JP2020031596A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of travelling along a travelling reference route even when position information cannot be properly acquired from a satellite positioning system such as a GPS using an artificial satellite.SOLUTION: In a work vehicle 1, a control device compares current position information on a vehicle acquired from a GPS module with position information of a travelling reference route 21 to grasp a positional deviation of the vehicle, and controls steering of the vehicle so that the vehicle travels along the travelling reference route 21. When a problem occurs in acquiring the position information by the GPS module, the control device detects a deviation between the current position of the vehicle and a travelling reference line drawn by a line drawing marker with a stereo camera, and controls steering of the vehicle so that the work vehicle travels along the travelling reference line. Autonomous travelling along the travelling reference route is possible even when acquisition of the position information using an artificial satellite becomes difficult.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a work vehicle that runs autonomously.

  2. Description of the Related Art Conventionally, an agricultural work vehicle that autonomously travels in a field or the like is known. For example, Patent Literature 1 discloses a work vehicle including an automatic steering device that automatically corrects a traveling direction of a vehicle during autonomous travel. Is described. This automatic steering device is configured to grasp a vehicle position and a traveling route by a satellite positioning system such as a GPS using an artificial satellite, and to autonomously travel in a field along a reference traveling route.

JP-A-2006-024541

  However, conventional work vehicles have difficulty in autonomous traveling so as not to deviate from the reference traveling route because the accuracy of the position information of the vehicle that can be obtained is reduced when the radio wave of the artificial satellite is bad, etc. Automatic steering was impossible.

  Therefore, the present invention provides a work vehicle that can autonomously travel along a reference traveling route even in a state where position information cannot be appropriately acquired from a satellite positioning system such as GPS using an artificial satellite. It is intended to provide.

  An object of the present invention is a work vehicle that autonomously travels, receives a positioning information from an artificial satellite, and, based on the received positioning information, a position acquisition device that acquires current position information of the vehicle; A recording device that records a travel reference route that is a reference travel route when the vehicle travels, reference line setting means that sets a travel reference line in a field along the route that the vehicle has traveled, and a travel reference that is set in the field. A detection device for detecting a line, and a control unit for controlling autonomous traveling of the vehicle, wherein the control unit includes: a current position information of the vehicle acquired from the position acquisition device; and a traveling reference recorded in the recording device. A positioning mode in which the position deviation of the vehicle is grasped by comparing the position information of the route and the vehicle is steered and controlled so that the work vehicle travels along the traveling reference route, and the current position of the vehicle is detected by the detection device. A detection mode for detecting the deviation between the position and the traveling reference line, and providing a steering mode for steering the vehicle so that the work vehicle travels along the traveling reference line, when steering the vehicle by the positioning mode, When a failure occurs in the acquisition of position information by the position acquisition device, the work mode is switched to the detection mode to perform steering control of the vehicle.

  According to the present invention, in the work vehicle, in the positioning mode, the control unit acquires the current position of the vehicle using the position acquisition device and performs steering control so as to follow the traveling reference route recorded in the recording device. It can run autonomously along the route. In addition, even when the state of the radio wave from the artificial satellite deteriorates while traveling in the positioning mode and the position acquisition device cannot appropriately acquire the current position information, by switching the steering control to the detection mode, The detection device detects a travel reference line drawn on the field along the travel reference route by the delineation marker, and can travel along the line. The work vehicle can autonomously travel along the travel reference route even when the location information cannot be appropriately acquired from the satellite positioning system.

  In a preferred embodiment of the present invention, the control unit switches to the positioning mode when the position acquisition device can acquire the current position information of the vehicle without any trouble during the detection mode. The vehicle is configured to perform steering control.

  According to this preferred embodiment of the present invention, when the condition of the radio wave from the artificial satellite is improved and the position information can be appropriately acquired, the control unit automatically switches the steering control from the detection mode to the positioning mode. Since it is returned, there is no need for the user to manually intervene in the control unit to perform steering control, and the autonomous traveling of the work vehicle can be stably continued.

  In a further preferred aspect of the present invention, the detection device is configured to be able to detect an obstacle in a traveling direction of the vehicle, and the control unit determines that the detection device has an obstacle on a traveling reference route. When the detection is performed, the vehicle is steered so as to bypass the obstacle and travel again on the traveling reference route.

