JP7300411B2 - autopilot - Google Patents

Description

The present invention relates to an automatic steering device for automatically steering a rice transplanter.

For example, when a rice transplanter is used to plant seedlings in a single field, the tractor is already used to plow the seedlings (tillage). may be affected.

Conventionally, in order to deal with such problems, the past travel route traveled by the traveling machine body of the work machine is acquired, and along the travel route set based on the past travel route, another work machine or the same work machine is used. There has been proposed an automatic steering device for automatically driving a vehicle (see Patent Document 1).

JP 2019-4816 A

However, the automatic steering device described in Patent Document 1 is a technique of setting the traveling route of the rice transplanter based on the past traveling route of the traveling body of the tractor that has traveled in the past in the field. Therefore, if the travel route of the set field is undulating, there is a risk that the traveling machine will meander or get stuck in a rut, and the straight running stability of the rice transplanter during automatic travel will be compromised. I had a problem with the drop.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an automatic steering system capable of improving the straight running stability of a rice transplanter during automatic travel.

The present invention relates to an automatic steering device (41) that automatically steers a second work including traveling in a field by a rice transplanter (1), which is performed after a first work including traveling in a field by a tractor (30),
a control unit (48) for controlling automatic steering of the second work; posture change information of the tractor (30) and the tractor (30) in the field linked to the posture change information when performing the first work; 30) and a storage unit (49) for storing the position of
When the rice transplanter (1) travels, the control unit (48) controls the movement of the traveling body (4) of the rice transplanter (1) based on the attitude change information when the traveling body (4) of the rice transplanter (1) approaches the position in the field. correcting the steering angle of the rice transplanter (1);
An automatic steering device (41) characterized by:

For example, referring to FIG. 4, the attitude change information includes the amount of change in the pitch angle detected during travel of the tractor (30), and the control unit (48) controls the movement of the rice transplanter (1). During running, the correction amount of the steering angle is increased or decreased according to the amount of change in the pitch angle.

Further, for example, referring to FIG. 4, the attitude change information includes the amount of change in the roll angle detected when the tractor (30) travels. ), the correction amount of the steering angle is increased or decreased according to the amount of change in the roll angle.

The reference numerals in parentheses are for comparison with the drawings, but they do not affect the description of the claims.

According to the invention according to claim 1, when the tractor performs the first work such as plowing, the posture change information of the tractor and the position information of the tractor linked thereto are acquired in advance, and then the rice transplanter moves the seedlings. When the second work such as the planting work is performed, the steering angle during automatic steering of the rice transplanter is corrected using the posture change information of the tractor. The corresponding appropriate angle is quickly corrected, and the straight running stability of the rice transplanter during automatic running can be improved.

According to the second aspect of the invention, the posture change information includes the amount of change in the pitch angle detected during travel of the tractor, and the correction amount of the steering angle is increased or decreased according to the amount of change in the pitch angle during travel of the rice transplanter. Therefore, it is possible to prevent the traveling machine body from meandering due to the influence of pitching.

According to the third aspect of the invention, the posture change information includes the amount of change in the roll angle detected during travel of the tractor, and the correction amount of the steering angle is increased or decreased according to the amount of change in the roll angle during travel of the rice transplanter. Therefore, it is possible to prevent the traveling machine body from meandering due to rolling.

BRIEF DESCRIPTION OF THE DRAWINGS The side view of the rice transplanter with which this invention is applied. A side view of the tractor. 1 is a block diagram of an automatic steering system according to an embodiment of the present invention; FIG. FIG. 2 is a block diagram of an automatic steering device provided on the tractor; 4 is a flowchart showing steering angle correction control in automatic straight control of a rice transplanter. 4 is a flowchart showing rut position determination control; 4 is a flowchart showing rut approach control;

FIG. 1 is a side view of a rice transplanter 1. This rice transplanter 1 includes a traveling body 4 having a pair of left and right front wheels 2 and rear wheels 3, and a lifting link 5 behind the traveling body 4 that can be raised and lowered. and a working machine 6 connected to the The traveling machine body 4 includes a machine body frame 7 supported by the front wheels 2 and the rear wheels 3, a bonnet 8 that covers the upper surface side of an engine (not shown) installed on the front side of the machine body frame 7, and a worker to sit on. and a driver's seat 9 for maneuvering and the like. The engine drives the front wheels 2 and the rear wheels 3 through a transmission mechanism (not shown) and supplies driving force to the work implement 6 through a PTO shaft (not shown).

