JP2023009115A - work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle that makes it possible to accurately perform work by a work device using automatic steering control of a traveling machine body.

SOLUTION: A work vehicle comprises: a traveling machine body C including a traveling device A; a steering unit U capable of steering the traveling device A; a receiver 63 for acquiring positional information using a satellite positioning system; an inertia measurement device 64; and a control section for controlling the steering unit U on the basis of information from the receiver 63 and information from the inertia measurement device 64. The receiver 63 and the inertia measurement device 64 are disposed at the same position on the traveling machine body.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2023,JPO&INPIT

Description

TECHNICAL FIELD The present invention relates to a work vehicle capable of automatic steering control of a traveling body.

A conventional work vehicle is described, for example, in Patent Document 1 below. This work vehicle includes a traveling body having a traveling device (“front wheels” and “rear wheels” in Patent Document 1), a work device for performing work on a field (“seedling planting work device” in Patent Document 1), A steering unit capable of steering the traveling device (“power steering valve,” “power steering cylinder,” “automatic control valve,” etc. in Patent Document 1) is provided. Further, the work vehicle is equipped with a receiving device (a "GPS receiver" in Patent Document 1) for acquiring position information from a satellite positioning system, and a control device that allows the traveling body to travel straight ahead based on the acquired position information. and a control unit (“controller” in Patent Document 1) that controls the direction unit. This working vehicle controls the steering unit based only on the positional information acquired by the receiving device, and performs automatic steering control of the traveling body.

Further, Patent Literature 2 listed below describes a measurement unit in which a receiving device that acquires position information from a satellite positioning system and an inertial measurement device that measures inertial information are integrated.

Japanese Patent Application Laid-Open No. 2001-161112 US Pat. No. 7,346,452 (Fig. 1)

However, the position information acquired from the receiving device by the satellite positioning system may deviate greatly from the actual position. It has become difficult to accurately perform work with the work implement using direction control.

In addition, under conditions where radio interference and the like are likely to occur, the amount of positional information acquired by the receiving device becomes insufficient, making it difficult to perform automatic steering control of the traveling body itself.

Therefore, as described in Patent Document 2, the work vehicle described in Patent Document 1 is integrated with a receiving device that acquires position information from a satellite positioning system and an inertial measurement device that measures inertial information. Equipped with a measurement unit, automatic steering control of the traveling machine is performed based on the position information acquired by the receiving device and the inertia information measured by the inertial measurement device, and the accuracy of the work by the work equipment is improved. considered to be improved.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a working vehicle that can accurately perform work using a working device by using automatic steering control of a traveling machine body.

A work vehicle according to the present invention includes a traveling body having a traveling device, a steering unit capable of steering the traveling device, a receiving device for acquiring position information by a satellite positioning system, an inertial measurement device, and the receiving device. and a control unit that controls the steering unit based on the information from the inertial measurement device, and the receiving device and the inertial measurement device are arranged at the same location on the traveling body. there is
Further, the work vehicle of the present invention includes a traveling machine body having a traveling device, a steering unit capable of steering the traveling machine, a receiving device for acquiring position information by a satellite positioning system, and an inclination of the traveling machine body. and a control unit that controls the steering unit based on the position information, and the receiving device and the secondary inertial measurement device are arranged at the same location on the traveling body. ing.
Further, the work vehicle of the present invention includes a traveling body having a traveling device, a working device for performing work on a field, a steering unit capable of steering the traveling device, and a receiving device for acquiring position information by a satellite positioning system. an inertial measurement device that measures inertial information; a generation unit that generates a target line along which the traveling machine body travels; and based on the position information and the inertia information, the traveling machine body follows the target line. a control section for controlling the steering unit so as to run, wherein the receiving device and the inertial measurement device are arranged at different locations on the running body.

According to the present invention, a receiving device that acquires position information from a satellite positioning system and an inertial measurement device that measures inertial information are arranged at different locations on the traveling body.
For this reason, for example, by arranging the receiving device at a location where shaking is relatively large, the acquisition accuracy of the position information of the receiving device can be improved, and at the same time, by arranging the inertial measurement device at a location where shaking is relatively small, inertial measurement can be performed. Errors in inertial information measured by the measuring device can be reduced. In other words, both the accuracy of the positional information acquired by the receiving device and the accuracy of the inertial information measured by the inertial measuring device are improved, and it is possible to take advantage of the characteristics of both the receiving device and the inertial measuring device.
As a result, it becomes possible to perform steering control of the steering unit using highly accurate position information and inertia information. Steering can be controlled.
Therefore, according to the present invention, it is possible to accurately perform the work by the working device using the automatic steering control of the traveling machine body.

In the above configuration,
It is preferable that the inertial measurement device is arranged near the center in the front-rear direction of the entire length of the traveling machine body and the work device in the front-rear direction.