  According to this further preferred embodiment of the present invention, since the detection device detects an obstacle and controls the steering so that the control unit makes a detour, the work vehicle stops even if there is an obstacle on the traveling reference route. It is possible to safely continue traveling along the traveling reference route without causing the vehicle to collide with an obstacle.

  In a further preferred aspect of the present invention, the recording device is configured to be able to record position information of a route on which the vehicle has traveled, and a route calculation for calculating a traveling reference route from information on the traveling route recorded in the recording device. Comprising a unit, wherein the control unit corrects the travel reference route calculated by the route calculation unit based on the position information acquired by the position acquisition device and the information of the travel reference line detected by the detection device. It is configured to be able to.

  According to this further preferred embodiment of the present invention, the recording unit records the current position of the vehicle acquired during traveling of the work vehicle and information of the traveling reference line detected by the detection device as a traveling history, and the route calculating unit includes By calculating a plurality of traveling reference routes from the traveling history recorded in the recording unit, it is possible to correct the position information of the traveling reference route recorded in the office by using a plurality of traveling reference routes calculated later, The work vehicle can improve the accuracy of autonomous traveling along the traveling reference route by traveling the field a plurality of times.

  In a further preferred aspect of the present invention, the control unit is configured to be able to calculate and correct the travel reference route calculated by the route calculation unit during autonomous traveling of the vehicle.

  According to this further preferred embodiment of the present invention, the route calculation unit can automatically calculate and correct the traveling reference route even while the work vehicle is traveling. Therefore, there is no need to stop the traveling of the work vehicle, and the workability is not reduced.

  Advantageous Effects of Invention According to the present invention, it is possible to provide a work vehicle that can autonomously travel along a reference traveling route even in a state where acquisition of position information from a GPS cannot be appropriately performed.

FIG. 1 is a schematic plan view of a work vehicle according to a preferred embodiment of the present invention. FIG. 2 is a schematic left side view of the work vehicle shown in FIG. FIG. 3 is a block diagram showing an electric system in the work vehicle 1 of FIG. FIG. 4 is an explanatory diagram illustrating a work vehicle that autonomously travels in a field along a travel reference route. FIG. 5 is an explanatory diagram illustrating a method of calculating a travel reference route from a route traveled by a work vehicle. FIG. 6 is an explanatory diagram illustrating traveling of the work vehicle around an obstacle. FIG. 7 is a flowchart showing automatic operation control of the work vehicle by the arithmetic and control unit of FIG. FIG. 8 is a schematic left side view showing a work vehicle according to another embodiment of the present invention. FIG. 9 is a schematic rear view showing the seeding device of the work vehicle in FIG. FIG. 10 is an enlarged view of a main part of the seeding apparatus of FIG. 9. FIG. 11 is a block diagram showing an electric system of the seeding device.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are examples of specific embodiments of the present invention, and do not limit the technical scope of the present invention.

  FIG. 1 is a schematic plan view of a work vehicle 1 according to a preferred embodiment of the present invention, and FIG. 2 is a schematic left side view of the work vehicle 1. In this specification, as shown in FIG. 1, the side of the working vehicle 1 that is in the traveling direction of the vehicle is referred to as the front (F), the opposite side is referred to as the rear (B), and the left hand side in the traveling direction is referred to. It is called left (L), and the right hand side in the traveling direction is called right (R).

  As shown in FIGS. 1 and 2, the work vehicle 1 is a riding type rice transplanter including a traveling vehicle body 100 and a seedling planting device 200. A pair of left and right front wheels 101a and a pair of left and right rear wheels 101b are provided on a main frame 110 of the traveling vehicle body 100, and replenishing seedlings are divided into a plurality of stages on left and right sides of a front portion of the traveling vehicle body 100. A reserve seedling mounting table 139 is provided.

  A floor 130 is provided in the center of the traveling vehicle body 100, and a control section 133 capable of controlling the work vehicle 1 is provided thereon. The steering section 133 is provided with a cockpit 133a and a steering handle 133b capable of steering the front wheel 101a, and the steering handle 133b is supported by a steering post 133c. On both left and right sides of the floor 130, floor steps 135, each of which is a part of a lattice-like base, are provided.

