JP6970151B2 - Riding field work machine - Google Patents

Description

The present invention relates to a passenger field work machine such as a rice transplanter, a sowing machine, a fertilizer applicator, etc., which is equipped with a GPS (Global Positioning System) and is capable of automatic work traveling along a target route set in advance in the field.

Patent Document 1 describes a rice transplanter in which spare seedling stands are arranged on the left and right sides of a portal-shaped mounting frame arranged above the bonnet, and a GPS antenna operation housing is firmly installed in the center of the upper part. It has been disclosed. In this rice transplanter, the teaching of the traveling route is performed prior to the automatic traveling using the GPS function. At the time of teaching, a person holds the GPS antenna removed from the GPS antenna operating housing and specifies the position of a 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. If the field edge is detected by a distance sensor using infrared light or ultrasonic waves while automatically traveling on a straight target route, it is necessary to turn 180 °, so to secure a headland. , The rice transplanter automatically stops at a position separated from the field edge by a preset distance.
In rice transplanting work using a rice transplanter, when the seedlings that have been loaded are exhausted, it is necessary to bring the machine to the ridge and replenish the seedlings. This rice transplanter does not make a turning run and runs straight toward the field edge autonomously if there is a seedling warning or fertilizer supply warning while the seedling planting part is located on the headland and is rising. And stop at the edge of the field.

Japanese Unexamined Patent Publication No. 2008-92818 ([paragraph number] 0028 to 0061, FIGS. 5, 7, 8)

There is a demand for a passenger field work machine capable of carrying out field work using automatic running more easily and without requiring skill.

The passenger field work machine according to the present invention includes a travel machine, a field work device for performing agricultural work on a field, a route calculation unit for calculating a travel route including a work travel route for performing work travel using the field work device, and positioning. A GPS module that outputs data and a driving support unit that provides driving support based on the positioning data and the traveling route are provided. In the driving support unit, the traveling machine travels on a headland in a field. The work end operating point of the field work apparatus is the transition point at which the position of the own machine shifts from the work travel path to the direction change travel accompanied by the direction change of the traveling aircraft when turning from the route to the next work travel route. The operation information generation unit for generating operation timing information including the work end operating point is provided, and the operation support unit is automatically driven by the automatic driving control unit from the work driving automatically performed by the automatic driving control unit. is traveling at the transition to the non-working travel including turning travel, as broadcast information for notifying the operation timing to shift to the turning travel to the driver based on the operation timing information, to the turning travel A notification information generation unit that generates notifications at a timing slightly earlier than the timing of transition is included.
The passenger field work machine according to the present invention includes a traveling machine, a field work device for performing agricultural work on the field, and a field work device.
A field information storage unit that stores at least field information including topographical data, a work information storage unit that stores work device information including a work width in a transverse direction with respect to the travel direction of the field work device, and a travel start point and travel end. A work setting unit for setting a point, a non-working route accompanied by a change of direction of the traveling machine based on the field information, the working device information, the traveling start point, and the traveling end point, and the field work device. A route calculation unit that calculates a travel route including a work travel route that performs the travel work used, a GPS module that outputs positioning data, and a driving support unit that provides driving support based on the positioning data and the travel route. It is equipped with.

According to this configuration, when performing agricultural work using the field work device, first, the traveling route of the traveling machine suitable for the agricultural work is calculated based on the topographical data of the field read from the field information storage unit as a basic condition. NS. At that time, in agricultural work for fields such as rice planting, sowing, and fertilization, the work is performed along a straight path or a straight running path having a large radius of curvature (referred to here as a working running path), and one work running. A turning route (called a non-working route) is required to move from one route to the next working traveling route. Therefore, the route calculation unit obtains the outer shape of the field from the topographical data, and for the field, the travel route is composed of a work travel route and a non-work travel route, which starts from the set travel start point and ends at the travel end point. Is calculated. Further, since the work width is required for the travel route calculation, the work width of the field work apparatus used is also read out from the work information storage unit in advance. When the travel route is calculated, the position of the own vehicle is obtained based on the positioning data (latitude / longitude data) obtained from the GPS module, and the vehicle is driven so as to travel accurately on the travel route calculated by the route calculation unit. The support unit supports the operation of this passenger field work machine. As a result, the passenger field work machine according to the present invention can carry out high-quality field work without requiring skill, without performing troublesome work such as teaching.
The running start point and the running end point may be the same, or an arbitrary point (a large number of points can be set) may be set within a predetermined distance range.

In many cases, the field has a fixed place for entering and exiting the field from its ridges and farm roads. In such a field, the travel start point is set by the entrance position of the field, and the travel end point is set by the exit position of the field. It is convenient that the entrance position and the exit position of such a field are included in the field information in advance.

