JP6991090B2 - Work platform - Google Patents

Description

The present invention relates to a work vehicle capable of supplying power to a special electronic device for a certain period of time even when the main key is turned off.

Electronic sensors such as electronic sensors that require initial processing (warming up) when the engine is stopped and stopped by turning off the main key for a temporary stop, not for the purpose of parking for a long time, and the vehicle starts running after a while. In the equipment, it is necessary to perform the initial processing again before the running. Therefore, if the electronic device is essential for traveling, traveling is prohibited until the initial processing is completed. Alternatively, unstable running is forced without the action of the electronic device.

In order to solve the above problem, for example, in the work vehicle according to Patent Document 1, a satellite navigation device and an inertial measurement unit are mounted as a group of electronic sensors that require initial processing, and the satellite navigation device and the inertial measurement unit are mounted from the battery. A manual main key that shuts off the power supply to the device is equipped with a power holding unit that allows power to be supplied to the satellite navigation system and inertial measurement unit from the battery that bypasses the main key when the power is cut off. There is. When the driver performs an OFF operation (power supply cutoff) with the main key to stop the engine, the energization holding unit switches to the energization holding state in conjunction with the OFF operation of the main switch, and the satellite navigation device and inertial measurement are performed. Maintain power to the device. The energization holding unit switches from the energization holding state to the energizing stop state with the lapse of the set time, and stops energizing the satellite navigation device and the inertial measurement unit.

Japanese Unexamined Patent Publication No. 2017-176096

In recent years, the momentum of eco-cars has increased, and in order to reduce CO2 emissions, some passenger cars and work vehicles are equipped with an engine pause function, also called idling stop, in order to avoid unnecessary idling. Such an engine temporary stop is executed when waiting for a traffic light or when the vehicle is temporarily stopped at the time of a traffic jam, and is automatically executed when a predetermined condition is satisfied.
In the engine temporary stop (idling stop), special control of the power supply to the electronic sensor group is not considered.

When such an engine stop is applied to a work vehicle, there is almost no execution of an engine stop when waiting for a traffic light or when there is a traffic jam. However, it may be performed in various tasks that must be performed by stopping the work vehicle, such as inspection and adjustment of work equipment, replenishment of seedlings in rice transplanters, discharge of harvesters in combine harvesters, etc., and the engine is temporarily stopped. It often lasts for more than a few minutes. There are many high-performance electronic sensors in work platforms that require initial processing when the power is turned on (starting up), but if the engine is temporarily stopped for a short time, even if the power supply is temporarily cut off, it will be new. It is also conceivable to use the result of the previous initial processing without performing the initial processing. However, after a relatively long stop, stable running is not guaranteed unless the initial treatment is performed again. Therefore, in the engine temporary stop (idling stop) in the work vehicle, it is necessary to control the power supply to a special electronic sensor that adversely affects the running unless the initial processing is performed again.

The work vehicle according to the present invention has a basic power supply line that supplies power from a battery to an electronic sensor group, a main key that energizes the basic power supply line when it is ON, and shuts off the basic power supply line when it is OFF, and the electronic sensor from the battery. A detour power supply line that supplies power to a special electronic sensor in the group, an engine suspension control unit that shuts off the basic power supply line when the engine is temporarily stopped to temporarily stop the engine, and a response to the engine suspension. The special electronic sensor is provided with a backup power supply control unit that performs backup power supply that supplies power to the special electronic sensor using the detour power supply line, and a backup power supply management unit that determines the necessity of the backup power supply. Is a sensor that performs a warm-up process that calculates initial data at startup and saves it in the memory. If the main key is turned off during the warm-up process, the backup power supply is stopped .

According to this configuration, when the engine is temporarily stopped by the engine temporary stop (idling stop), the basic feeder that supplies electric power from the battery to the electronic sensor group is cut off, and the battery is charged with electricity through the bypass feeder. Power is supplied to the special electronic sensor in the sensor group. Here, the special electronic sensor is an electronic sensor that, once the power supply is cut off, has an adverse effect on running unless the initial processing is performed again. Even if the engine suspension is executed, backup power is supplied to the special electronic sensor through the detour feeder, so even if the engine suspension is resolved and the running is started, the initial processing does not need to be performed.
In addition, if the main key is turned off during the warm-up process, the engine may be stopped for the engine stop time until the next main key is turned on and the engine is started. If the backup power supply is executed during that time, there is no charge (via the dynamo) due to the rotation of the engine, and a non-negligible decrease in battery capacity occurs. In order to avoid this problem, in the present invention, when the main key is turned off during the warm-up process, the backup power supply is stopped.