  An engine 131 covered by an engine cover 132 is provided below the cockpit 133a. The engine 131 is mounted such that the driving force is transmitted as running power to each of the left and right front wheels 101a and the left and right rear wheels 101b.

  A fertilizer device 120 is provided at the rear of the traveling vehicle body 100. The fertilizer device 120 feeds out a certain amount of the fertilizer hopper 121 in which the granular fertilizer is stored and the fertilizer stored in the fertilizer hopper 121 by a predetermined amount. A feeding section 122 and a fertilizing hose 123 for transporting the fed fertilizer to the seedling planting apparatus 200 are provided.

  The seedling planting apparatus 200 is connected to the rear of the traveling vehicle body 100 by a lifting link device 113 so as to be able to move up and down. A plurality of rows of seedling platforms 280 on which seedlings are placed are provided on the upper surface of the seedling planting apparatus 200. In each row of the seedling platform 280, seedlings are sent from the seedling platform 280 to the seedling outlet 281. A seedling feed belt 282 is provided. At the rear end of the seedling planting apparatus 200, seedling planting tools 210 for planting seedlings sent from the seedling outlet 281 in the field are arranged in the horizontal direction corresponding to each row of the seedling mounting table 280. In addition, a plurality of floats 220 for leveling the mud surface of the field are provided. The work vehicle 1 travels with the seedling planting apparatus 200 lowered, so that each float 220 is slid on the mud surface of the field and leveled, and is sent from the seedling table 280 to the leveling ground. Seedlings are configured to be planted in a field by a seedling planting tool 210.

  Further, the seedling planting apparatus 200 includes a fertilizer guide 213 attached to the left and right sides of the float 220 for receiving fertilizer carried by the fertilizer hose 123, and a side of a seedling planting line provided in front of the fertilizer guide 213. And a groove forming member 214 for forming a groove near the portion. That is, the work vehicle 1 is configured so that the fertilizer supplied from the fertilizer application device 120 can be dropped into the fertilizer structure formed by the groove forming body 214.

  A pair of left and right stays 320 (320L, 320R) and support columns 310 (310L, 310R) extending upward from the stays are provided at the front end of the vehicle body 100. The support columns 310 have a left camera 300L. A stereo camera 300 including a right camera 300R and a right camera 300R is attached so that an image in front of the vehicle can be captured. Therefore, the work vehicle 1 can shoot an image having parallax information using the stereo camera 300.

  As shown in FIG. 2, drawing markers 148 are provided on both left and right sides of the seedling plant 200. The drawing marker 148 includes a marker arm 148a, which is a shaft member supported to be vertically swingable, and a marker ring 148b rotatably supported at a shaft end of the marker arm 148a. The marker ring 148b is a ring-shaped member having a plurality of claw-shaped protrusions formed on the outer periphery. The marker ring 148b comes into contact with a field scene when the marker arm 148a is lowered, and is separated from the field scene when the marker arm 148a is raised.

  When the marker arm 148a is lowered while the work vehicle 1 is traveling, the marker ring 148b is continuously rotated with the travel of the work vehicle 1 with respect to the field scene because the protrusion on the outer periphery comes into contact with the field scene. A depression is formed. By providing the drawing marker 148 on the work vehicle 1 in this way, a dotted line mark can be made on the field scene along the route on which the vehicle has traveled on both sides of the work vehicle 1. The dotted line mark attached to this field scene becomes a running reference line that becomes a reference when the work vehicle 1 runs on the field again. The work vehicle 1 can be used as a reference when traveling on the field again by drawing a travel reference line on the field using the line drawing marker 148 when traveling on the field.

FIG. 3 is a block diagram showing an electric system in the work vehicle 1 according to a preferred embodiment of the present invention.
As shown in FIG. 3, the work vehicle 1 of FIG. 1 includes a positioning unit 450, a state detection unit 460, a device control unit 470, and an arithmetic control unit 480 as control systems, each of which is provided. They are connected via an in-vehicle LAN, and are configured so that they can exchange data with each other.

