JP7398328B2 - work vehicle - Google Patents

Description

The present invention relates to a working vehicle such as a riding rice transplanter.

2. Description of the Related Art A work vehicle is known that includes an automatic steering control means that automatically steers a traveling body so as to travel along a plurality of parallel virtual lines arranged at equal intervals (see, for example, Patent Document 1). Such a work vehicle has the advantage of not only reducing the operational burden on the driver but also improving work accuracy.

Japanese Patent Application Publication No. 2017-123804

However, since the work vehicle of Patent Document 1 only performs automatic steering on parallel virtual lines in one direction, when work travel in two directions is required, the travel ratio by manual steering increases. There is a risk that the benefits of automatic steering may not be fully utilized.

The present invention has been created with the aim of solving these problems in view of the above-mentioned actual circumstances, and the invention of claim 1 is directed to a traveling aircraft and a predetermined direction based on learning travel of the traveling aircraft. a reference line calculation means for calculating a reference line, a predetermined direction virtual line calculation means for calculating a plurality of virtual lines in a predetermined direction that are parallel to the reference line and parallel at equal intervals, and detecting the position of the traveling aircraft. an aircraft position detection means; and an automatic steering control means that sets the virtual line in the predetermined direction near the current position of the traveling aircraft as a target line and automatically steers the traveling aircraft to travel along the target line. The work vehicle is provided with a work vehicle, which calculates a virtual line in an orthogonal direction along a direction orthogonal to the predetermined direction in response to a predetermined artificial switching operation, and switches a target line of the automatic steering control means to the virtual line in the orthogonal direction. The present invention is characterized in that it further includes target line switching means.
The invention according to claim 2 provides a traveling aircraft; a reference line calculating means for calculating a reference line in a predetermined direction based on learning travel of the traveling aircraft; and a plurality of predetermined lines parallel to the reference line and arranged at equal intervals. a predetermined direction virtual line calculation means for calculating a direction virtual line; an aircraft position detection means for detecting the position of the traveling aircraft; and a predetermined direction virtual line close to the current position of the traveling aircraft as a target line; automatic steering control means for automatically steering the traveling aircraft so as to travel along the same direction, and a direction change for determining that the traveling aircraft has changed direction in a direction perpendicular to the predetermined direction. determination means; and target line switching means for calculating an orthogonal virtual line in a direction perpendicular to the predetermined direction and switching the target line of the automatic steering control means to the orthogonal virtual line in accordance with the direction change determination. , further comprising:
The invention according to claim 3 is the work vehicle according to claim 2, further comprising a work resumption determining means for determining whether to restart work of the traveling body, and wherein the target line switching means determines whether the direction change and the work resumption are necessary. According to the determination, an orthogonal virtual line in a direction orthogonal to the predetermined direction is calculated, and the target line of the automatic steering control means is switched to the orthogonal virtual line.
The invention according to claim 4 is the work vehicle according to any one of claims 1 to 3, wherein the target line switching means is configured to switch between the virtual line in the predetermined direction and the virtual line in the predetermined direction when switching the target line of the automatic steering control. The present invention is characterized in that the virtual lines in the orthogonal directions are alternately switched.

According to the invention of claim 1, since the target line switching means is provided for switching the target line of the automatic steering control means to the orthogonal direction virtual line in response to a predetermined artificial switching operation, Automatic steering can also be applied during work driving. In addition, since a virtual line in an orthogonal direction along a direction orthogonal to the predetermined direction is calculated in response to a predetermined artificial switching operation, the range of application of automatic steering can be expanded even when the external shape data of the field cannot be obtained.
According to the invention of claim 2, since the target line switching means is provided for switching the target line of the automatic steering control means to the orthogonal direction virtual line in response to the direction change of the traveling aircraft, Automatic steering can also be applied during work driving. Further, since the target line of the automatic steering control means is switched to the orthogonal direction virtual line in accordance with the judgment of direction change, a manual switching operation is not required, and the operational burden on the operator can be further reduced. In addition, since a virtual line in an orthogonal direction along a direction orthogonal to a predetermined direction is calculated in accordance with the determination of a direction change, the range of application of automatic steering can be expanded even when external shape data of the field cannot be obtained.
According to the invention of claim 3, a virtual line in the orthogonal direction in a direction perpendicular to the predetermined direction is calculated and the target line of the automatic steering control means is switched to the virtual line in the orthogonal direction in accordance with the judgment to change direction and restart work. , it is possible to suppress erroneous switching of the target line and improve the reliability of automatic steering.
According to the invention of claim 4, when switching the target line of the automatic steering control, the predetermined direction traveling virtual line and the orthogonal direction virtual line are alternately switched, so that when traveling on a headland, etc., traveling in a circular manner around the four sides of a field, etc. Convenience can be improved.

