JP2023113947A - Farm field work machine - Google Patents

Abstract

To provide a farm field work machine that can conduct a farm field work using automatic travelling more readily without the need of skills.SOLUTION: In a farm field work machine, work travel is automated by an automatic travel control unit 61, non-work travel is operated by an operator, and an operation support unit 8 includes a notification information generation unit 82 for notifying the operator of end of non-work travel or start of work travel at slightly earlier timing while taking an account of operation time by the operator as notification information to notify the operator of operation timing on the basis of operation timing information.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a field working machine such as a rice transplanter, a sowing machine, a fertilizing machine, etc., which has a GPS (Global Positioning System) and is capable of automatically traveling along a target route set in advance in a field.

Patent Document 1 discloses a rice transplanter in which spare seedling loading stands are arranged on both left and right sides of a gate-shaped mounting frame arranged above a bonnet, and a GPS antenna operation housing is fixed in the center of the upper part thereof. disclosed. In this rice transplanter, teaching of a travel route is performed prior to automatic travel using the GPS function. At the time of teaching, a person holds the GPS antenna removed from the GPS antenna operation housing and designates the position of the desired route. An infinite straight line is generated as a target route based on the teaching route determined through this position designation, and the rice transplanter automatically travels on this target route. When the edge of the field is detected by a distance sensor that uses infrared light or ultrasonic waves while the robot is automatically traveling along a straight target route, it must make a 180° turn. , the rice transplanter automatically stops at a position a preset distance away from the edge of the field.
In the rice planting work using a rice transplanter, when the loaded seedlings run out, it is necessary to move the machine to the ridge and supply new seedlings. When the seedling planting section is located on the headland and is rising, this rice transplanter does not turn and runs straight toward the edge of the field if there is a seedling splicing warning or a fertilizer replenishment warning. and stop at the edge of the field.

Japanese Patent Application Laid-Open No. 2008-92818 ([paragraph number] 0028 to 0061, FIGS. 5, 7, and 8)

There is a demand for a field work machine that can perform field work using automatic travel more easily and without the need for skill.

A field work vehicle according to the present invention comprises a traveling body, a field work device for performing farm work on a field, a GPS module for outputting positioning data, and a travel route for work travel using the positioning data and the field work device. and a driving support unit that performs driving support based on the driving support unit, and the driving support unit is configured to control the driving of the traveling machine body when the traveling machine body turns from the working traveling route toward the next working traveling route on the headland of the field. A motion information generation unit is provided for generating motion timing information including the timing of transition from a non-work travel route that accompanies a direction change to a work travel route. In consideration of the operation time by the driver, the driving assistance unit outputs the non-working timing at a slightly earlier timing as notification information for notifying the driver of the operation timing based on the operation timing information. A notification information generator is included for notifying the end of travel or the start of work travel.
A field working machine according to the present invention comprises a traveling body, a field working device for performing farm work on a field, a GPS module for outputting positioning data, and a travel route for work traveling using the positioning data and the field working device. and a driving assistance unit that performs driving assistance based on the above, wherein the driving assistance unit includes, when the traveling machine body turns from the working traveling route toward the next working traveling route on the headland of the field, the traveling A motion information generation unit is provided for generating motion timing information including a timing of transition from a non-work travel route that accompanies a direction change of the machine body to a work travel route, and the motion information generation unit generates motion information when the traveling machine body moves from the work travel route. When turning toward the next work travel route, generating operation timing information including transition timing at which the machine position shifts from the work travel route to a non-work travel route that accompanies the direction change of the traveling machine body, and the work travel. is automatically driven by the automatic driving control unit, and the non-working driving is controlled by the driver. Considering the operation time by the driver, as notification information for notifying the driver of the operation timing based on the operation timing information at a slightly earlier timing, considering the operation time by the driver, at a slightly earlier timing. A notification information generator is included for notifying the end of travel or the start of non-work travel.
A field working machine according to the present invention comprises a traveling body, a field working device for performing farm work on a field, a field information storage section for storing field information including at least terrain data, and a transverse direction to the running direction of the field working device. a work information storage unit that stores work device information including a work width in a field; a work setting unit that sets a travel start point and a travel end point; and the farm field information, the work device information, the travel start point, and the travel a route calculation unit that calculates a travel route including a non-work travel route involving a direction change of the traveling machine body and a work travel route for performing travel work using the agricultural field work device based on the end point; and outputting positioning data. and a driving assistance unit that performs driving assistance based on the positioning data and the travel route.

According to this configuration, when performing farm work using the farm work device, first, the traveling route of the traveling machine suitable for the farm work is calculated based on the terrain data of the farm field read from the farm field information storage unit. be. At that time, agricultural work such as rice planting, seed sowing, and fertilization is performed along a straight path or a straight travel path with a large radius of curvature (here, called a work travel path). A turning path (referred to as a non-working path) is required to transition from one path to the next working travel path. Therefore, the route calculation unit obtains the outer shape of the field from the terrain data, and for the field, a travel route consisting of a work travel route and a non-work travel route that starts from the set travel start point and ends at the travel end point. Calculate In addition, since the working width is required for calculating the travel route, the working width of the field working device to be used is also read in advance from the work information storage unit. When the travel route is calculated, the position of the vehicle is determined based on the positioning data (latitude and longitude data) obtained from the GPS module, and the vehicle is driven so that it travels accurately on the travel route calculated by the route calculation unit. A support unit supports the operation of this field implement. As a result, with the field work machine according to the present invention, it is possible to perform high-quality field work without the need for troublesome work such as teaching, and without the need for skill.
Note that the travel start point and the travel end point may be the same, or may be set to arbitrary points (multiple points can be set) within a predetermined distance range.

It is not uncommon for farm fields to have designated places for entering and exiting the field from the ridges and farm roads. In such a field, the travel start point is set by the entry position of the field, and the travel end point is set by the exit position of the field. It is convenient if the entry position and the exit position of such a field are included in advance in the field information.