In one of the preferred embodiments of the present invention, the initial data stored in the memory is stored for a predetermined time by the backup power supply after the main key is turned off. As a sensor that calculates initial data as initial processing at startup and calculates and outputs a detection result using this initial data, for example, there are a gyro sensor, an acceleration sensor, a GNSS positioning sensor, and the like. Since this initial data is stored in a memory such as RAM, it is stored as long as the power supply is not interrupted, so that it always functions as a sensor. Further, if the sensor has to rewrite the initial data with the passage of time, it is necessary to prevent the frequently performed warm-up process from being interrupted even when the engine is temporarily stopped, so that backup power supply is effective.

Even if the engine is paused during the warm-up process that calculates the initial data and stores it in the memory, the engine pause may be canceled, the engine may be started again, and the normal running state may be restored after at least a few minutes. Is high. Therefore, even if backup power is supplied by the detour feeder, the battery consumption is limited. Therefore, when the engine temporary stop occurs during the warm-up process at the time of starting the engine, it is preferable to continue the warm-up process by the backup power supply until the warm-up process is completed .

The engine stop is caused by turning off the main key or suspending the engine. At that time, when the engine stop time is short, the battery consumption is small, so it is preferable to perform backup power supply. However, when the engine stop time is long, the battery consumption is large, so the backup power supply is continued. That is not desirable. Therefore, in one of the preferred embodiments of the present invention, the engine stop time estimation unit that estimates the expected engine stop time at which the engine stop and the basic power supply line cutoff will continue due to the OFF of the main key or the temporary stop of the engine. The backup power supply management unit determines the necessity of the backup power supply based on the expected engine stop time. The time from the OFF operation of the main key to the next ON operation and the recovery time from the engine temporary stop differ depending on the working state, running state, place, time, etc. when they are performed. From this, it is possible to estimate the expected engine downtime from the data of these states, places, dates and times, and the past downtime data in the combination of these data. This makes it possible to execute the optimum backup power supply.

It is an overall side view of a rice transplanter. It is an overall plan view of a rice transplanter. It is a front view of a rice transplanter. It is a figure which shows the steering unit. It is a schematic diagram which shows the feeding circuit. It is a functional block diagram of a control system. It is explanatory drawing of the plan view of the whole field surface which shows the operation of the automatic steering control. It is explanatory drawing which shows the automatic steering control using an inertial measurement unit. It is a screen view of the liquid crystal display which is one of the display devices.

Embodiments of the present invention will be described with reference to the drawings. Here, as an example of the work vehicle of the present invention, a passenger-type rice transplanter (hereinafter, simply referred to as a rice transplanter) will be described as an example. As shown in FIG. 2, in the present embodiment, the arrow F is the front of the traveling aircraft C, the arrow B is the rear of the traveling aircraft C, the arrow L is the left side of the traveling aircraft C, and the arrow R. Is pointing to the right side of the traveling aircraft C.

As shown in FIGS. 1 to 3, the rice transplanter includes a traveling machine C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11, and a working device capable of planting seedlings in a field. The seedling planting device W is provided. The pair of left and right steering wheels 10 are provided on the front side of the traveling machine C so that the direction of the traveling machine C can be changed and operated, and the pair of left and right rear wheels 11 are provided on the rear side of the running machine C. Has been done. The seedling planting device W is movably connected to the rear end of the traveling machine body C via a link mechanism 21 that moves up and down by the expansion and contraction operation of the lifting hydraulic cylinder 20.

An openable bonnet 12 is provided at the front portion of the traveling machine body C. At the tip position of the bonnet 12, a rod-shaped center mascot 14 as a guide for traveling along the index line drawn in the field by the marker device 33 is provided. The traveling machine body C is provided with a machine body frame 15 extending in the front-rear direction, and a support support column frame 16 is erected at the front portion of the machine body frame 15.

The engine 13 is provided in the bonnet 12. Although not described in detail, the power of the engine 13 is transmitted to the steering wheels 10 and the rear wheels 11 via an HST (hydrostatic continuously variable transmission) (not shown) provided in the machine body, and the power after shifting is electric. It is transmitted to the seedling planting device W via a motor-driven planting clutch (not shown).

The seedling planting apparatus W plants seedlings taken out from the mat-shaped seedlings for planting placed on the seedling stand 26 in the field. It is composed of eight-row planting type. Although this seedling planting device W is configured as an eight-row planting type, it may be a four-row planting type, a six-row planting type, a seven-row planting type, or a ten-row planting type. ..