In field work equipment such as rice planting, sowing, and fertilization, the operation of the field work equipment is stopped or the posture is changed to the non-working posture during non-working running accompanied by a change of direction. Therefore, at the end point and start point of the work run, in other words, at the end point and start point of the non-work run, some operation must be performed on the field work device. The timing of this end point and start point is important in field work. Therefore, in one of the preferred embodiments of the present invention, the operation support unit generates operation information that includes operation start operation points and work end operation points of the field work apparatus in the travel path. The part is included. In the embodiment in which such operation timing information is notified to the driver and the driver performs a necessary operation based on the notification, the operation support unit is notified of the operation timing based on the operation timing information. A notification information generation unit that generates notification information for notification is included. Further, in the embodiment in which the operation based on such operation timing information is automatically performed, the operation control signal generation unit that generates the operation control signal for the field work device based on the operation timing information in the operation support unit. It is included.

Not only unskilled people in field work, but also unskilled people in operation often have to operate a passenger field work machine. In order to solve such a problem, in one of the preferred embodiments of the present invention, the driving support unit includes an automatic driving control unit for automatically traveling the traveling machine based on the traveling route. There is. As a result, stable field work can be performed even if the person is unfamiliar with the field work and the operation of the passenger field work machine.

If the shape of the field is a basic shape such as a rectangle, an appropriate traveling route can be uniquely obtained, but if it is a deformed shape, it is difficult to calculate the optimum traveling route. A suitable solution in such a case is that the route calculation unit calculates a plurality of travel routes and the driver selects one of the plurality of travel routes as the most suitable one.

It is advisable to use a route algorithm using graph theory to calculate the travel route by the route calculation unit, but it is desired to reduce the number of turns for turning as much as possible, especially in rice planting work and sowing work. NS. Therefore, it is convenient to introduce a reduction in the number of turns as an important condition of the path algorithm. Therefore, in one of the preferred embodiments of the present invention, the route calculation unit has a turning reduction route algorithm that reduces the non-working travel route.

It is a schematic diagram explaining the basic structure of this invention. It is a side view of the passenger rice transplanter which is one of the specific embodiments of this invention. It is a plan view of a passenger rice transplanter. It is a rear view which shows the powder or granular material supply device as a field work device mounted on a passenger rice transplanter. It is a vertical sectional side view which shows the powder and granular material supply device. It is a schematic diagram which shows the power transmission system of a passenger rice transplanter. It is a schematic diagram which shows the power steering apparatus. It is a functional block diagram which shows the control system mounted on a passenger rice transplanter. It is a schematic diagram which shows an example of the running and working operation of a passenger rice transplanter along the calculated running path.

Before explaining a specific embodiment of the riding field working machine according to the present invention, the basic configuration that characterizes the present invention will be described with reference to FIG. Here, as a passenger field work machine (hereinafter, simply referred to as a work machine), a work machine such as a rice transplanter, a sowing machine, a fertilizer application machine, etc., which receives work conditions such as the number of planting rows and the space between planting rows is assumed. This working machine includes a traveling machine 1 that runs on its own in the field and a field working device 2 that is attached to the traveling machine 1 so that its posture can be changed. This working machine is provided with an operation control unit 6 and an electronic control unit 7 as control systems particularly related to the present invention. Further, a GPS module 5 that detects directions such as latitude and longitude using GPS (Global Positioning System) and outputs them as positioning data is also provided. The operation control unit 6, the electronic control unit 7, and the GPS module 5 are connected to each other by an in-vehicle LAN together with other control units, and data can be exchanged with each other.

The operation control unit 6 is an operation of changing the work and posture of the automatic traveling control unit 61 that controls the operating equipment in the engine, the transmission, and the steering device, and the field work device 2 in order to perform the automatic traveling of the traveling machine 1. A device control unit 62 that controls the device is included. The electronic control unit 7 is constructed with an information storage unit 71, a work setting unit 72, and a route calculation unit 73 for storing operation programs, application programs, and various data. The information storage unit 71 includes, as particularly related to the present invention, a field information storage unit 71a for storing at least field information including topographical data, and a work width in a transverse direction with respect to the traveling direction of the field work device 2. A work information storage unit 71b for storing work device information is included. Further, the electronic control unit 7 includes a driving support unit 8.

The work setting unit 72 sets the running start point and the running end point of the field to be performed by using the field work device 2. The running start point is also a position where the traveling machine 1 is put into the field, and the running end point is also a position where the running machine 1 is taken out from the field, and the running start point and the running end point are generally the same. Of course, if all the ridges facing the farm road can be used as the starting point and the ending point of the running, it may be set as such. The running start point and running end point are also used as a running start point and a running end point for calculating a running route described below.

The route calculation unit 73 includes field information read from the field information storage unit 71a, work device information read from the work information storage unit 71b, and a travel start point and a travel end point set by the work setting unit 72. Based on the above, a travel route including a non-working travel route accompanied by a change of direction of the traveling machine 1 and a working traveling route for performing traveling work by the field work device 2 is calculated. Specifically, the route calculation unit 73 obtains a work area to be worked from the topographical data included in the field information, and has a work area in the traveling crossing direction included in the work device information. Calculate the travel route that fills up. At that time, in rice planting and sowing in paddy fields, in principle, a pattern that repeats a long straight run and a direction change run (180 ° turn) at the end is adopted, and in that direction change run, agricultural work (rice planting and sowing) is adopted. Sowing etc.) is not performed. Finally, the farming work for the work area (field) is completed by the work running in the area (generally called a headland) used for the turning run. The travel route is calculated so as not to disrupt such a travel pattern as much as possible.