2. Description of the Related Art In a field working device for rice planting, seed sowing, fertilization, or the like, the operation of the field working device is stopped or its posture is changed to a non-working posture during non-work traveling accompanied by a direction change. Therefore, at the end point and start point of the work travel, in other words, at the end point and start point of the non-work travel, some operation must be performed on the field working device. The timing of this end point and start point is important in field work. For this reason, in one of the preferred embodiments of the present invention, the driving support unit includes an operation information generating unit for generating operation timing information including a work start operation point and a work end operation point of the agricultural field working device on the travel route. part is included. In an embodiment in which such operation timing information is notified to the driver and the driver performs a necessary operation based on the notification, the driving support unit provides operation timing to the driver based on the operation timing information. A notification information generation unit is included for generating notification information for notification. Further, in an embodiment in which an operation based on such operation timing information is automatically performed, an operation control signal generation section for generating an operation control signal for the field working device based on the operation timing information is provided in the driving support unit. It is included.

There are many cases in which not only unskilled workers in field work but also unskilled workers in driving must operate field work machines. In order to solve such problems, in one preferred embodiment of the present invention, the driving support unit includes an automatic travel control section that automatically travels the traveling body based on the travel route. there is As a result, stable field work can be carried out even if the worker is unfamiliar with field work and operation of the field work machine.

If the shape of the field is a basic shape such as a rectangle, an appropriate running route can be uniquely determined, but if the shape is deformed, it is difficult to calculate the optimum running route. A suitable solution for such a case is to allow the route calculation unit to calculate a plurality of travel routes and allow the driver to select the most suitable one from the plurality of travel routes.

A route algorithm using graph theory or the like may be used to calculate the travel route by the route calculation unit, but especially in rice planting or seeding work, it is desired to minimize the number of turns for turning as much as possible. be. For this reason, it would be advantageous to introduce a low number of turns as an important condition of the route algorithm. Therefore, in one of the preferred embodiments of the present invention, the route calculator has a turn reduction route algorithm that reduces the non-working travel route.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram explaining the basic structure of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the riding rice transplanter which is one of specific embodiment of this invention. It is a top view of a riding rice transplanter. Fig. 2 is a rear view showing a powder or granular material supply device as a field working device mounted on a riding rice transplanter; It is a longitudinal side view which shows a granular material supply apparatus. It is a schematic diagram which shows the power transmission system of a riding rice transplanter. 1 is a schematic diagram showing a power steering device; FIG. It is a functional block diagram which shows the control system mounted in the riding rice transplanter. FIG. 4 is a schematic diagram showing an example of travel and work operation of the riding rice transplanter along the calculated travel route.

Before describing a specific embodiment of a field work machine according to the present invention, a basic configuration characterizing the present invention will be described with reference to FIG. Here, as a field working machine (hereinafter simply referred to as a working machine), a working machine such as a rice transplanter, a sowing machine, a fertilizing machine, etc., which is subjected to working conditions such as the number of planted rows and the distance between planted rows is assumed. This working machine consists of a traveling body 1 that self-propels in a field and a field working device 2 attached to the traveling body 1 so as to be able to change its posture. This work machine is equipped with an operation control unit 6 and an electronic control unit 7 as control systems particularly related to the present invention. Furthermore, a GPS module 5 is provided to detect directions such as latitude and longitude using a GPS (Global Positioning System) and output them as positioning data. The operation control unit 6, the electronic control unit 7, and the GPS module 5 are connected together with other control units via an in-vehicle LAN, and can exchange data with each other.

The motion control unit 6 includes an automatic travel control unit 61 that controls operating devices in the engine, transmission, and steering device in order to allow the traveling machine 1 to travel automatically, and an automatic travel control unit 61 that changes the work and attitude of the field work device 2 . A device control unit 62 for controlling the device is included. In the electronic control unit 7, an information storage section 71 for storing operation programs, application programs, and various data, a work setting section 72, and a route calculation section 73 are constructed. The information storage section 71 includes a field information storage section 71a that stores field information including at least topographical data, and a working width in a direction transverse to the running direction of the field working device 2, as particularly related to the present invention. A work information storage unit 71b for storing work device information is included. Furthermore, the electronic control unit 7 includes a driving assistance unit 8 .

The work setting unit 72 sets a travel start point and a travel end point of a field to be carried out by using the agricultural field work device 2 . The travel start point is also the position at which the traveling machine 1 enters the field, and the travel end point is also the position at which the traveling machine 1 is taken out of the field. Generally, the travel start point and the travel end point are the same. Of course, if all the ridges facing the farm road can be used as the travel start point and the travel end point, such setting may be made. The travel start point and travel end point are also used as a travel start point and travel end point for calculating the travel route described below.

The route calculation unit 73 calculates the farm field information read from the farm field information storage unit 71a, the work device information read from the work information storage unit 71b, and the travel start point and travel end point set by the work setting unit 72. A travel route including a non-work travel route involving a direction change of the traveling machine body 1 and a work travel route for travel work by the agricultural field work device 2 is calculated based on the above. Specifically, the route calculation unit 73 obtains the work area to be worked from the landform data included in the field information, and calculates the work area by using the work width in the transverse direction of travel included in the work device information. Calculate the travel route that fills the At that time, in rice planting and sowing in paddy fields, in principle, a pattern that repeats long straight running and turning at the end (180 ° turning) is adopted, and agricultural work (rice planting, seeding, etc.) is not performed. Finally, the farm work for the work area (farm field) is completed by traveling for work in the area (generally called a headland) used for the turning travel. A travel route is calculated so as not to disturb such a travel pattern as much as possible.

An example of the procedure for calculating the travel route is schematically shown in FIG. First, the outline of the field to be worked is set from topographical data (map data) of the field (#a). A headland area is set based on the work width of the field work device 2 (row spacing x number of rows for seedling planting work), and a travel start point and a travel end point (indicated by arrows in the figure) are set ( #b). Since rice planting and seeding operations are preferably carried out in a straight line, a turning reduction route algorithm is preferably employed. Therefore, the headland is regarded as a non-work travel area for 180° direction change, and the headland is regarded as a work area in which travel work is performed by the field work device, and a travel route (work travel route) that can obtain a straight route as long as possible, In other words, a travel route with few turn-changing routes (non-work travel routes) is calculated (#c). When the travel route is calculated, the farm work device 2 is driven while the traveling machine body 1 travels along this travel route, so that farm work is performed on the field (#d). It is necessary to turn on the field work by the field work device 2 while traveling on a straight route (including a gently curved route with a large curvature radius), and turn off the field work by the field work device 2 while traveling on a turning route. There is That is, the work start operating point of the field work device 2 is the transition point from the non-work path to the work travel path, and the work end operation point is the transition point from the work travel path to the non-work path. Finally, work in the headland and headland work traveling are performed (#e).

