JP6958024B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle that performs work such as rice planting while automatically traveling.

Conventionally, in a work vehicle such as a seedling transplanting machine used when planting seedlings in a field, the steering member is held in a straight-ahead position to perform automatic straight-ahead travel, and when the aircraft deviates from a predetermined travel path. An automatic steering device capable of automatically driving a steering motor to correct the direction of travel by a global navigation satellite system is provided (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-24541

However, in the above-mentioned conventional work vehicle, although the burden of the driving operation of straight running is greatly reduced by the automatic steering device, there is a problem that the operator still has to manually perform the turning operation and the like.

In view of the above problems of the conventional work vehicle, an object of the present invention is to provide a work vehicle capable of automatically traveling while working in a field unmanned.

The first aspect of the present invention includes left and right traveling devices (4L, 4R) for traveling the traveling vehicle body (2).
A work device (100) connected to the traveling vehicle body (2) and
A clutch mechanism (440L, 440R) that at least turns on and off the drive of the left and right traveling devices (4L, 4R), and
Brake mechanisms (450L, 450R) that brake the drive of the left and right traveling devices (4L, 4R), and
A positioning device (410) that acquires position information and
A work vehicle including a control unit (400) that automatically travels the traveling vehicle body (2) based on the position information acquired by the positioning device and predetermined traveling route information.
When the control unit (400) determines that the turning locus at the time of turning obtained from the position information by the positioning device (410) deviates from the predetermined traveling path information, the control unit (400) is based on the state of the deviation. The drive of at least one of the left and right traveling devices (4L, 4R) is controlled by using the clutch mechanism (440L, 440R) or the braking mechanism (450L, 450R).
When the control unit (400) determines that the traveling locus when traveling straight, which is obtained from the position information by the positioning device (410), deviates from the predetermined traveling route information, the control unit determines that the traveling locus is deviated from the predetermined traveling route information. It is a work vehicle characterized in that when the next work line adjacent to the travel locus is traveled straight, the deviation of the travel locus is reflected in the predetermined travel route information corresponding to the next work line. ..
The second invention is
The control unit (400) does not use the traveling locus within a predetermined time or a predetermined distance after turning and the traveling locus within a predetermined time or a predetermined distance before turning when reflecting the deviation. It is the first work vehicle of the present invention to be characterized.
The third invention is
The control unit (400) has a distance between the work strip before turning and the working strip after turning based on the traveling locus before turning or the position information and the traveling locus after turning or the position information. Is one of the first and second work vehicles of the present invention, characterized in that, when it is determined that the vehicle is within a predetermined range, the vehicle continues to travel straight after the turn.
The fourth invention is
A vehicle speed adjustment device (5) that adjusts the vehicle speed,
A work on / off device (490) that turns on / off the operation of the work device (100), and
It is provided with a memory unit (401) that stores position information indicating the position of the entrance / exit of the field in advance.
The control unit (400) determines the entrance / exit of the field based on the position information obtained by the positioning device and the position information of the entrance / exit of the field stored in the memory unit (401). When it is determined that the distance is within the first predetermined range, the vehicle speed adjusting device (5) is controlled to reduce the vehicle speed, and the distance is within the second predetermined range narrower than the first predetermined range. It is a work vehicle of the present invention, which is any one of the first to the third, characterized in that when it is determined that the work device has entered, the work on / off device (490) is controlled to turn off the operation of the work device (100). ..
The first invention related to the present invention is
The left and right traveling devices (4L, 4R) that drive the traveling vehicle body (2), and
A work device (100) connected to the traveling vehicle body (2) and
A clutch mechanism (440L, 440R) that at least turns on and off the drive of the left and right traveling devices (4L, 4R), and
Brake mechanisms (450L, 450R) that brake the drive of the left and right traveling devices (4L, 4R), and
A positioning device (410) that acquires position information and
A work vehicle including a control unit (400) that automatically travels the traveling vehicle body (2) based on the position information acquired by the positioning device and predetermined traveling route information.
When the control unit (400) determines that the turning locus at the time of turning obtained from the position information by the positioning device (410) deviates from the predetermined traveling path information, the control unit (400) is based on the state of the deviation. The drive of at least one of the left and right traveling devices (4L, 4R) is controlled by using the clutch mechanism (440L, 440R) or the braking mechanism (450L, 450R). It is a work vehicle.

In addition, the second invention related to the present invention is
When the control unit (400) determines that the traveling locus when traveling straight, which is obtained from the position information by the positioning device (410), deviates from the predetermined traveling route information, the control unit determines that the traveling locus is deviated from the predetermined traveling route information. Related to the present invention, when the next work strip adjacent to the travel locus is traveled straight, the deviation of the travel locus is reflected in the predetermined travel route information corresponding to the next work strip. This is the work vehicle of the first invention.

In addition , the third invention related to the present invention is
The control unit (400) does not use the traveling locus within a predetermined time or a predetermined distance after turning and the traveling locus within a predetermined time or a predetermined distance before turning when reflecting the deviation. It is a work vehicle of the second invention related to the present invention which is characterized.

In addition, the fourth invention related to the present invention is
The control unit (400) has a distance between the work strip before turning and the working strip after turning based on the traveling locus before turning or the position information and the traveling locus after turning or the position information. Is a work vehicle according to any one of the first to third inventions related to the present invention, characterized in that, when it is determined that the vehicle is within a predetermined range, the vehicle continues to travel straight after turning.