FIG. 1 is a side view of a riding rice transplanter according to an embodiment of the present invention. It is a top view of a riding rice transplanter. FIG. 2 is a diagram showing an automatic steering unit, in which (A) is a perspective view of the automatic steering unit, and (B) is a front view showing an operation panel of the automatic steering unit. FIG. 2 is a block diagram showing the control configuration of the riding rice transplanter. FIG. 2 is an explanatory diagram showing a travel route from entry to the start of work. It is an explanatory diagram showing a running route from the start of work to exit, and is an explanatory diagram omitting planting position alignment. It is an explanatory diagram showing a driving route from the start of work to exit, and is an explanatory diagram including planting position alignment. It is a flowchart which shows the processing procedure of teaching travel control. 3 is a flowchart showing a processing procedure of automatic steering control. It is a flowchart which shows the processing procedure of orthogonal line creation/direction switching control (1st mode). It is a flowchart which shows the processing procedure of orthogonal line creation/direction switching control (2nd mode). It is a flowchart which shows the processing procedure of orthogonal line creation/direction switching control (3rd mode).

(work vehicle)
Embodiments of the present invention will be described below based on the drawings. In FIGS. 1 and 2, 1 is a traveling body of a riding rice transplanter P (work vehicle), and a planting work machine 3 is connected to the rear of the traveling body 1 via an elevating link mechanism 2 so as to be able to be raised and lowered. has been done.

The planting machine 3 includes a seedling platform 4 on which the mat seedlings are placed, and a planting mechanism 5 that scrapes the seedlings from the lower end of the seedling platform 4 and plants them in the field. The planting machine 3 of this embodiment has an 8-row planting specification that can simultaneously plant 8 rows of seedlings, and eight planting mechanisms 5 are arranged in parallel at predetermined intervals in the vehicle width direction. .

The traveling aircraft 1 includes an engine mounting section 6 in which an engine (not shown) is mounted, a transmission case 7 that changes the speed of engine power and outputs it as traveling power and working power, and is driven by the traveling power outputted by the mission case 7. and a front wheel 9 that is steered according to the operation of a steering handle 8, a rear wheel 10 that is driven by the driving power output from a transmission case 7, and a control section 11 on which an operator rides. Note that the traveling body 1 includes a pair of left and right marker devices 12 for drawing a target traveling line in the next stroke, but since they are not used in this embodiment, a detailed explanation will be omitted.

The control section 11 includes a driver's seat 13 on which a worker sits, the aforementioned steering handle 8 disposed in front of the driver's seat 13, a main shift lever 14 for shifting the traveling power and working power, and a main shift lever 14. It is provided with a sub-shift lever (not shown) for switching the speed range, and a work machine lift lever (not shown) that also serves as a lift operation tool for the planting work machine 3 and a planting clutch operation tool.

As shown in FIG. 3A, an automatic steering unit 15 is connected to the steering handle 8. The automatic steering unit 15 includes a steering motor 16 (see FIG. 4) that rotates the steering wheel 8 using motor power instead of manual operation of the steering wheel 8, and automatic steering control-related operating tools and monitor lamps, which will be described later. and an operation panel 17. Note that manual operation of the steering handle 8 is allowed even while the steering motor 16 is being driven.