The driving assistance unit 8 assists the operation of the field work machine along the calculated travel route. The driving assistance unit 8 assists driving so that the position of the vehicle obtained from the positioning data output from the GPS module 5 is located on the calculated travel route. For this purpose, for example, the following three functional units are constructed in the driving assistance unit 8 . (1) A motion information generation unit 81 that generates motion timing information including a work start motion point and a work end motion point of the field work device 2 on the traveling route. The motion information generation unit 81 generates motion timing information that sets the point of time when the work position of the field work device 2 on the field reaches the transition point described above as the work start motion point or the work end motion point. (2) A notification information generation unit 82 that generates notification information for notifying the driver of the operation timing based on the operation timing information. Based on the operation timing information, the notification information generating unit 82 visually or audibly notifies the driver of the end or start of work travel or non-work travel through a lamp or a buzzer. 2 can be manipulated accurately. If the notification information generating unit 82 is equipped with a voice function, it is possible to give operation instructions in spoken language. (3) An operation control signal generator 83 that generates an operation control signal for the field working device 2 based on the operation timing information. When such an operation control signal generator 83 is installed, the ON/OFF control of the field work by the field work device 2 can be automated. For example, in the case of a seedling planting device, lifting/lowering of the seedling planting device and stopping/starting of the seedling planting claws are automatically executed at transition points, thereby reducing the burden on the driver.

In addition, when automating not only the field work device 2 but also the operation of the traveling machine 1, the driving support unit 8 compares the position of the machine based on the positioning data from the GPS module 5 with the traveling route. By calculating the error and sending it to the automatic travel control unit 61, the traveling machine body 1 can be accurately and automatically traveled. As for the automatic travel, only travel on a work travel route that is substantially straight may be automated, and travel in non-work travel involving turning may also be automated.

Next, one of the specific embodiments of the field work machine according to the present invention will be described with reference to the drawings.
FIG. 2 is a side view of a riding rice transplanter, which is an example of a field working machine, and FIG. 3 is a plan view. The traveling body 1 includes a pair of left and right front wheels 11 a and a pair of left and right rear wheels 11 b on the lower portion of the vehicle body frame 10 . A powder supply device 12 having a powder tank 12a is provided at the rear of the traveling body 1 . A paddy field working device 2 as a field working device provided with six seedling planting mechanisms 21 arranged in the lateral direction of the vehicle body and six granular material supply units 22 arranged in the lateral direction of the vehicle body at the rear of the traveling body 1. Concatenated.

The paddy field work machine performs seedling planting and fertilization work by running the traveling body 1 while the paddy field work device 2 is lowered to the lowered work state. be.

The traveling machine body 1 includes an engine 31 arranged in the front part of the vehicle body, and a transmission 32 for traveling and working that inputs the driving force from the engine 31 and shifts gears. and the rear wheels 11b to drive the front wheels 11a and the rear wheels 11b. The engine 31 is covered with an engine bonnet 31a and a rear cover 31b. The traveling machine body 1 includes a driving section 33 having a driver's seat 33a arranged at the rear portion of the vehicle body. A driver gets on the driving unit 33 and steers the vehicle. A steering handle 33b for steering the front wheels 11a is arranged in front of a driver's seat 33a, and a floor 30 with an open top is formed between a steering post 33c supporting the steering handle 33b and the driver's seat 33a. A control panel 33d is provided around the steering post 33c. A working space 34 is provided in the rear part of the traveling body 1 to be used for the work of supplying powder to the powder tank 13 and the work of supplying seedlings to the paddy field working device 2 . The working space 34 is provided with working steps 34a positioned over both sides and rear of the driver's seat 33a, and handrails 35 positioned on both sides of the driver's seat 33a. In addition, a pair of left and right spare seedling mounts 39 are provided on the front part of the traveling body 1 .

The paddy field work device 2 will be described.
As shown in FIG. 2, the paddy field working device 2 is supported by a link mechanism 36 that extends rearward from the body frame 10 so as to swing up and down. , the descent operation state in which the grounding float 23 descends and touches the field, and the rising non-working state in which the float 23 is raised from the field.

The paddy field working device 2 includes a working portion frame 24 whose front end side is supported by a link mechanism 36 . The working unit frame 24 includes a feed case 25 to which the driving force from the engine 31 is transmitted via a rotating shaft 38, and three planting drive cases 26 arranged at predetermined intervals in the lateral direction of the vehicle body. The seedling planting mechanisms 21 are mounted on both lateral sides of the rear ends of the three planting drive cases 26, respectively. Above the front part of the working section frame 24, a seedling mounting table 28 is provided in an inclined posture so that the lower end side is located rearward. Three grounding floats 23 are arranged in the lateral direction of the vehicle body at predetermined intervals in the lower part of the working part frame 24.例文帳に追加Six powder supply units 22 serving as ground work units arranged in the lateral direction of the vehicle body are arranged one by one near the sides of the six seedling planting mechanisms 21, and are distributed to and supported by three ground floats 23. There is.