According to this configuration, the portion near the center in the front-rear direction of the total length of the traveling machine body and the work device in the front-rear direction is, for example, the portion located near the yaw axis that is the turning center of the entire traveling machine body and the work device. It's becoming By arranging the inertial measurement device at such a location, errors in the inertial information measured by the inertial measurement device are reduced, making it easier to accurately measure the inertial information.

In the above configuration,
It is preferable that the inertial measurement device is attached to a mounting member located near the rear axle of the travel device.

According to this configuration, the mounting member positioned near the rear axle of the travel device is less likely to shake during travel of the traveling machine body. By attaching the inertial measurement device to such a mounting member, errors in the inertial information measured by the inertial measurement device are reduced, making it easier to accurately measure the inertial information.

In the above configuration,
wherein the working device is a seedling planting device capable of planting seedlings in a field;
a plurality of spare seedling stands on which spare seedlings for replenishing the seedling planting device can be placed;
a pair of left and right spare seedling frames for supporting the spare seedling base;
a connection frame that is connected over the upper parts of the left and right preliminary seedling frames,
Preferably, the receiving device is attached to the concatenated frame.

According to this configuration, since the receiving device is attached to the connecting frame installed at a relatively high place that connects the left and right spare seedling frames that support the spare seedling stand, the radio wave can be received at a place where there are few shields that block radio waves. Equipment can be placed. As a result, the location information acquired by the receiving device is less likely to be interrupted. In addition, since the preliminary seedling frame and the connected frame are relatively likely to sway while traveling, for example, it is possible to improve the detection accuracy of the azimuth in the traveling direction of the traveling machine body based on the position information acquired by the receiving device.

In the above configuration,
The concatenated frame has a use state in which the receiving device is positioned above the upper end of the preliminary seedling frame, and a use state in which the receiving device is positioned below the upper end of the preliminary seedling frame. It is preferable that the storage state is located at , and the state can be changed to .

According to this configuration, by putting the concatenated frame into use, the receiving device can be positioned higher than the upper end of the spare seedling frame, so that the receiving sensitivity of the receiving device to radio waves can be improved when the receiving device is in use. . On the other hand, by storing the connecting frame, it is positioned lower than the upper end of the spare seedling frame. For example, it is possible to avoid inconveniences such as bumping the receiving device against the upper part of the entrance of the barn or the like.

In the above configuration,
It is preferable that the connecting frame is supported by the left and right preliminary seedling frames so as to be rotatable about a left-right axis along the left-right direction and to be positionally fixable in the use state and the storage state.

According to this configuration, since the connecting frame is rotatable about the lateral axis, the connecting frame can be changed between a usage state in which the receiving device is used and a state in which the receiving device is stored. becomes easy.

In the above configuration,
It is preferable that the connecting frame is detachable with respect to the left and right preliminary seedling frames.

According to this configuration, since the connection frame is detachable, when the receiving device is not used, the connection frame in use is removed from the spare seedling frame, and the connection frame is put in the storage state and placed in the spare seedling frame. can be installed.

In the above configuration,
The receiving device is provided with a connector section for connecting a harness,
It is preferable that the connector portion extends laterally outward from the receiving device.

According to this configuration, the connector portion for connecting the harness in the receiving device extends laterally outward from the receiving device. The connector section of the receiver is less likely to hit an obstacle such as an approaching tree branch.

In the above configuration,
The receiving device is provided with a connector section for connecting a harness,
It is preferable that a guard member that protects the connector section is provided.

According to this configuration, the guard member suitably protects the connector portion from colliding with an obstacle such as a branch of a tree while the vehicle is running.

It is a side view which shows a rice transplanter. It is a top view which shows a rice transplanter. It is a front view which shows a rice transplanter. FIG. 3 is a schematic diagram schematically showing a steering unit; 3 is a block diagram showing a control configuration related to automatic steering control; FIG. FIG. 5 is an explanatory top view for explaining the operation of automatic steering control; FIG. 11 is a top view explanatory diagram illustrating generation of a target line and the like; It is a side view showing another embodiment.

An example of an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 to 3, a riding-type rice transplanter (an example of a “working vehicle”), which is a planting-type paddy field working vehicle among agricultural vehicles, includes a traveling body C having a traveling device A, and a working device that performs work on the field. The working device of the rice transplanter is a seedling planting device W capable of planting seedlings in a field. 2 indicates the "front" of the traveling machine C, the arrow B indicates the "rear" of the traveling machine C, the arrow L indicates the "left" of the traveling machine C, and the arrow R indicates the "right" of the traveling machine C. be.

As shown in FIG. 1, the travel device A includes a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 . The traveling machine body C is provided with a steering unit U capable of steering the left and right front wheels 10 of the traveling device A. As shown in FIG.

As shown in FIGS. 1 to 3, the front portion of the traveling body C is provided with a bonnet 12 that can be opened and closed. An engine 13 is provided inside the bonnet 12 . A bar-shaped center mascot 14 is provided at the tip of the bonnet 12 for checking the index line LN (see FIG. 6). As shown in FIGS. 1 and 3, the traveling body C is provided with a frame-shaped body frame 15 extending in the front-rear direction. A support strut frame 16 is erected on the front part of the body frame 15 .

