JP7446114B2 - work vehicle - Google Patents

Description

The present invention relates to a work vehicle that works in a straight line in a field and turns and works in a reciprocating manner on a headland near a ridge, and particularly relates to a control device suitable for application to a rice transplanter.

Conventionally, a rice transplanter is equipped with a GPS device, which detects the position of the rice transplanter, autonomously travels in a straight line to perform one step of planting work, and then automatically turns at the headland to start the next operation. A control device that guides the user to the position has been proposed (Patent Document 1). Teaching work is performed to set a reference line for planting work, and the GPS position when the teaching switch is pressed becomes the starting point, and the end point is memorized by pressing the teaching switch at the end of teaching. A line connecting the planting start point and end point is set as a reference line, an intersection perpendicular to the reference line is set as the planting start position or planting end position, and a line parallel to the reference line is set as the target route. Ru.

When the rice transplanter reaches the end point, the operator operates the autonomous operation SW in a direction corresponding to the turning direction, and the rice transplanter automatically turns in the desired direction and stops when it reaches the next planting start position. After being lowered through the planting section by the operator, the plant continues to autonomously travel along the target route (Patent Document 1).

In addition, a work vehicle has been proposed that detects the position of the traveling machine, connects the ends of a plurality of work travel lines to obtain a turning line, and performs automatic turning control along the turning line (Patent Document 2).

JP2008-92818A Japanese Patent Application Publication No. 2018-117558

The turning control in Patent Document 1 is performed by the operator operating a dedicated autonomous operation SW, by selecting the left and right directions for each stroke, or by making a single selection and then alternating left and right directions. Therefore, due to operator error or work delay, the accuracy of the automatic turning start point is not good, and because the operator takes his hands off the steering wheel, there is a risk of rear-end collision with a ridge. In addition, since the autonomous operation switch dedicated to automatic turning is operated, operation is cumbersome.

Furthermore, the turning control disclosed in Patent Document 2 includes turning control that generates and acquires a turning line and further causes the aircraft to travel along the turning line, making the control overall complex.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a work vehicle that solves the above-mentioned problems with relatively simple turning control.

The present invention provides a traveling aircraft body supported by a traveling device;
a steering unit that steers the traveling aircraft;
a control unit that controls the steering unit;
The control unit includes:
a reference orientation setting process of setting a reference orientation by the traveling aircraft traveling in a first direction;
straight route setting processing that sets a plurality of straight routes parallel to the reference direction;
headland setting processing of setting a virtual line parallel to the second direction passing near a side end of the traveling aircraft by traveling the traveling aircraft in a second direction intersecting the first direction; ,
straight-line control that controls the steering unit so that the traveling aircraft travels along any one of the plurality of straight-line routes;
During the execution of the straight-line control along a first straight-line route among the plurality of straight-line routes, the headland setting process is performed by the traveling aircraft before the straight-line control along the first straight-line route. The steering control is started by the control unit while restricting the automatic start of the straight-line control along the first straight-line route in the middle of a turn. A turning control in which the traveling aircraft is caused to travel in a turning direction toward a second straight path adjacent to the first straight path by maintaining the steering angle at a constant steering angle;
Allowing the start of the straight-ahead control along the second straight-ahead route based on a predetermined trigger during turning between the first straight-ahead route and the second straight-ahead route; start the straight-line control along the second straight-line route when the distance between the traveling aircraft and the second straight-line route in the second direction becomes equal to or less than a predetermined value; Starting the straight-line control along the second straight-line route even if the distance between the traveling aircraft and the second straight-line route in the second direction becomes equal to or less than the predetermined value in a state where the start of the straight-line route is not permitted. and the predetermined trigger is that the traveling aircraft has turned by a predetermined angle or more from the turning start position at which the turning control was started from the first straight path to the second straight path, and the turning start At least one of the following: the traveling aircraft has traveled a predetermined distance or more from the position, and the angle of the traveling aircraft with respect to the first direction has become a predetermined angle or more during the turning movement. The work vehicle is characterized by:

The present invention also provides a traveling aircraft body supported by a traveling device;
a steering unit that steers the traveling aircraft;
a storage unit that stores map data including headland areas;
a control unit that controls the steering unit;
The control unit includes:
a reference orientation setting process of setting a reference orientation by the traveling aircraft traveling in a first direction;
straight route setting processing that sets a plurality of straight routes parallel to the reference direction;
straight-line control that controls the steering unit so that the traveling aircraft travels along any one of the plurality of straight-line routes;
During execution of the straight-line control along the first straight-line route among the plurality of straight-line routes, the traveling aircraft starts when the traveling aircraft reaches the headland area stored in the storage unit, and during the turn The controller maintains the steering unit at a constant steering angle while preventing the straight-line control from automatically starting along the first straight-line route, thereby causing the traveling aircraft to travel in the first straight line. It is possible to execute a turning control for causing the vehicle to turn and travel toward a second straight route adjacent to the route,
Allowing the start of the straight-ahead control along the second straight-ahead route based on a predetermined trigger during turning between the first straight-ahead route and the second straight-ahead route; the straight-line control along the second straight-line route when at least the distance between the traveling aircraft and the second straight-line route in a second direction intersecting the first direction becomes equal to or less than a predetermined value; is started, and even if the distance in the second direction between the traveling aircraft and the second straight-ahead route becomes less than or equal to the predetermined value in a state where the start of the straight-ahead control is not permitted, the second straight-ahead route is not allowed. The turning control is continued without starting the straight-ahead control, and the predetermined trigger is such that the traveling aircraft moves at a predetermined angle or more from the turning start position at which the turning control is started from the first straight-ahead route to the second straight-ahead route. The traveling aircraft has traveled a predetermined distance or more from the turning start position, and the angle of the traveling aircraft with respect to the first direction has become a predetermined angle or more during the turning. A work vehicle is characterized in that it is one of :

According to the present invention according to claim 1, turning control is performed when a set virtual line (headland) is reached by traveling along a second direction that intersects with a first direction serving as a reference direction. Therefore, the swing control can be performed with high precision through simple and hassle-free operations that do not require operator operation at the start of the swing control.

Furthermore, turning control is performed using a simple control that maintains the steering angle at a predetermined angle and requires less processing load, and the straight-line control routine performs aircraft positioning with the straight-line path of the next stroke at the end of the turning control, which requires more complicated processing. Automatic driving can be controlled without using turning control, which is a heavy burden.

In addition, since the straight-line control is resumed along the straight-line path of the next process based on a predetermined trigger during turning, it suppresses the wandering of the traveling aircraft after the turning is completed, and allows a series of automatic operations to proceed smoothly without malfunction. can be controlled.

According to the present invention according to claim 2, since the turning control is started upon reaching the headland area stored in the storage unit, the operation is simple and hassle-free and does not require an operator's operation at the time of starting the turning control. This allows turning control to be performed with high precision.

Furthermore, turning control is performed using a simple control that maintains the steering angle at a predetermined angle and requires less processing load, and the straight-line control routine performs aircraft positioning with the straight-line path of the next stroke at the end of the turning control, which requires more complicated processing. Automatic driving can be controlled without using turning control, which is a heavy burden.

In addition, since the straight-line control is resumed along the straight-line path of the next process based on a predetermined trigger during turning, it suppresses the wandering of the traveling aircraft after the turning is completed, and allows a series of automatic operations to proceed smoothly without malfunction. can be controlled.

FIG. 1 is a plan view showing a rice transplanter to which the present invention can be applied. Its side view. FIG. 3 is a block diagram showing the control portion thereof. FIG. 3 is a flow diagram showing teaching travel control. Flowchart showing automatic turning control. Flowchart showing automatic turning control. Flowchart showing automatic turning control. Flowchart showing automatic turning control. Flowchart showing automatic turning control. Flowchart showing automatic turning control. (A) is a flowchart showing a field outline data calculation flow, and (B) is a flowchart showing automatic turning control. It is a flowchart which shows automatic turning notification control, (A) and (B) show different embodiments. FIG. 3 is a flow diagram showing automatic steering control. The operation panel is shown, (A) is a true perspective view, and (B) is a partially enlarged front view. FIG. 3 shows a partially changed operation panel, with (A) being a true perspective view and (B) being a partially enlarged front view. A plan view showing a field scene of automatic steering. An enlarged view of the headland. It is a diagram showing warning notification in a field scene, and (A), (B), and (C) show different situations.