A steering handle 10 is arranged in front of the driver's seat 9. When the operator manually turns the steering handle 10, the steering shaft steers the front wheels 2 via a full hydraulic power steering unit (not shown). It's like Further, a gear shift lever 11 is arranged near the steering handle 10, and the gear shift lever 11 allows the transmission to be operated forward and backward from the neutral position.

A support frame 12 is provided in the front part of the traveling machine body 4, and the support frame 12 supports a stand 13 for the preliminary seedlings. A GNSS receiver 14 as a positional information acquisition device is attached to the center of the upper end of the support frame 12 . The GNSS receiver 14 can acquire position information on the earth at predetermined intervals by acquiring GNSS (Global Navigation Satellite System) coordinates with a receiving antenna at regular intervals. The rice transplanter 1 is equipped with an automatic steering device 40 (see FIG. 3) that automatically travels along a target work route, in addition to manual steering in which a worker turns the steering handle 10 to travel.

FIG. 2 is a side view of a tractor 30, which is a work vehicle different from the rice transplanter 1. The tractor 30 includes a traveling machine body 22 having a pair of left and right front wheels 20 and rear wheels 21, and a and a working machine 24 that is connected via a lifting link 23 so as to be able to be lifted. The traveling body 22 includes a body frame 25 supported by the front wheels 20 and the rear wheels 21, a bonnet 26 that covers the upper surface side of an engine (not shown) installed on the front side of the body frame 25, and the hood 26. It has a configuration including a cabin 28 which is installed at the rear and provided with a driver's seat 27 in which a worker (operator) gets in and operates the machine. The engine drives front wheels 20 and rear wheels 21 through a transmission mechanism (not shown), and supplies driving force to a work implement 24 through a PTO shaft (not shown).

Although not shown, in front of the driver's seat 27 in the cabin 28, a steering handle, a forward/backward switching lever, and an elevating lever for operating the elevating operation of the working machine 24 are arranged. When the steering handle is turned by operation, the steering shaft steers the front wheels 20 via a full hydraulic power steering unit.

A GNSS receiver 29 is attached to the top surface of the cabin 28, and like the GNSS receiver 14 of the rice transplanter 1 described above, this GNSS receiver 29 acquires GNSS coordinates at regular intervals with a receiving antenna. By doing so, position information on the earth can be acquired at predetermined intervals. The tractor 30 is equipped with an automatic steering device 60 (see FIG. 4) that allows the tractor to travel automatically along a target work route, in addition to being manually steered by a worker turning a steering handle.

FIG. 3 is a block diagram of an automatic steering device 40 provided in the rice transplanter 1. As shown in FIG. As shown in FIG. 3, the automatic steering device 40 includes a GNSS receiver 14 for acquiring position information and posture information of the rice transplanter 1, a target work route of the rice transplanter 1, and a steering amount for guiding the target work route. and a steering unit 42 for steering the front wheels 2 so as to match the steering amount calculated by the tablet terminal 41 .

The GNSS receiver 14 includes a GNSS antenna 43 that captures radio waves emitted from the GNSS satellites, a GNSS receiver 44 that receives signals emitted from the satellites captured by the GNSS antenna 43 and demodulates them to restore information, Inertial measurement device 45 that detects the attitude of the aircraft from 3-axis gyro and 3-direction accelerometer, antenna built-in short-range radio 46 that exchanges information with tablet terminal 41, and electronic control unit (ECU). ) and a 7-segment display 57 made up of 7-segment LEDs.

The tablet terminal 41 as an automatic steering device is a thin and light computer having a touch panel liquid crystal display, and includes a control unit 48 for controlling automatic steering of the rice transplanter 1, a storage unit 49, and a short-range wireless device 50 with a built-in antenna. etc. The short-range wireless device 50 on the tablet terminal 41 side and the short-range wireless device 46 on the GNSS receiver 14 side are paired in advance so that they can be automatically connected from the next time. The tablet terminal 41 can be used by being installed in the control section in front of the driver's seat 9 in the rice transplanter 1, but it can also be used by removing it from the rice transplanter 1 as necessary.