A plurality of (for example, four) normal spare seedling stands 28 and spare seedling stands 29 are provided on the left and right sides of the bonnet 12 in the traveling machine C. On the left and right sides of the bonnet 12 in the traveling machine C, a pair of left and right spare seedling frames 30 as tall frame members supporting each normal spare seedling stand 28 and the spare seedling stand 29 are provided, and left and right spare seedlings are provided. The upper parts of the frames 30 are connected to each other by the connecting frame 31.

A driving unit 40 for performing various driving operations is provided in the central portion of the traveling machine body C. The driver unit 40 is provided with a driver's seat 41, a steering handle 43, a main speed change lever 44, and an operation lever 45. The driver's seat 41 is provided in the central portion of the traveling machine C, and is configured so that the driver can sit down. The steering handle 43 is configured so that the steering wheel 10 can be steered by an artificial operation. The main shift lever 44 is configured to be capable of switching between forward and backward movements and changing the traveling speed. The raising and lowering of the seedling planting device W and switching between the left and right marker devices 33 are performed by the operation lever 45. The steering handle 43, the main speed change lever 44, the operation lever 45, and the like are provided on the upper part of the control tower 42 located at the front portion of the driver's seat 41. A boarding step 46 is provided at the foot of the driving unit 40. The boarding step 46 extends to both the left and right sides of the bonnet 12. Below the driver's seat 41, a battery 17 that is charged by the rotation of the engine 13 is arranged.

When the main shift lever 44 is operated, the angle of the swash plate in HST (not shown) is changed, and the power of the engine 13 is changed steplessly. Although not shown, the swashplate angle of the HST is controlled by a hydraulic unit equipped with a servo hydraulic control device. A known hydraulic pump, hydraulic motor, or the like is used as the servo hydraulic control device.

When the operation lever 45 is operated to the ascending position, the planting clutch (not shown) is disengaged to cut off the transmission to the seedling planting device W, and the lifting hydraulic cylinder 20 is operated to raise the seedling planting device W. , The left and right marker devices 33 are operated in the retracted posture. When the operation lever 45 is operated to the descending position, the seedling planting device W descends and touches the ground surface to stop. When the operation lever 45 is operated to the right marker position in this lowered state, the right marker device 33 changes from the retracted posture to the working posture. When the operation lever 45 is operated to the left marker position, the left marker device 33 changes from the retracted posture to the working posture.

When starting the rice planting work, the driver operates the operation lever 45 to lower the seedling planting device W and starts the transmission to the seedling planting device W to start the rice planting work. Then, when the rice planting work is stopped, the operation lever 45 is operated to raise the seedling planting device W and cut off the transmission to the seedling planting device W.

As shown in FIG. 2, the operation panel 47 at the top of the control tower 42 of the driving unit 40 is provided with a touch panel type liquid crystal display 48 capable of displaying various information as one of the notification devices 73 (see FIG. 6). ing. A push-operated start / end point setting switch 91 is provided on the right side of the liquid crystal display 48, and a push-operated target setting switch 92 is provided on the left side of the liquid crystal display 48. The start point / end point setting switch 91 may be provided on the left side of the liquid crystal display 48, and the target setting switch 92 may be provided on the right side of the liquid crystal display 48. The functions of the start point / end point setting switch 91 and the target setting switch 92 will be described later (see FIG. 6).

The grip portion of the main shift lever 44 is provided with a push-operated automatic steering switch 93. The automatic steering switch 93 is an automatic return type, and commands switching of on / off of automatic steering control each time a push operation is performed. The automatic steering switch 93 is arranged at a position where it can be pushed by, for example, a thumb while holding the grip portion of the main shift lever 44 by hand.

As shown in FIG. 4, the traveling machine body C is provided with a steering mechanism U capable of automatically steering the left and right steering wheels 10. The steering mechanism U includes a steering operation shaft 64, a pitman arm 61, left and right connecting mechanisms 62 interlocked with the pitman arm 61, a steering motor 66, and a gear mechanism 63. The steering operation shaft 64 is interlocked with the steering handle 43 via the clutch 67. The pitman arm 61 is configured to swing with the rotation of the steering operation shaft 64. The gear mechanism 63 interlocks and connects the steering motor 66 to the steering operation shaft 64.

The steering operation shaft 64 is interlocked and connected to the left and right steering wheels 10 via the pitman arm 61 and the left and right connecting mechanisms 62, respectively. A steering angle sensor 65 composed of a rotary encoder is provided at the lower end of the steering operation shaft 64, and the amount of rotation of the steering operation shaft 64 is detected by the steering angle sensor 65.