[About the seedling planting device]
As shown in FIG. 1, the seedling planting apparatus W is connected to the rear end of the traveling machine body C so as to be vertically movable via a link mechanism 21 which is vertically operated by the expansion and contraction of a lifting cylinder 20 composed of a hydraulic cylinder. ing.

As shown in FIGS. 1 and 2, the seedling planting apparatus W includes four transmission cases 22, rotation cases 23 rotatably supported on the rear left and right sides of each transmission case 22; A pair of rotary type planting arms 24 provided at both ends of a rotating case 23, a plurality of leveling floats 25 for leveling the surface of a field, a seedling platform 26 for placing mat-like seedlings for planting, and the like are provided. It is That is, the seedling planting apparatus W is configured in an 8-row planting type.

The seedling planting apparatus W configured as described above rotates the rotary cases 23 by the power transmitted from the transmission case 22 while driving the seedling placement table 26 to reciprocate and laterally feed the seedling placement table 26 . Seedlings are alternately taken out by each planting arm 24 from the lower part of the planter and planted on the surface of the field.

[About spare nursery]
As shown in FIGS. 1 to 3, on the left and right sides of the bonnet 12 of the traveling machine body C, there are a plurality of (for example, four) normal spares on which spare seedlings for replenishing the seedling planting device W can be placed. A seedling stand 28 (an example of a "preliminary seedling stand") and one rail-type spare seedling stand 29 (an example of a "preliminary seedling stand") on which spare seedlings for replenishing the seedling planting device W can be placed are provided. ing. Further, on the left and right sides of the bonnet 12 of the traveling machine body C, there are a pair of left and right spare seedling frames 30 for supporting the normal spare seedling stands 28 and the rail type spare seedling stands 29, and above the left and right spare seedling frames 30 and a connecting frame 31 connected across. The connecting frame 31 has a U-shape when viewed from the front. The left and right ends of the connecting frame 31 are connected to the upper portions of the left and right spare seedling frames 30 via connecting brackets 32, respectively.

[Regarding the marker device]
As shown in FIG. 1, left and right sides of the seedling planting apparatus W are provided with marker devices 33 for forming index lines LN (see FIGS. 6 and 7) on the surface of the field. . The left and right marker devices 33 are respectively operated to an operating posture in which the traveling machine body C is in contact with the paddy surface of the field and forms an index line LN on the paddy surface of the field as the traveling machine body C travels, and a storage posture in which it is separated upward from the paddy surface of the field. freely configured.

As shown in FIG. 1, the left and right marker devices 33 each include a marker arm 34 supported by the seedling planting device W so as to be vertically swingable, and a marker arm 34 supported at the tip of the marker arm 34 so as to be freely rotatable. and a rotating body 35 having a plurality of convex bodies in the circumferential direction. In addition, an electric motor for markers (not shown) is provided for operating the right and left marker devices 33 to the active posture and the retracted posture. By setting each marker device 33 to the active posture, the rotating body 35 rolls on the ground as the traveling machine body C is steered to form a dotted index line LN (see FIG. 6) when viewed from above. It is designed to

[About the driving part]
As shown in FIGS. 1 to 3, the central portion of the traveling machine body C is provided with a driving section 40 in which various driving operations are performed. The driving unit 40 includes a driver's seat 41 on which the driver can sit, a control tower 42, a steering handle 43 composed of a steering wheel for manually steering the front wheels 10, a forward/rearward switching operation, and a running speed. A main shift lever 44, an operation lever 45, etc., which can be operated to change are provided. A driver's seat 41 is provided in the central portion of the traveling body C. As shown in FIG. A control tower 42 is provided with a steering handle 43, a main shift lever 44, an operation lever 45, and the like in an operable manner. A boarding step 46 is provided at the foot portion of the driving unit 40 . Auxiliary steps 47 are provided at left and right outer positions of the boarding step 46 . On both left and right sides of the bonnet 12, boarding steps 48 are provided as boarding/alighting passages that connect to the boarding steps 46 without steps. Left and right spare seedling frames 30 are arranged laterally outside the step 48 for getting on and off.

[About the operation lever]
The operation lever 45 shown in FIGS. 2 and 3 is provided on the lower right lateral side of the steering handle 43 . Although not shown in detail, the operating lever 45 is operable in cross directions from a neutral position to an upper raised position, a lower lowered position, a rear right marker position, and a front left marker position. biased into position.

When the operation lever 45 is operated to the raised position, the planting clutch (not shown) is operated to the disengaged state, the seedling planting device W is raised, and the left and right marker devices 33 (see FIG. 1) are operated to the retracted posture. be. When the operation lever 45 is operated to the lowered position, the planting clutch (not shown) is operated to the disconnected state, the left and right marker devices 33 are operated to the retracted posture, and the seedling planting device W is lowered. When the central leveling float 25 touches the surface of the field, the seedling planting device W touches the surface of the field and stops.