In addition, the invention of item 5 related to the present invention
A vehicle speed adjustment device (5) that adjusts the vehicle speed,
A work on / off device (490) that turns on / off the operation of the work device (100), and
It is provided with a memory unit (401) that stores position information indicating the position of the entrance / exit of the field in advance.
The control unit (400) determines the entrance / exit of the field based on the position information obtained by the positioning device and the position information of the entrance / exit of the field stored in the memory unit (401). When it is determined that the distance is within the first predetermined range, the vehicle speed adjusting device (5) is controlled to reduce the vehicle speed, and the distance is within the second predetermined range narrower than the first predetermined range. The invention according to any one of the first to fourth aspects related to the present invention, characterized in that, when it is determined that the work device (490) has been turned on, the work device (490) is controlled to turn off the operation of the work device (100). It is a work vehicle.

According to the first invention, it is possible to drive automatically while working in a field unmanned. Further, for example, even if the information deviates from the predetermined travel route information by making a large turn or a small turn during turning, the deviation can be automatically corrected by the control of the control unit. Further, when the traveling locus at the time of going straight is deviated from the predetermined traveling route information, the control unit receives the predetermined traveling route information corresponding to the next working article when traveling straight on the next working article. Since the deviation is reflected, for example, it is possible to prevent the planting positions from overlapping or being too far apart.
According to the second invention, in addition to the effect of the first invention, it is possible to avoid using the traveling locus of the place where the deviation is likely to occur, so that the number of places where the deviation is reflected increases. Can be prevented.
According to the third invention, in addition to the effect of the first or second invention, if the distance between the working strip before turning and the working strip after turning is within a predetermined range, after turning. Since the straight running is continued, for example, it is possible to prevent the planting positions from overlapping or the planting positions from being too far apart.
According to the fourth invention, in addition to the effect of any one of the first to fourth aspects of the present invention, the safety is improved by automatically lowering the vehicle speed when approaching the doorway of the field. In addition, since the work can be performed as close as possible to the entrance and exit of the field, the area of the field can be effectively utilized.
According to the first invention related to the present invention, it is possible to automatically travel while working in a field unmanned. Further, for example, even if the information deviates from the predetermined travel route information by making a large turn or a small turn during turning, the deviation can be automatically corrected by the control of the control unit.

Further , according to the second invention related to the present invention, in addition to the effect of the first invention related to the present invention, when the traveling locus when traveling straight is deviated from the predetermined traveling route information, When the control unit travels straight on the next work line, the control unit reflects the deviation with respect to the predetermined travel route information corresponding to the next work line. Therefore, for example, the planting positions may overlap or the intervals may be too far apart. Can be suppressed.

Further , according to the third invention related to the present invention, in addition to the effect of the second invention related to the present invention, it is possible not to use the traveling locus of a place where deviation is likely to occur. It is possible to prevent the number of places that reflect the deviation from increasing.

Further , according to the fourth invention related to the present invention, in addition to the effect of any one of the first to third inventions related to the present invention, the working strip before turning and the working strip after turning When the interval between the two is within a predetermined range, the straight running after turning is continued, so that it is possible to prevent, for example, the planting positions from overlapping or the planting positions from being too far apart.

Further , according to the fifth invention related to the present invention, in addition to the effect of any one of the first to fourth inventions related to the present invention , the vehicle speed is automatically reduced when approaching the doorway of the field. Improves safety. In addition, since the work can be performed as close as possible to the entrance and exit of the field, the area of the field can be effectively utilized.

Schematic side view of a robot rice transplanter according to an embodiment of the present invention Schematic perspective view of the robot rice transplanter of the present embodiment shown in FIG. 1 as viewed from the front left. Control block diagram of the passenger rice transplanter of this embodiment (A): Schematic plan view schematically showing the situation before the robot rice transplanter of the present embodiment starts the seedling planting work in the field, (b): The work of the first row in the field by the robot rice transplanter. Schematic plan view schematically showing the situation during turning after planting the seedlings of the strip

Hereinafter, a robot rice transplanter for four-row planting according to an embodiment of the work vehicle of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic right side view of the robot rice transplanter 1 according to the present embodiment.

Further, FIG. 2 is a schematic perspective view of the robot rice transplanter 1 of the present embodiment shown in FIG. 1 as viewed from the left front.

Further, FIG. 3 is a control block diagram of the robot rice transplanter according to the present embodiment.

In the robot rice transplanter 1 of the present embodiment, the planting device 100 is mounted on the rear side of the traveling vehicle body 2 so as to be able to move up and down via the elevating link device 10, and a pair of left and right pairs are attached to the lower front side and the rear side of the traveling vehicle body 2. It is a four-wheel drive type work vehicle provided with front wheels 3L and 3R and a pair of left and right rear wheels 4L and 4R.

Since the robot rice transplanter 1 of the present embodiment is configured to automatically run while planting in the field unmanned by using GNSS (Global Navigation Satellite System) described later without a worker getting on board. It does not have a driver's seat or a driver's handle.

The operator uses a remote control device (not shown) for operations such as placing the robot rice transplanter 1 of the present embodiment on the loading platform of a transport truck outside the field, or moving the robot rice transplanter 1 from outside the field into the field. The configuration is such that remote control is performed wirelessly.

Further, the planting device 100 includes (1) a seedling stand 110 that reciprocates in the left-right direction while feeding mat seedlings (not shown) downward by four seedling feeding belts (not shown) arranged in parallel. 2) Four seedling planting parts 120 for planting four seedlings supplied by the seedling stand 110 at the same time in the field, and (3) arranging in front of the seedling planting part 120 to prepare the field scene. It is provided with a plurality of floats 130 configured to slide and move up and down according to the unevenness of the field scene. When the vertical movement of the float 130 is detected, the elevating link device 10 moves up and down according to the detection result, and the planting device 100 moves up and down to maintain the planting depth of the seedlings at a constant level. Is.

Further, the seedling stand 110 has a configuration in which mat seedlings are arranged in lanes corresponding to each of the four rows, and a seedling shortage detection sensor for detecting the timing of replenishment of mat seedlings is provided in each lane. 460 (see FIG. 3) is arranged, and the detection result of the seedling shortage state is transmitted to the control unit 400 (see FIG. 3) described later.