When the steering mechanism U is automatically steered, the steering motor 66 is driven, the steering operation shaft 64 is rotated by the driving force of the steering motor 66, and the steering angle of the steering wheel 10 is changed. There is. When automatic steering is not performed, the steering mechanism U can be rotated by an artificial operation of the steering handle 43.

Next, a configuration for performing automatic steering control will be described.
This rice transplanter includes a satellite positioning module 81 and an inertial measurement module 82 as the positioning unit PS. In the present invention, the satellite positioning module 81 and the inertial measurement module 82 are electronic sensors that need to be initially processed at the time of starting, that is, special electronic sensors. The satellite positioning module 81 uses GPS (Global Positioning System), which is a well-known technology, as an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from satellites and detects the position of an aircraft. It also has a satellite positioning function to determine the position of the aircraft. In this embodiment, DGPS (Differential GPS: relative positioning method) is adopted as satellite positioning, but other methods such as RTK-GPS (Real Time Kinetic GPS: interference positioning method) can also be adopted. be.

As shown in FIG. 1, the satellite positioning module 81 including the satellite positioning antenna is attached to the connecting frame 31 via a plate-shaped support plate.

The inertial measurement module 82 has a gyro sensor and an acceleration sensor, can detect the angular velocity of the turning angle of the traveling machine body C, and can obtain the angular displacement of the machine body orientation by integrating the angular velocity. The inertial measurement module 82 can measure the angular velocity of the turning angle of the traveling machine C, the left-right tilt angle of the traveling machine C, the angular velocity of the front-back tilt angle of the traveling machine C, and the like. The inertial measurement module 82 is located at a lower position on the rear side of the driver's seat 41 and at a lower position in the center of the traveling machine C in the lateral width direction. The inertial measurement module 82 may be arranged at the same position as the satellite positioning module 81.

Since the satellite positioning module 81 and the inertial measurement module 82 constituting the positioning unit PS are special electronic sensors that require initial processing (warm-up processing) when the power is turned on, the initial processing is performed every time the power supply is stopped for a short time. There are built-in controls to prevent this from happening. That is, the circuit configuration is such that power can be temporarily continued to be supplied to the satellite positioning module 81 and the inertial measurement module 82 even when the main key 22 is turned off or the engine is temporarily stopped (idling stop). The feeding circuit SC for this purpose is schematically shown in FIG.

The battery 17 and the positioning unit PS are connected by two feeder lines, a basic feeder line E1 and a detour feeder line E2. The basic feeder line E1 is interposed with a first switch 23 that cuts off (OFF) and connects (ON) the basic feeder line E1, and the detour feeder line E2 is connected to the detour feeder line E2. Two switches 24 are interposed. ON / OFF of the first switch 23 and the second switch 24 is performed by a control signal from the control device CU. ON / OFF of the first switch 23 is also performed by operating the main key 22. The main key 22 has an ON position (accessory position) for supplying power to electrical components, an ignition position for starting an engine, and the like. At the ON position of the main key 22, the first switch 23 is turned ON, the basic power supply line E1 is energized, and power can be supplied from the battery 17 to the positioning unit PS through the basic power supply line E1. At the OFF position of the main key 22, the first switch 23 is turned off and the basic power supply line E1 is cut off, so that power can be supplied from the battery 17 to the positioning unit PS through the basic power supply line E1.

This rice transplanter has an engine temporary stop function (so-called idling stop function) that temporarily automatically stops the engine 13 when a predetermined condition is satisfied. When this engine suspension is executed, the first switch 23 is turned off and the basic power supply line E1 is cut off. As a result, the power supply to the engine control device 25 such as the igniter is stopped, and the engine 13 is stopped. When the engine temporary stop is released, the first switch 23 is turned on and the basic power supply line E1 is energized. Further, the starter is driven by the starter drive signal, and the engine 13 is started.

In response to the engine suspension, the first switch 23 is turned off by the control signal from the control device CU, so that the basic power supply line E1 is cut off. At the same time, the second switch 24 is turned on by the control signal from the control device CU, the detour feeder line E2 is energized, and the battery 17 can supply power to the positioning unit PS through the detour feeder line E2. As a result, even if the engine is temporarily stopped and the power supply by the basic feeder line E1 is stopped, the backup power supply by the detour feeder line E2 is realized, and the positioning unit PS continues to operate as it is. In addition to the positioning unit PS, an electronic sensor that requires power supply even when the engine is temporarily stopped is connected to both the basic feed line E1 and the detour feeder line E2.