Each seedling planting mechanism 21 has two planting arms 21a and is driven by driving force transmitted from a feed case 25 to a planting drive case 26. Planting claws are provided on each of the two planting arms 21a. The tip of the seedling moves up and down reciprocally while drawing a long rotation locus. In the seedling planting work, which is one field work, each seedling planting mechanism 21 is alternately moved from the mat-like seedling on the seedling platform 28 at the lower end of the seedling platform 28 by two planting arms 21a. Planted seedlings are taken out for the number of stocks, the taken-out planted seedlings are conveyed downward to a field, and planted in a mud part leveled by a grounding float 23. - 特許庁

As shown in FIG. 3, the seedling mounting table 28 is provided with six seedling mounting portions 28a on which mat-like seedlings to be supplied to the six seedling planting mechanisms 21 are arranged and mounted in the lateral direction of the vehicle body. The seedling mounting table 28 is supported by a supporting portion and a support column 24a provided on the working portion frame 24 so as to reciprocate in the lateral direction of the vehicle body. The seedling mounting table 28 is reciprocated in the lateral direction of the vehicle body in conjunction with the seedling planting motion of the seedling planting mechanism 21 by a lateral feed mechanism provided across the seedling mounting table 28 and the feed case 25, thereby feeding the mat-like seedlings. The seedlings are transported back and forth in the lateral direction of the vehicle body with respect to the seedling planting mechanism 21 . As a result, each seedling planting mechanism 21 takes out the planted seedlings from the lower end of the mat-like seedling placed on the seedling mounting table 28 from one lateral end to the other lateral end.

Each of the six seedling mounting portions 28a of the seedling mounting table 28 is equipped with a vertical feeding belt 28b.
When the seedling mounting base 28 reaches the left and right stroke ends of the horizontal transfer, the vertical feeding belt 28b of each seedling mounting portion 28a is driven by the vertical feeding drive mechanism 27 (Fig. 6) provided over the seedling mounting base 28 and the feed case 25. ) is rotationally driven by a set stroke, and the mat-like seedlings are longitudinally fed toward the seedling planting mechanism 21 by a length corresponding to the longitudinal length of the seedlings taken out by the seedling planting mechanism 21 .

Each of the six granular material supply units 22 has a grooving tool projecting downward from the ground float 23 and connected to the granular material supply pipe 14 to be described later. A groove is formed in the field near the side, and the fertilizer supplied by the granular material supply device 12 is supplied to the formed groove. After the fertilizer has been supplied, the trench is backfilled with mud on the lateral side of the trench pushed by the cover member supported by the ground float 23 .

FIG. 6 is a schematic diagram showing a transmission structure for driving the paddy field work device 2. As shown in FIG. The driving force input from the rotating shaft 38 to the feed case 25 is transmitted to the planting output shaft 25a by the mission installed in the feed case 25, and the front end portions of the three planting drive cases 26 are transmitted from the planting output shaft 25a. is configured to be input to Each planting drive case 26 is configured such that the driving force input to the planting drive case 26 is transmitted to the pair of seedling planting mechanisms 21 by a transmission mechanism having a fractional row planting clutch 29 .

Therefore, the fractional row planting clutch 29 housed in the planting drive case 26 at the left end is a seedling planting mechanism that is a part of the six seedling planting mechanisms 21 by being turned on and off. Two seedling planting mechanisms 21, the seedling planting mechanism 21 and the seedling planting mechanism 21 adjacent to the leftmost seedling planting mechanism 21 (hereinafter referred to as the leftmost seedling planting mechanism 21L). , the left end two-row seedling planting mechanism 21 is switched between a working state in which seedlings are planted and a non-working state in which the seedlings are stopped.

The fractional row planting clutch 29 housed in the rightmost planting drive case 26 is a part of the six seedling planting mechanisms 21 and is a seedling planting mechanism that is a part of the six seedling planting mechanisms 21 by being turned on and off. To the two seedling planting mechanisms 21 (hereinafter referred to as the seedling planting mechanism 21R for two rows on the right end), the seedling planting mechanism 21 and the seedling planting mechanism 21 adjacent to the seedling planting mechanism 21 on the right end. The transmission is switched on and off to switch the seedling planting mechanism 21R for two rows on the right end between a working state in which seedlings are planted and a non-working state in which the seedlings are stopped.

The fractional row planting clutch 29 housed in the center planting drive case 26 is a seedling planting mechanism of a part of the six seedling planting mechanisms 21 by being turned on and off, and the two rows on the left end side. Two seedling planting mechanisms 21 between the seedling planting mechanism 21L for the second row and the seedling planting mechanism 21R for the two rows on the right end (hereinafter referred to as the seedling planting mechanism 21N for the central two rows). The transmission is turned on and off to switch the seedling planting mechanism 21N for the center two rows between a working state in which seedlings are planted and a non-working state in which the seedlings are stopped.

Therefore, hereinafter, the fractional streak clutch 29 housed in the leftmost planting drive case 26 will be referred to as the leftmost two-streak fractional streak clutch 29L. The plant clutch 29 is called a center two-row fractional planting clutch 29N, and the fractional planting clutch 29 housed in the rightmost planting drive case 26 is called a right-side two-row fractional planting clutch 29R.

The vertical feed driving mechanism 27 includes a vertical feed output shaft 271 extending laterally outward from the front portion of the feed case 25, and a seedling mounting table laterally supported on the back side of the seedling mounting table 28 so as to be rotatable. and a vertical feed drive shaft 272 . The vertical feed output shaft 271 is rotationally driven by the driving force input from the rotary shaft 38 to the feed case 25 to rotationally drive a pair of left and right transmission arms 273 supported by the vertical feed output shaft 271 . A passive arm 274 is supported on the vertical feed drive shaft 272 so as to rotate integrally, and the vertical feed drive shaft 272 is equipped with the fractional vertical feed clutches 20 at three positions.

That is, when the seedling loading table 28 reaches the left and right lateral feed stroke ends, the passive arm 274 contacts one of the pair of left and right transmission arms 273, and the passive arm 274 is operated to swing by the transmission arm 273. As a result, the vertical feed drive shaft 272 is driven by a predetermined rotation angle. When the vertical feed drive shaft 272 is driven, the leftmost seedling placement section 28a of the six seedling placement sections 28a is fed by the leftmost fractional vertical feed clutch 20L of the three fractional vertical feed clutches 20. Both vertical feed belts 28b of the provided vertical feed belt 28b and the vertical feed belt 28b provided in the seedling placement section 28a adjacent to the left end seedling placement section 28a (hereinafter referred to as the vertical feed belt 28b for the two left end side seedling placement sections 28a) The driving force of the vertical feed drive shaft 272 is transmitted to the feed belt 28L.