When the operation lever 45 is operated to the right marker position, the right marker device 33 changes from the retracted posture to the active posture. When the operation lever 45 is operated to the left marker position, the left marker device 33 changes from the retracted posture to the active posture.

A control tower 42 of the operation unit 40 is provided with a push-operated automatic steering switch 50 (see FIG. 5). The automatic steering switch 50 is configured to be capable of switching between on and off of the automatic steering of the steering unit U. As shown in FIG. The main shift lever 44 is also provided with a registration switch 52 (see FIG. 5) for registering the teaching direction TA (see FIG. 6) used for automatic steering control of the steering unit U. As shown in FIG. The registration switch 52 includes a push operation type first registration button 52A and a push operation type second registration button 52B.

[About the steering unit]
As shown in FIG. 4, the steering unit U includes the above-described steering handle 43, a steering operation shaft 54 interlockingly connected to the steering handle 43, and a pitman swinging as the steering operation shaft 54 rotates. An arm 55, a left and right linking mechanism 56 linked to the pitman arm 55, a steering motor 58, a gear mechanism 57 linking the steering motor 58 to the steering operation shaft 54, and the like are provided.

The steering operation shaft 54 is linked to the left and right front wheels 10 via a pitman arm 55 and left and right linking mechanisms 56, respectively. The amount of rotation of the steering operation shaft 54 is detected by a steering angle sensor 60 (see FIG. 5) comprising a rotary encoder provided at the lower end of the steering operation shaft 54 .

When the steering unit U is manually steered, an auxiliary force corresponding to the operation of the steering handle 43 by the steering motor 58 is added to the operation force of the driver operating the steering handle 43 to shift the steering operation shaft. 54 is rotated to change the steering angle of the front wheels 10 . On the other hand, when the steering unit U is to be automatically steered, the steering motor 58 is driven, and the driving force of the steering motor 58 rotates the steering operation shaft 54 to change the steering angle of the front wheels 10 . It is designed to

[Regarding the measurement unit having the receiving device and the inertial measurement device]
As shown in FIGS. 1 to 3 and 5, the traveling body C has a receiving device 63 that acquires position information from a satellite positioning system and mainly detects the inclination (pitch angle, roll angle) of the traveling body C. A measurement unit 61 having a possible secondary inertial measurement device 64 and a primary inertial measurement device 62 (corresponding to an “inertial measurement device”) for measuring inertial information are provided.

The primary inertial measurement device 62 and the secondary inertial measurement device 64 are each composed of an IMU (Inertial Measurement Unit).

The measuring unit 61 having the receiving device 63 and the secondary inertial measuring device 64 and the primary inertial measuring device 62 are arranged at different locations on the traveling body C. As shown in FIG. The measuring unit 61 having the receiving device 63 and the secondary inertial measuring device 64 and the primary inertial measuring device 62 are arranged on the left-right center line CL of the traveling body C. As shown in FIG.

GPS (Global Positioning System) is a typical example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System). GPS uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls the GPS satellites, and a receiving device 63 provided in an object to be positioned (running body C) to determine the position of the receiving device 63. It measures The receiving device 63 is used to acquire the position information of the traveling body C by the satellite positioning system.

As shown in FIGS. 1 to 3, the measurement unit 61 having the receiver 63 is attached to the connecting frame 31 via a plate-like support plate 65 . A measurement unit 61 having a receiving device 63 is arranged at a front position of the traveling body C (in particular, on the front side of the front wheels 10). Therefore, when the traveling machine body C changes its traveling direction, the displacement amount in the left-right direction is larger at the front position of the traveling machine body C than at the rear end position of the traveling machine body C. A change in the acquired position NM of the traveling body C can be detected with high sensitivity.

As shown in FIG. 3 and the like, the connection frame 31 is upside down with respect to the use state S1 in which the measurement unit 61 having the receiving device 63 is positioned above the upper end of the preliminary seedling frame 30 and the use state S1. , and a storage state S2 in which the receiving device 63 is positioned below the upper end of the spare seedling frame 30. FIG. More specifically, the connection frame 31 is rotatable about a left-right axis X along the left-right direction, and is positionally fixed by the connection bracket 32 in each of the usage state S1 and the storage state S2. It is supported by a spare seedling frame 30.

As shown in FIGS. 1, 3, etc., by setting the connecting frame 31 to the state of use S1, the receiving device 63 is supported at a high position by the connecting frame 31 and the spare seedling frame 30. As the traveling machine body C travels, the receiving device 63 tends to sway due to the bending of the preliminary seedling frame 30 and the connecting frame 31, and the own machine position NM and the own machine position NM of the traveling machine body C based on the position information acquired by the receiving device 63 It is possible to accurately detect the orientation NA. Furthermore, by setting the concatenated frame 31 to the state of use S1, the receiving device 63 is positioned at the highest position in the traveling body C, so that the receiving sensitivity of the receiving device 63 to radio waves can be increased. 63 is less susceptible to radio interference.