  The positioning unit 450 functions as a position acquisition device that receives positioning information from an artificial satellite and acquires current position information of the work vehicle 1 based on the received positioning information, and includes a GPS module 451 and an azimuth module 452. And The GPS module 451 detects an orientation such as latitude and longitude using GPS, and is configured to receive a GPS signal. Therefore, the work vehicle 1 can acquire the current position information of the work vehicle 1 based on the GPS signal received by the GPS module 451. The azimuth module 451 includes a gyro acceleration sensor and a magnetic azimuth sensor that detect an instantaneous movement (direction vector, etc.) and an orientation of the work vehicle 1. Therefore, the work vehicle 1 can acquire information on the current traveling direction by the direction module 451.

  The positioning unit 450 sends the acquired position information and traveling direction information of the work vehicle 1 to the arithmetic and control unit 480. The arithmetic and control unit 480 receives the position information and traveling direction information of the work vehicle 1 and records the information. 481 is recorded.

  The state detection unit 460 includes states such as an engine speed, a wheel speed, a shift position, and a remaining fuel amount of the traveling vehicle body 100, a remaining seedling amount, a fertilizer remaining amount, and a posture (ascending state and descending state) of the seedling planting apparatus 200. The operation state of the seedling planting tool 210 (whether or not a seedling planting exercise is being performed) and the like can be detected, and the detected information is sent to the arithmetic and control unit 480.

  The device control unit 470 is configured to send a hydraulic control signal or an electronic control signal to an operating device mounted on the traveling vehicle body 100 or the seedling plant 200 based on a command from the arithmetic and control unit 480. In addition to controlling the traveling operation device including the engine 131 provided on the traveling vehicle body 100 and the steering operation device including the steering device, the elevating link device 113 connecting the traveling vehicle body 100 and the seedling planting device 200 is connected. It is configured to control a work operation device including the work operation device.

  The arithmetic and control unit 480 includes a recording unit 481 that stores a control program and various data, a route calculation unit 482 that calculates a traveling route, a steering control unit 483 that performs automatic steering, and an image captured by the camera 300. An image processing unit 484 for processing is constructed. The recording unit 481 stores map information of the field, position information of ridges that define the boundary of the field, equipment setting data related to work performed in the field, for example, work width (working vehicle 1 can plant seedlings in one run. And the history of the position information of the route on which the work vehicle has traveled can be stored.

  The image processing unit 484 detects an object in the field 10 or a dent formed in the field 10 by the drawing marker 148 in FIG. 2 from the image of the stereo camera 300, and calculates the distance to the vehicle from the parallax information. It is configured to be able to. Therefore, the work vehicle 1 can detect the obstacle ahead and the traveling reference line 20 drawn by the drawing marker 148. Further, information on the detected obstacle and the traveling reference line 20 is configured to be recorded in the recording unit 481.

FIG. 4 is an explanatory diagram illustrating the work vehicle 1 that autonomously travels in the field 10 along the travel reference route 21.
As shown in FIG. 4, the traveling reference line 20 is a line drawn on the field 10 by the delineation marker 148 of the work vehicle 1 in the field 10 and the headland 11 surrounded by the ridge 12, and the traveling reference route 21 is 3 is a route virtually set by the route calculation unit 482 in FIG. The work vehicle 1 travels straight in the field 10, planting seedlings within the range of the working width W, repeatedly turning in a U-turn on the headland and returning to the field 10 again, and passes over the field 10 evenly. Is configured. Accordingly, the work vehicle 1 autonomously travels along the travel reference route 21 while causing the seedling planting apparatus 200 to perform the seedling planting motion, so that the seedlings can be evenly planted in the field 10 without manpower.

The traveling reference route 21 is stored in the recording unit 481 of FIG. 3 as route information.
Further, the arithmetic and control unit 480 in FIG. 3 has two steering control modes, a positioning mode and a detection mode, for making the work vehicle 1 autonomously travel. In the positioning mode, the arithmetic and control unit 480 obtains the current position information of the work vehicle 1 by the GPS module 451 of the positioning unit 450 receiving the GPS signal, and records when the azimuth module 452 obtains the traveling direction of the vehicle. The traveling direction is corrected by the steering control unit 483 so as to eliminate the deviation between the current position of the work vehicle 1 and the position of the traveling reference route 21 by referring to the position information of the traveling reference route 21 recorded in the unit 481. Thus, the work vehicle 1 is configured to travel along the travel reference route 21. The position information of the traveling reference route 21 is information indicating planar position coordinates of the traveling reference route 21 necessary for the vehicle to travel on the traveling reference route 21.