When the vertical feed drive shaft 272 is driven, the rightmost seedling placement section 28a of the six seedling placement sections 28a is fed by the rightmost fractional vertical feed clutch 20R of the three fractional vertical feed clutches 20. Both vertical feed belts 28b of the provided vertical feed belt 28b and the vertical feed belt 28b provided in the seedling placement section 28a adjacent to the right end seedling placement section 28a (hereinafter referred to as the vertical feed belt 28b for the two right end side seedling placement sections 28a) The driving force of the vertical feed drive shaft 272 is transmitted to the feed belt 28R). When the longitudinal feed drive shaft 272 is driven, the central fractional longitudinal feed clutch 20N of the three fractional longitudinal feed clutches 20 moves two seedling placement portions on the left end side out of the six seedling placement portions 28a. 28a and the two seedling placement portions 28a on the right end side. 272 driving force is transmitted.

Therefore, the leftmost fractional vertical feed clutch 20 out of the three vertical fractional feed clutches 20 is turned on and off so that the two left end side seedling planting mechanisms 21L correspond to the two left end side seedling planting mechanisms 21L. The transmission to the vertical feed belt 28L is turned on and off, and the vertical feed belt 28L for the two rows on the left end side is switched between a working state for vertically feeding the seedlings and a non-working state for stopping the vertical feeding of the seedlings.

The central fractional vertical feed clutch 20 of the three fractional vertical feed clutches 20 is turned on and off to form a central two-row vertical feed belt 28N corresponding to the central two-row seedling planting mechanism 21N. , the vertical feeding belt 28N for the central two rows is switched between a working state for vertically feeding the seedlings and a non-working state for stopping the vertical feeding of the seedlings.

The rightmost fractional vertical feed clutch 20 of the three fractional vertical feed clutches 20 is turned on and off to perform longitudinal feed for the right end side two rows corresponding to the right end side two seedling planting mechanism 21R. The transmission to the belt 28R is turned on and off, and the vertical feed belt 28R for the two rows on the right end side is switched between a working state in which vertical feeding of seedlings is performed and a non-working state in which vertical feeding of seedlings is stopped.

The granular material supply device 12, which is one of the field work devices, will be described.
FIG. 4 is a rear view showing the granular material supply device 12. As shown in FIG. FIG. 5 is a longitudinal side view showing the granular material supply device 12. As shown in FIG. As shown in FIGS. 2 to 5, the granular material supply device 12 is disposed in a portion of the traveling body 1 behind the driver's seat 33a. The granular material feeder 12 is supported by a feeder frame 15 . The supply device frame 15 is connected to the body frame 10 via a pair of left and right front struts 15a and a pair of left and right rear struts 15b. The supply device frame 15 includes a pair of front and rear support frames 15f and 15r that support the upper end of a delivery mechanism 16, which will be described later, from the front and rear sides (see FIG. 5).

The granular material supply device 12 includes one granular material tank 13 formed in a shape elongated in the vehicle body lateral direction, and four feeding mechanisms 16 connected to the lower part of the granular material tank 13 in a row in the vehicle body lateral direction. I have it. Each delivery mechanism 16 includes one delivery case 16a whose upper end side is connected to one bottom 13a of four bottoms 13a arranged in the powder tank 13 in the lateral direction of the vehicle body. Each of the four bottom portions 13a of the granular material tank 13 has a funnel shape when viewed in the longitudinal direction of the vehicle body. Left and right lateral walls 13b of each of the four bottom portions 13a are formed as inclined walls that are closer to the inside of the bottom portion 13a toward the lower end side.

As shown in FIG. 5, each delivery mechanism 16 includes the delivery case 16a communicating with the storage space of the granular material tank 13, and is provided inside the delivery case 16a so as to be rotationally driven. The feeding rotor 16b rotates to feed the powdery fertilizer stored in the granular material tank 13 to the lower part of the feeding case. More specifically, each delivery rotating body 16b has delivery recesses formed side by side in the rotational direction on the peripheral surface, and delivery is performed by a set amount set by the volume of the delivery recess, and the delivery interval is determined by the interval between the delivery recesses. Fertilizer is delivered (fertilization work) by the set intermittent delivery.

A wind introduction port 16c is formed in the front lower portion of each delivery case 16a. The wind introduction port 16c of each delivery case 16a is connected to an electric blower 18 via one air duct 17 positioned in front of each delivery mechanism 16 and directed laterally of the vehicle body. As shown in FIG. 1, an air intake duct 18a extends from the air intake port of the air blower 18 to the vicinity of the engine 31. The air blower 18 draws in air whose temperature has been raised by heat radiation from the engine 31, etc., and feeds the air. generate.

Two powder delivery ports 16d are formed in the rear lower portion of each delivery case 16a. In the leftmost feeding mechanism 16L of the four feeding mechanisms 16, the two powdery or granular material feeding ports 16d are connected to the leftmost powdery or granular material feeding section 22 of the six powdery or granular material feeding sections 22 and the leftmost powdery or granular material feeding section 22. The granular material supply section 22 is connected to the adjacent granular material supply section 22 by two granular material supply pipes 14 respectively.

In the delivery mechanism 16 at the right end of the four delivery mechanisms 16, the two powder delivery ports 16d, 16d are connected to the right end powder supply part 22 of the six powder supply parts 22 and the right end supply part 22 of the six powder supply parts 22. The powder supply section 22 is connected to the adjacent powder supply section 22 by two powder supply pipes 14, 14, respectively.