As shown in FIG. 3B, the operation panel 17 includes a power switch 18 and a switch operation for switching the automatic steering control from an automatic steering off state in which automatic steering is not performed to an automatic steering on state in which automatic steering is performed. An automatic steering switch 19 that can switch from a steering on state to an automatic steering off state, a starting point A point registration switch 20 that registers a starting point A, which will be described later, and an ending point B registration switch, which registers an ending point B, which will be described later. 21, an orthogonal line creation/direction switch 22 that performs orthogonal line creation/direction switching, which will be described later, and a notification display section 23 that provides notification by lamp display. The notification display section 23 includes an overspeed notification lamp 23a that notifies you of overspeeding, a speed up OK notification lamp 23b that notifies you that speeding up is possible, and an on-target line notification that notifies you that you are traveling on the target line. A lamp 23c is included. Note that lamps 19a to 22a are arranged in parallel to each of the switches 19 to 24 to display their switching states.

Further, as shown in FIGS. 1 and 2, a positioning frame 25 having a square shape when viewed from the front is erected on the control unit 11. The positioning frame 25 includes a pair of left and right vertical frame parts 25a that extend upward, and a horizontal frame part 25b that connects the upper ends of the left and right vertical frame parts 25a. Two GNSS antennas 27 and 28, which are components of a positioning system 26 to be described later, are attached to the horizontal frame portion 25b, and a tablet 29 for displaying navigation, etc. is attached to either the left or right vertical frame 25a. ing.

(Positioning system and control unit)
As shown in FIG. 4, the traveling aircraft 1 includes a positioning system 26 (aircraft position detection means) and a control unit 30 as a control configuration for performing automatic steering control (automatic steering control means). As the positioning system 26, for example, an RTK-GNSS positioning system that can perform highly accurate positioning with an error of several centimeters is adopted. The RTK-GNSS positioning system performs GNSS positioning such as GPS at a fixed base station and a moving mobile station, and corrects the positioning data in real time using a correction signal sent from the base station to the mobile station. By doing so, highly accurate positioning with an error of several centimeters is achieved. In addition, by installing two GNSS antennas at a predetermined interval on a mobile station, not only the absolute position of the mobile station but also the direction of movement (azimuth) of the mobile station can be detected with high precision based on the two positioning results. It becomes possible to do so.

Specifically, as shown in FIG. 4, the positioning system 26 of this embodiment includes a GNSS unit 31, which is a control unit that executes RTK-GNSS positioning, and a horizontal frame portion 25b of the positioning frame 25, which has a vehicle width. It includes a reference GNSS antenna 27 and a direction GNSS antenna 28 that are installed at a predetermined interval in the direction, and a correction signal receiving device 33 that receives a correction signal from a fixedly installed RTK base station 32. The GNSS unit 31 transmits positioning data (absolute position data and traveling direction data) obtained by RTK-GNSS positioning to the control unit 30 via a wired communication means such as CAN, and also transmits positioning data (absolute position data and traveling direction data) through a wireless communication means such as Bluetooth (registered trademark). The data is sent to the tablet 29 via the .

The control unit 30 is a control unit that executes automatic steering control, and on the input side of the control unit 30, the above-mentioned automatic steering switch 19, start point A point registration switch 20, end point B point registration switch 21, and orthogonal line creation / In addition to the direction changeover switch 22, there is a main shift lever sensor 35 that detects the operating position of the main shift lever 14, an auxiliary shift lever sensor 36 that detects the operating position of the auxiliary shift lever, and a steering angle that detects the steering angle of the front wheels 9. A sensor 37, a vehicle speed sensor 38 that detects the vehicle speed of the traveling body 1, a rotation sensor 39 that detects rotation of the axle (traveling distance), and a planting clutch sensor 40 that detects engagement/disengagement of the planting clutch. On the other hand, on the output side of the control section 30, in addition to the aforementioned steering motor 16 and notification display section 23, a notification buzzer 41 that outputs notification sound is connected.