The steering unit 42 includes a steering unit ECU 51 configured by an electronic control unit, an operation switch 52, an LED lamp 53, a stepping motor 54, a steering angle sensor 55, a transmission section 56 configured by a gear, a belt, and the like. It has As described above, when the steering wheel 10 is manually turned, the steering shaft steers the front wheels 2 via the full hydraulic power steering unit. The stepping motor 54 rotates in forward and reverse directions based on commands from the steering unit ECU 51 to rotate the steering shaft via the transmission section 56, thereby automatically steering the front wheels 2 in the same manner as in manual operation.

FIG. 4 is a block diagram of the automatic steering device 60 provided in the tractor 30. As shown in FIG. As shown in FIG. 4, the automatic steering device 60 includes a GNSS receiver 29 that acquires position information and attitude information of the tractor 30, a target work route of the tractor 30, and a steering amount for guiding the target work route. and a steering unit 62 for steering the front wheels 20 so as to match the steering amount calculated by the tablet terminal 61 .

The GNSS receiver 29 includes a GNSS antenna 63 that captures radio waves emitted from GNSS satellites, a GNSS receiver 64 that receives signals emitted from the satellites captured by the GNSS antenna 63 and demodulates them to restore information, and a tractor. An inertial measurement device 65 that detects the posture of 30 from a 3-axis gyro and a 3-direction accelerometer, a short-range radio 66 with a built-in antenna that exchanges information with the tablet terminal 61, and an electronic control unit (ECU). ) and a 7-segment display 68 made up of 7-segment LEDs.

The tablet terminal 61 is a thin and light computer having a touch panel type liquid crystal display, and a program for controlling automatic steering of the tractor 30 is installed. The tablet terminal 61 incorporates a short-range wireless device 69 with a built-in antenna. After that, it is configured to automatically connect. Further, the tablet terminal 41 on the side of the rice transplanter 1 and the tablet terminal 61 on the side of the tractor 30 can transmit and receive information via the short-range wireless devices 50 and 69 of each other.

The steering unit 62 includes a steering unit ECU 70 configured by an electronic control unit, an operation switch 71, an LED lamp 72, a stepping motor 73, a steering angle sensor 74, and a transmission section 75 configured by gears, belts, and the like. I have. As described above, when the steering wheel is turned manually, the steering shaft steers the front wheels 20 via the full hydraulic power steering unit, but when automatic steering control is initiated, the steering unit 62 is stepped. The motor 73 rotates in forward and reverse directions based on a command from the steering unit ECU 70 to rotate the steering shaft via the transmission section 75, thereby automatically steering the front wheels 20 in the same manner as in manual operation.

Next, the straight automatic steering control when the rice transplanter 1 performs work such as planting seedlings (second work) will be described. In this case, the tablet terminal 41 of the rice transplanter 1 is linked with posture change information of the tractor 30 during travel when the tractor 30 previously performed work such as puddling work (first work) in the same field. Get location information. Then, the tablet terminal 41 of the rice transplanter 1 corrects the steering angle of the rice transplanter 1 on the basis of the attitude change information of the tractor 30 when the rice transplanter 1 executes the automatic straight steering.

That is, the automatic steering device 60 on the tractor 30 side includes the GNSS receiver 29 for detecting positional information during travel, and an inertial measurement system comprising a 3-axis gyro and a 3-directional accelerometer for detecting the attitude of the tractor 30 during travel. Since the device 65 is provided, while the tractor 30 travels along a predetermined work route set in the field, the attitude change information of the tractor 30 (the amount of change in pitch angle, the amount of roll angle change, and the change in yaw angle amount) and map information (the position of the tractor 30 in the field) linked to the attitude change information. The information thus acquired is transmitted from the tablet terminal 61 on the tractor 30 side to the tablet terminal 41 on the rice transplanter 1 side via the short-range wireless devices 50 and 69, and is stored in the storage unit 49 of the tablet terminal 41 provided in the rice transplanter 1. stored in The above information may be directly stored in the storage unit 49 of the rice transplanter 1 by running the tractor 30 with the tablet terminal 41 of the rice transplanter 1 attached to the tractor 30 .