An example of the traveling route calculation procedure is schematically shown in FIG. First, the outer shape of the field is set from the topographical data (map data) of the field to be worked (#a). The 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 the running start point and running end point (indicated by the arrows in the figure) are set (indicated by arrows in the figure). # B). Since it is preferable that the rice planting work and the sowing work are carried out in a straight line, a turning reduction path algorithm is preferably adopted. Therefore, the headland is regarded as a non-working travel area for turning 180 °, and the headland is regarded as a work area for running work by a field work device, and a travel route (work travel route) in which a straight route as long as possible can be obtained. In other words, a travel route with few turning routes (non-working travel routes) is calculated (# c). When the travel route is calculated, the field work device 2 is driven while the traveling machine 1 travels along the traveling route, so that farm work is carried out on the field (# d). It is necessary to turn on the field work by the field work device 2 while traveling on a straight path (including a gently curved path having a large radius of curvature), 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 apparatus 2 is the transition point from the non-work route to the work travel route, and the work end operating point is the transition point from the work travel route to the non-work route. Finally, work on the headland and running on the headland are performed (#e).

The operation of the passenger field work machine along the calculated travel route is supported by the operation support unit 8. The driving support unit 8 supports driving so that the position of the own machine obtained from the positioning data output from the GPS module 5 is located on the calculated travel path. As the functional unit constructed in the driving support unit 8 for this purpose, for example, the following three can be mentioned. (1) An operation information generation unit 81 that generates operation timing information including a work start operating point and a work end operating point of the field work apparatus 2 in a traveling path. The operation information generation unit 81 generates operation timing information in which the time when the work location of the field work device 2 with respect to the field reaches the above-mentioned transition point is set as the work start operation point or the work end operation point. (2) The notification information generation unit 82 that generates notification information for notifying the driver of the operation timing based on the operation timing information. Since the notification information generation unit 82 visually or audibly notifies the driver of the end or start of working or non-working driving through a lamp or buzzer based on the operation timing information, the driver can use the field work device. 2 can be operated accurately. If the broadcast information generation unit 82 is equipped with a voice function, operation instructions in spoken language can be realized. (3) An operation control signal generation unit 83 that generates an operation control signal for the field work apparatus 2 based on the operation timing information. When such an operation control signal generation unit 83 is mounted, it is possible to automate ON / OFF control of field work by the field work device 2. For example, in the case of a seedling planting device, the burden on the driver is reduced because the raising / lowering of the seedling planting device and the stop / start of the seedling planting claw are automatically executed at the transition point.

Further, when automating not only the field work device 2 but also the operation of the traveling machine 1, the driving support unit 8 travels by comparing the position of the own 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 traveling control unit 61, the traveling machine 1 can be accurately automatically driven. Regarding automatic running, only running on a work running route that is almost straight may be automated, or running of non-working running accompanied by turning may also be automated.

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

The paddy field work machine performs seedling planting work and fertilization work by running the traveling machine 1 in a state where the paddy field work device 2 is lowered to the descending work state. be.

The traveling machine body 1 includes an engine 31 deployed in the front part of the vehicle body, a traveling and working transmission 32 that inputs a driving force from the engine 31 to shift gears, and transfers the driving force from the engine 31 from the transmission 32 to the front wheels 11a. The four-wheel drive vehicle is configured to transmit to the rear wheels 11b and drive the front wheels 11a and the rear wheels 11b to travel. The engine 31 is covered by an engine bonnet 31a and a rear cover 31b. The traveling machine body 1 includes a driving unit 33 having a driver's seat 33a arranged at the rear of the vehicle body. The driver gets on the driver unit 33 and steers. A steering handle 33b for steering the front wheels 11a is arranged in front of the driver's seat 33a, and a floor 30 having an open upper portion is formed between the 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 work space 34 used for the work of supplying the powder or granular material to the powder or granular material tank 13 or the work of supplying seedlings to the paddy field work device 2 is provided at the rear of the traveling machine body 1. The work space 34 is provided with a work step 34a located on both lateral sides and the rear of the driver's seat 33a, and a handrail 35 located on both lateral sides of the driver's seat 33a. Further, a pair of left and right spare seedling mounting stands 39 are provided on the front portion of the traveling machine body 1.

The paddy field working device 2 will be described.
As shown in FIG. 2, the paddy field working device 2 is supported by a link mechanism 36 extending rearward from the vehicle body frame 10 so as to swing up and down, and the link mechanism 36 is swung by an elevating cylinder 37. The grounding float 23 can be moved up and down between the descending working state in which the grounding float 23 descends to the field scene and touches the ground, and the ascending non-working state in which the grounding float 23 rises high from the field scene.