Even when the main key 22 is operated to the OFF position, power can be supplied to a special electronic sensor such as the positioning unit PS using the detour feeder line E2. If the main key 22 is turned off when the rice transplanter is stored in a barn or the like, the rice transplanter will not be used for a long time, so that the backup power supply will be wasted and the battery 17 may be wasted. Will be higher.
Therefore, when the main key 22 is turned off, the backup power supply is also stopped at a predetermined time.

Of course, the battery 17 is not charged even during the engine suspension, so if the engine suspension time is long, the battery 17 will be insufficiently charged due to the power supply to the special electronic sensor such as the positioning unit PS by the detour feeder line E2. There is a possibility of becoming. Therefore, as will be described later, the control device CU also has a function of stopping the backup power supply according to the conditions.

FIG. 6 shows a part of the control system in the rice transplanter in the form of a functional block diagram. The control device CU includes an input / output processing unit 50 as an input / output interface. The input / output processing unit 50 is connected to various devices such as a traveling state detector 74, a working state detector 75, and a manual operation unit 90. Further, the above-mentioned power feeding circuit SC is also connected. In this functional block diagram, the positioning unit PS described above is connected to the control device CU via an in-vehicle LAN. The engine control device 25 for driving the engine 13 receives a control signal from the engine control unit 71 connected to the control device CU via the vehicle-mounted LAN. The notification device 73 receives a notification signal from the notification unit 72 connected to the control device CU via the vehicle-mounted LAN.

The traveling state detector 74 includes sensors for detecting the traveling state, such as a vehicle speed sensor, an engine rotation speed sensor, and a parking brake detection sensor. The working state detector 75 includes a sensor for detecting the state of various members constituting the seedling planting device W and a sensor for detecting the amount of seedlings on the seedling stand 26.

The manual operation unit 90 including a switch, a button, a volume, and the like gives a control command by manual operation by the driver, and the operation command is input to the control device CU.
The manual operation unit 90 includes the above-mentioned start point / end point setting switch 91, target setting switch 92, automatic steering switch 93, and the like.

The control device CU includes a vehicle position calculation unit 80, a travel control unit 51, a work control unit 52, an automatic steering control unit 53, a travel mode management unit 54, an engine temporary stop control unit 55, a backup power supply control unit 56, and a backup power supply. A management unit 57, an engine stop time estimation unit 58, and the like are provided.

The own vehicle position calculation unit 80 calculates the map coordinates (own vehicle position) of the traveling machine C and the direction (direction) of the traveling machine C based on the positioning data sequentially sent from the positioning unit PS. At that time, the position of the own vehicle can be converted to the position of a specific location of the traveling machine C (for example, the center of the machine or the work center of the seedling planting device W).

The travel control unit 51 gives a steering signal and a vehicle speed signal to the steering mechanism U and the traveling equipment group. Since this rice transplanter can perform rice planting work by automatic traveling or manual traveling, the traveling control unit 51 includes an automatic traveling control unit 511 and a manual traveling control unit 512.

The work control unit 52 controls the raising and lowering of the seedling planting device W and the drive of the seedling planting device W as the traveling machine C travels.

An automatic driving mode is set for automatic driving, and a manual driving mode is set for manual driving. Such a traveling mode is managed by the traveling mode management unit 54. When the automatic driving mode is set, the automatic driving control unit 511 receives the steering amount from the automatic steering control unit 53.

The automatic steering control unit 53 includes a teaching path calculation unit 531, a route setting unit 532, a deviation amount calculation unit 533, and a steering amount calculation unit 534. The teaching route calculation unit 531 calculates the data of the reference route defined through the teaching run. The route setting unit 532 sets a target travel route that is a target of automatic travel based on the data of the reference route. The deviation amount calculation unit 533 calculates the positional deviation and the directional deviation of the traveling machine C with respect to the target traveling route. The steering amount calculation unit 534 calculates the steering amount so that the positional deviation and the directional deviation are reduced.

The engine temporary stop control unit 55 temporarily stops the engine 13 when a predetermined condition (engine temporary stop condition) is satisfied. The condition elements of the engine pause condition are that the shift lever is held in the neutral position, the brake is operating, the engine 13 is idling, and the remaining amount of seedlings on the seedling stand 26 is below the specified value. It includes the fact that the driver is not seated in the driver's seat 41. If at least one of the elements of the engine suspension condition or a combination thereof is satisfied for a predetermined time or more, the engine suspension processing is executed. In this engine suspension process, in order to suspend the engine, the first switch 23 is turned off to shut off the basic power supply line E1 from the battery 17 to the engine control device 25. At the same time, the fuel supply to the engine 13 is stopped through the engine control unit 71.