Further, during turning, the planting clutch 490 (see FIG. 3) is in the "disengaged" state by a command from the control unit 400, the planting work is stopped, and the elevating link device 10 is activated. The planting device 100 rises.

Further, the engine (not shown) is mounted on a main frame (not shown) arranged at the lower end of the traveling vehicle body 2, and the rotational power of the engine is HST5 (hydrostatic stepless transmission) ( It is transmitted to a transmission mechanism (not shown) or the like in the transmission case (not shown) via (see FIG. 3) or the like. The rotational power that has been changed in the transmission case is separately output as the traveling power used for the traveling system or the like and the external extraction power used for the planting device 100 or the like.

Part of the running power is transmitted to the pair of left and right front wheel final cases 6L and 6R to drive the front wheels 3L and 3R, and the rest is the pair of left and right rear wheel clutches 440L, which will be described later. It is transmitted to the left and right rear wheel gear cases 7L and 7R via the 440R (see FIG. 3) to drive the rear wheels 4L and 4R.

Further, the robot rice transplanter 1 of the present embodiment can independently brake the drive of the pair of left and right rear wheels 4L and 4R by a command from the control unit 400 (see FIG. 3) described later. A left rear wheel brake device 450L and a right rear wheel brake device 450R (see FIG. 3) are provided.

Further, the robot rice transplanter 1 of the present embodiment is provided with a fertilizer application hopper 20 for storing fertilizer, which is configured to be pulled out from the front side to the front side of the traveling vehicle body 2, and above the fertilizer application hopper 20. The spare seedlings are arranged in a three-stage configuration, and a seedling supply mechanism 200 for supplying the spare seedlings to the seedling loading table 110 side as needed is provided.

The seedling supply mechanism 200 includes a lower supply unit 210, a middle stage supply unit 220, and an upper stage supply unit 230 in the vertical direction, and four transport belts 201 are arranged in parallel in the supply units of each stage. Further, the front end portion of the transport belt 201 of the supply unit of each stage is exposed and arranged on the front side of the traveling vehicle body 2, so that the operator can replenish the spare seedlings from the front side of the traveling vehicle body 2. Is. The four transport belts 201 in each stage are provided with four transport belt drive motors 202 (see FIG. 3) that can be independently driven in each stage. Further, a spare seedling detection sensor 470 (see FIG. 3) for detecting the presence or absence of spare seedlings is arranged on each of the four transport belts 201 of each stage, and the presence or absence of spare seedlings on the transport belt 201 is predetermined. The configuration is such that detection is performed at time intervals and the detection result is transmitted to the control unit 400 (see FIG. 3).

Further, the central portion and the rear end portion of the transport belt 201 of the supply portion of each stage are covered with the vehicle body cover 30, and the receiving antenna 411 described later is attached to the central portion of the upper surface of the vehicle body cover 30.

Further, the seedling supply mechanism 200 is configured to be independently rotatable around the rotation shaft portion 243 behind each of the four transport belts 201 of the lower supply portion 210. Four spare seedling delivery units 240a to 240d are provided so that the spare seedlings can be reliably delivered from the 201 side to the seedling loading table 110 side. In each of the spare seedling delivery portions 240a to 240d, the rear end portion 241 is adjacent to the upper end portion of the seedling loading table 110, and the front end portion 242 thereof is among the lower supply unit 210, the middle stage supply unit 220, and the upper stage supply unit 230. It is configured to be switchable to a position adjacent to the rear end portion of the transport belt 201 in any of the stages. The positions of the spare seedling delivery units 240a to 240d are switched by the transfer unit switching motors 250a to 250d that are independently driven by a command from the control unit 400 (see FIG. 3).

That is, when the seedling shortage detection sensor 460 (see FIG. 3) detects the seedling shortage during the planting work, the lane in which the seedling shortage detection sensor 460 that detects the seedling shortage is arranged by a command from the control unit 400 is arranged. (Any one of reference numerals 250a to 250d shown in FIG. 3) is driven by the transfer unit switching motor corresponding to the above, and by the drive, any one of the spare seedling delivery units 240a to 240d is driven. , The position is switched to a position adjacent to the rear end of the transport belt 201 of the stage where the spare seedlings are present. Then, in response to a command from the control unit 400, the transfer belt drive motor 202 corresponding to the transfer belt 201 is driven, so that the spare seedlings are transferred to any one of the spare seedling delivery units 240a to 240d. It is configured to be automatically supplied to the corresponding lane of the seedling stand 110 via the above.

Further, since the HST 5 (see FIG. 3) of the present embodiment includes a trunnion shaft rotation motor 480 (see FIG. 3) for rotating the trunnion shaft (not shown) connected to the swash plate 481, it will be described later. Since the tilt angle of the swash plate 481 can be automatically operated by a command from the control unit 400, the configuration is such that forward rotation, stop, reverse rotation switching, and shifting can be automatically performed.

Further, as shown in FIG. 3, the robot rice transplanter 1 of the present embodiment includes a positioning device 410 that acquires the position information (position coordinates) of the robot rice transplanter 1 based on GNSS (Global Navigation Satellite System). There is. Therefore, in the robot rice transplanter 1, a receiving antenna 411 that receives radio waves from satellites at predetermined intervals is arranged at the center of the upper surface of the vehicle body cover 30 (see FIGS. 1 and 2) as described above. The position information of the robot rice transplanter 1 acquired by the positioning device 410 is transmitted to the control unit 400.

Further, as shown in FIG. 3, the robot rice transplanter 1 of the present embodiment automatically steers a pair of left and right front wheels 3L and 3R (see FIG. 1) by a command from the control unit 400. I have. Further, a front wheel steering angle detection sensor 430 for detecting the steering angles of the front wheels 3L and 3R steered by the front wheel steering motor 420 is provided, and the detection result can be transmitted to the control unit 400. ..