(Automatic steering control)
The automatic steering control is an automatic control function that automatically steers the traveling aircraft 1 so as to travel along virtual lines (LY1, LY2, . . . LYn) in a predetermined direction calculated in advance. As shown in FIG. 5, the virtual lines (LY1, LY2,...LYn) are created by operating the starting point A registration switch 20 at the starting point position of the reference line (LY0), which is the first planting process. When the positioning data is registered and the end point B registration switch 21 is operated at the end point position of the reference line (LY0) to register the positioning data of the end point B, it is automatically calculated by the teaching travel control described later. Specifically, a plurality of virtual lines (LY1, LY2, . . . LYn) parallel to the reference line (LY0) and arranged at equal intervals (working width intervals) are calculated.

In automatic steering control, the virtual line closest to the traveling aircraft 1 among the calculated virtual lines (LY1, LY2, ... LYn) is set as the target line, and the coordinate data of the target line and the positioning data of the traveling aircraft 1 by the positioning system 26 are used. Based on this, calculate the lateral deviation amount D and deviation direction θ of the traveling aircraft 1 with respect to the target line, calculate the corrected steering angle θs based on the lateral deviation amount D and the deviation direction θ, and use the corrected steering angle θs as the steering wheel. By outputting the power to the motor 16, the traveling body 1 is caused to travel along the target line.

When the traveling body 1 reaches the target end point position, the traveling body 1 is turned into a headland toward the starting point position of the next target line based on the operator's manual operation of the steering handle 8. When the traveling aircraft 1 reaches the starting point position of the next target line, automatic steering control is restarted manually or automatically, and the traveling aircraft 1 travels along the next target line.

As shown in FIGS. 6 and 7, in normal rice planting work, after planting along virtual lines (LY1, LY2,...LYn) in a predetermined direction (Y direction), the unplanted area remaining around them Planting will be carried out on the headland. Headland planting work consists of headland planting travel in a direction (X direction) orthogonal to the virtual line (LY1, LY2,...LYn) in a predetermined direction (Y direction), and virtual line planting in a predetermined direction (Y direction). Headland planting runs in the direction (Y direction) parallel to (LY1, LY2, ... LYn) occur alternately. Conventional automatic steering control can be applied to headland planting travel in a direction (Y direction) parallel to the virtual line (LY1, LY2, ... LYn) in a predetermined direction (Y direction), but It was difficult to apply this method to headland planting travel in a direction (X direction) perpendicular to the virtual line (LY1, LY2, ...LYn) of the direction (direction).

(Orthogonal line creation/direction switching control: 1st mode)
The automatic steering control of this embodiment is configured to orthogonal to virtual lines (LY1, LY2,...LYn) in a predetermined direction (Y direction) in accordance with the operation of the orthogonal line creation/direction changeover switch 22, which is a predetermined artificial switching operation. Orthogonal line creation/direction that calculates an orthogonal virtual line (LX) along the direction (X direction) and including the current aircraft position, and switches the automatic steering control target line to the orthogonal virtual line (LX) Equipped with a switching control function (target line switching means).

According to such a control function, the target line of automatic steering control can be switched to the virtual line (LX) in the orthogonal direction (X direction) in accordance with a predetermined artificial switching operation. ), automatic steering can be applied not only to work travel in the direction (X direction) but also to work travel in the orthogonal direction (X direction). In addition, since a virtual line (LX) along a direction (X direction) orthogonal to a predetermined direction (Y direction) is calculated in response to a predetermined artificial switching operation, automatic steering can be performed even when field outline data cannot be obtained. The scope of control can be expanded.

In addition, the orthogonal line creation/direction switching control function can alternately switch the virtual line in a predetermined direction (LY1, LY2,...LYn) and the virtual line in the orthogonal direction (LX) when switching the target line for automatic steering control. preferable. In this way, it is possible to improve convenience when traveling on a headland where the vehicle travels in a circular manner around the four sides of the field.

(Orthogonal line creation/direction switching control: 2nd mode)
In addition, the orthogonal line creation/direction switching control determines that the traveling aircraft 1 has changed direction in a direction (X direction) orthogonal to a predetermined direction (Y direction) (direction change determination means), and Accordingly, a virtual line (LX) in a direction (X direction) orthogonal to the predetermined direction (Y direction) may be calculated, and the target line for automatic steering control may be switched to the virtual line (LX) in the orthogonal direction.