In response to the engine suspension, the backup power supply control unit 56 performs backup power supply to supply power to the satellite positioning module 81 and the inertial measurement module 82, which are special electronic sensors, using the detour feeder line E2.

When the main key 22 is operated to the OFF position or the engine pause control unit 55 executes the engine pause process, the first switch 23 is turned off, the basic power supply line E1 is cut off, and the electronic sensor group is turned off. Power supply to the including electrical components is stopped. However, backup power is supplied to the special electronic sensor. In this embodiment, the satellite positioning module 81 and the inertial measurement module 82 included in the positioning unit PS are backed up and supplied as special electronic sensors for the following reasons. The satellite positioning module 81 enhances the calculated position accuracy based on the correction information received from the base station. Further, the satellite positioning module 81 needs to set the satellite acquisition information. These correction information and capture information are performed in the initial processing executed when the power is turned on. The correction information and the captured information obtained in the initial processing are stored in a volatile memory such as RAM, read out as necessary, and used. When the power is no longer supplied, the stored correction information and captured information are also erased, so it is necessary to perform the initial processing again when the power is supplied again. Since this initial processing is not required when the engine 13 is restarted, even if the feeding by the main feeder is stopped, the feeding is supplied by the detour feeder E2 that bypasses the basic feeder E1. As a result, the information written in the memory is not erased, so that the information written in the memory can be used at the time of restart without performing the initial processing. Similarly, the inertial measurement module 82 also undergoes initial processing when the power is turned on, various correction values for performing error correction are calculated, and are stored in the memory. Therefore, even if the power supply by the basic feeder line E1 is stopped, the power is supplied by the detour feeder line E2 that bypasses the basic feeder line E1 so that the information written in the memory is not erased. In the satellite positioning module 81 and the inertial measurement module 82, which are sensors that perform warm-up processing that calculates initial data at startup and saves it in memory, the initial data generated by the initial processing as warm-up processing and stored in memory is Even if the engine 13 is stopped by turning off the main key 22 or executing temporary engine processing and the basic feeder line E1 is cut off, the backup feed feed using the detour feeder line E2 is stored for at least a predetermined time.

Since the battery 17 is not charged while the engine is stopped, the battery 17 becomes insufficiently charged when the engine stop time is long. Therefore, if the engine is stopped for a long time, it is necessary to stop the backup power supply. The backup power supply management unit 57 determines whether or not such backup charging is necessary. The backup power supply management unit 57 determines that the engine is stopped for a long time based on the detection results of the traveling state detector 74 and the working state detector 75, the position of the rice transplanter in the field, the current time, the time from the start of work, and the like. It is also possible to determine the backup power supply time by determining whether the situation is such that the engine is stopped for a short time. Further, when the main key 22 is turned off during the warm-up process, the backup power supply is stopped because it is regarded as a full-scale stop by the operation of the main key 22 from the temporary stop of the engine. In addition, if an engine pause occurs during the warm-up process that is executed when the engine is started at the start of the seedling planting work, such an engine pause condition is considered to be canceled immediately, so that the warm-up process is performed. Continues to the end.

In this embodiment, the engine stop time estimation unit 58 is provided. The engine stop time estimation unit 58 is a traveling machine C in the field obtained from various detection data obtained from the traveling state detector 74 and the working state detector 75 and the own vehicle position calculation unit 80 when the engine temporary stop is executed. Based on the position (near the shore, in the middle of the field, etc.), time, etc., the expected engine stop time, which is the engine stop and the basic power supply line cutoff due to the engine temporary stop, is estimated. That is, the engine stop time estimation unit 58 includes an estimation engine that derives the expected engine stop time by inputting a large number of the above-mentioned data. The backup power supply management unit 57 permits backup power supply when the derived expected engine stop time is equal to or less than a predetermined time, and prohibits backup power supply when the derived expected engine stop time exceeds the predetermined time. At that time, the margin of the battery 17 may be taken into consideration.

As shown in FIG. 7, this rice transplanter moves along a linear route to a work run involving seedling planting work and a straight route for the next seedling planting work run near the ridge. The turning run for the purpose is repeated alternately. At that time, the first linear path is a manually steered teaching path, and the subsequent linear path is based on the teaching path information so as to be parallel along the teaching path by the route setting unit 532. , The target travel paths LM (1) to LM (6) to be set.