Embodiments of the present invention will be described below along with the drawings. As shown in FIGS. 1 and 2, a riding-type rice transplanter 1 as a working vehicle has a traveling body 5 supported by front wheels 2 and rear wheels 3 as traveling devices, and a rear part of the traveling body 5 has a A planting machine 7 is supported via an elevating link mechanism 6 so as to be movable up and down. An engine covered by a bonnet 9 is mounted on the front part of the traveling body 5, and spare seedling stands 10 are arranged on both left and right sides of the engine. The power of the engine is transmitted to the rear wheels 3 via a rear axle case (not shown) disposed between the rear wheels 3, and is transmitted to the planting machine 7 via a planting clutch (not shown). When the planting clutch operates, the power from the engine transmitted to the planting work machine 7 is connected/disconnected. The rear part of the traveling body 5 is a driver's seat 11, and a seat 12 on which an operator can sit is arranged in the driver's seat, and in front of it are a steering handle 13, a main gear shift lever 15, an auxiliary gear shift lever 16, and a working machine. An operating lever 17, various switches, a display panel, etc. are arranged. The steering handle 13 is connected to the front wheels 2 by a steering device 4 arranged at the bottom of the traveling body 5. The front wheels 2 are steered according to the steering angle of the steering handle 13 by an operator's steering operation of the steering handle 13. Note that the steering handle 13 and the steering device 4 constitute a steering section S that steers the traveling aircraft 5 in this embodiment.

The traveling body 5 has two stays 19 extending upwardly on the left and right in front of the driver's seat 11, and two GPS receivers are mounted on a horizontal bar 20 connecting the upper portions of the stays in the width direction. 21, 21 are arranged at equal intervals from the center of the machine body, and these two GPS receivers 21 can detect the position of the rice transplanter 1, and can also detect a straight line orthogonal to the straight line connecting the two receivers. Assuming that the direction is the front-rear direction, the current forward direction of the traveling aircraft 5 can be specified depending on whether the left or right receiver is located on the left or right side with respect to the front-rear direction.

In front of the driver's seat 11, as shown in FIG. 14, an operation panel 23 is arranged, and the operation panel has an AB point input section 25 having a start point A point registration switch 25a and an end point B point registration switch 25b. and an automatic steering mode selection section 26 having an automatic steering switch 26d that switches ON and OFF states for both automatic straight ahead and automatic turning, and the operating state of the switch, overspeeding, speeding up OK, above the target line, etc. , lamps that display the status of the traveling aircraft 5 during automatic straight-ahead travel and automatic turning travel are arranged, and each lamp lights up and displays when each switch is in the on state.

In addition, as a partially modified embodiment, as shown in FIG. 15, the operation panel 23 includes an A-B point input section 25, overspeed, speed up OK, outside each ramp on the target line, automatic straight forward movement. an automatic steering mode selection section 26 having an automatic straight-ahead switch 26a that switches between an ON state and an OFF state, and a full steering switch 26b that switches between an ON state and an OFF state of both automatic straight-ahead and automatic turning; It has an ON/OFF switch 27 that can select automatic turning and automatic turning to the right.

As shown in FIG. 3, the traveling aircraft 5 is provided with a GNSS (Global Positioning System) unit 30 and a control unit 31 as a control section, and these GNSS unit 30 and control unit 31 are communicated by CAN. There is. The GNSS unit 30 receives reference (position) information (21a) and direction (advance direction) information (21b) from the GPS receiver 21, and receives each information from the tablet (mobile terminal, navigation software) 32. Also, information from the RIK base station (correction information output device) 33 is input via the correction signal receiving device 35, and the information from the GPS receiver 21 is corrected. Note that the tablet 32 may constitute the control unit in this embodiment, the GNSS unit 30, the control unit 31, and the tablet 32 may constitute the control unit in this embodiment, or the control unit in the present embodiment may be constituted by the tablet 32. Various configurations are possible.