In the left delivery mechanism 16 of the two central delivery mechanisms 16 among the four delivery mechanisms 16, one of the two powder or granular material delivery ports 16d, 16d formed in the delivery case 16a is the powder or grain delivery port 16d. of the six powdery or granular material supply units 22 of the paddy field work device 2, two powdery or granular material supply units 22 located between the two powdery or granular material supply units 22 on the left end side and the two powdery or granular material supply units 22 on the right end side It is connected to the left powder supply section 22 in the powder supply section 22 by the powder supply pipe 14 . In the right delivery mechanism 16 of the two central delivery mechanisms 16 out of the four delivery mechanisms 16, one of the two powder or granular material delivery ports 16d, 16d formed in the delivery case 16a is the powder or grain delivery port 16d. of the six powdery or granular material supply units 22 of the paddy field work device 2, two powdery or granular material supply units 22 located between the two powdery or granular material supply units 22 on the left end side and the two powdery or granular material supply units 22 on the right end side It is connected to the right powder supply section 22 in the powder supply section 22 by the powder supply pipe 14 . The central two feeding mechanisms 16 are configured to stop the function of feeding the granular material from the granular material delivery port 16d to which the granular material supply pipe 14 is not connected.

Therefore, the left end delivery mechanism 16 and the right end delivery mechanism 16 of the four delivery mechanisms 16 deliver fertilizer from the powder or granular material tank 13 by the delivery rotating body 16b in one delivery case 16a, and the delivered fertilizer is It is delivered to the two powder supply pipes 14, 14 from the two powder supply ports 16d by the air blown from the blower 18 at a temperature higher than the room temperature. and the powdery or granular material feeding section 22 adjacent to the powdery or granular material feeding section 22 at the lateral end.

Of the four feeding mechanisms 16, the left feeding mechanism 16 of the two central feeding mechanisms 16 feeds out fertilizer from the granular material tank 13 by the feeding rotating body 16b, and distributes the fed granular material to room temperature air from the blower 18. It is sent to the powdery or granular material supply pipe 14 from the powdery or granular material delivery port 16d by a carrier air having a temperature higher than Supply to supply unit 22 . Of the four delivery mechanisms 16, the right delivery mechanism 16 of the two central delivery mechanisms 16 delivers fertilizer from the granular material tank 13 by the delivery rotary body 16b, and the delivered granular material is sent to the room temperature from the blower 18. , and delivered to the powdery or granular material supply pipe 14 from the powdery or granular material delivery port 16d by a carrier air having a temperature higher than Supply to supply unit 22 .

Although not shown in the drawings, the leftmost delivery mechanism 16 out of the four delivery mechanisms 16 in the powdery or granular material supply device 12 feeds the powdery or granular material delivered from the powdery or granular material tank 13 to the left end side 1 . The feeding mechanism 16 for the left end two rows is configured so as to supply the powder to one powder supply section 22 . Out of the four feeding mechanisms 16, the two central feeding mechanisms 16 are feeding mechanisms for two central rows so as to supply the granular material fed out from the powdery or granular material tank 13 to the central two granular material supply units 22. 16. Of the four feeding mechanisms 16, the feeding mechanism 16 at the right end is a feeding mechanism for two right end side feeding units so as to supply the granular material fed out from the powdery or granular material tank 13 to the two powdery or granular material supply units 22 on the right end side. It constitutes the mechanism 16 . Further, there is provided a delivery amount adjusting mechanism (not shown) that changes the delivery amount of fertilizer by changing the drive rotation speed per unit time of the delivery rotary member 16b by rotating operation.

Although only schematically shown in FIG. 7, the steering handle 33b and the front wheels 11a are interlocked via an electric power steering device 40. As shown in FIG. More specifically, a torque sensor 42 is provided on the steering wheel shaft 41 of the steering wheel 33b to detect the turning torque of the steering wheel 33b. An electric motor 43 is interlocked with the handle shaft 11 via an electromagnetic clutch 44 and a gear mechanism 45 to apply an assist force for rotating the steering handle 33 b based on the detection result of the torque sensor 42 . The handle shaft 41 and the front wheel 11a as a steering wheel are interlocked via a linking mechanism such as a pitman arm, a knuckle arm and a tie rod (not shown). A detection signal of the torque sensor 42 is input to the automatic travel control section 61 of the motion control unit 6 mounted on the traveling body 1 . The automatic driving control unit 61 generates a control signal based on the detection result of the torque sensor 42, etc., and controls the electric motor 43 and the electromagnetic clutch 44 that turns on and off the transmission of the output of the electric motor 43 via the motor control circuit 6A. Drive control. In the case of automatic traveling, the electric motor 43 is controlled by the control signal from the automatic traveling control section 61, and the steering handle 33b is automatically operated regardless of the detection signal of the torque sensor .

Further, although only schematically shown in FIG. 7, the lifting cylinder 37 of the link mechanism 36 is driven through the solenoid control circuit 6B based on the control signal from the equipment control section 62 of the operation control unit 6. controlled. The seedling planting work and the fertilizing work are stopped as the elevating cylinder 37 is lifted, and the seedling planting work and the fertilizing work are started as the elevating cylinder 37 is lowered.

The position of the mobile body 1 required for automatic travel is obtained from the positioning data from the GPS module 5 . As shown in FIG. 8, this GPS module 5 comprises a GPS antenna 5A and a GPS processing circuit 5B. The GPS antenna 5A is attached via a quick-coupling connecting portion 5C to a location where radio wave reception sensitivity is good, which is, in this embodiment, an upper region of the handrail 35 as shown in FIG. The GPS processing circuit 5B is arranged in a control box CB (in which the electronic control unit 7 is built) arranged below the driver's seat 33a. The GPS antenna 5A and the GPS processing circuit 5B may be packaged and mounted as a single GPS module 5 at a location where the radio wave reception sensitivity is good, and the GPS processing circuit 5B and the control box CB may be connected by wire or wirelessly. . Also, a configuration may be employed in which a plurality of mounting locations for the GPS antenna 5A or GPS module 5 are set in advance, and the GPS antenna 5A or GPS module 5 can be selectively mounted at an optimum mounting location according to the region or climate. In this embodiment, the top frame of the seedling platform 28 is set as another attachment point, and the connecting portion 5C is provided here.

A plate-shaped antireflection body, that is, a ghost prevention, is provided below the mounting location of the GPS antenna 5A or the GPS module 5A in order to prevent GPS radio waves from being disturbed by reflection from the water surface of the paddy field or the metal plate of the traveling body 1. A body is preferably provided. Although not shown in the drawings, a rainwater prevention cover is installed on the granular material supply device 12 of this riding rice transplanter. A cover is used as an anti-ghosting body.