The paddy field work device 2 includes a work unit frame 24 whose front end side is supported by the link mechanism 36. The working unit frame 24 includes a feed case 25 in which the driving force from the engine 31 is transmitted via the rotating shaft 38, and three planting drive cases 26 arranged at predetermined intervals in the lateral direction of the vehicle body. Seedling planting mechanisms 21 are mounted on both lateral sides of the rear end of each of the three planting drive cases 26. Above the front part of the working part frame 24, the seedling mounting table 28 is provided in an inclined posture which is located rearward toward the lower end side. The lower part of the working unit frame 24 is equipped with three grounding floats 23 arranged at predetermined intervals in the lateral direction of the vehicle body. The powder and granular material supply parts 22 as the six ground working parts arranged in the lateral direction of the vehicle body are distributed and supported by the three grounding floats 23 in a state where one is located near each of the six seedling planting mechanisms 21. There is.

Each seedling planting mechanism 21 includes two planting arms 21a and is driven by a driving force transmitted from the feed case 25 to the planting drive case 26, and the planting claws provided on each of the two planting arms 21a. The tip of the seedling moves up and down while drawing a long rotation trajectory. In the seedling planting work, which is one of the field work, each seedling planting mechanism 21 alternately uses two planting arms 21a to form a mat-shaped seedling on the seedling stand at the lower end of the seedling stand 28. The planted seedlings for the plants are taken out, and the taken out planted seedlings are carried down to the field and planted in the mud part prepared by the grounding float 23.

As shown in FIG. 3, the seedling stand 28 is provided with six seedling placing portions 28a on which mat-shaped seedlings for supplying to the six seedling planting mechanisms 21 are placed side by side in the lateral direction of the vehicle body. The seedling stand 28 is supported by a support 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 stand 28 is reciprocally transferred in the lateral direction of the vehicle body in conjunction with the seedling planting movement of the seedling planting mechanism 21 by a lateral feed mechanism provided over the seedling stand 28 and the feed case 25 to produce mat-shaped seedlings. The seedling planting mechanism 21 is reciprocated in the lateral direction of the vehicle body. As a result, each seedling planting mechanism 21 takes out the planted seedlings from the lateral one end side to the other end side of the lower end portion of the mat-shaped seedlings placed on the seedling stand 28.

Each of the six seedling placing portions 28a of the seedling placing table 28 is equipped with a vertical feed belt 28b.
The vertical feed belt 28b of each seedling mounting portion 28a is provided with a vertical feed drive mechanism 27 (FIG. 6) provided over the seedling mount 28 and the feed case 25 when the seedling stand 28 reaches the left and right stroke ends of the lateral transfer. (See) is rotationally driven by a set stroke, and mat-shaped seedlings are vertically fed toward the seedling planting mechanism 21 by a length corresponding to the length of the seedlings taken out by the seedling planting mechanism 21 in the vertical direction.

Each of the six powder or granular material supply units 22 is provided with a groove-growing tool that protrudes downward from the ground float 23 and is connected to the powder or granular material supply pipe 14, which will be described later, and is a seedling planting location by the seedling planting mechanism 21. A groove is formed in the field scene near the side, and the fertilizer supplied by the powder or granular material supply device 12 is supplied to the formed groove. After the fertilizer is supplied, the ditch is backfilled by the mud on the side of the ditch being pushed by the soil covering member supported by the grounding float 23.

FIG. 6 is a schematic view showing a transmission structure for driving the paddy field work device 2. The driving force input from the rotating shaft 38 to the feed case 25 is transmitted to the planting output shaft 25a by a mission built in the feed case 25, and the front ends of each of the three planting drive cases 26 from the planting output shaft 25a. It is configured to be input to. In each planting drive case 26, the driving force input to the planting drive case 26 is configured to be 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 built in the planting drive case 26 at the left end is a seedling planting mechanism of a part of the six seedling planting mechanisms 21 by being turned on and off, and is at the left end. Two seedling planting mechanisms 21 (hereinafter referred to as a seedling planting mechanism 21L for the leftmost two rows), that is, a seedling planting mechanism 21 and a seedling planting mechanism 21 adjacent to the leftmost seedling planting mechanism 21. The seedling planting mechanism 21 for the leftmost two rows is switched between a working state in which the seedling planting movement is performed and a non-working state in which the seedling planting movement is stopped.

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

The fractional row planting clutch 29 built in the central 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 has two rows on the left end side. Seedling planting mechanism 21L between the seedling planting mechanism 21L for the right end side and the seedling planting mechanism 21R for the rightmost two rows (hereinafter referred to as the seedling planting mechanism 21N for the central two rows). The transmission is turned on and off, and the seedling planting mechanism 21N for the central two rows is switched between a working state in which the seedling planting movement is performed and a non-working state in which the seedling planting movement is stopped.

Therefore, in the following, the fractional row planting clutch 29 installed in the leftmost planting drive case 26 is referred to as a fractional row planting clutch 29L for the leftmost two rows, and the fractional row planting clutch 29 built in the central planting drive case 26. The planting clutch 29 is referred to as a fractional planting clutch 29N for the central two rows, and the fractional row planting clutch 29 built in the right end planting drive case 26 is referred to as a fractional row planting clutch 29R for the right end side two rows.