Further, as shown in FIG. 3, the control unit 400 provides position information (position coordinates) of one or a plurality of fields, and a target travel route to which the robot rice transplanter 1 should travel during seedling planting work in those fields. The memory unit 401 that stores the position information (position coordinates) of the robot rice transplanter 1 and the calculation unit 402 that calculates the position deviation of the actual travel locus of the robot rice transplanter 1 with respect to the position information of the target travel route stored in the memory unit 401. Have.

In the case of the robot rice planting machine 1 of the present embodiment, as the position information of the target traveling path, for example, when the field has a substantially rectangular shape, it is parallel to the position information of one side (ridge) of the outer circumference in the longitudinal direction. In addition, automatic straight running in the entire planting process, separated from each other by a distance W corresponding to the total width of planting (that is, the width of the four-row planting) in one process (one work line) of the four-row planting robot rice planting machine 1. The position information of a plurality of target straight traveling paths for use, the position information of the turning start in each stroke (each work line), the turning direction information, and the target turning radius information (that is, W / 2) are stored in advance in the memory unit 401. It is assumed that it is stored in.

Further, in the case of the robot rice transplanter 1 of the present embodiment, as the position information of the field, for example, the position information (position coordinates) of the outer shape of the field and the position information (position coordinates) indicating the position of the entrance / exit of the field are provided. , It is assumed that it is stored in the memory unit 401 in advance.

Further, the calculation unit 402 of the present embodiment is the robot rice planting machine 1 acquired by the positioning device 410 based on the received data received by the receiving antenna 411 when the robot rice planting machine 1 is traveling straight in the field. The position information of the actual travel locus of the above is compared with the position information of the target straight travel route stored in advance in the memory unit 401, or the position information of the updated target straight travel route described later, and the position between the two is compared. It is a configuration for calculating the amount of deviation (that is, the shortest distance between the position coordinates on the target travel path (or the position coordinates of the updated target straight travel path) and the position coordinates on the actual travel locus).

Then, when the control unit 400 determines that the amount of deviation between the two positions calculated by the calculation unit 402 exceeds the predetermined first permissible range, the front wheel steering motor 420 is determined according to the amount of deviation. By driving, the amount of deviation of the position is controlled so as to be within the first permissible range.

Further, in each work section, the control unit 400 of the robot rice transplanter 1 of the present embodiment executes the automatic straight running control by the control unit 400, and as described above, the calculation unit 402 calculates between the two. When it is determined that the amount of displacement of the position exceeds the predetermined first permissible range, the traveling locus and the turning within the predetermined distance immediately after the turning in the position information of the actual traveling locus that is the judgment target. The position information of the traveling locus at a place exceeding the first permissible range and the amount of deviation thereof, excluding the traveling locus within the predetermined distance immediately before, are sequentially recorded in the memory unit 401.

Further, in a certain work line, as described above, when the control unit 400 performs automatic straight running control and then turns and runs the next adjacent work line automatically, the control unit 400 corresponds to the next work line. As the target straight-ahead travel route to be performed, instead of using the position information of the corresponding target straight-ahead travel route stored in advance in the memory unit 401 as it is, the first permissible range recorded in the memory unit 401 for the above-mentioned work line is used. A target updated by reflecting the deviation of the traveling locus in the position information of the corresponding target straight traveling route stored in advance in the memory unit 401 by using the position information of the traveling locus of the exceeded place and the deviation amount thereof. Use the position information of the straight running route.

The operation of the control unit 400 when the robot rice transplanter 1 travels straight is described in more detail as follows (see FIGS. 4 (a) and 4 (b)).

Here, FIG. 4A is a schematic plan view schematically showing a situation before the robot rice transplanter 1 starts the seedling planting work in the field 300, and FIG. 4B is a schematic plan view showing the situation before the robot rice transplanter 1 starts the seedling planting work. Is a schematic plan view schematically showing a situation during a turning run after the seedling planting work of the work line of the first row is performed in the field 300. In FIGS. 4A and 4B, the target straight-ahead traveling paths 320a to 320n stored in advance in the memory unit 401 are shown by a two-dot chain line. Further, in FIG. 4B, the actual traveling locus 310 of the robot rice transplanter 1 is shown by a solid line, and the target straight traveling path 321b corresponding to the updated work line in the second row is shown by a dashed line.

That is, for example, when the robot rice planting machine 1 receives a command from the operator to start the planting work by remote control (not shown) and starts the planting work in the field (see FIG. 4A). ), When the control unit 400 implements the automatic straight running control in the first work line (work line in the first row), the memory unit 401 tells the position of the travel locus of the portion exceeding the first allowable range. Since the information has not been recorded yet, the actual traveling locus 310 of the robot rice planting machine 1 acquired by the positioning device 410 based on the received data received by the receiving antenna 411 in the arithmetic unit 402 (see FIG. 4B). 320n (FIG. 4 (FIG. 4)) The position information of the target straight-ahead traveling path 320a corresponding to the work line in the first row in (see a)) is sequentially compared, and the amount of positional deviation between the two is calculated.

Then, when the control unit 400 determines that the amount of deviation between the two positions calculated by the calculation unit 402 exceeds the predetermined first permissible range, the front wheel steering motor 420 is determined according to the amount of deviation. The first permissible range excluding the travel locus within a predetermined distance immediately before turning (see the b deviation region 310b in FIG. 4B) from the position information of the actual travel locus that was the judgment target. The position information of the traveling locus (see the a deviation area 310a in FIG. 4B) and the amount of the deviation are sequentially recorded in the memory unit 401.