In starting the seedling planting work, the driver positions the traveling machine C at the start point position Ts at the ridge in the field and operates the start point end point setting switch 91. At this time, the control device CU is set to the manual steering mode. Then, while the driver manually controls, the traveling machine C is driven from the start point position Ts along the linear shape of the ridge on the side side, and is moved to the end point position Tf near the ridge on the opposite side, and then the start point end point. Operate the setting switch 91 again. As a result, the teaching process is executed. That is, a teaching path connecting the start point position Ts and the end point position Tf is set from the position coordinates of the start point position Ts and the position coordinates of the end point position Tf based on the positioning data acquired by the satellite positioning module 81. The direction along this teaching path is set as the reference target direction LA. The position coordinates at the end point position Tf include not only the positioning data by the satellite positioning module 81 but also the distance from the start point position Ts based on the vehicle speed sensor (not shown) and the directional information of the traveling machine C based on the inertial measurement module 82. , May be the configuration calculated based on. Further, the traveling of the traveling machine C over the start point position Ts and the ending point position Tf may be a work traveling accompanied by rice planting work or may be a traveling in a non-working state.

After the setting of the teaching route is completed, 180-degree turning is performed in order to shift to the starting point position Ls where the first target traveling route LM (1) adjacent to the teaching route is set.
The turning running is performed by the driver manually operating the steering wheel 43.

When the target traveling route 92 is operated at the stage when the turning traveling is completed and the target traveling route is adjusted to the next route, the target traveling route LM (1) is set by the route setting unit 532. Next, when the automatic steering switch 93 is operated, automatic steering running along the set target travel path LM (1) is started. If the target travel path LM (1) is too far from or too close to the teaching path by the operation of the target setting switch 92 and normal seedling planting is not performed, a warning is notified through the notification device 73. Further, if the traveling machine C position or direction at the stage when the automatic steering switch 93 is operated is inappropriate for automatic steering, the transition to automatic steering traveling is prohibited and a warning is notified through the notification device 73. Rudder. The target setting switch 92 and the automatic steering switch 93 may be shared and configured as a single switch.

As adverse conditions for automatic steering driving, the directional deviation of the own aircraft azimuth NA with respect to the target azimuth LA is remarkably large, the direction of the steering wheel 10 is greatly displaced to the left and right, and the vehicle speed of the traveling aircraft C is high. It is exemplified that it is too late or too late. Further, the fact that the number of navigation satellites that can be captured by the satellite positioning module 81 is smaller than the preset number is also exemplified as an adverse condition for automatic steering control.

When the automatic steering running is permitted, the running mode is switched from the manual steering mode to the automatic steering mode, and the automatic steering along the target traveling path LM (1) is started. The target travel path LM (1) is a target travel path LM that is set along the direction of the target direction LA in a state adjacent to the teaching path, and the traveling machine C first performs a work traveling after the teaching process.

When the target setting switch 92 is operated at an arbitrary timing after the work run on the target travel path LM (1) is completed, the next target travel route LM (2) is changed to the previous target travel route LM (2) by the route setting unit 532. It is set adjacent to the unworked area side of 1). Next, by operating the automatic steering switch 93, automatic steering traveling is started along the newly set target traveling path LM (2), and the traveling aircraft C automatically travels.

After the traveling machine C reaches the end point position Lf (2) of the target traveling route LM (2), the target traveling routes LM (3), LM (4), LM (5), LM (6) are carried out by the same process. In this order, the setting of the target travel path LM after the turning travel and the work travel are repeated.

During the automatic steering control, the satellite positioning module 81 acquires information on the position of the aircraft over time. Further, the vehicle speed is calculated, and as shown in FIG. 8, the relative directional change angle ΔNA by the inertial measurement module 82 is measured over time. The deviation amount calculation unit 533 calculates the azimuth NA from the point where the automatic steering is started over time by integrating the directional change angle ΔNA. Then, the deviation amount calculation unit 533 calculates the azimuth deviation between the own azimuth NA and the target azimuth LA. The steering amount calculation unit 534 calculates the steering amount so that the self-direction NA matches the target direction LA, and gives it to the automatic traveling control unit 511. The automatic traveling control unit 511 drives the steering motor 66 based on the given steering amount. As a result, the traveling machine C automatically travels along the target traveling path LM with high accuracy.