FIG. 8 shows a control system installed in this riding rice transplanter. This control system uses the basic principle of the present invention described with reference to FIG. The core of the control system is housed in the control box CB as an electronic unit.

In this embodiment, the functions of the information storage unit 71, the work setting unit 72, the route calculation unit 73, and the driving support unit 8, which are constructed in the electronic control unit 7, have already been described with reference to FIG. Therefore, it is omitted here. In the electronic control unit 7, a working position calculation section 74 is constructed as a functional section other than the above.

The coordinate position obtained from the positioning data from the GPS module 5 indicates the GPS reception position, that is, the position of the attachment point of the GPS antenna 5A. Therefore, in order to know the correct working position of the paddy field working device 2 with respect to the field (for example, the seedling planting position or the fertilizing position), the amount of positional deviation between the mounting position of the GPS antenna 5A and the working position of the paddy field working device 2 is should be used to correct the coordinate position obtained from the positioning data from the GPS module 5 . The function of the working position calculator 74 is to perform this correction and calculate the field working position of the paddy field working device 2 .

Furthermore, the input signal processing unit 65 and the notification processing unit 64 are arranged inside or outside the electronic control unit 7, and each is connected to the functional unit built in the electronic control unit 7 so that data can be exchanged. are doing. The input signal processing unit 65 processes signals from sensors and switches installed in the riding rice transplanter, signals input from the outside by radio or the like, and transfers the signals to necessary function units. For example, signals specifying the engine speed, wheel speed, fuel remaining amount, seedling remaining amount, fertilizer remaining amount, shift position, attitude (up state or down state) of the paddy field work device (farm work device) 2, etc. are input. be done.

The notification processing unit 64 processes the information generated by the notification information generation section 82 to notify the driver or the outside, and outputs the information to the notification device. A display 64a that displays image information and a speaker 64b that emits audio information are typical examples of notification devices, but buzzers and lamps are also included. The display 64a is equipped with a touch panel 66, and information input through the touch panel 66 is sent via an input signal processing section 65 to a functional section that requires the information.

One running example of the seedling planting work by the riding rice transplanter configured as described above will be described with reference to the schematic diagram of FIG. Here, the route calculation unit 73 sets a headland MA with a width corresponding to the working width W around the perimeter of the trapezoidal farm field to be worked, and calculates a travel route with as long a straight line distance as possible. . In order to simplify the explanation, the travel route includes a work travel route consisting of four straight lines, a non-work travel route that is a transition route (turning route) that connects the work routes at the headland MA, and finally a headland MA. It is divided into a headland work travel route for working on the MA. In other words, the inner area IA surrounded by the headland MA runs straight. In FIG. 9, the entrance position (running start point) and the exit position (running end point) of the field are indicated by white arrows. Further, the work travel route is indicated by a solid line, the non-work travel route is indicated by a dotted line, and the headland work travel route is indicated by a one-dot chain line.

First, the rice transplanter that has entered the field from the entrance position travels straight across the headland MA. When the seedling planting point by the seedling planting mechanism 21 reaches the coordinate position of the boundary between the headland MA and the inner area IA (indicated by point P1 in FIG. 9), the elevating cylinder 37 of the link mechanism 36 is activated. It is necessary to lower the paddy field working device 2 by pressing and switch the seedling planting mechanism 21 to the working state. In other words, this point P1 corresponds to the work start motion point, and when the coordinate position calculated by the work position calculator 74 and the coordinate position of the point P1 match, the motion information generator 81 determines the work start motion point. Operational timing information is generated indicating that the point has been reached.

When the operation of the paddy field working device 2 is in the automatic mode, in response to the generation of this operation timing information, the lowering operation of the paddy field working device 2 by the lifting cylinder 37 and the planting operation of the seedling planting mechanism 21 are performed. is output from the operation control signal generator 83 to the operation control unit 6 . Further, when the operation of the paddy field work device 2 is in the manual mode, in response to the generation of the operation timing information, the notification information generating section 82 generates notification information to that effect, and the notification processing unit 64 output to In the manual mode, in practice, a notification prompting the manual operation is made at a slightly earlier timing considering the operation time by the driver.

When the straight work travel is continued and the seedling planting point reaches the coordinate position of the boundary between the inner area IA and the headland MA (indicated by point Q1 in FIG. 9), the link mechanism 36 is turned to change direction. It is necessary to operate the lifting cylinder 37 to lift the paddy field working device 2 and switch the seedling planting mechanism 21 to the non-working state. That is, this point Q1 corresponds to the work end motion point, and when the coordinate position calculated by the work position calculator 74 and the coordinate position of the point Q1 match, the motion information generator 81 determines the work end motion point. Operational timing information is generated indicating that the point has been reached.

Also here, when the operation of the paddy field working device 2 is in the automatic mode, in response to the generation of this operation timing information, the operation of raising the paddy field working device 2 and the planting stop operation of the seedling planting mechanism 21 are performed. is output from the operation control signal generator 83 to the operation control unit 6 . Further, when the operation of the paddy field work device 2 is in the manual mode, in response to the generation of the operation timing information, the notification information generating section 82 generates notification information for notification of direction change, and the notification processing unit 64 output to In the manual mode, in practice, a notification prompting the manual operation is made at a slightly earlier timing considering the operation time by the driver.

The direction change travel is a non-work travel on the headland MA from the point Q1 where the first straight work travel ends to the point P2 where the second straight work travel starts, and 180° turning travel with a large turning angle. is. When the coordinate position calculated by the work position calculation unit 74 reaches the coordinate position of the point P2, the motion information generation unit 81 generates motion timing information indicating that the next work start motion point has been reached. A straight work travel is performed.

In both the above-described straight-ahead work travel and non-work travel involving direction changes, the automatic travel control unit 61 may perform automatic travel control of the traveling body 1, but non-work travel including exceptional operations (especially direction The driver may steer in the transition run).