That is, as shown in FIG. 4B, in the actual traveling locus 310 in the work strip of the first row, the amount of deviation between the a deviation region 310a and the b deviation region 310b is the amount of deviation between the two. It is determined that the first permissible range is exceeded, and the position information of the a deviation area 310a and the amount of the deviation are recorded in the memory unit 401 except for the b deviation area 310b located immediately before turning.

Further, when the control unit 400 causes the robot rice planting machine 1 to automatically turn and travel and automatically travels the next adjacent work line (work line in the second row) in a straight line, the control unit 400 moves to the second. As a target straight running route corresponding to the work line in the first row, the position of the a deviation area (see FIG. 4B) that exceeds the first permissible range recorded in the memory unit 401 for the work line in the first row. Using the information, in the position information of the target straight-ahead traveling path 320b (see FIG. 4A) corresponding to the work line of the second row stored in advance in the memory unit 401, the a deviation area 310a ( The position information of the position corresponding to (see FIG. 4B) is calculated, and the amount of deviation of the a deviation area 310a recorded in the memory unit 401 with respect to the determined position 321ba (see FIG. 4B). By reflecting this, the position information of the target straight-ahead traveling path 320b (see FIG. 4A) corresponding to the work line of the second row stored in advance in the memory unit 401 is updated, and the updated second second. The target straight-ahead travel path 321b (see FIG. 4B) corresponding to the work line in the row is used.

When the control unit 400 determines that the amount of deviation between the two positions calculated by the calculation unit 402 exceeds a predetermined first permissible range, the control unit 400 steers the front wheels according to the amount of deviation. The motor 420 is driven, but the position where the deviation occurs exists only within the predetermined distance immediately after the turn or immediately before the turn in the position information of the actual traveling locus in the work line of the first row. When the control unit 400 determines that there is no portion exceeding the first permissible range within the range excluding the traveling locus within the predetermined distance immediately after the turn and immediately before the turn, information to that effect is recorded in the memory unit 401. Will be done.

When the above information is recorded in the memory unit 401, the control unit 400 makes a turning run and automatically runs the next adjacent work line (for example, the work line in the second row) in a straight line. As the target straight-ahead travel path corresponding to the work line, the position information of the corresponding target straight-ahead travel path stored in advance in the memory unit 401 is used as it is without being updated.

Further, the control unit 400 repeats the same operation as described above when the control unit 400 makes a turning run and automatically runs straight ahead after the next adjacent work line (for example, the work line in the third row).

According to the above configuration, when the actual travel locus at the time of straight travel deviates from the position information of the corresponding target straight travel route stored in advance in the memory unit 401, the control unit 400 has the following work section. When traveling straight, the deviation can be reflected in the position information of the target straight travel route corresponding to the next work strip, so that the planting positions of seedlings between adjacent work strips overlap, or , It is possible to prevent it from being too far away.

Further, according to the above configuration, in each work line, the position deviation is caused by excluding the position information of the traveling locus immediately after the turn and immediately before the turn from the target to be sequentially recorded in the memory unit 401 as the place where the deviation occurs. Since it is excluded that the situation of the deviation of the place where the deviation is likely to occur is reflected in the target straight running route corresponding to the next work article (next process), it is possible to prevent the number of places where the deviation is reflected from increasing more than necessary. At the same time, it is possible to prevent the amount of deviation from increasing. As a result, it is possible to reflect the deviation based on the actual traveling locus on the target traveling route, which is basically the target straight traveling route that does not reflect the deviation, so that the automatic planting work of seedlings can be performed. You can do it properly.

Next, the control when the robot rice transplanter 1 automatically turns and travels will be described.

When the robot rice transplanter 1 automatically turns to move to the next adjacent work line in the field, the control unit 400 of the present embodiment automatically turns the position information of the turn start stored in the memory unit 401 in advance. Using the information on the turning direction, the target turning radius information, etc., the right rear wheel clutch 440R or the left rear wheel clutch 440L corresponding to the inside of the turning is changed from the "on" state to the "off" state, that is, to the rear wheels. The transmission of driving force is cut off.

Then, during the automatic turning running, the calculation unit 402 sends the position information of the actual turning running locus of the robot rice transplanter 1 acquired by the positioning device 410 based on the received data received by the receiving antenna 411 and the memory unit 401. It is configured to calculate the amount of deviation between the actual turning radius and the target turning radius calculated from the turning running locus by using the target turning radius information (that is, W / 2) stored in advance.

Then, the control unit 400 is a clutch corresponding to the inside of the turning of the pair of left and right rear wheel clutches 440L and 440R, or a pair of left and right clutches, based on the amount of deviation of the turning radius between the two calculated by the calculation unit 402. By operating the brake device corresponding to the inside of the turning of the rear wheel braking devices 450L and 450R, the amount of deviation of the turning radius between the two is controlled so as to be within the second allowable range.

That is, for example, when the robot rice transplanter 1 turns to the right, the control unit 400 determines that the actual turning radius is compared with the target turning radius from the deviation amount of the turning radius between the two calculated by the calculation unit 402. When it is determined that the size is large, that is, the robot rice transplanter 1 is making a large turn, the control unit 400 outputs an ON signal to the rear wheel brake on the inside of the turn, that is, the right rear wheel brake device 450R to apply the brake.

As a result, the actual turning radius of the robot rice transplanter 1 becomes smaller.

On the other hand, the control unit 400 determines from the amount of deviation of the turning radius between the two calculated by the calculation unit 402 that the actual turning radius is smaller than the target turning radius, that is, the robot rice transplanter 1 is making a small turn. If so, the control unit 400 repeatedly outputs an ON signal and an OFF signal to the rear wheel clutch on the inside of turning, that is, the right rear wheel clutch 440R, for a predetermined period of time, and intermittently turns the right rear wheel clutch 440R on and off. ..

As a result, the actual turning radius of the robot rice transplanter 1 becomes large.