The control unit 31 has a CPU 31a, and a ROM 31b and a RAM 31c as storage units. Perform various calculations. The control unit 31 includes a start point A point registration switch 25a, an end point B point registration switch 25b, an automatic straight ahead switch 26a, a full steering switch (automatic straight ahead, automatic turning) 26b, and a start point A point registration switch 25a, an end point B point registration switch 25b, an automatic straight ahead switch 26b, and a full steering switch (automatic straight ahead, automatic turn) 26b, which accept input operations and respond to input operations. Automatic left turn start switch 22a and automatic right turn start switch 22b as operating means (automatic turn operation means) for outputting signals, work equipment operating cam potentiometer 24, lift angle potentiometer 28, and planting clutch connection sensor 29. A signal is input, a shift signal is input from the main shift lever 15, a auxiliary shift signal is input from the auxiliary shift lever 16, a forward/reverse signal is input, a turning angle signal from the steering angle sensor 38 from the steering handle 13 is input, and a signal from the vehicle speed sensor 36 is input. A vehicle speed signal and a travel distance signal of the traveling aircraft 5 from a rotation sensor 37 serving as a measuring means for measuring travel distance are input.

The work implement operating cam potentiometer 24 detects the rotational position of a work implement operating cam (not shown) that rotates to open and close a hydraulic control valve (not shown). The work implement operating cam has rotational positions including a raised position, a fixed position, a lowered position, and a planting position, and each rotational position is detected by the work implement operation cam potentiometer 24. When the hydraulic control valve is opened and closed according to each rotational position of the work machine operating cam, the planting work machine 7 (see FIG. 2) moves up and down.

When the work equipment operation cam is located at the raised position, the planting work equipment 7 is in the raised state where it moves up to the upper limit height, and when the work equipment operation cam is located at the fixed position, the planting work equipment 7 is raised to the upper limit height. 7 is in a fixed state where the lifting operation is stopped and a desired height is maintained, and when the work equipment operating cam is in the lowered position, the planting work equipment 7 is in a fixed state where the float 8 (see Fig. 2) is in contact with the ground. It will be in a descending state where it will move downward until it reaches. In addition, while the float 8 is in contact with the ground, the planting machine 7 automatically moves up and down by opening and closing the hydraulic control valve based on changes in the attitude and height of the float 8 as it follows the field. The planting depth will be automatically raised and lowered to maintain a constant planting depth. Further, the lifting height of the planting machine 7 is detected by the lift angle potentiometer 28 shown in FIG. 3 based on the angle of the lifting link mechanism 6 (see FIG. 2). The planting clutch connection sensor 29 detects the on/off (connection, disconnection) of the planting clutch.

Further, an automatic steering signal for automatically steering (automatically controlling) the steering wheel 13 is output from the control unit 31 to the steering motor 39, and also to the notification buzzer 40 and the notification display section 41. Note that the steering motor may be configured to directly rotate the steering handle, or may be configured to operate other parts of the steering section.

The teaching travel control executed by the control unit 31 will be explained along FIGS. 4 and 16. The rice transplanter 1 enters the field from a predetermined location and aligns the planting center position of the rice transplanter 1 with point A marked in advance on the field. Alternatively, the rice transplanter 1 is moved backward from the position where its rear surface is in contact with the ridge, and the point A is set as the point when the rice transplanter 1 has traveled a distance equivalent to two (or one) planting turns. The rice transplanter 1 aligns the planting center position with the above-mentioned point A, and aligns the advancing direction so as to be parallel to the lateral ridges so as to face the previously marked point B. In this state, the operator presses the start point A point registration switch 25a to register point A (S1), and starts a teaching run (in which the operator travels in one direction (Y direction in FIG. 16) while performing planting work. Start the standard run. When the central planting position of the rice transplanter 1 reaches point B, the operator looks at it and presses the end point B registration switch 25b to register point B (S2). Further, the planting distance Dw is stored in the control unit 31 in advance, the planting travel distance of the rice transplanter 1 is measured by the rotation sensor 37, and the position where the planting travel distance reaches the planting distance Dw is the end point B. Alternatively, the operator may press the B point registration switch 25b.

Then, a reference line (virtual line) Lk0 is calculated (set) as a reference direction (Y direction) that is a reference direction (direction) when performing planting work from the registered point A to point B. S3). Further, in parallel to the reference line Lk0, the planting width is calculated to create travel target lines (virtual lines) Lk1 (first straight route), Lk2 (second straight route), Lk3, . . . , Lkn are calculated (set) (S4). Note that the process in step S3 for setting the reference orientation constitutes the reference orientation setting process in this embodiment, and the process in step S4 for setting a plurality of straight routes constitutes the straight route setting process in this embodiment. do.