In this way, when reaching the point Q3 at which the last linear work travel ends, the headland work travel is performed along the headland work route of the headland MA. If it is complicated, it is better to operate the traveling body 1 by the driver instead of the automatic traveling. Even in such a case, the burden on the driver can be reduced by notifying that the traveling machine body 1 is approaching a corner where a turn is required.

The functions created by the driving support unit 8 include not only the operation support of the traveling body 1 and the operation support of the paddy field work device (field work device) 2, but also the supply support function of materials necessary for farm work. In the case of the riding rice transplanter of this embodiment, a remaining amount detection unit (not shown) for detecting the remaining amount of seedlings and fertilizer and a replenishment failure detection for detecting material replenishment failure such as material clogging are known per se. A unit (not shown) is provided. When the remaining amount of materials sent through the input signal processing section 65 falls below the threshold level, the driving support unit 8 notifies the fact and outputs to the operation control unit 6 an operation control signal for stopping automatic travel. Further, when the input signal processing unit 65 detects that replenishment is not possible, the driving support unit 8 generates notification information to that effect and notifies it through the notification processing unit 64, and operates an operation control signal to stop automatic driving. output to the control unit 6; Furthermore, the route calculation unit 73 can also calculate an emergency travel route for the traveling machine body 1 to automatically travel to a nearby ridge in order to replenish necessary materials or repair replenishment failures.

In the field working machine according to the present invention, it is possible to automate not only the traveling control of the traveling machine body 1 but also the machine control of various operating machines constituting the field working machine 2 . Therefore, useful farm management information can be obtained by storing the operation history data of such control information in a database. In particular, by linking the positioning data by the GPS module 5, the map data stored in the field information storage unit 71a, or both, and the operation history data, it contributes to farm work management in the field in units of fine divisions. can be done.

[Another embodiment]
(1) In the above-described embodiment, the route calculation section 73 was built in the electronic control unit 7. However, the more complex the route calculation algorithm, the higher the computational power required. It is also possible to adopt a cloud network method in which the computer is made to perform. Similarly, the information storage unit 71 may also be constructed in an external computer, and may be configured to be accessed from the field work machine as necessary. For this purpose, it is necessary to equip the field work machine with a communication unit that can be connected to a data communication line such as the Internet.
(2) As conditions for route calculation performed by the route calculation unit 73, the outer shape of the field and the entrance/exit of the field were taken up. For example, the traveling route and field conditions during pre-work such as plowing and puddling with a tractor, and the traveling route and field conditions during harvesting with a combine harvester may be added.
(3) In the above-described embodiment, it is assumed that the working width of the field working device 2 is not changed during working on one field. A traveling route that changes the working width on the way may be calculated.
(4) In the above-described embodiment, the route calculation unit 73 employs a turning reduction route algorithm that reduces non-working travel routes, but may selectively include other route algorithms. For example, a curved route algorithm for calculating a work travel route on a curved road having a radius of curvature greater than or equal to a predetermined value is effective for a fan-shaped farm field. A route algorithm that calculates a precise travel route based on a rough route image input using an input device such as the touch panel 65 is also effective for fields having complex shapes.
(5) Since the field working machine according to the present invention has a GPS function and a map data storing function, it is also possible to use this to provide route guidance to the field to be worked.

INDUSTRIAL APPLICABILITY The present invention is applicable not only to a riding rice transplanter but also to a field working machine such as a tractor equipped with a field working device and capable of automatically traveling.

1: Traveling body 12: Granular material supply device 13: Granular material tank 2: Field work device (paddy field work device)
21: Seedling planting mechanism 22: Granular material supply unit 27: Vertical feed drive mechanism 28: Seedling mounting table 28a: Seedling mounting unit 30: Floor 31a: Bonnet 33b: Steering handle 33c: Handle post 33d: Control panel 35: Handrail 36: Link mechanism 37: Elevating cylinder 39: Spare seedling mount 40: Electric power steering device 5: GPS module 5A: GPS antenna 5B: GPS processing circuit 6: Operation control unit 61: Automatic travel control unit 62: Work device control Part 63: Input signal processing part 7: Electronic control unit 71: Information storage part 71a: Farm field information storage part 71b: Work information storage part 72: Work setting part 73: Path calculation part 74: Work position calculation part 8: Driving support unit 81: Motion information generator 82: Notification information generator 83: Motion control signal generator

Claims (2)

A driving support that provides driving support based on a traveling machine, a field work device that performs farm work on a field, a GPS module that outputs positioning data, and a travel route for work travel using the positioning data and the field work device. a unit and
The driving support unit includes a transition from a non-work travel route to a work travel route accompanied by a direction change of the travel machine when the travel machine turns from the work travel route toward the next work travel route on the headland of the field. an operation information generating unit that generates operation timing information including the timing of
The work travel is automatically traveled by the automatic travel control unit, the non-work travel is controlled by the driver,
In the driving support unit, as notification information for notifying the driver of the operation timing based on the operation timing information, the non-work travel end or work A farm working machine including a notification information generating unit for notifying the start of travel. A driving support that provides driving support based on a traveling machine, a field work device that performs farm work on a field, a GPS module that outputs positioning data, and a travel route for work travel using the positioning data and the field work device. a unit and
The driving support unit includes a transition from a non-work travel route to a work travel route accompanied by a direction change of the travel machine when the travel machine turns from the work travel route toward the next work travel route on the headland of the field. an operation information generating unit that generates operation timing information including the timing of
The motion information generation unit changes the position of the machine from the work travel route to a non-work travel route that accompanies a direction change of the travel machine when the traveling machine body turns from the work traveling route toward the next work traveling route. generating operation timing information including transition timing for transition;
The work travel is automatically traveled by the automatic travel control unit, the non-work travel is controlled by the driver,
Considering the operation time of the driver, the driving support unit stores information for notifying the driver of the operation timing based on the operation timing information at a slightly earlier timing based on the operation timing information. The notification information for notifying the driver of the operation timing includes a notification information generating unit that notifies the end of work travel or the start of non-work travel at a slightly earlier timing in consideration of the operation time by the driver. field work machine.

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