  In the detection mode, the arithmetic and control unit 480 detects the traveling reference line 20 drawn by the image processing unit 484 of FIG. 3 on the field 10 from the image captured by the stereo camera 300 of FIG. When the traveling direction of the vehicle is acquired, the traveling direction is corrected by the steering control unit 483 shown in FIG. 3 so that the traveling vehicle 1 travels between the traveling reference lines 20 drawn on both sides. It is configured to travel along the reference line 20.

  The arithmetic and control unit 480 can switch between two modes, a positioning mode and a detection mode, and is configured to perform steering control in the positioning mode by default. However, when the position information cannot be appropriately acquired from the GPS due to a bad radio wave of the GPS or the like, the steering control mode is switched and the steering control is performed in the detection mode.

  When the work vehicle 1 has once traveled the entire field 10 along the traveling reference path 21 given in advance, the traveling reference line 20 drawn on the field 10 is along the traveling reference path 21. In this case, traveling along the traveling reference line 20 is equivalent to traveling along the traveling reference route 21. Therefore, the work vehicle 1 can autonomously travel along the travel reference route 20 even when the GPS radio wave is poor.

FIG. 5 is an explanatory diagram illustrating a method of calculating the travel reference route 21 from the straight route along which the work vehicle 1 travels.
As shown in FIG. 5, the traveling reference route 21 in the field 10 includes straight paths L1 to L7 traveling in the field 10 and turning paths C1 to C6 turning on the headland 11. When the work vehicle 1 travels manually to the straight route L1 so as to cross the edge of the field 10, the position information of the straight route L1 is recorded in the recording unit 481 in FIG. When acquiring the map information of the field 10, the work width W of the work vehicle 1, and the position information of the straight route L1 from the recording unit 481, the route calculation unit 482 in FIG. It is configured to be able to calculate the turning paths C1 to C6.

  Specifically, the route calculation unit 482 calculates a straight route L2 parallel to the straight route L1 at a position away from the straight route L1 by the working width W, and turns the turning route so as to connect the straight route L1 and the straight route L2. Calculate C1. Further, a straight path L3 parallel to the straight path L2 is calculated at a position away from the straight path L2 by the work width W, and a turning path C3 is calculated so as to connect the straight path L2 and the straight path L3. By repeating this process until reaching the end of the field 10, the straight routes L2 to L7 and the turning routes C1 to C6 can be calculated.

  Then, the route calculation unit 482 can output the position information of the traveling reference route 21 that is a reference for traveling of the entire field 10 by combining the obtained straight routes L1 to L7 and the turning routes C1 to C6. . The output position information of the traveling reference route 21 is recorded in the recording unit 481.

  As described above, the work vehicle 1 travels once through the field 10 so as to obtain the position information of the traveling reference route 21 and can autonomously travel on the remaining route. There is no need to run, and the user can save time and effort.

  In addition, since the recording unit 481 records the current position of the vehicle acquired during traveling of the work vehicle 1 and the information of the traveling reference line 20 detected by the stereo camera 300 as the traveling history, the recording unit 481 travels the entire field 10 a plurality of times. This makes it possible to record a plurality of travel reference lines 20 drawn over the entire field 10 and a plurality of travel reference routes 21 obtained as trajectories of position information from the GPS.

  The route calculating unit 482 calculates a plurality of traveling reference routes 21 from the traveling histories recorded in the recording unit 481 in this manner, so that the position information of the traveling reference route 21 initially recorded is later calculated. It is configured so that correction can be made by using a plurality of traveling reference routes 21.

  Therefore, the work vehicle 1 can improve the accuracy of the autonomous traveling along the traveling reference route 21 by traveling the field 10 a plurality of times.

  The route calculation unit 482 is configured to automatically calculate and correct the travel reference route 21 even while the work vehicle 1 is traveling. Therefore, the traveling of the work vehicle 1 does not need to be stopped for the calculation and correction of the traveling reference route 21, and the workability does not decrease.