Next, automatic turning control will be explained with reference to FIGS. 5 and 16 to 18. In the rice transplanter 1, both automatic straight movement and automatic turning are in the ON state. That is, on the operation panel 23 shown in FIG. 14, the automatic straight-ahead switch 26a is operated, and on the operation panel shown in FIG. 15, the mode selection full steering switch 26b is operated to turn on both automatic straight-ahead and automatic turning. (Full autopilot mode). Therefore, automatic straight-ahead is in the ON state (S7; YES), and automatic turning notification control is entered (S9). In the ON state of automatic straight travel, the steering motor 39 is controlled by the control unit 31 so that the steering wheel is turned so that the traveling aircraft 5 travels straight along the travel target line (straight travel route, Lk1, Lk2, . . . , Lkn). 13 is executed.

The planting work progresses while the traveling body 5 travels straight under the straight-line control, and when the rice transplanter 1 approaches the automatic turning position corresponding to the B position by a predetermined distance, the automatic turning notification control is activated. The automatic turning notification control, for example, as shown in FIG. 18(A), notifies that "the turning start point will be reached soon." The automatic turning notification allows the operator to know in advance when the automatic turning will start, thereby increasing convenience. In the automatic turning notification control, the position of the traveling aircraft 5 is set to point A or B, which is stored during teaching driving, as the automatic turning start position, and the point where the planting clutch was turned on and off in the previous operation (where the seedlings were not planted). (the starting point, the point at which seedling planting ended), the point where the work machine started to rise before turning, the point where the work machine touched the ground after turning, and approached the virtual line X1 perpendicular to the reference line Lk0 to a predetermined distance. It is judged whether or not it has been achieved.

Then, the operator pays close attention to the turning start point of the rice transplanter 1 based on the notification, and controls the control unit according to the planting start point in the previous process corresponding to point B of the reference line Lk0 or based on the planting distance Dw. 31, the steering wheel 13 is steered in the turning direction. When the steering angle sensor 38 detects the steering of the steering wheel 13 by a predetermined angle θ0 or more toward the straight path of the adjacent next process (S10; YES), it is set as the turning start position (automatic turning ON), and the turning flag is set. It is set and the notification is activated (S11). In this state, since the automatic steering mode is set to full by the full steering switch 26b (S12; YES), the automatic straight-ahead ON restriction state is established. The automatic straight-ahead ON restriction state is a state in which straight-ahead control is not executed even in the automatic straight-ahead ON state.

In addition, in step S10, the control unit 31 may detect a turning of the traveling aircraft 5 by a predetermined angle θk0 or more using a gyro sensor or the like instead of detecting the steering of the steering handle 13 by a predetermined angle θk0 or more, or by using GNSS An angular difference of a predetermined value or more between the traveling direction of the traveling aircraft 5 calculated by the unit 30 and the reference line Lk0 may be detected, or an operator's operation of the automatic left turn start switch 22a or the automatic right turn start switch 22b may be detected. Alternatively, an operation by an operator on an operation means such as a touch panel (not shown) may be detected. The steering handle 13 is steered to the left when the automatic left turn start switch 22a is pressed (input operation), and to the right when the automatic right turn start switch 22b is pressed (input operation). Thereby, the turning direction can be set reliably without the operator directly operating the steering handle 13. In addition, the automatic left turn start switch and automatic right turn start switch are not limited to button-type switches that are operated by pressing, but may also be toggle switches, rocker switches, rotary switches, etc., and output signals to the control unit by input operations by the operator. Good if possible.

In the automatic turning ON state and the automatic straight-ahead ON regulation state, the control unit 31 controls the steering motor 39 to perform turning control in which the steering angle of the steering wheel 13 is maintained fixed at a constant steering angle (predetermined turning angle). (S13). While the control unit 31 is executing the turning control, the traveling body 5 turns toward the straight path of the next process. In addition, the control unit may control the steering device 4 so that the steering angle of the front wheels 2 is maintained fixed in the turning control. Furthermore, in this embodiment, the traveling body 5 is supported by the front wheels 2 and rear wheels 3 as traveling devices, but the invention is not limited thereto. For example, the traveling device may be a full crawler or a half crawler. Further, the steering device may be an operating section such as a lever for operating the crawler or a differential device, and in such a case, the steering angle in the present application refers to the difference in rotation between the left and right crawlers or the amount of operation of the operating section. refers to