As shown in FIGS. 2 and 3, the receiver 63 of the measurement unit 61 is provided with a connector section 67 for connecting the harness 66 . The connector portion 67 extends laterally outward from the receiver 63 of the measurement unit 61 . The harness 66 is routed along the connecting frame 31 and the preliminary seedling frame 30 . Furthermore, a guard member 68 that protects the connector portion 67 is provided. A guard member 68 is attached to the support plate 65 . The guard member 68 protects the front side of the connector portion 67 .

As shown in FIG. 1 , the main inertial measurement device 62 is arranged near the center in the front-rear direction of the entire length of the traveling body C and the seedling planting device W in the front-rear direction. To explain, the main inertial measurement device 62 is arranged in the vicinity of the turning center of the traveling machine body C in the traveling direction (the axis of the yaw axis of the traveling machine body C).

Specifically, a rear axle frame 73 (corresponding to a “mounting member”) that rotatably supports a rear axle 72 that transmits driving force to the rear wheels 11 is provided at the rear portion of the traveling machine body C. The rear axle frame 73 is a rigid member located near the rear axle 72 of the travel device A. As shown in FIG. The main inertial measurement unit 62 is attached to the rear axle frame 73 .

To explain, the main inertial measurement device 62 is located near the seedling planting device W, as shown in FIGS. 1 and 2 . In addition, the main inertial measurement device 62 is positioned below the driver's seat 41 on the rear side.

As shown in FIG. 5, the main inertial measurement device 62 mainly includes a gyro sensor 70 capable of detecting the angular velocity of the yaw angle of the traveling machine body C (turning angle of the traveling machine body C), and three axial directions perpendicular to each other. and an acceleration sensor 71 capable of detecting the acceleration of . That is, the inertial information measured by the main inertial measurement device 62 includes orientation change information detected by the gyro sensor 70 and position change information detected by the acceleration sensor 71 . As described above, since the main inertial measurement device 62 is arranged near the turning center in the traveling direction of the traveling body C, it is possible to suppress the integrated error of the azimuth change information generated in the gyro sensor 70 to be small. At the same time, the detection accuracy of position change information by the acceleration sensor 71 is high.

[Regarding control configuration]
As shown in FIG. 5, the traveling body C is provided with a control device 75 that controls the automatic steering of the steering unit U. As shown in FIG. The control device 75 includes an information storage unit 76, a teaching storage unit 77, a turn detection unit 78, a start determination unit 79, an information correction unit 80, and a generation unit for generating a target line LM on which the traveling machine body C travels. 81, a state detection unit 82, and a control unit 83 that controls the steering unit U so that the traveling machine body C travels along the target line LM based on the position information and the inertia information. ing.

The control device 75 includes the receiving device 63, the secondary inertial measurement device 64, and the gyro sensor 70, the acceleration sensor 71, the steering angle sensor 60, the automatic steering switch 50, the registration switch 52, etc. in the primary inertial measurement device 62. is entered.

The information storage unit 76 is configured to store the position information acquired from the receiving device 63 for each time.

The teaching storage unit 77 is configured to calculate the teaching direction TA based on the operation of the registration switch 52 and using two pieces of position information among the position information stored in the information storage unit 76 .

The turning detection unit 78 detects the start of turning of the traveling body C and the end of turning of the traveling body C based on the steering angle information of the steering operation shaft 54 of the steering unit U input from the steering angle sensor 60 . is configured to

The start determination unit 79 is configured to determine whether or not automatic steering control of the traveling body C is to be started.

The information correction unit 80 acquires the integrated error of the information detected by the gyro sensor 70 among the inertia information measured by the main inertial measurement device 62 by the receiving device 63 each time the automatic steering control of the traveling body C is started. It is configured to perform correction processing based on the positional information obtained and the information measured by the secondary inertial measurement device 64 .

The generating unit 81 is configured to generate the target line LM based on the teaching direction TA, the own aircraft position NM at the start of the automatic steering control of the traveling aircraft C, and the own aircraft heading NA.

During the automatic steering control of the traveling machine body C, the state detection unit 82 detects the distance deviation (deviation distance) between the machine position NM of the traveling machine body C and the target line LM, the machine direction NA of the traveling machine body C, and the teaching direction. It is configured to detect an angular deviation (deviation angle) from TA.

The control section 83 is configured to control driving of the steering motor 58 of the steering unit U based on information input from the state detection section 82 .