As shown in FIG. 9, the state of the aircraft is displayed on the screen of the liquid crystal display 48.
On this screen, a plurality of display areas such as a work information area 100, a position shift information area 101, and a vehicle speed information area 102 are separately arranged. The work information area 100 displays the work date and time, work results, and the like at the left end on the upper side of the screen. The misalignment information area 101 displays the amount of misalignment of the traveling machine C with respect to the target traveling path LM in the center on the upper side. The vehicle speed information area 102 displays the vehicle speed at the upper right end. The large area other than the upper side of the screen is the position information area 104, and the position information area 104 indicates the position of the traveling machine C in the field. The small area at the left end of the position information area 104 is the steering state information area 103, and the steering state information area 103 is the driving mode executed by the control device CU, that is, the automatic driving mode (automatic steering) or the manual driving mode (automatic driving mode). Manual steering) is displayed. A touch panel operation type software button group 120 is arranged at the right end of the position information area 104. A physical button group 121 is arranged on the right side of the liquid crystal display 48.

In the position information area 104, the working state of the field around the traveling machine C, the target traveling path LM, and the machine symbol SY indicating the position of the own machine are displayed. Of the target travel paths LM, the target travel path LM during work travel is drawn with a thick solid line for the sake of clarity.
Furthermore, the areas where rice planting has already been completed are displayed by stippling each planted seedling. As a result, the existing work area and the unworked area are visually clearly distinguished. In addition to the pointillism, the display of the planted seedling trace may be a line indicating a linear planting strip.

[Another Embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and the following will illustrate other typical embodiments of the present invention.

[1] In the above-described embodiment, the backup power supply control unit 56 responds not only to the engine temporary stop by the engine temporary stop control unit 55 but also to the engine stop due to the operation of the main key 22 to the OFF position, and the backup power supply is supplied. Is running. Instead of this, the backup power supply may be executed only by the engine temporary stop by the engine temporary stop control unit 55.

[2] In the feeder circuit SC shown in FIG. 5, the basic feeder line E1 and the detour feeder line E2 are completely independent of each other, but this is a schematic form and the upstream feeder side is common. It may be configured by the feeding line of. In addition, this feeding circuit SC can be implemented in various forms for achieving the object of the present invention.

[3] The engine position stop is not only automatically performed when a predetermined condition is satisfied, but may also be manually performed by the operation of the driver.

[4] In the above-described embodiment, the positioning unit PS is taken up as a special electronic sensor that receives backup power supply, but in addition to this, an electronic sensor that erases data necessary for operation by stopping power supply and a number at startup. Electronic sensors that require initial processing of more than 10 seconds can also be handled as special electronic sensors.

17: Battery 22: Main key 23: 1st switch 24: 2nd switch 25: Engine control device 51: Driving control unit 52: Work control unit 53: Automatic steering control unit 54: Driving mode management unit 55: Engine pause control Unit 56: Backup power supply control unit 57: Backup power supply management unit 58: Engine stop time estimation unit 60: Input / output processing unit 74: Driving state detector 75: Working state detector 80: Own vehicle position calculation unit 81: Satellite positioning module (Special electronic sensor)
82: Inertial measurement module (special electronic sensor)
91: Start point / end point setting switch 92: Target setting switch 93: Automatic steering switch 511: Automatic driving control unit 512: Manual driving control unit 531: Teaching route calculation unit 532: Route setting unit 533: Deviation amount calculation unit 534: Steering amount calculation Part CU: Control device E1: Basic feeder E2: Detour feeder F: Arrow NA: Own orientation PS: Positioning unit (special electronic sensor)

Claims (4)

The basic power supply line that supplies power from the battery to the electronic sensor group,
A main key that energizes the basic power supply line when it is ON and shuts off the basic power supply line when it is OFF.
A detour feeder that supplies power from the battery to the special electronic sensor in the electronic sensor group,
The engine temporary stop control unit that shuts off the basic power supply line when the engine is temporarily stopped, and the engine temporary stop control unit.
A backup power supply control unit that performs backup power supply to supply power to the special electronic sensor using the detour feeder in response to the engine suspension.
A backup power supply management unit that determines the necessity of the backup power supply is provided .
The special electronic sensor is a sensor that performs warm-up processing that calculates initial data at startup and saves it in memory.
A work vehicle in which the backup power supply is stopped when the main key is turned off during the warm-up process . The work vehicle according to claim 1, wherein the initial data stored in the memory is stored for a predetermined time by the backup power supply after the main key is turned off. The work vehicle according to claim 1 or 2 , wherein when the engine temporary stop occurs during the warm-up process at the time of starting the engine, the warm-up process by the backup power supply is continued until the warm-up process is completed. An engine stop time estimation unit that estimates an expected engine stop time at which engine stop and basic power supply line cutoff will continue due to the main key being turned off or the engine pause is provided, and the backup power supply management unit is provided with the expected engine stop time. The work vehicle according to any one of claims 1 to 3 , which determines the necessity of backup power supply based on the above.

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