In the headland M1 (headland area, see FIG. 16), when the rice transplanter 1 is in the middle of turning, the steering handle 13 is at a predetermined turning angle and there is no steering beyond the predetermined angle θ0 (S10; NO), the turning flag is determined and the turning flag is set (S14; set), so the aircraft angle with respect to the straight forward direction (reference line Lk0) from the turning start position is a predetermined angle θ1 (for example, 90 degrees, FIG. 17 (See) It is determined whether the vehicle has turned more than this (S15). If the aircraft is in the middle of the turn and the predetermined angle θ1 is less than the predetermined angle θ1 (S15; NO), the automatic straight-ahead ON restriction state is continued, and the traveling aircraft 5 rotates the steering handle 13 at a predetermined turning angle (in this embodiment, the minimum turning radius is obtained). Turning continues at the same angle (turning angle) (S16).

When the turning angle of the above-mentioned machine body with respect to the straight-line direction becomes a predetermined angle θ1 (for example, 90°) or more, and the position of the traveling machine body 5 becomes closer to the straight-line route of the next process than the straight-line route of the previous process (S15; YES) , the automatic straight-ahead ON permission state is entered, and a notification is activated (S17). When the turning of the rice transplanter 1 exceeds halfway, it is assumed that the recognition of the straight path in the straight-ahead control has shifted to the straight-ahead path of the next stroke, and an automatic straight-ahead ON permission state is entered in which switching from turning control to straight-ahead control is permitted. In this way, since the start of straight-line control along the straight-line route of the next process is allowed based on a predetermined trigger during turning, the control unit 31 starts straight-line control along the straight-line route of the previous process. This makes it possible to prevent this from happening.

When the aircraft angle with respect to the straight forward direction from the turning start position turns at a predetermined angle θ2 (for example, 160 degrees, see FIG. 17) or more, in other words, the angle between the reference line Lk0 (or the traveling target line Lk2) and the traveling direction of the traveling aircraft 5. When the (azimuth difference) reaches a predetermined angle θ2 or more (S19; YES), the turning flag is reset and a warning is issued to warn that the vehicle is fast because the rows are aligned at low speed (S20). For example, as shown in FIG. 18(B), a message "Exceeding speed, please reduce speed" is issued, and the turning control is ended (S21). In addition, instead of executing the processing of steps S19 and S20, the control unit determines whether the angle (azimuth difference) between the traveling target line Lk3, which is the straight route for the next step, and the traveling direction of the traveling aircraft is less than or equal to a predetermined angle. If the angle is determined to be less than or equal to a predetermined angle, the turning flag may be reset and the notification may be activated. In this way, the turning control is switched to the straight-ahead control while the traveling aircraft 5 is turning before the 180° turn is completed.

Note that when the automatic straight-ahead switch in the ON/OFF switch 27 in FIG. 15 is pressed and operated in the automatic straight-ahead ON permission state in step S15, the automatic straight-ahead control is artificially changed from the turning control to the straight-ahead control before switching to the automatic straight-ahead control described above. You can switch to

Next, partially modified automatic turning control will be explained. The automatic turning control shown in FIG. 6 is partially different from the automatic turning control shown in FIG. 5 described above in steps S15 and S19, and the other steps are the same. explain. Since turning has started in step S13, the turning flag in step S14 is in a set state. The rice transplanter 1 travels a predetermined distance from the turning start position corresponding to the middle of the turning run, for example, a predetermined distance Lm1 (Fig. 17)) (S15-2; YES), the automatic straight-ahead ON permission state is entered and an alarm is activated (S17), and it is determined whether the vehicle has traveled a predetermined distance Lm2 (see FIG. 17) or more from the turning start position (S19). -2). The predetermined distance Lm2 is a distance at which the traveling aircraft 5 turns approximately 90 degrees, and if YES in step S19-2, the turning flag is reset (S20) and the turning control is ended (S21). .