[Regarding automatic steering control]
As an example, a case of planting seedlings in a square paddy field as viewed from above will be described.
As shown in FIG. 6, first, the traveling machine body C is positioned at a certain first position Q1 on the edge of a ridge in the field, and the first registration button 52A of the registration switch 52 (see FIG. 5) is operated. Then, with the seedling planting device W raised and the ground leveling float 25 grounded, the traveling machine body C is caused to travel straight along the linear shape of the ridge on the side side from the first position Q1, and the opposite direction. After moving to the second position Q2 near the ridge on the side, the second registration button 52B of the registration switch 52 (see FIG. 5) is operated. As a result, from the position information acquired by the receiving device 63 at the first position Q1 and the position information acquired by the receiving device 63 at the second position Q2, the direction connecting the first position Q1 and the second position Q2 is A teaching direction TA is generated.

Next, as shown in FIG. 6, the traveling machine body C is manually turned by operating the steering handle 43 . When the steering angle sensor 60 detects the start of turning of the traveling body C, the seedling planting device W, the leveling float 25, and the marker device 33 are automatically raised from the surface of the field. When the traveling body C finishes turning, the turning end position Q3 of the traveling body C is detected based on the detection result of the steering angle sensor 60 .

Operation input of the automatic steering switch 50 until a certain time has passed since the turning end position Q3 of the traveling machine body C was detected and until the deviation angle between the machine's own machine direction NA and the teaching direction TA is within a predetermined range. A dead zone is set that does not accept That is, while the traveling body C is in the dead zone, automatic steering control is not started even if the automatic steering switch 50 is operated. While the state of the traveling machine body C is in the dead zone, the driver manually steers the steering unit U so that the index line LN is aligned with the line of sight looking at the tip of the center mascot 14 to travel. Alignment of the airframe C can be performed.

Then, when the state of the traveling machine body C passes through the dead zone, the operation input of the automatic steering switch 50 is accepted, and when the automatic steering switch 50 is operated, the vehicle travels based on the position information in the receiving device 63 at the control start position Q4. The aircraft position NM and the aircraft bearing NA of the aircraft C are stored.
Then, a linear target line LM parallel to the teaching direction TA is generated from a position a predetermined distance away from the position where the receiving device 63 is installed in the direction of the self-machine direction NA of the traveling machine body C. Along with this, the information measured by the main inertial measurement device 62 is the position information of the own aircraft position NM acquired by the receiving device 63, the position information of the own aircraft position NM acquired by the receiving device 63, and the immediately preceding position. Correction is made based on the self-aircraft heading NA calculated based on the position information.

In FIG. 6, the index line LN formed by the marker device 33 and the target line LM are slightly shifted from each other for convenience of illustration. Since manual alignment is performed so as to match the line LN, the target line LM is generated so as to substantially match the index line LN.

Along with this, the automatic steering control of the traveling body C mainly based on the main inertial measurement device 62 is started. In other words, in automatic steering control, the main inertial measurement device 62 is mainly used, and the receiving device 63 is used for correcting the main inertial measurement device 62 . Specifically, the position NM and bearing NA based on the position information obtained by the receiving device 63 at the control start position Q4 and the angular velocity measured by the gyro sensor 70 of the main inertial measurement device 62 are integrally processed. and the position change information obtained by integrating the acceleration measured by the acceleration sensor 71 of the main inertial measurement device 62, the current aircraft position NM and aircraft heading NA are calculated. demand. Then, the steering unit U is automatically steered so that the current position NM and heading NA of the aircraft match the target line LM and the teaching direction TA, and the automatic steering control of the traveling body C is performed. .

During the automatic steering control of the traveling machine body C, when there is no angular deviation (deviation angle) between the machine's bearing NA and the teaching direction TA, and there is no distance deviation (deviation distance) between the machine's position NM and the target line LM, The steering unit U is not steering controlled.
Further, during the automatic steering control of the traveling machine body C, there is an angle deviation (deviation angle) between the machine's bearing NA and the teaching direction TA, and there is no distance deviation (deviation distance) between the machine's position NM and the target line LM. In this case, the steering unit U is steered in a direction that eliminates the angular deviation (deviation angle) between the self-aircraft heading NA and the teaching direction TA.
Further, during the automatic steering control of the traveling body C, there is an angle deviation (deviation angle) between the self-machine heading NA and the teaching direction TA, and there is a distance deviation (deviation distance) between the self-machine position NM and the target line LM. In this case, the steering unit U is steered in a direction that eliminates the angular deviation (deviation angle) between the self-aircraft heading NA and the teaching direction TA.
Further, during the automatic steering control of the traveling machine body C, there is no angle deviation (deviation angle) between the machine's bearing NA and the teaching direction TA, and there is a distance deviation (deviation distance) between the machine's position NM and the target line LM. In this case, the steering unit U is controlled in the direction of eliminating the distance deviation (deviation distance) between the vehicle position NM and the target line LM.
As a result, the traveling machine body C travels accurately along the target line LM.