According to such a control function, the target line of the automatic steering control is switched to the virtual line (LX) in the orthogonal direction in accordance with the judgment of the direction change of the traveling aircraft 1, thereby eliminating the need for a manual switching operation and reducing the work time. The operational burden on the operator can be further reduced.

In addition, the orthogonal line creation/direction switching control not only changes the direction of the traveling body 1, but also creates a line that is orthogonal to a predetermined direction (Y direction) according to the judgment of restarting work (planting clutch engagement) (work restart judgment means). A virtual line (LX) in the direction (X direction) may be calculated and the target line for automatic steering control may be switched to the virtual line (LX) in the orthogonal direction. In this way, it is possible to suppress erroneous switching of the target line and improve the reliability of automatic steering control.

(Orthogonal line creation/direction switching control: 3rd mode)
The above-mentioned orthogonal line creation/direction switching control in the first and second modes assumes a case where the external shape data of the field cannot be obtained in advance, but the orthogonal line creation/direction switching control in the third mode Acquire the external shape data in advance, calculate virtual lines (LY1..., LX1...) in at least two directions (Y direction and X direction) in advance based on this external shape data, and convert this into virtual line data. It is assumed that it will be stored as . Note that the two directions do not necessarily have to be orthogonal. Further, the virtual line data may include virtual lines in three or more directions.

To be more specific, the third mode of orthogonal line creation/direction switching control is based on the operation of the orthogonal line creation/direction changeover switch 22, which is a predetermined artificial switching operation, to create a virtual direction close to the current aircraft direction. A line (a pre-calculated virtual line in the Y direction or a virtual line in the X direction) is selected, and the target line for automatic steering control is switched to the selected virtual line. Even with such a control function, automatic steering control can be applied not only to one direction but also to at least two directions of work travel. In addition, in the third mode of orthogonal line creation/direction switching control, instead of the predetermined artificial switching operation, virtual line switching is performed according to the judgment of changing the direction of the traveling aircraft 1 or restarting work as in the second mode. You may also do so.

(Control unit processing procedure)
Next, the processing procedures of teaching travel control, automatic steering control, and orthogonal line creation/direction switching control (first mode to third mode) that realize the above control functions will be explained with reference to FIGS. 8 to 12. explain. Note that the orthogonal line creation/direction switching control mode can be arbitrarily switched based on a predetermined operation. Also. In flowcharts, lines are sometimes expressed as lines.

The control unit 30 executes teaching travel control when traveling on the reference line (LY0). As shown in FIG. 8, the control unit 30 that executes teaching travel control registers the positioning data of the starting point A according to the operation of the starting point A point registration switch 20 at the starting point position of the reference line (LY0) (S101 ), the positioning data of the end point B is registered in response to the operation of the end point B registration switch 21 at the end point position of the reference line (LY0) (S102). Next, the control unit 30 calculates the coordinates of the reference line (LY0) based on the positioning data of the starting point A and the positioning data of the ending point B (S103), and also calculates the coordinates of the reference line (LY0) through a predetermined interval. The coordinates of virtual lines (LY1, LY2, . . . LYn) in a parallel predetermined direction (Y direction) are calculated (S104).

As shown in FIG. 9, the control unit 30 that executes automatic steering control first sets any virtual line (LY1, LY2,...LYn) close to the current position as a target line (S201), and then executes a subroutine. Orthogonal line creation/direction switching control is executed (S202). After executing the subroutine, the control unit 30 determines whether the automatic steering is in the ON state (S203), and if the determination result is YES, the lateral deviation amount D of the traveling aircraft 1 with respect to the target line is less than or equal to the predetermined amount Dt. It is determined whether or not there is one (S204), and it is also determined whether the deviation direction θ of the traveling aircraft 1 with respect to the target line is less than or equal to a predetermined angle θt (S205).

If the determination results in steps S204 and S205 are both YES, the control unit 30 notifies that the traveling speed of the traveling aircraft 1 can be increased (S206). On the other hand, if the determination result in at least one of steps S204 and S205 is NO, the control unit 30 calculates the corrected steering angle θs based on the lateral deviation amount D and the deviation direction θ (S207), and calculates the corrected steering angle θs. At the same time as outputting to the steering motor 16 (S208), it is determined whether the current speed V is equal to or higher than a predetermined value Vt (S209), and if the result of this determination is YES, a warning of excessive speed is issued (S210). .