Similarly, the automatic turning control shown in FIG. 7 is different in steps S15 and S19, and the other steps are the same, so the explanation will focus on the changed parts. In step S14, when the turning flag is in the set state, the traveling direction (traveling direction) of the traveling body 5 is the first predetermined direction, for example, the azimuth difference (angular difference) between the traveling direction of the traveling body 5 and the reference line Lk0. It is determined whether or not is a predetermined angle. Specifically, the angle of the traveling direction of the traveling machine body 5 with respect to the reference line Lk0 (virtual planting line) reaches 90 degrees, and the position of the traveling machine body 5 is closer to the straight route of the next process than the straight route of the previous process. It is determined whether the position has been reached (S15-3). If YES in step S15-3, that is, if the aircraft is in the first predetermined direction, automatic straight-ahead is allowed to turn on (S17), and the aircraft continues to turn, so that the aircraft's traveling direction is in the second predetermined direction. It is determined whether the angle is in a predetermined direction, that is, close to 180 degrees (S19-3). When the traveling direction of the aircraft reaches the second angle (S19-3; YES), the turning flag is reset (S20), and the turning control is ended (step S21).

The automatic turning control shown in FIG. 8 differs only in step S15, and the other steps are the same as the automatic turning control shown in FIG. 5. When the turning flag is in the set state (S14; set), it is determined whether the target line is the line where the planting work has already been completed or the next line to be planted (S15-4). That is, the distance in the orthogonal direction If the distance in the orthogonal direction to Lk2) shown in FIG. . In this way, the control unit 31 determines that the distance in the orthogonal direction between the traveling body 5 and the straight path (for example, Lk3) of the next process is the distance in the orthogonal direction between the traveling body 5 and the straight path (for example, Lk2) of the previous process. Based on the following, turning control may be ended and straight-ahead control may be started. Note that the control unit performs the turning based on the fact that the distance in the orthogonal direction between the traveling aircraft and the straight path of the next process is less than or equal to a predetermined distance, which is independent of the orthogonal distance between the traveling aircraft and the straight path of the previous process. The control may be ended and straight-ahead control may be started.

In the automatic turning control described above, it is determined in step S10 whether the steering wheel is operated by a predetermined angle θ0 or more. The turning angle of the traveling aircraft may be detected based on the speed of the aircraft 5, and it may be determined whether the turning angle is being operated by a predetermined angle or more.

The automatic turning control shown in FIG. 9 differs only in step S10, and the other steps are the same as the automatic turning control shown in FIG. 5. The automatic turning notification control (S9) gives a notification, and the rice transplanter 1 moves to the work event point stored in the ROM 31b or RAM 31c, for example, the start point A of the turn, the end point B of the turn stored in the teaching run, the teaching run or the automatic straight-ahead route. The point at which the planting clutch is turned on and off during the first working run during automatic straight-ahead driving along a teaching drive or the first working run during automatic straight-ahead driving along an automatic straight-ahead route (the point at which planting of seedlings starts or ends). A virtual line that passes through the point where the planting work machine 7 touched the ground or the point where the planting work machine 7 started rising during the first work run during teaching travel or automatic straight ahead travel along the automatic straight route, and is orthogonal to the reference line Lk0. It is determined whether the line X1 (X2, see FIG. 16) has been reached (S10-5).

The position of the rice transplanter 1 when determining whether or not the rice transplanter 1 has reached the work event point may be based on the planting position of the planting machine (the position where planting is performed), or the position of the rice transplanter 1 on the rear axle case The position may be used as a reference, or other parts of the traveling machine body or the working machine may be used as a reference. Further, the start of grounding or rising of the planting machine 7 may be detected by the work machine operation cam potentiometer 24 (see FIG. 3) or by the lift angle potentiometer 28 (see FIG. 3). When the rice transplanter 1 reaches the work event point (S10-5; YES), it is set as a turning start position (automatic turning ON), a turning flag is set, and a notification is activated (S11).

The automatic turning control shown in FIG. 10 differs only in step S10, and the other steps are the same as the automatic turning control shown in FIG. 5. A notification is given by the automatic turning notification control (S9), and it is determined whether the travel distance of the rice transplanter 1 after the planting clutch is connected has reached a predetermined distance (S10-6). When the travel distance of the rice transplanter 1 after the planting clutch is connected reaches a predetermined distance (S10-6; YES), the turning start position (automatic turning ON) is set, the turning flag is set, and an alarm is activated. (S11).