In this way, during the automatic steering control of the traveling body C, the position information acquired by the receiving device 63 is not essential. Even if such a situation occurs, the automatic steering control of the traveling machine body C can be continued based on the inertia information measured by the main inertia measurement device 62, and the seedling planting device W can plant the seedlings along the target line LM. can be done accurately along

When the traveling body C approaches the ridge, the driver operates the automatic steering switch 50 to stop the automatic steering control of the traveling body C and switch to manual steering. Then, the same turning operation is performed at the edge of the ridge, and the same operation is repeated to plant the seedlings in the field. As a result, the driver does not have to manually operate the steering handle 43 while seedlings are being planted in the field by the seedling planting device W, and the seedlings can be planted more accurately and easily. can.

[Regarding the setting of the aircraft position]
As shown in FIG. 7, the receiving device 63 is arranged in the front part of the traveling body C, but the position of the own device NM, which is the reference for data processing, is not the actual installation position of the receiving device 63, but the main position. It is set at a position near the inertial measurement device 62 . The setting of the aircraft position NM, which serves as a reference for data processing, is based on the distance between the receiving device 63 and the location of the aircraft position NM, and the aircraft heading NA calculated based on the receiving device 63 and the main inertial measurement device 62. It is now required based on Since it is the seedling planting device W that is desired to travel accurately along the target line LM, the seedling planting device can be operated by setting its position NM near the seedling planting device W in this way. Automatic steering control of the traveling body C can be performed so that W travels accurately along the target line LM.

[Regarding the relationship between the spare seedling frame, normal spare seedling stand, and rail-type spare seedling stand]
As shown in FIG. 3, the left and right preliminary seedling frames 30 each include a fixed portion 85 fixed to the support column frame 16 and an inclined portion 86 extending upward from the fixed portion 85 and inclined inwards to the left and right. and a vertical portion 87 extending upward from the inclined portion 86 . That is, the vertical portion 87 of the preliminary seedling frame 30 is offset by a predetermined distance D to the left and right inner sides with respect to the support strut frame 16 and the fixed portion 85 of the preliminary seedling frame 30 .

As shown in FIGS. 1 to 3, each of the plurality of normal preliminary seedling beds 28 has a front-rear axial center that is provided on a longitudinal portion 87 of the preliminary seedling frame 30 and that is inclined inwards to the left and right toward the front while extending in the front-rear direction. It is supported by the preliminary seedling frame 30 so as to be swingable around Y. The normal spare seedling stand 28 is configured to be changeable between a horizontal posture E1 and a vertical posture E2.

As shown in FIGS. 1 to 3, when the normal preliminary seedling base 28 is placed in the lateral position E1, the mounting surface of the normal preliminary seedling base 28 is substantially horizontal. On the other hand, when the normal preliminary seedling bases 28 are changed from the horizontal position E1 to the vertical position E2, each normal auxiliary seedling base 28 is swung around the front-rear axis Y to be vertically oriented. As a result, each normal spare seedling stand 28 in the vertical position E2 is brought into a compact state in the left-right direction by leaning toward the vertical portion 87 side of the spare seedling frame 30.例文帳に追加

The rail type preliminary seedling stand 29 shown in FIGS. The central mounting table 89 is fixed to the support column frame 16 via a pair of support brackets 91 . The front mounting table 88 is connected to the front end portion of the central mounting table 89 so as to be swingable about a front horizontal axis P1 extending in the left-right direction. The rear mounting table 90 is connected to the rear end portion of the central mounting table 89 so as to be swingable about a rear horizontal axis P2 along the left-right direction. As shown in FIG. 1, the rail-type spare seedling stand 29 is configured to be able to change its state between an unfolded state F1 and a folded state F2. When the rail type preliminary seedling base 29 is in the unfolded state F1, the front mounting base 88 is unfolded on the front side of the central mounting base 89 with the central mounting base 89 as the center, and the rear mounting base 90 is developed on the rear side of the central mounting base 89. Be expanded. That is, when the rail-type preliminary seedling stand 29 is in the unfolded state F1, the front mounting table 88, the central mounting table 89, and the rear mounting table 90 are arranged in order from front to back.

As shown in FIG. 1, when the rail type preliminary seedling stand 29 is changed from the unfolded state F1 to the folded state F2, the front mounting table 88 is swung around the front horizontal axis P1 located at the front end of the central mounting table 89. The front mounting table 88 is folded and positioned on the upper side of the central mounting table 89, and the rear mounting table 90 is swung around the rear horizontal axis P2 positioned at the rear end of the central mounting table 89 to swing the central mounting table 90. A rear mounting table 90 is positioned above the mounting table 89 . As a result, the rail-type spare seedling stand 29 can be brought into a compact folded state F2 in the front-rear direction.

As shown in FIG. 1, a plurality of normal spare seedling stands 28 are arranged in a vertical line, and a rail type spare seedling stand 29 is arranged below the lowest ordinary spare seedling stand 28 .