After the tractor 30 finishes traveling in the field and the above information is stored in the storage unit 49 of the automatic steering device 40, the automatic steering device 40 executes the automatic steering processing of the rice transplanter 1, thereby causing the tractor 30 to travel. Automatically travels along the same work route as the route. When the rice transplanter 1 travels, the control unit 48 of the tablet terminal 41 adjusts the steering angle of the front wheels 2 to an appropriate angle corresponding to the undulations of the field based on the attitude change information of the tractor 30 stored in the storage unit 49. Correction control of the steering angle is performed so that That is, since the posture change information and the position information during traveling of the tractor 30 are linked, when the traveling machine body 4 reaches a predetermined position in the field during the automatic steering of the rice transplanter 1, the control unit 48 determines the position of the tractor 30. Correction operation of the steering angle of the rice transplanter 1 is performed based on the posture change information of the tractor 30 linked to the . The correction control of the steering angle by the controller 48 will be described in detail below with reference to the flow charts shown in FIGS. 5 to 7. FIG.

As shown in FIG. 5, the controller 48 of the rice transplanter 1 first acquires the past work locus of the work vehicle (step S1). The work trajectory of the past work vehicle may be the work trajectory that the rice transplanter 1 and other work vehicles have previously passed. will be described using the work trajectory of . Also, a case where the straight trajectory in the first work by the tractor 30 and the straight trajectory in the second work by the rice transplanter 1 are parallel will be described as an example.

Next, the control unit 48 calculates the past wheel trajectory of the work vehicle (tractor 30) from the past work trajectory of the work vehicle (tractor 30) and the width of the left and right wheels of the past work vehicle (tractor 30). (Step S2). Then, the control unit 48 calculates the current work locus and wheel locus of the working vehicle (rice transplanter 1) (steps S3 and S4). The width of the left and right wheels of the tractor 30 and that of the rice transplanter 1 are not necessarily the same. Further, the control unit 48 of the tablet terminal 41 on the rice transplanter 1 side receives information about the work locus of the tractor 30 and the width of the left and right wheels from the tablet terminal 61 on the tractor 30 side via the short-range wireless devices 50 and 69. receive.

Next, the control unit 48 calculates a rut position (hereinafter simply referred to as a rut position) where the wheel trajectories of the past work vehicle (tractor 30) and the current work vehicle (rice transplanter 1) contact (step S5). , rut position determination control, which will be described later, is executed (step S6). Then, the control unit 48 determines whether or not the automatic steering has ended (step S7). If the automatic steering has not ended (step S7: NO), the process returns to step S6, and if the automatic steering has ended ( Step S7: YES), the process ends. The termination of the automatic steering is performed by operating the tablet terminal 41, for example.

Next, rut position determination control will be described with reference to FIG. As shown in FIG. 6, the control unit 48 of the rice transplanter 1 first acquires the current position of the work vehicle (rice transplanter 1) (step S11). Next, the control unit 48 determines whether or not the current position and the rut position contact each other, that is, whether or not the traveling body 4 of the rice transplanter 1 approaches the rut position when the rice transplanter 1 travels (step S12). ).

If the current position and the rut position do not contact each other (step S12: NO), the process returns to the beginning. If it is determined that the current position and the rut position contact each other (step S12: YES), the control unit 48 determines whether or not the past (tractor 30) and current (rice transplanter 1) wheel trajectories match in the same direction. (step S13). For example, at the rut position, the wheel trajectory of the tractor 30 is made when going from south to north, and the wheel trajectory of the rice transplanter 1 is also made when going from south to north.

When it is determined that the past (tractor 30) and current (rice transplanter 1) wheel trajectories match in the same direction (step S13: YES), the control unit 48 sets the wheels of the wheel trajectories at the rut position to the same side wheels. It is determined whether or not (step S14). That is, when the wheel trajectories of the tractor 30 and the rice transplanter 1 at the rut position are both due to the wheels on the right side, or when the wheel trajectories of the tractor 30 and the rice transplanter 1 at the rut position are due to the wheels on the left side. , are determined to be the same side wheels.