FIG. 6 is an explanatory diagram showing traveling of the work vehicle 1 bypassing the obstacle 30.
As shown in FIG. 6, when the video processing unit 484 of FIG. 3 detects the obstacle 30 on the field 10 from the video captured by the stereo camera 300, the operation control unit 480 of FIG. When a command is sent to the control unit 483 to bypass the obstacle, and the steering control unit 483 receives the command to that effect, the steering is performed so as to avoid the obstacle, and thereafter, along the travel reference line 20 or the travel reference route 21. Steered to run.

  Therefore, even if there is an obstacle 30 on the field 10, the work vehicle 1 does not stop or collide with the obstacle 30 by bypassing the obstacle 30. Traveling along the road can be safely continued.

FIG. 7 is a flowchart showing automatic operation control of work vehicle 1 by arithmetic and control unit 480 in FIG.
As shown in FIG. 7, when the arithmetic and control unit 480 acquires the position information of the traveling reference route 21 from the recording unit 481 (step S1), the positioning unit 450 acquires the current vehicle position information and traveling direction information. Command to do so. Upon receiving the instruction, the positioning unit 450 causes the azimuth module 452 to detect the traveling direction of the vehicle and causes the GPS module 451 to receive a GPS signal (step S2). At this time, if the GPS radio wave condition is good and the position information can be accurately obtained from the received GPS signal (step S3), the positioning unit 450 obtains the current vehicle position information from the received GPS signal. It is sent to the arithmetic and control unit 480 (step S4a).

  When acquiring the current vehicle position information and traveling direction information from the positioning unit 450, the arithmetic and control unit 480 calculates a deviation from the traveling reference route 21 from the current vehicle position information and traveling direction information (step S5a). If the work vehicle 1 is not traveling along the traveling reference route 21 (step S6a), a command is sent to the steering control unit 483 to correct the traveling direction (step S7a).

  On the other hand, when the GPS radio wave condition is poor and the position information cannot be obtained from the received GPS signal with sufficient accuracy, the arithmetic and control unit 480 sends a command to the video processing unit 484 to detect the traveling reference line 20 ( Step S4b). The video processing unit 484 that has received the instruction detects the running reference line 20 drawn on the field 10 from the video captured by the stereo camera 300 and sends the information to the arithmetic and control unit 480.

  When the arithmetic and control unit 480 acquires the information of the traveling reference line 20, the traveling direction and the distance of the current vehicle with respect to the traveling reference line are calculated, and (step S5b) the work vehicle 1 must be traveling along the traveling reference line 20. If it is (step S6b), a command is sent to the steering controller 483 to correct the traveling direction (step S7b). Then, the positioning unit 450 is again instructed to acquire the current vehicle position information and traveling direction information. This process is repeated until the GPS signal condition improves.

  As described above, in the work vehicle 1, in the positioning mode, the control unit 480 acquires the current vehicle position by the GPS module 451 of the positioning unit 450, and steers along the traveling reference route 21 recorded in the recording unit 481. Since the control is performed, the vehicle can autonomously travel along the traveling reference route 21. Further, even if the condition of the radio wave from the GPS becomes worse while the vehicle is traveling in the positioning mode and the GPS module 451 cannot appropriately acquire the current position information, the steering control is switched to the detection mode to draw a line. Since the stereo camera 300 detects the traveling reference line 20 drawn on the field along the traveling reference route by the marker 148 and can travel along the line, even if the GPS radio wave is in a bad state, The work vehicle 1 can autonomously travel along the travel reference route 21.

FIG. 8 is a schematic left side view showing a work vehicle 2 according to another embodiment of the present invention.
As shown in FIG. 8, the work vehicle 2 is a riding type sowing machine including a traveling vehicle body 700 and a sowing device 800 that supplies seeds to a field. In the work vehicle 2, the seeding device 800 is connected to the rear of the traveling vehicle body 700, so that the seeding device 800 can be driven in a state where the seeding device 800 is driven along the traveling route to perform a seeding operation on a field. It is configured to be able to.