According to the above configuration, even if the turning radius is deviated from a predetermined target turning radius by making a large turn or a small turn during turning, the deviation can be automatically corrected by a command from the control unit 400. Therefore, it is unlikely that the work start position will shift after turning.

Further, the control unit 400 of the robot rice transplanter 1 of the present embodiment includes a traveling locus of the robot rice transplanter 1 before turning (see, for example, the traveling locus 310 of FIG. 4B) and the robot rice transplanter 1 immediately after turning. Compared with the position information of (see Robot Rice Transplanter 1 in FIG. 4B), the work strips for which the planting work was completed before turning (simply referred to as the work strips before turning) and the work strips after turning were planted. If it is determined that the distance from the work line that is about to start the work (simply referred to as the work line after turning) is within the predetermined range, the automatic straight running immediately after turning is continued, and the work line before turning and turning If it is determined that the distance from the later work line is not within the predetermined range, the turning run is restarted. The work line after turning is the work restart position assumed from the position information of the robot rice transplanter 1 immediately after turning because the planting work has not been restarted in reality.

Here, for example, a Y coordinate axis is provided on the target straight traveling path 320a corresponding to the work strip in the first row shown in FIG. 4B, and the X coordinate axis orthogonal to the Y coordinate axis is set at the edge of the field 300. It will be further described as provided in.

That is, the control unit 400 causes the calculation unit 402 to calculate the average value of the X coordinate values of the traveling locus 310 in the work line of the first row of the robot rice transplanter 1 before turning. Then, the control unit 400 compares the average value of the X coordinate values with the X coordinate value of the work restart position assumed from the position information of the robot rice transplanter 1 immediately after the turn, and the actual work line before the turn. It is determined whether or not the distance between the work strip and the work restart position of the work strip after turning is within a predetermined range.

If it is determined that there is no such thing, the control unit 400 outputs a predetermined command to the trunnion shaft rotation motor 480 of the HST5 and rotates the swash plate 481 from the forward traveling position to the neutral position, thereby causing the robot rice transplanter. By stopping the running of No. 1 and further rotating the swash plate 481 to the reverse running position, the robot rice transplanter 1 is turned backward by a predetermined distance and stopped before returning to the work line of the first row. After that, the control unit 400 re-executes the turning run.

Thereby, for example, it is possible to prevent the planting positions from overlapping or the planting positions from being too far apart in the vicinity of the planting restart position after turning.

Further, the control unit 400 of the robot rice transplanter 1 of the present embodiment issues a command to the calculation unit 402, and the robot rice transplanter 1 acquired by the positioning device 410 based on the received data received by the receiving antenna 411. The distance between the robot rice transplanter 1 and the doorway of the field is calculated using the position information (positional coordinates) of the robot rice transplanter 1 and the position information (positional coordinates) of the doorway of the field stored in the memory unit 401, and the calculation result is obtained. When it is determined that the distance between the robot rice transplanter 1 and the entrance / exit of the field is within the first predetermined range, the Tranion shaft rotation motor 480 of the HST5 is rotated to control the inclination angle of the swash plate 481 to the predetermined angle. Then reduce the vehicle speed (see Fig. 3). Further, when the control unit 400 determines that the distance calculated sequentially by the calculation unit 402 falls within the second predetermined range narrower than the first predetermined range, the control unit 400 outputs a command to the planting clutch 490 (see FIG. 3). The planting operation is stopped in the "cut" state, and the elevating link device 10 is operated to raise the planting device 100.

As a result, the vehicle speed can be automatically reduced when approaching the doorway of the field, which improves safety. In addition, since the planting work can be performed as close as possible to the entrance and exit of the field, the area of the field can be effectively utilized.

The control unit 400 is not limited to a configuration in which the planting operation is stopped and the planting device 100 is raised when it is determined that the control unit 400 is within the second predetermined range. That is, for example, when an angle sensor (not shown) for detecting the inclination angle is provided in advance in the traveling vehicle body 2, and the control unit 400 determines that the vehicle has entered the first predetermined range and the vehicle speed is decelerated. The control unit 400 causes the calculation unit 402 to calculate the ascending height of the traveling vehicle body 2 from the inclination angle and the vehicle speed detected by the angle sensor, and the determined ascending height exceeds a predetermined reference height. If it is determined that the robot rice transplanter 1 is located on the slope of the entrance / exit of the field, the planting clutch 490 is automatically disengaged to stop the planting work and the planting device 100 is raised. Is also good.

The traveling vehicle body 2 of the present embodiment corresponds to an example of the traveling vehicle body of the present invention, and the pair of left and right rear wheels 4L and 4R of the present embodiment corresponds to an example of the traveling device of the present invention. Further, the planting device 100 of the present embodiment corresponds to an example of the working device of the present invention, and the pair of left and right rear wheel clutches 440L and 440R of the present embodiment correspond to an example of the clutch mechanism of the present invention. Further, the pair of left and right rear wheel brake devices 450L and 450R of the present embodiment correspond to an example of the brake mechanism of the present invention.

Further, the positioning device 410 of the present embodiment corresponds to an example of the positioning device of the present invention, and the control unit 400 of the present embodiment corresponds to an example of the control unit of the present invention. Further, the HST 5 of the present embodiment corresponds to an example of the vehicle speed adjusting device of the present invention, and the planting clutch 490 of the present embodiment corresponds to an example of the work on / off device of the present invention. Further, the memory unit 401 of the present embodiment corresponds to an example of the memory unit of the present invention.

In the above embodiment, when it is determined that the robot rice transplanter 1 is making a small turn during turning, the case where the rear wheel clutch inside the turning is intermittently turned on and off has been described, but the present invention is limited to this. For example, the contact pressure between the clutch plates of the pair of left and right rear wheel clutches 440L and 440R can be adjusted, and the clutch plates of the rear wheel clutches on the inside of the turning can be adjusted according to the amount of deviation of the turning radius. It may be configured to adjust the contact pressure, that is, to control in a so-called half-clutch state.