If it is determined that the wheels on the wheel trajectory at the rut position are both wheels on the same side (step S14: YES), the control unit 48 executes rut approach control (step S15) to start the process. back to When it is determined that the wheels on the wheel trajectory at the rut position are not the same side wheels (step S14: NO), the control unit 48 performs the rut approach control after inverting the left-right direction of parameters for the rut approach control, which will be described later. is executed (steps S16 and S17). Then, the control unit 48 restores the parameters (step S18) and returns the processing to the beginning.

On the other hand, if it is determined in step S13 that the past (tractor 30) and current (rice transplanter 1) wheel trajectories do not match in the same direction (step S13: NO), the control unit 48 performs rut approach control, which will be described later. The front-rear direction of the parameter is reversed (step S19). In step S13, the case where the past (tractor 30) and present (rice transplanter 1) wheel trajectories do not match in the same direction is, for example, the wheel trajectory of the tractor 30 at the rut position when going from south to north. , and the wheel trajectory of the rice transplanter 1 is the one that can be formed when going from north to south.

Next, the control unit 48 determines whether the wheels on the wheel trajectory at the rut position are both wheels on the same side (step S20). That is, when the wheel trajectories of the tractor 30 and the rice transplanter 1 at the rut position are both due to the wheels on the right side, or when the wheel trajectories of the tractor 30 and the rice transplanter 1 at the rut position are due to the wheels on the left side. , are determined to be the same side wheels.

Then, when it is determined that the wheels on the wheel trajectory at the rut position are both wheels on the same side (step S20: YES), the control unit 48 executes rut approach control (step S21), which will be described later. (step S22), the process is returned to the beginning. If it is determined that the wheels on the wheel trajectory at the rut position are not the same side wheels (step S20: NO), the control unit 48 performs the rut approach control after reversing the left-right direction of parameters for the rut approach control, which will be described later. is executed (steps S23, S24). Then, the control unit 48 restores the parameters (step S25) and returns the process to the beginning.

Next, the rut approach control in steps S15, S17, S21 and S24 of FIG. 6 will be described in detail with reference to FIG. In the rut approach control, the steering unit ECU 51 is controlled to correct the steering angle of the front wheels 2 when the rice transplanter 1 performs automatic straight steering for the second work.

When the rut approach control is executed, the controller 48 of the rice transplanter 1 increases the steering amount by a predetermined amount (for example, 20%) as shown in FIG. 7 (step S31). This is to prevent the front wheels 2 and the rear wheels 3 of the rice transplanter 1 from falling into ruts due to the wheel trajectory of the tractor 30 and thus making the steering ineffective. In addition to increasing the steering amount, it is also possible to adopt measures such as relaxing the angle limit of the maximum steering angle set during automatic steering, increasing the integral control gain, and the like.

Next, the control unit 48 determines whether or not there is a change in the pitch angle at the rut position among the posture change information detected by the inertial measurement device 65 of the tractor 30 (step S32). If it is determined that the pitch angle does not change at the rut position (step S32: NO), the process proceeds to step S36. If it is determined that there is a change in the pitch angle at the rut position (step S32: YES), the control unit 48 determines whether or not the change in the pitch angle indicates the forward leaning posture of the tractor 30 (step S33).

If it is determined that the change in the pitch angle indicates the forward tilting posture of the tractor 30 (step S33: YES), the control unit 48 decreases the steering correction amount by a predetermined amount (for example, 20%), and then The process proceeds to step S36 (step S34). Further, when the change in pitch angle does not indicate the forward tilting posture of the tractor 30 but indicates the backward tilting posture (step S33: NO), the steering correction amount is increased by a predetermined amount (for example, 20%). After that, the process proceeds to step S36 (step S35).

That is, when the past (tractor 30) and current (rice transplanter 1) wheel trajectories match in the same direction as in the rut approach control executed in step S15 of FIG. In a field environment in which the rice planter 1 is tilted, it is assumed that the rice transplanter 1 is also tilted forward. For this reason, in places where it is assumed that pitching will apply a load to the front wheels, the commanded steering angle of the rice transplanter 1 is lowered more than usual to prevent meandering due to excessive rudder control. In a place where it is estimated that a heavy load will be applied, the instructed steering angle of the rice transplanter 1 is raised more than usual to prevent the rudder from becoming difficult to work.