The vertical feed drive mechanism 27 has a vertical feed output shaft 271 extending laterally outward from the front portion of the feed case 25 and a seedling mount lateral direction supported so as to be rotatable on the back surface side of the seedling stand 28. It is provided with a vertical feed drive shaft 272. The vertical feed output shaft 271 is rotationally driven by a driving force input from the rotary shaft 38 to the feed case 25, and rotationally drives a pair of left and right transmission arms 273 supported by the vertical feed output shaft 271. The 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 a fractional vertical feed clutch 20 at three points.

That is, when the seedling stand 28 reaches the left and right lateral feed stroke ends, the passive arm 274 abuts on one of the left and right transmission arms 273, and the passive arm 274 is swung by the transmission arm 273. Then, the vertical feed drive shaft 272 is driven by a predetermined rotation angle. When the vertical feed drive shaft 272 is driven, the leftmost fractional vertical feed clutch 20L of the three fractional vertical feed clutches 20 causes the leftmost seedling mounting portion 28a of the six seedling mounting portions 28a. Both vertical feed belts 28b (hereinafter, vertical feed belts 28b for the left end side 2 rows) of the vertical feed belt 28b provided and the vertical feed belt 28b provided in the seedling mounting portion 28a adjacent to the seedling mounting portion 28a at the left end. 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 fractional vertical feed clutch 20R of the three fractional vertical feed clutches 20 causes the rightmost seedling mounting portion 28a of the six seedling mounting portions 28a. Both vertical feed belts 28b (hereinafter, vertical feed belts 28b for the right end side 2 rows) of the vertical feed belt 28b provided and the vertical feed belt 28b provided in the seedling mounting portion 28a adjacent to the seedling mounting portion 28a at the right end. The driving force of the vertical feed drive shaft 272 is transmitted to the feed belt 28R). When the vertical feed drive shaft 272 is driven, the center fractional vertical feed clutch 20N of the three fractional vertical feed clutches 20 causes the two seedling mounting portions on the left end side of the six seedling mounting portions 28a. The vertical feed drive shaft is attached to the vertical feed belt 28b (referred to as the vertical feed belt 28N for the central two rows) provided in the two seedling mounting portions 28a between the 28a and the two seedling mounting portions 28a on the right end side. The driving force of 272 is transmitted.

Therefore, the leftmost fractional vertical feed clutch 20 of the three fractional vertical feed clutches 20 is operated to turn on and off, so that the leftmost vertical feed clutch 20 corresponds to the seedling planting mechanism 21L for the leftmost two rows. The transmission to the vertical feed belt 28L is turned on and off, and the vertical feed belt 28L for the left end side 2 rows is switched between a working state in which the seedling vertical feed is performed and a non-work state in which the seedling vertical feed is stopped.

The central fractional vertical feed clutch 20 of the three fractional vertical feed clutches 20 is turned on and off, so that the vertical feed belt 28N for the central 2 rows corresponds to the seedling planting mechanism 21N for the central 2 rows. The transmission to the center 2 rows is turned on and off, and the vertical feed belt 28N for the central 2 rows is switched between a working state in which the seedling vertical feed is performed and a non-work state in which the seedling vertical feed is stopped.

Of the three fractional vertical feed clutches 20, the rightmost fractional vertical feed clutch 20 is turned on and off to vertically feed the rightmost two-row clutch corresponding to the seedling planting mechanism 21R for the right-end two-row vertical feed clutch 20. 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 the seedling vertical feed is performed and a non-work state in which the seedling vertical feed is stopped.

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

The powder / granular material supply device 12 includes one powder / granular material tank 13 formed in a long shape in the lateral direction of the vehicle body, and four feeding mechanisms 16 connected to the lower portion of the powder / granular material tank 13 side by side in the lateral direction of the vehicle body. I have. Each feeding mechanism 16 includes one feeding case 16a whose upper end side is connected to the bottom 13a of one of the four bottoms 13a provided in the powder or granular material tank 13 side by side in the lateral direction of the vehicle body. The shape of each of the four bottom portions 13a of the powder or granular material tank 13 when viewed in the front-rear direction of the vehicle body is formed into a funnel shape. The left and right side walls 13b of each of the four bottom portions 13a are formed on an inclined wall that is closer to the inside of the bottom portion 13a toward the lower end side.

As shown in FIG. 5, each feeding mechanism 16 includes the feeding case 16a whose inside communicates with the storage space of the powder or granular material tank 13, and is provided so as to be rotationally driven inside the feeding case 16a. The feeding rotary body 16b is provided, and the powdery and granular fertilizer stored in the powder and granular material tank 13 is fed to the lower part in the feeding case by the rotating feeding rotating body 16b. More specifically, each feeding rotating body 16b is provided with feeding recesses formed side by side in the rotation direction on the peripheral surface, and the feeding interval is set by a set amount of feeding set by the volume of the feeding recess and by the spacing of the feeding recesses. Fertilizer is fed (fertilizer application work) by the intermittent feeding that is set.

A wind inlet 16c is formed in the lower part on the front side of each feeding case 16a. The wind introduction port 16c of each feeding case 16a is connected to the electric blowing blower 18 via one blowing duct 17 in the lateral direction of the vehicle body located in front of each feeding mechanism 16. As shown in FIG. 1, the intake duct 18a extends from the intake port of the blower blower 18 to the vicinity of the engine 31, and the blower blower 18 sucks the air whose temperature has risen due to the heat dissipation of the engine 31 and sends the conveyed air. generate.