FIG. 9 is a schematic rear view showing the seeding device 800 of the work vehicle 2, and FIG. 10 is an enlarged view of a main part of the seeding device 800 of FIG.
As shown in FIG. 10, in the seeding apparatus 800, four sets of a pair of seeding rolls 810 connected to the driven shaft 821 are arranged in a horizontal direction, and when the driven shaft 821 rotates, the seeding roll 810 is also rotated. It is configured to rotate. Each driven shaft 821 is configured to receive rotational power via a gear from a drive shaft 820 extending in the left-right direction. That is, when the drive shaft 820 rotates, the rotational power is transmitted to the seeding roll 810 via the driven shaft, and the seeding roll 810 also rotates. Further, a drive shaft rotation sensor 824a is attached to the drive shaft 820, and the drive shaft 820 is configured so that the presence or absence of rotation of the drive shaft 820 can be detected by the drive shaft rotation sensor 824a.

  As shown in FIG. 10, a drive shaft gear 823a is attached to the drive shaft 820, and a driven shaft gear 823b is attached to the driven shaft 821. The drive shaft gear 823a and the driven shaft gear 823b are positioned so as to mesh with each other, but the driven shaft gear 823b is configured to be movable in the left-right direction by a ridge clutch 825, and the driven shaft gear 823b is Is disengaged from the drive shaft gear 823a and the driven shaft gear 823b. That is, when the ridge clutch 825 is “ON”, the rotation of the drive shaft 820 is transmitted to the driven shaft 821 and the seeding roll 810 rotates. However, when the ridge clutch 825 is “OFF”, even if the drive shaft 820 is rotating. Since rotation is not transmitted to the driven shaft 821, the seeding roll 810 is configured not to rotate. A driven shaft rotation sensor 824b is attached to the driven shaft 821, and the driven shaft rotation sensor 824b is configured to detect the presence or absence of rotation of the driven shaft 821.

FIG. 11 is a block diagram showing an electric system of the seeding apparatus 800.
As shown in FIG. 11, the seeding device 800 is provided with a seeding control unit 830, and the seeding control unit 830 includes a drive shaft rotation sensor 824 a, a driven shaft rotation sensor 824 b, and an on / off state of the ridge clutch 825. , A mascot lamp 840 that lights up in green, and a notification buzzer 841 that sounds an alarm sound are electrically connected.

  The seeding control unit 830 turns on the mascot lamp 840 when the drive shaft rotation sensor 824a detects the rotation of the drive shaft 820. At this time, if the driven shaft rotation sensor 824b does not detect the rotation of the driven shaft 821 in a state where the ridge clutch sensor 826 detects “disengagement” of the ridge clutch 825, the seeding control unit 830 sends a normal notification to the notification buzzer 841. Send a command to sound an alarm. On the other hand, if the driven shaft rotation sensor 824b does not detect the rotation of the driven shaft 821 in a state where the ridge clutch sensor 826 detects the “entrance” of the ridge clutch 825, the seeding control unit 830 causes the notification buzzer 841 to generate a trouble. It is configured to send a command to sound an alarm.

  Therefore, by turning on the mascot lamp 840 when the seeding control unit 830 detects the rotation of the drive shaft 820, the user can visually recognize that the seeding device 800 is being driven. Further, when the ridge clutch 825 is disengaged while the sowing device 800 is driven and the rotation of the sowing roll 810 stops, the notification buzzer 841 emits a normal alarm sound, and the user disengages the ridge clutch 825. Thus, it can be understood that the seeding roll 810 is not rotating and the seeding operation is not performed. Then, if the rotation of the seeding roll 810 stops while the ridge clutch 825 is not disengaged in a state where the seeding device 800 is driven, the notification buzzer 841 sounds an alarm sound indicating that a trouble has occurred. The seeding roll 810 is not rotating, and it can be understood that the seeding operation is not performed.

  As described above, the seeding control unit 830 notifies that the rotation of the seeding roll 810 has stopped even though the ridge clutch 825 is not disengaged, so that the seeding operation is interrupted at a place not intended by the user, and The problem of not being able to notice that the seeds have not been sowed can be prevented.

  The above embodiments are examples of specific embodiments of the present invention, and do not limit the technical scope of the present invention. That is, the present invention can be variously modified within the scope of the invention described in the claims, in addition to the above embodiments.

  For example, the GPS module 451 detects the azimuth such as latitude and longitude using GPS, but is not necessarily GPS, and is a satellite capable of receiving radio waves from artificial satellites and acquiring its own position information. What is necessary is just a positioning system (GNSS; Global Navigation Satellite System).

