running position and set the post-process target running route LM2. For example, the post-process target travel route LM2 (1) is set at a position closer to the target travel route LM by Δp than the set distance P. Δp is set to such an extent that the seedlings already planted in the work area are not depressed, and the seedlings to be planted on the post-process target travel route LM2 (1) are planted near the work area. In this manner, the configuration in which the distance from the already-traveled position is adjusted for each setting of the post-process target travel route LM2 allows the seedling to be planted in the post-process target travel route LM2 adjacent to the teaching route LT. Can be adjusted. As a result, the plantable width Wa of the final target post-process travel route LM2 adjacent to the teaching route LT and the planting work width Wb of the seedling planting device W as a working device match or substantially match.

  If the plantable width Wa in the post-process target travel route LM2 adjacent to the teaching route LT is larger than the planting work width Wb, the post-process target travel route LM2 (1) becomes the target travel route LM. May be set at a position further apart from the set distance P by Δp.

[5] In the above-described embodiment, after the setting of the teaching route LT is completed, the traveling body C moves to the start point position Ls (1), and the automatic steering control is performed along the target traveling route LM (1). However, the present invention is not limited to this embodiment. For example, in the case of FIG. 5, the automatic steering control may be performed along the target traveling route LM (6) adjacent to the teaching route LT immediately after the setting of the teaching route LT is completed. Then, in the order of the target travel route LM (5), the target travel route LM (4), the target travel route LM (3), the target travel route LM (2), and the target travel route LM (1), the work travel and the ridgeline are performed. The turning travel is alternately and repeatedly performed, and after the completion of the work travel on the target travel route LM (1), the setting of the post-process target travel route LM2 by the route setting unit 76 is terminated by a manual operation. Is also good.

[6] In addition to the rice transplanter described above, the present invention is applicable to other direct sowing type working machines including a direct sowing machine and the like. The present invention is also applicable to agricultural working machines such as tractors and combiners in addition to the direct seeding working machines.

  INDUSTRIAL APPLICABILITY The present invention is applicable to a traveling work machine that performs a traveling operation along a target traveling route in a field.

59: notification unit 76: route setting unit C: traveling machine W: seedling planting device (working device)
Wa: Plantable width (target working width for post-process)
Wb: Planting working width (working width of working equipment)
LM: target travel route LM2: target travel route for post-process (target for post-process)
LT: Teaching path P1: Set distance

Claims (7)

A traveling body traveling on a field,
A working device for performing work on the field,
A route setting unit that sets a target traveling route on which the traveling body should perform work traveling,
Is provided,
The route setting unit sets a teaching route based on teaching traveling in which the traveling body travels by an artificial operation at one end of the field, and then sets the target traveling route parallel to the teaching route at the other end of the field. And the traveling along the target traveling route when the traveling body travels alternately and repeatedly in a traveling traveling along the target traveling route and a turning traveling turning toward the next target traveling route. A traveling work machine for setting a post-process target for performing a traveling operation after the traveling aircraft travels on the target traveling route on the side where the teaching path is located, based on the already-traveled position acquired during traveling of the aircraft. .   The traveling work machine according to claim 1, wherein the post-process target is a post-process target traveling route for the traveling body to perform the work traveling.   The traveling work machine according to claim 1, wherein the route setting unit sets a turning traveling route for guiding the traveling machine body to the post-process target in the turning traveling.   The route setting unit does not set the target for the post-process when the separation distance between the target for the post-process and the teaching path is smaller than a preset set distance, according to any one of claims 1 to 3. The traveling work machine described.   When the separation distance between the target for the post-process and the teaching path is smaller than a preset separation distance, the path setting unit allows the overlap with the teaching path and finally sets the target for the post-processing. The traveling work machine according to any one of claims 1 to 3, which is set.   The traveling work machine according to claim 5, further comprising: a notifying unit that reports the approach of the set separation distance when a separation distance between the traveling body and the teaching path approaches the set separation distance.   The path setting unit adjusts a separation distance from the traveled position so that a work width of a target for the last post-process adjacent to the teaching path and a work width of the work device match or substantially match. The traveling work machine according to any one of claims 1 to 6, wherein the post-process target is set by setting.

Images