Next, the control unit 48 determines whether or not there is a change in the roll angle at the rut position among the posture change information detected by the inertial measurement device 65 of the tractor 30 (step S36). If it is determined that the roll angle does not change at the rut position (step S36: NO), the process proceeds to step S40. If it is determined that there is a change in the roll angle at the rut position (step S36: YES), the controller 48 determines whether or not the change in the roll angle indicates the left tilted attitude of the tractor 30 (step S37).

If it is determined that the change in the roll angle indicates the left tilting posture of the tractor 30 (step S37: YES), the control unit 48 reduces the leftward steering correction amount by a predetermined amount (for example, 20%). After that, the process moves to step S40 (step S38). If the change in the roll angle does not indicate the left tilted posture of the tractor 30 but the right tilted posture (step S37: NO), the correction amount to the right side of the steering is decreased by a predetermined amount (for example, 20%). After that, the process moves to step S40 (step S39).

That is, as in the rut approach control executed in step S15 of FIG. In the field environment where the tractor 30 is tilted to the left, it is assumed that the rice transplanter 1 is also tilted to the left and tends to be swept to the left. In places where it is assumed that a load will be applied to one wheel due to rolling, the commanded steering angle is reduced according to the direction in which the load is assumed to be applied, thereby preventing the machine from drifting left or right. .

Next, the control unit 48 determines whether or not there is a change in the yaw angle at the rut position among the posture change information detected by the inertial measurement device 65 of the tractor 30 (step S40). If it is determined that the yaw angle does not change at the rut position (step S40: NO), the process proceeds to step S44. If it is determined that there is a change in the yaw angle at the rut position (step S40: YES), the control unit 48 determines whether the change in the yaw angle indicates left turning of the tractor 30 (step S41). ).

If it is determined that the change in the yaw angle indicates left turning of the tractor 30 (step S41: YES), the controller 48 increases the correction amount of the steering to the right by a predetermined amount (for example, 20%). After that, the process moves to step S44 (step S42). Further, when the change in yaw angle indicates a right turn rather than a left turn of the tractor 30 (step S41: NO), the correction amount to the left side of the steering is increased by a predetermined amount (for example, 20%). After that, the process proceeds to step S44 (step S43).

That is, when the past (tractor 30) and current (rice transplanter 1) wheel trajectories match in the same direction as in the rut approach control executed in step S15 of FIG. In a field environment in which the rice planter 1 turns left, it is presumed that the rice transplanter 1 also tends to turn left. Therefore, by increasing the instructed steering angle of the rice transplanter 1 on the side opposite to the turning direction of the tractor 30 at the rut position, the straight running stability of the rice transplanter 1 can be improved.

Next, the control unit 48 determines whether or not the corrected steering angle is greater than or equal to a predetermined angle (eg, 10 degrees) (step S44). If the corrected steering angle does not exceed 10 degrees (step S44: NO), the steering angle is controlled with that correction amount, and the process returns to the start. If the corrected steering angle is 10 degrees or more (step S44: YES), the controller 48 limits the steering angle to 10 degrees and then returns to the start (step S45).

That is, if the corrected steering angle is too large, the straight running performance may deteriorate and the vehicle may meander. However, once the running wheels enter the rut, they cannot escape unless the steering angle is large, so the limit angle may be increased or decreased according to the steering amount.

Note that step S19 in FIG. 6 means that, in the rut approach control of steps S21 and S24, the increase in the correction amount in steps S35 and S36 is reversed to decrease, and the decrease is reversed to increase. In addition, step S19 in FIG. 6 means that in the rut approach control of steps S21 and S24, the left side of the correction amount in steps S42 and S43 is reversed to the right side, and the right side is reversed to the left side. This is because when the past (tractor 30) and current (rice transplanter 1) wheel trajectories are in opposite directions (step S13: NO), the tractor 30 is tilted forward at the rut position. , the rice transplanter 1 is presumed to be in a backward tilting posture, and in a field environment in which the tractor 30 is in a left turning state, the rice transplanter 1 is presumed to be in a right turning state.