  Further, the camera 300 can detect the traveling reference line drawn by the drawing marker 148, but is not necessarily the stereo camera 300 attached to the work vehicle 1 as long as the traveling reference line can be detected. A radar capable of detecting a line may be provided, or a drone equipped with a camera or a radar may detect a traveling reference line so that information about the traveling reference line can be obtained by communication with the drone.

  Further, the work vehicle in the present invention does not necessarily need to be a riding rice transplanter or a riding seeder, and can be applied to an autonomous traveling work vehicle equipped with various working devices.

REFERENCE SIGNS LIST 1 work vehicle 2 work vehicle 10 field 11 headland 12 ridge 20 running reference line 21 running reference route 30 obstacle 100 running vehicle 101a front wheel 101b rear wheel 110 main frame 113 lifting link device 120 fertilizer application device 121 fertilizer hopper 122 feeding portion 123 fertilization Hose 131 Engine 132 Engine cover 133 Operating section 133a Pilot 133b Steering handle 133c Steering post 135 Floor step 139 Spare seedling mounting table 148 Marking marker 148a Marker arm 148b Marking 200 Seedling planting device 210 Seedling tool 213 Fertilization guide 214 Groove 220 Float 280 Seed table 281 Seedling exit 282 Seedling feed belt 300 Stereo camera 300R Right camera 300L Left camera 310 Support 310R Right support 310L Left support 3 20 stay 320R right stay 320L left stay 450 positioning unit 451 GPS module 452 azimuth module 460 state detection means 470 equipment control unit 480 arithmetic control unit 481 recording unit 482 route calculation unit 483 steering control unit 484 video processing unit 700 traveling body 800 seeding device 810 Seeding roll 820 Drive shaft 821 Drive shaft 823a Drive shaft gear 823b Drive shaft gear 824b Drive shaft rotation sensor 824a Drive shaft rotation sensor 825 Ridge clutch 826 Ridge clutch sensor 840 Mascot lamp 841 Information buzzer

Claims (5)

A work vehicle that runs autonomously,
Positioning information is received from an artificial satellite, and based on the received positioning information, a position acquisition device that acquires current position information of the vehicle and a travel reference route that is a reference travel route when the vehicle travels on a field are recorded. Recording device, a reference line setting means for setting a traveling reference line in a field along a route traveled by the vehicle, a detecting device for detecting a traveling reference line set in the field, and control for controlling autonomous traveling of the vehicle Department and
The control unit grasps the displacement of the vehicle by comparing the current position information of the vehicle acquired from the position acquisition device with the position information of the traveling reference route recorded in the recording device, and performs the work. A positioning mode for steering-controlling the vehicle so that the vehicle travels along a travel reference route;
The detection device detects a deviation between the current position of the vehicle and a travel reference line, and includes a detection mode for steering-controlling the vehicle so that the work vehicle travels along the travel reference line.
When the steering control of the vehicle is performed in the positioning mode, when an obstacle occurs in the acquisition of the position information by the position acquisition device, the vehicle is configured to switch to the detection mode and perform steering control of the vehicle. Work vehicle.   The control unit is configured to, when the position acquisition device can acquire the current position information of the vehicle without obstacle during the detection mode, switch to the positioning mode and perform steering control of the vehicle. The work vehicle according to claim 1, wherein the work vehicle is used.   The detection device is configured to be able to detect an obstacle in the traveling direction of the vehicle, and the control unit bypasses the obstacle when the detection device detects that there is an obstacle on a traveling reference route. 3. The work vehicle according to claim 1, wherein the vehicle is steered so as to travel on the travel reference route again. The recording device is configured to be able to record the position information of the route on which the vehicle traveled,
A route calculation unit that calculates a travel reference route from information on the travel route recorded in the recording device,
The control unit may correct the travel reference route calculated by the route calculation unit based on the position information acquired by the position acquisition device and the information of the travel reference line detected by the detection device. The work vehicle according to any one of claims 1 to 3, wherein the work vehicle is configured. The work vehicle according to claim 4, wherein the control unit is configured to be able to calculate and correct the travel reference route calculated by the route calculation unit during autonomous travel of the vehicle. .