Two powder / granular material delivery ports 16d are formed in the lower part on the rear side of each delivery case 16a. In the leftmost feeding mechanism 16L of the four feeding mechanisms 16, the two powder or granular material delivery ports 16d are the leftmost powder or granular material supply unit 22 of the six powder or granular material supply parts 22, and the leftmost powder. It is separately connected to the powder or granular material supply unit 22 adjacent to the particle material supply unit 22 by two powder or granular material supply pipes 14.

In the rightmost feeding mechanism 16 of the four feeding mechanisms 16, the two powder or granular material delivery ports 16d and 16d are the rightmost powder or granular material supply unit 22 of the six powder or granular material supply parts 22 and the right end thereof. It is separately connected to the powder or granular material supply unit 22 adjacent to the powder or granular material supply unit 22 by two powder or granular material supply pipes 14 and 14.

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

Therefore, of the four feeding mechanisms 16, the leftmost feeding mechanism 16 and the rightmost feeding mechanism 16 feed fertilizer from the powder or granular material tank 13 by the feeding rotary body 16b in one feeding case 16a, and the fed fertilizer is fed. It is sent from the two powder / granular material outlets 16d to the two powder / granular material supply pipes 14 and 14 by the transport air having a temperature higher than the normal temperature from the blower blower 18, and is the lateral end of the six powder / granular material supply units 22. It is supplied to the powder or granular material supply unit 22 of the above and the powder or granular material supply unit 22 adjacent to the powder or granular material supply unit 22 at the lateral end.

The left feeding mechanism 16 in the central two feeding mechanisms 16 of the four feeding mechanisms 16 feeds fertilizer from the powder or granular material tank 13 by the feeding rotary body 16b, and the powder or granular material that has been fed out is discharged from the blower blower 18 at room temperature. It is sent from the powder / granular material outlet 16d to the powder / granular material supply pipe 14 by a higher temperature transport air, and the left powder / granular material in the central two powder / granular material supply units 22 of the six powder / granular material supply units 22. It supplies to the supply unit 22. In the right feeding mechanism 16 in the two central feeding mechanisms 16 of the four feeding mechanisms 16, fertilizer is fed out from the powder or granular material tank 13 by the feeding rotary body 16b, and the powder or granular material fed out is discharged from the blower blower 18 at room temperature. It is sent from the powder / granular material outlet 16d to the powder / granular material supply pipe 14 by a higher temperature transport air, and the right powder / granular material in the central two powder / granular material supply units 22 of the six powder / granular material supply units 22. It supplies to the supply unit 22.

Although not shown, in this powder / granular material supply device 12, also in the powder / granular material supply device 12, the leftmost feeding mechanism 16 of the four feeding mechanisms 16 is the leftmost side 1 of the powder / granular material fed from the powder / granular material tank 13. A feeding mechanism 16 for two rows on the left end side is configured so as to supply the powder or granular material supply unit 22. The two central feeding mechanisms 16 of the four feeding mechanisms 16 are feeding mechanisms for the central two rows so that the powder or granular material fed from the powder or granular material tank 13 is supplied to the two central powder or granular material supply units 22. It constitutes 16. The right-most feeding mechanism 16 of the four feeding mechanisms 16 is fed out for two rows on the right-end side so as to supply the powder or granular material fed from the powder or granular material tank 13 to the two powder or granular material supply units 22 on the right-end side. It constitutes a mechanism 16. Further, a feeding amount adjusting mechanism (not shown) for changing the feeding amount of fertilizer by changing the driving rotation speed of the feeding rotating body 16b per unit time by the rotation operation is also provided.

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

Further, although only schematically shown in FIG. 7, the elevating cylinder 37 of the link mechanism 36 is driven via the solenoid control circuit 6B based on the control signal from the device control unit 62 of the operation control unit 6. Be controlled. The seedling planting work and fertilizer application work are stopped as the elevating cylinder 37 rises, and the seedling planting work and fertilizer application work are started as the elevating cylinder 37 descends.

The position of the own machine required for the automatic running of the traveling machine 1 is obtained from the positioning data from the GPS module 5. As shown in FIG. 8, the GPS module 5 includes a GPS antenna 5A and a GPS processing circuit 5B. The GPS antenna 5A is attached to a location where the radio wave reception sensitivity is good, in this embodiment, as shown in FIG. 2, in the upper region of the handrail 35 via a quick coupling type connection portion 5C. The GPS processing circuit 5B is arranged in the control box (in which the electronic control unit 7 is built) CB arranged below the driver's seat 33a. The GPS antenna 5A and the GPS processing circuit 5B may be packaged and attached to a place where the radio wave reception sensitivity is good as a single GPS module 5, and the GPS processing circuit 5B and the control box CB may be connected by wire or wirelessly. .. Further, a plurality of mounting locations of the GPS antenna 5A or the GPS module 5 may be set in advance, and a configuration may be adopted in which the GPS antenna 5A or the GPS module 5 is selectively mounted at the optimum mounting location according to the region and climate. In this embodiment, the top frame of the seedling stand 28 is set as another mounting location, and the connecting portion 5C is provided here.