Steps S16 and S23 in FIG. 6 mean that in the rut approach control of steps S17 and S24, the right side of the correction amount in steps S38 and S39 is reversed to the left side, and the left side is reversed to the right side. If the wheels of the past (tractor 30) and current (rice transplanter 1) wheel trajectories at the rut position are not the same side wheels (steps S14, S20: NO), the left side of the tractor 30 at the rut position This is because the rice transplanter 1 is presumed to take a right-side tilting posture in an agricultural field environment in which the tilting posture is assumed.

As described above, in the automatic steering device 40 according to the present embodiment, when the tractor 30 performs the first work such as puddling, the posture change information of the tractor 30 and the position information of the tractor 30 linked thereto, that is, After acquiring the work trajectory of the tractor 30, when the rice transplanter 1 performs the second work such as seedling planting work, the steering angle during automatic steering of the rice transplanter 1 is determined using the attitude change information of the tractor 30. is corrected, the steering angle is quickly corrected to an appropriate angle corresponding to the undulations of the field when the rice transplanter 1 travels, and the straight running stability of the rice transplanter 1 during automatic travel can be improved. In particular, the rice transplanter 1 according to the present embodiment does not detect the attitude change information (pitch, roll, yaw) of the rice transplanter 1 itself when the rice transplanter 1 approaches the rut position formed by the tractor 30. Since the attitude change information of the tractor 30 is used, the time for detecting the attitude change information is not required when the rice transplanter 1 is running, and the steering angle is quickly corrected to an appropriate angle corresponding to the undulations of the field when the rice transplanter 1 is running. , the straight running stability of the rice transplanter 1 during automatic running can be improved.

Further, when the attitude change information includes the amount of change in the pitch angle detected when the tractor 30 is running, the steering amount is set higher than usual in a place where a load is assumed to be applied to the front wheels 2 of the traveling body 4 of the rice transplanter 1. On the other hand, at a place where the rear wheel 3 of the running body 4 is expected to be loaded with a load, the steering amount is increased more than usual, thereby suppressing the meandering of the running body 4 due to the influence of pitching.

Further, when the posture change information includes the amount of change in the roll angle detected during travel of the tractor 30, the amount of steering to the left is adjusted at a place where the left wheel of the traveling body 4 of the rice transplanter 1 is assumed to be loaded. Conversely, by lowering the amount of steering to the right at a place where the right wheel of the traveling body 4 is expected to receive a load, it is possible to prevent the traveling body 4 from meandering under the influence of rolling.

Further, when the attitude change information includes the amount of change in the yaw angle detected when the tractor 30 is traveling, the amount of steering to the right is increased more than usual in a place where the rice transplanter 1 is assumed to turn left, On the contrary, at a place where the rice transplanter 1 is expected to turn to the right, it is possible to prevent the running body 4 from meandering under the influence of yawing by increasing the steering amount to the left side more than usual.

It goes without saying that the present invention is not limited to the above embodiments, and any modifications and additions can be made without departing from the scope of the claims. For example, in the above embodiment, straight automatic steering in which the rice transplanter 1 travels along a straight path parallel to the tractor 30 has been described. The automatic steering system of the present invention can also be applied to

1 rice transplanter 4 running body 30 tractor 41 tablet terminal (automatic steering device)
48 control unit 49 storage unit

Claims (3)

In an automatic steering device that automatically steers a second work including traveling in a field by a rice transplanter, which is performed after a first work including traveling in a field by a tractor,
A control unit that controls automatic steering for the second work, and a memory that stores posture change information of the tractor and a position of the tractor in the field linked to the posture change information when the first work is performed. and
When the rice transplanter travels, the control unit corrects the steering angle of the rice transplanter based on the attitude change information when the traveling body of the rice transplanter approaches the position in the field.
An automatic steering device characterized by: The attitude change information includes an amount of change in pitch angle detected when the tractor travels,
The control unit increases or decreases the correction amount of the steering angle according to the amount of change in the pitch angle when the rice transplanter travels.
2. The automatic steering system according to claim 1, wherein: The attitude change information includes an amount of change in the roll angle detected when the tractor travels,
The control unit increases or decreases the correction amount of the steering angle according to the amount of change in the roll angle when the rice transplanter travels.
3. An automatic steering system according to claim 1 or 2, characterized in that:

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