As shown in FIG. 10, the control unit 30 that executes orthogonal line creation/direction switching control (first mode) determines whether the current target line setting (direction of the virtual line to be the target line) is the Y direction. While determining this (S301), the operation of the orthogonal line creation/direction changeover switch 22 is determined (S302, S303). Regardless of the determination result in step S301, if the determination results in steps S302 and S303 are NO, the control unit 30 returns to the upper routine as is, but if the determination results in step S301 and step S302 are both YES, the control unit 30 creates a virtual line (LX) in the X direction based on the current position (S304), and switches the target line setting to the virtual line in the X direction (S305). Further, if the determination result in step S301 is NO and the determination result in step S302 is YES, the control unit 30 switches the target line setting to the Y-direction virtual line (S306).

As shown in FIG. 11, the control unit 30 that executes the orthogonal line creation/direction switching control (second mode) first determines the direction change of the traveling aircraft 1 (S401 to S404). Specifically, when the control unit 30 determines that the vehicle has traveled approximately in the Y direction for a predetermined distance or for a predetermined time (S401: YES), and has subsequently traveled approximately in the X direction for a predetermined distance or for a predetermined time (S402: YES) ), it is determined that the traveling body 1 has changed direction from the Y direction to the X direction, and on the other hand, travels approximately in the X direction for a predetermined distance or for a predetermined time (S403: YES), and then travels approximately in the Y direction for a predetermined distance or for a predetermined time. If it is determined that the vehicle has traveled (S404: YES), it is determined that the traveling aircraft 1 has changed direction from the X direction to the Y direction.

If the control unit 30 determines that the traveling body 1 has changed direction from the Y direction to the X direction, and determines to restart the work by engaging the planting clutch (S405: YES), the control unit 30 changes direction approximately in the X direction for a predetermined distance or a predetermined time. A virtual line (LX) in the X direction is created based on the traveling data (coordinates) of (S406), and the target line setting is switched to the virtual line in the X direction (S407).

Further, if the control unit 30 determines that the traveling body 1 has changed direction from the X direction to the Y direction, and determines to restart the work by engaging the planting clutch (S408: YES), the control unit 30 sets the target line in the Y direction. Switch to line (S409).

As shown in FIG. 12, the control unit 30 that executes the orthogonal line creation/direction switching control (third mode) determines whether or not the current target line setting is in the Y direction (S501). The operation of the creation/direction changeover switch 22 is determined (S502, S503). Regardless of the determination result in step S501, if the determination results in steps S502 and S503 are NO, the control unit 30 returns to the upper routine as is, but if the determination results in step S501 and step S502 are both YES, the control unit 30 returns to the upper routine. After confirming whether the current aircraft direction is closest to the X direction (S504: YES), the target line setting is switched to the X direction virtual line (S505). Further, if the determination result in step S501 is NO and the determination result in step S502 is YES, the control unit 30 checks whether the current aircraft direction is closest to the Y direction (S506: YES). , the target line setting is switched to the Y-direction virtual line (S507).

According to the present embodiment configured as described above, a reference line (LY0) in a predetermined direction is calculated based on the learning run of the traveling aircraft 1, and a plurality of lines parallel to the reference line (LY0) and arranged at equal intervals are calculated. A virtual line (LY1, LY2,...LYn) in a predetermined direction is calculated, a virtual line (LY1, LY2,...LYn) in a predetermined direction near the current position of the traveling aircraft 1 is set as a target line, and the vehicle travels along the target line. The riding rice transplanter P is equipped with an automatic steering control that automatically steers the traveling body 1 as shown in FIG. In response to the operation of the switch 22), an orthogonal virtual line (LX) along a direction orthogonal to the predetermined direction is calculated, and the target line for automatic steering control is switched to the orthogonal virtual line (LX), so that the automatic steering control can be performed only in the predetermined direction. Therefore, automatic steering control can be applied even when traveling in the orthogonal direction. In addition, in response to a predetermined artificial switching operation, a virtual line (LX) in the orthogonal direction is calculated along a direction orthogonal to the predetermined direction, so even when field outline data cannot be obtained, the scope of application of automatic steering control is expanded. be able to.