That is, as can be understood from FIGS. 1 to 3, the vertical portion 87 of the preliminary seedling frame 30 is moved inwardly to the left and right by a predetermined distance D with respect to the supporting strut frame 16 and the fixed portion 85 of the preliminary seedling frame 30. In addition to being offset, the plurality of normal spare seedling beds 28 can be shifted to the laterally compact vertical posture E2 by moving toward the vertical part 87 side of the spare seedling frame 30 and can be offset to the left and right inner sides. As a result, the rail type spare seedling stand 29 can be changed from the unfolded state F1 to the folded state F2 without any trouble without interfering with the spare seedling frame 30 or the normal spare seedling stand 28.例文帳に追加In addition, by making it possible to offset the plurality of normal spare seedling stands 28 to the left and right inside, for example, the lateral width of the entire running machine body C can be made smaller than when the rail type spare seedling stands 29 are offset to the left and right outside. can.

[Another embodiment]
Another embodiment of the present invention will be described below. A plurality of the different embodiments described below may be combined and applied to the above embodiment as long as there is no contradiction. In addition, the scope of the present invention is not limited to the contents of these embodiments.

(1) In the above embodiment, the automatic steering control of the traveling body C is mainly performed based on the inertia information measured by the main inertia measurement device 62, and the inertia information measured by the main inertia measurement device 62 is received by the receiving device. Although correction based on the position information acquired by 63 is exemplified, the present invention is not limited to this. For example, the automatic steering control of the traveling body C is mainly performed based on the position information acquired by the receiving device 63, and the position information acquired by the receiving device 63 is used as the inertial information measured by the main inertial measurement device 62. You may make it correct|amend based on.

(2) In the above-described embodiment, the connection frame 31 is rotatable about the left-right axis X along the left-right direction, and fixed in position between the use state S1 and the storage state S2. Although what is supported is illustrated, it is not limited to this. For example, it may be detachable from the left and right spare seedling frames 30 . In this case, the connection frame 31 in the state of use S1 is removed from the spare seedling frame 30, turned upside down, and then reattached to the spare seedling frame 30, whereby the connection frame 31 enters the storage state S2.

(3) In the above embodiment, the receiving device 63 is fixed at a fixed location, but the present invention is not limited to this. For example, as shown in FIG. 8, the receiving device 63 is arranged on a rail member 100 attached and fixed to the preliminary seedling frame 30 and extending along the front-rear direction of the traveling machine body C so as to be movable in the front-rear direction. may have been As a result, by moving the receiving device 63 between two points on the rail member 100, while the traveling body C is stopped, the direction NA of the traveling body C and the positions of the two points acquired by the receiving device 63 It can be determined based on information.

(4) In the above-described embodiment, the example provided with only one receiving device 63 is illustrated, but the present invention is not limited to this. For example, two or more receivers 63 may be provided. By doing so, even when the traveling machine body C is stopped, based on the position information acquired by one receiving device 63 and the position information acquired by the other receiving device 63, the traveling machine body C It becomes possible to obtain the self-aircraft heading NA.

(5) In the above embodiment, the connector portion 67 extends laterally outward from the side portion of the receiving device 63, but is not limited to this. For example, the connector part 67 may extend upward from the upper surface of the receiving device 63, may extend downward from the lower surface of the receiving device 63, may extend forward from the front surface of the receiving device 63, or may extend forward from the receiving device 63. It may extend rearward from the rear surface portion. In this case, it is preferable that a guard member 68 for protecting the connector portion 67 is also provided at the connector portion 67 .

(6) In the above embodiment, the guard member 68 is attached to the support plate 65, but it is not limited to this. For example, guard member 68 may be attached to receiver 63 itself.

(7) In the above-described embodiment, the work device is provided with the seedling planting device W, but the work device is not limited to this. For example, as working devices, in addition to the seedling planting device W, a fertilizing device, a chemical spraying device, and the like may be provided.

In addition to the riding-type rice transplanter provided with the seedling planting device as the working device, the present invention also provides, for example, a riding-type direct seeder, which is a planting-type paddy field work vehicle provided with the seeding device as the working device, and a plow as the working device. or the like, an agricultural vehicle such as a combine having a reaping unit or the like as a working device, or a construction vehicle having a bucket or the like as a working device.

28: Normal spare seedling stand (preliminary seedling stand)
29: Rail type preliminary seedling stand (preliminary seedling stand)
30: Preliminary seedling frame 31: Connection frame 62: Main inertial measurement device (inertial measurement device)
63: Receiver 66: Harness 67: Connector portion 68: Guard member 72: Rear axle 73: Rear axle frame (mounting member)
81: Generation unit 83: Control unit A: Travel device C: Travel unit U: Steering unit W: Seedling planting device (working device)
S1: Usage state S2: Storage state LM: Target line X: Left-right axis

Claims (2)

a traveling machine body having a traveling device;
a steering unit capable of steering the traveling device;
a receiver that acquires position information from a satellite positioning system;
an inertial measurement device;
a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement device;
A work vehicle, wherein the receiving device and the inertial measurement device are arranged at the same location on the traveling machine body. The work vehicle according to claim 1, wherein the inertial measurement device is capable of measuring tilt and heading.

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