Further, in the above embodiment, the case where the rear wheel clutch on the inside of the turn or the rear wheel brake on the inside of the turn is controlled in order to suppress the deviation of the turning radius has been described. The wheel clutch or the rear wheel brake on the outside of the turn may also be controlled.

Further, in the above embodiment, the case where the receiving antenna 411 is attached to the central portion of the upper surface of the vehicle body cover 30 has been described, but the present invention is not limited to this, and for example, in the vicinity of the seedling planting portion 120 in the planting device 100. The configuration may be such that the receiving antenna is attached to both the vehicle body cover 30 and the planting device 100. As a result, the distance between the working strips before turning and the working strips after turning can be maintained more accurately.

Further, the remote controller device (not shown) of the present embodiment may be configured to display the outer shape of the field, the target straight traveling route, and the actual traveling locus described above. Further, in the case of the configuration, the amount of deviation between the target traveling route and the traveling locus may be displayed numerically.

Further, in the above embodiment, when the robot rice transplanter 1 detects an abnormality such as the front wheel steering operation being locked while the robot rice transplanter 1 is automatically traveling in the field, the control unit 400 automatically stops the engine. Is also good.

Further, when ultrasonic sensors (not shown) are provided on the left and right sides of the traveling vehicle body 2 of the robot rice transplanter 1 of the above embodiment toward the field surface, the left and right detected by these ultrasonic sensors. If there is a difference in the number of waves on the water surface, the control unit may determine that the field surface is not stable and reduce the vehicle speed.

Further, when ultrasonic sensors (not shown) are provided on the left and right sides of the traveling vehicle body 2 of the robot rice transplanter 1 of the above embodiment toward the field surface, the left and right detected by these ultrasonic sensors. If there is a difference in the number of waves on the water surface, or if the wave height is high, the control unit 400 determines that the field surface is hard and slows down the sensitivity of the vertical movement of the float 130 for planting. It is possible to prevent the device 100 from being moved up and down more frequently than necessary.

Further, when the traveling vehicle body 2 deviates from the target straight traveling route or the traveling vehicle body 2 bends while the robot rice transplanter 1 of the above embodiment is performing automatic straight traveling, the control unit The 400 may be configured to automatically reduce the vehicle speed. As a result, it is possible to prevent further deviation from occurring.

Further, when the traveling vehicle body 2 deviates from the target straight traveling route or the traveling vehicle body 2 bends while the robot rice transplanter 1 of the above embodiment is performing automatic straight traveling, the control unit The 400 may be configured to be able to suppress mud pushing in the field by the bottom surface of the float 130 by making the sensitivity of the vertical movement of the float 130 sensitive.

Further, when the traveling vehicle body 2 deviates from the target straight traveling route or the traveling vehicle body 2 bends while the robot rice transplanter 1 of the above embodiment is performing automatic straight traveling, the control unit The 400 may be configured to suppress mud pushing by performing rolling control that slightly floats the float 130 on the side where the adjacent strips for which the planting work has already been completed exist.

Further, when the robot rice transplanter 1 of the above embodiment finishes the planting work near the entrance / exit of the field and escapes from the field, the control unit 400 raises the planting device 100 at a height such that the center float hangs down. By adjusting the height, it may be possible to escape in a well-balanced manner.

Further, when it is detected that the traveling vehicle body 2 is significantly raised forward while the robot rice transplanter 1 of the above embodiment is turning in the field, the control unit 400 automatically decelerates the turning speed. , It may be configured to control the diff lock.

Further, when it is detected that the traveling vehicle body 2 is greatly raised forward while the robot rice transplanter 1 of the above embodiment is turning around the field, the control unit 400 slightly lowers the planting device 100 to balance the robot. It may be configured to control the operation.

Further, when it is detected that the robot rice transplanter 1 of the above-described embodiment greatly deviates from a predetermined standard after turning around the field and the gap between the rows is widened or narrowed, it is detected. The control unit 400 may be configured to stop the planting work. Further, in that case, the control unit 400 may further transmit a predetermined signal to the remote control device side to generate an alarm sound from the remote control device.
Further, when the robot rice transplanter 1 of the above embodiment starts the planting work in the headland of the field, the control unit 400 of the HST 5 in order to bring the rear end portion of the planting device 100 to the ridge of the field. The trunnion shaft rotation motor 480 is driven to move the traveling vehicle body 2 backward, but the planting device 100 may be controlled to be raised before the backward movement is started. As a result, even when the field scene tends to rise as it approaches the ridge, it is possible to prevent the groove making machine from being clogged with mud by raising the planting device 100.

Further, in the robot rice transplanter 1 of the above embodiment, when it is detected that the suspension of the front axle is in the extended state, the control unit 400 determines that the front wheels are not in contact with the ground and controls the HST 5. It may be configured to reduce the vehicle speed.

Further, in the robot rice transplanter 1 of the above embodiment, when the planting work or the automatic running is stopped due to some trouble, the control unit 400 performs a predetermined operation on the robot rice transplanter 1 from the outside (for example, an operator). If it does not detect that the above has been performed, the configuration may not restart. This improves safety.

Further, in the above embodiment, when the position information of the traveling locus of the place exceeding the first permissible range and the amount of deviation thereof are recorded in the memory unit 401, the traveling locus within the predetermined distance immediately after the turn and the predetermined value immediately before the turn are recorded. Although the configuration excluding the traveling locus within the distance has been described, the configuration is not limited to this, and for example, the configuration excluding the traveling locus within the predetermined time immediately after the turn and the traveling locus within the predetermined time immediately before the turning may be used.