In addition, the second mode of orthogonal line creation/direction switching control determines that the traveling aircraft 1 has changed direction in a direction orthogonal to a predetermined direction, and based on the determination, an orthogonal direction virtual in a direction orthogonal to the predetermined direction is determined. The line (LX) is calculated and the target line for automatic steering control is switched to the orthogonal direction virtual line (LX), so automatic steering control can be applied not only to a predetermined direction but also to work travel in the orthogonal direction. Furthermore, since the target line for automatic steering control is switched to the orthogonal direction virtual line (LX) in accordance with the judgment of direction change, a manual switching operation is not required, and the operational burden on the operator can be further reduced.

In addition, the second mode of orthogonal line creation/direction switching control determines whether to restart work on the traveling aircraft 1, and creates an orthogonal virtual line (LX) in a direction orthogonal to a predetermined direction depending on the direction change and the determination to restart work. Since the target line for automatic steering control is switched to the orthogonal direction virtual line (LX), erroneous switching of the target line can be suppressed and the reliability of automatic steering control can be improved.

In addition, the orthogonal line creation/direction switching control alternately switches the predetermined direction virtual lines (LY1, LY2, ... LYn) and the orthogonal direction virtual line (LX) when switching the target line of the automatic steering control. It is possible to improve convenience when driving on a headland where the vehicle travels in a circumferential manner around the side.

P Riding rice transplanter 1 Traveling machine 3 Planting work machine 8 Steering handle 15 Automatic steering unit 22 Orthogonal line creation/direction changeover switch 26 Positioning system 30 Control unit 40 Planting clutch sensor

Claims (4)

A traveling aircraft,
a reference line calculation means for calculating a reference line in a predetermined direction based on a learning run of the traveling aircraft;
a predetermined direction virtual line calculating means for calculating a plurality of predetermined direction virtual lines that are parallel to the reference line and parallel at equal intervals;
Aircraft position detection means for detecting the position of the traveling aircraft;
A work vehicle, comprising an automatic steering control means that sets the virtual line in the predetermined direction near the current position of the traveling machine as a target line, and automatically steers the traveling machine to travel along the target line. ,
The vehicle further includes target line switching means for calculating an orthogonal virtual line along a direction perpendicular to the predetermined direction and switching the target line of the automatic steering control means to the orthogonal virtual line in response to a predetermined artificial switching operation. A work vehicle characterized by: A traveling aircraft,
a reference line calculation means for calculating a reference line in a predetermined direction based on a learning run of the traveling aircraft;
a predetermined direction virtual line calculating means for calculating a plurality of predetermined direction virtual lines that are parallel to the reference line and parallel at equal intervals;
Aircraft position detection means for detecting the position of the traveling aircraft;
A work vehicle, comprising an automatic steering control means that sets the virtual line in the predetermined direction near the current position of the traveling machine as a target line, and automatically steers the traveling machine to travel along the target line. ,
direction change determination means for determining that the traveling aircraft has changed direction in a direction perpendicular to the predetermined direction;
The vehicle further includes target line switching means for calculating an orthogonal virtual line in a direction perpendicular to the predetermined direction and switching the target line of the automatic steering control means to the orthogonal virtual line in response to the determination of the direction change. A work vehicle characterized by: further comprising a work restart determination means for determining whether to restart work on the traveling aircraft,
The target line switching means calculates a virtual line in an orthogonal direction in a direction perpendicular to the predetermined direction, and changes the target line of the automatic steering control means to the virtual line in the orthogonal direction, in accordance with the judgment of the direction change and the resumption of work. The work vehicle according to claim 2, characterized in that the work vehicle is switched to: 4. The target line switching means, when switching the target line of the automatic steering control, alternately switches the predetermined direction virtual line and the orthogonal direction virtual line. work vehicle.

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