Below the mounting location of the GPS antenna 5A or GPS module 5, a plate-shaped antireflection body, that is, ghost prevention, is used to prevent the GPS radio waves from being disturbed through reflection by the water surface of the paddy field or the metal plate of the traveling machine 1. It is preferable that the body is provided. Although not shown in the figure, a rainwater prevention cover is installed on the powder or granular material supply device 12 of this passenger rice transplanter, so if a GPS antenna 5A is attached to that location, this rainwater prevention The cover is used as a ghost preventive body.

FIG. 8 shows the control system installed in this passenger rice transplanter. This control system uses the basic principle of the present invention described with reference to FIG. The core part 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 operation support unit 8 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 unit 74 is constructed as a functional unit 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 exact working position of the paddy field working device 2 with respect to the field (for example, the seedling planting position and the fertilizer application position), the amount of misalignment between the mounting position of the GPS antenna 5A and the working position of the paddy field working device 2 It is necessary to correct the coordinate position obtained from the positioning data from the GPS module 5 by using. It is a function of the work position calculation unit 74 to perform this correction and calculate the field work position by the paddy field work device 2.

Further, the input signal processing unit 65 and the notification processing unit 64 are arranged inside or outside the electronic control unit 7, and each of them is connected to the functional unit built in the electronic control unit 7 so as to be able to exchange data. doing. The input signal processing unit 65 processes signals from sensors and switches equipped in this passenger rice transplanter, signals input wirelessly from the outside, and the like, and transfers the signals to a necessary functional unit. For example, a signal that specifies the engine speed, wheel speed, fuel remaining amount, seedling remaining amount, fertilizer remaining amount, shift position, posture (rising state or falling state) of the paddy field work device (field work device) 2 is input. Will be done.

The notification processing unit 64 processes information generated by the notification information generation unit 82 in order to notify the driver or the outside, and outputs the information to the notification device. Typical examples of the notification device include a display 64a for displaying image information and a speaker 64b for emitting audio information, but a buzzer and a lamp are also included. The display 64a is equipped with a touch panel 66, and the information input through the touch panel 66 is sent to a functional unit that requires the information via the input signal processing unit 65.

One running example of the seedling planting work by the passenger rice transplanter configured as described above will be described with reference to the schematic diagram of FIG. Here, the route calculation unit 73 sets the headland MA on the outer periphery of the trapezoidal field to be worked with a width corresponding to the work width W, and calculates a traveling route having a straight line distance as long as possible. .. For the sake of simplicity, the travel route consists of a work travel route consisting of four straight lines, a non-work travel route that is a transition route (direction change route) connecting the work routes at the headland MA, and finally a headland. It is divided into a headland work route where work is performed on MA. That is, the internal 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, respectively. 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 long-dotted chain line.

First, the rice transplanter that entered the field from the entrance position runs 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 internal region IA (indicated by the point P1 in FIG. 9), the elevating cylinder 37 of the link mechanism 36 operates. It is necessary to lower the paddy field working device 2 and switch the seedling planting mechanism 21 to the working state. That is, this point P1 corresponds to the work start operating point, and when the coordinate position calculated by the work position calculation unit 74 and the coordinate position of the point P1 match, the operation information generation unit 81 performs the work start operation. Operation timing information indicating that the point has been reached is generated.

When the operation of the paddy field work device 2 is in the automatic mode, in response to the generation of this operation timing information, the paddy field work device 2 is lowered by the elevating cylinder 37 and the seedling planting mechanism 21 is planted. The operation control signal of is output from the operation control signal generation unit 83 to the operation control unit 6. When the operation of the paddy field work device 2 is in the manual mode, in response to the generation of this operation timing information, the notification information generation unit 82 generates notification information to that effect, and the notification processing unit 64 Is output to. In the manual mode, the notification prompting the manual operation is actually made at a slightly earlier timing in consideration of the operation time by the driver.

When the seedling planting point reaches the coordinate position of the boundary between the internal region IA and the headland MA (indicated by the point Q1 in FIG. 9), the link mechanism 36 is used to change the direction. It is necessary to operate the elevating cylinder 37 to raise 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 operation point, and when the coordinate position calculated by the work position calculation unit 74 and the coordinate position of the point Q1 match, the operation information generation unit 81 performs the work end operation. Operation timing information indicating that the point has been reached is generated.

Again, when the operation of the paddy field work device 2 is in the automatic mode, in response to the generation of this operation timing information, the paddy field work device 2 is raised and the seedling planting mechanism 21 is stopped from planting. The operation control signal of is output from the operation control signal generation unit 83 to the operation control unit 6. When the operation of the paddy field work device 2 is in the manual mode, the notification information generation unit 82 generates notification information for notifying the direction change in response to the generation of the operation timing information, and the notification processing unit 64 Is output to. In the manual mode, the notification prompting the manual operation is actually made at a slightly earlier timing in consideration of the operation time by the driver.