Further, in the above embodiment, when determining whether or not the distance between the work strip before turning and the working strip after turning is within a predetermined range, the control unit 400 determines the traveling locus of the robot rice transplanter 1 before turning. (For example, the configuration for comparing the traveling locus 310 in FIG. 4B) with the position information of the robot rice transplanter 1 immediately after turning (see the robot rice transplanter 1 in FIG. 4B) has been described. For example, the position information of the robot rice transplanter 1 before turning may be compared with the traveling locus of the robot rice transplanter 1 immediately after turning, or the traveling locus of the robot rice transplanter 1 before turning may be compared. , The configuration may be such that the traveling locus of the robot rice transplanter 1 immediately after turning is compared, or the position information of the robot rice transplanter 1 before turning is compared with the position information of the robot rice transplanter 1 immediately after turning. May be.

In addition, in a support system that aggregates and analyzes agricultural production, work, and harvest plans and achievements in the cloud and displays agricultural management, production, and quality so that they can be easily confirmed, a temperature measuring device is installed in the field. The integrated temperature from the heading may be calculated and the optimum harvest time may be notified to the user's smartphone, tablet terminal, or the like. This makes it possible to notify new farmers who do not have agricultural know-how of the optimum harvest time.

In the above configuration, the air temperature measuring instrument may have a shape that allows it to bite into the ground so that it can be installed on a ridge or the like.

Further, in the above configuration, the temperature data measured by the temperature measuring device may be automatically updated to the above support system. This makes it possible to notify new farmers who do not have agricultural know-how of the optimum harvest time.

Further, in the above configuration, the temperature data measured by the temperature measuring device is automatically updated to the above support system, and when the integrated temperature is calculated on the above support system and falls within the range of the optimum harvest time, the smartphone on the user side. It may be configured to be notified such as a tablet terminal or the like. This makes it possible to notify new farmers who do not have agricultural know-how of the optimum harvest time.

Further, in the above configuration, the integrated temperature at the optimum harvest time may be changed depending on the temperature data in the summer, and the configuration may be such that the notification can be made at a more optimum time. This makes it possible to notify new farmers who do not have agricultural know-how of the optimum harvest time.

Further, in the above configuration, the user may be notified of the prediction of the optimum harvest time after a certain number of days by linking with the weekly weather forecast of the Japan Meteorological Agency or the like. This makes it possible to notify new farmers who do not have agricultural know-how of the optimum harvest time.

Since the work vehicle according to the present invention can run while working in the field unmanned, it is useful as a work vehicle such as a robot rice transplanter.

1 Robot rice planting machine 2 Traveling vehicle body 3L, 3R Left and right pair of front wheels 4L, 4R Left and right pair of rear wheels 6L, 6R Left and right pair of front wheel final case 7L Left rear wheel gear case 7R Right rear wheel gear case 10 Lifting link device 20 Fertilizer hopper 30 Body Cover 100 Planting device 110 Seedling stand 120 Seedling planting part 130 Float 200 Seedling supply mechanism 201 Transport belt 210 Lower supply part 220 Middle supply part 230 Upper supply part 400 Control part 440L, 440R Left and right pair of rear wheel clutches 450L, 450R Left and right pair of rear wheel brake device 480 Trunnion shaft rotation motor 481 Slanted plate 490 Implanted clutch

Claims (4)

The left and right traveling devices (4L, 4R) that drive the traveling vehicle body (2), and
A work device (100) connected to the traveling vehicle body (2) and
A clutch mechanism (440L, 440R) that at least turns on and off the drive of the left and right traveling devices (4L, 4R), and
Brake mechanisms (450L, 450R) that brake the drive of the left and right traveling devices (4L, 4R), and
A positioning device (410) that acquires position information and
A work vehicle including a control unit (400) that automatically travels the traveling vehicle body (2) based on the position information acquired by the positioning device and predetermined traveling route information.
When the control unit (400) determines that the turning locus at the time of turning obtained from the position information by the positioning device (410) deviates from the predetermined traveling path information, the control unit (400) is based on the state of the deviation. The drive of at least one of the left and right traveling devices (4L, 4R) is controlled by using the clutch mechanism (440L, 440R) or the braking mechanism (450L, 450R).
When the control unit (400) determines that the traveling locus when traveling straight, which is obtained from the position information by the positioning device (410), deviates from the predetermined traveling route information, the control unit determines that the traveling locus is deviated from the predetermined traveling route information. A work vehicle characterized in that when the next work line adjacent to the travel locus is traveled straight, the deviation of the travel locus is reflected in the predetermined travel route information corresponding to the next work line. The control unit (400) does not use the traveling locus within a predetermined time or a predetermined distance after turning and the traveling locus within a predetermined time or a predetermined distance before turning when reflecting the deviation. The work vehicle according to claim 1. The control unit (400) has a distance between the work strip before turning and the working strip after turning based on the traveling locus before turning or the position information and the traveling locus after turning or the position information. The work vehicle according to any one of claims 1 and 2 , wherein when it is determined that the vehicle is within a predetermined range, the vehicle continues to travel straight after the turn. A vehicle speed adjustment device (5) that adjusts the vehicle speed,
A work on / off device (490) that turns on / off the operation of the work device (100), and
It is provided with a memory unit (401) that stores position information indicating the position of the entrance / exit of the field in advance.
The control unit (400) determines the entrance / exit of the field based on the position information obtained by the positioning device and the position information of the entrance / exit of the field stored in the memory unit (401). When it is determined that the distance is within the first predetermined range, the vehicle speed adjusting device (5) is controlled to reduce the vehicle speed, and the distance is within the second predetermined range narrower than the first predetermined range. The work vehicle according to any one of claims 1 to 3 , wherein when it is determined that the work device has been entered, the work on / off device (490) is controlled to turn off the operation of the work device (100).

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