The direction change run is a non-work run of the headland MA from the point Q1 where the first straight work run ends to the point P2 where the second straight work run starts, and is a 180 ° turn run 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 operation information generation unit 81 generates operation timing information indicating that the next work start operating point has been reached, and the operation timing information is generated in the opposite direction. A straight line work run is executed.

In both the straight-ahead work running and the non-working running accompanied by the change of direction described above, the traveling machine 1 may be automatically controlled by the automatic running control unit 61, but the non-working running (particularly the direction) including an exceptional operation is included. In conversion driving), the driver may steer.

In this way, when the point Q3 at which the final straight work run ends is reached, the headland work run along the headland work path of the headland MA is performed, but this is due to work running conditions such as the state of ridges. If it is complicated, it is preferable that the traveling machine 1 is operated 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 aircraft 1 is approaching the corner portion where turning is required.

The functions created by the driving support unit 8 include not only the operation support of the traveling machine 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 agricultural work. In the case of the passenger rice transplanter of this embodiment, the remaining amount detection unit (not shown) for detecting the remaining amount of seedlings and fertilizer and the inability to supply material such as material clogging, which are known by themselves, can be detected. A unit (not shown) is provided. When the remaining amount of material sent through the input signal processing unit 65 falls below the threshold level, the operation support unit 8 notifies the operation control unit 6 and outputs an operation control signal for stopping the automatic driving to the operation control unit 6. Further, when the operation support unit 8 detects that the supply cannot be supplied through the input signal processing unit 65, the driving support unit 8 generates notification information to that effect and notifies the notification through the notification processing unit 64, and operates an operation control signal for stopping automatic driving. Output to the control unit 6. Further, the route calculation unit 73 can calculate an emergency travel route for the traveling machine 1 to automatically travel to a nearby ridge for replenishment of necessary materials and repair of replenishment failure.

In the passenger field work machine according to the present invention, it is possible to automate not only the running control for the traveling machine 1 but also the device control of various operating devices constituting the field working device 2. Therefore, useful farming information can be obtained by recording the operation history data of such control information in a database. In particular, by linking the positioning data by the GPS module 5 and / or the map data stored in the field information storage unit 71a with the operation history data, it contributes to the farm work management in the field in units of minute sections. Can be done.

[Another Embodiment]
(1) In the above-described embodiment, the route calculation unit 73 is built in the electronic control unit 7, but if the route calculation algorithm becomes complicated, the required computing power increases, so that the route calculation calculation is performed externally. You may adopt the cloud network method to let the computer do it. Similarly, the information storage unit 71 may be constructed in an external computer and may be configured to be accessed from a passenger field work machine as needed. For that purpose, it is necessary to equip the passenger field work machine with a communication unit capable of connecting to a data communication line such as the Internet.
(2) As the 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, but in addition, the sunlight, ventilation, the position of the intake, and the past recorded as the past results. The traveling route of the above, for example, the traveling route and the state of the field at the time of pre-work such as tilling by a tractor and scraping, and the traveling route and the state of the field at the time of harvesting work by the combine may be added.
(3) In the above-described embodiment, it is assumed that the work width of the field work device 2 is not changed during the work for one field, but when the field work device 2 whose work width can be changed is used, the work width is not changed. A traveling route for changing the working width may be calculated on the way.
(4) In the above-described embodiment, the route calculation unit 73 employs a turning reduction route algorithm that reduces non-working travel routes, but other route algorithms may be selectively provided. For example, a curved route algorithm for calculating a working route of a curved road having a radius of curvature larger than a predetermined value is effective for a fan-shaped field. Further, a route algorithm that calculates a precise travel route based on a rough route image input using an input device such as a touch panel 66 is also effective for a field having a complicated shape.
(5) Since the passenger field work machine according to the present invention is provided with a GPS function and a map data storage function, it is also possible to provide route guidance to the field to be worked by using the GPS function and the map data storage function.

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

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

Claims (2)

With the traveling aircraft,
A field work device that performs farm work on the field, and
A route calculation unit that calculates a travel route including a work travel route for performing work travel using the field work device, and a route calculation unit.
A GPS module that outputs positioning data and
A driving support unit that provides driving support based on the positioning data and the traveling route is provided.
The driving support unit is accompanied by a change of direction of the traveling machine from the working traveling path when the traveling machine turns from the working traveling path to the next working traveling path in a headland in a field. The transition point for shifting to the turning direction is set as the work end operating point of the field work apparatus, and an operation information generation unit for generating operation timing information including the work end operation point is provided.
The driving support unit is based on the operation timing information when shifting from the work running automatically carried out by the automatic running control unit to the non-working running automatically carried out by the automatic running control unit and including the direction change running. as broadcast information for notifying the operation timing to shift to the turning travel to the driver Te, riding said slightly earlier than the timing to shift the turning travel, contains broadcast information generation unit which generates a broadcast Field work machine. When the non-working run includes an exceptional operation, the automatic running control unit does not perform the non-working running by the automatic running, and the non-working running takes precedence over the automatic running by the automatic running control unit. The passenger field work machine according to claim 1, which is operated by a driver.

Images