Further, it may be configured such that field outline data is calculated based on traveling around the outer circumference of the field or acquisition of field map data, and automatic turning is performed based on this field outline data. FIG. 11(A) is a field outline data calculation flow for calculating field outline data, and FIG. 11(B) is a flow of automatic turning control for performing automatic turning based on the field outline data. The automatic turning control shown in FIG. 11(B) differs only in step S10, and the other steps are the same as the automatic turning control shown in FIG. 5.

When the operator calculates the field contour data by running around the outer circumference of the field, the operator first performs a teaching run in which the rice transplanter 1 runs along the outer circumference of the field. At this time, in addition to traveling in the Y direction (first direction, see FIG. 16) to register points A and B, the operator also travels in the X direction (second direction, see FIG. 16) that intersects the Y direction. Run towards. The control unit 31 acquires the position of the traveling body 5 calculated by the GNSS unit 30 when the rice transplanter 1 travels in the X direction (S51), and the position of the traveling body 5 at this time and the control unit 31 in advance are acquired. The headland M1 and the work area W1 are calculated from the horizontal width of the planting machine 7 stored in (S52). Specifically, in the process of S52, the control unit 31 controls the side of the planting machine 7 when the rice transplanter 1 travels in the X direction along the outer circumference (when the control unit 31 executes the process of S51). Virtual lines X1 and X2, which are lines that pass through the end (near the side end of the traveling body 5) and are parallel to the X direction, and are the boundary line between the headland M1 and the work area W1, are calculated and stored. Note that the process of step S51 executed when the rice transplanter 1 (traveling body 5) travels in the X direction constitutes the headland setting process in this embodiment. After calculating the headland M1 and work area W1, the control unit 31 calculates a planned work route (S53) and determines work event points (work start point, work end point, turning start point, turning end point, etc.). Calculate (S54).

Further, the control unit 31 may calculate the headland M1 and the work area W1 based on field map data (map data) input from the tablet 32, for example. In this case, it becomes possible to omit the step of moving the rice transplanter 1 in the X direction along the outer periphery of the field. Note that the rice transplanter 1 may be configured such that the calculation results in the field contour data calculation flow are not only stored in the control unit 31 but also stored in an external device such as the tablet 32.

In the automatic turning control shown in FIG. 11(B), the automatic turning notification control (S9) notifies the rice transplanter 1 whether the rice transplanter 1 has reached the turning start point calculated in step S54, that is, the planting work machine 7 It is determined whether the planting position has reached the virtual line X1 or the virtual line X2 (S10-7). When the rice transplanter 1 reaches the turning start point (S10-7; YES), it is set as the turning start position (automatic turning ON), a turning flag is set, and a notification is activated (S11).

Next, the automatic turning notification control shown in step S9 will be explained with reference to FIG. In FIG. 12(A), the work event points stored in the ROM 31b and RAM 31c, for example, the turning start point A and the turning end point B stored in the teaching drive, and the planting clutch being turned on and off during the first work run along the automatic straight-ahead route. The line passes through the point where the work equipment touched the ground during the first work run along the automatic straight-ahead route, and the point where the work equipment started to ascend, to the virtual line X1 (X2, see Figure 16) that is perpendicular to the reference line Lk0. It is determined whether the vehicle has approached to a predetermined distance (S25). If step S25 is YES, notifications such as display and sound are made (S26).

In FIG. 12(B), it is determined whether the vehicle has traveled a predetermined distance since the planting clutch was engaged (S27), and if YES in step S27, a notification is made (S26).

Next, automatic steering control will be explained along FIG. 13. The automatic steering (straight ahead) control detects and sets the line closest to the current rice transplanter 1 as the target line from the travel target line (virtual line) calculated by the teaching travel control (S30). The automatic turning control described above is executed (S31), and it is determined whether automatic straight-ahead ON is permitted (S32). Here, if the automatic straight-ahead ON restriction state is in effect (S32; NO), for example, if the position of the traveling aircraft 5 is closer to the straight-ahead path of the previous process than the straight-ahead path of the next process, if the automatic steering switch 26d or the full steering switch Even if 26b is operated, automatic straight-ahead travel is not started, so automatic straight-ahead travel is prevented from starting along the straight-ahead route of the previous step. If automatic straight-ahead driving is allowed (S32; YES), it is determined whether automatic straight-ahead driving is actually ON (S33). When the automatic straight-ahead is not in the ON state, that is, when the automatic straight-ahead is in the OFF state (S33; NO), it is determined whether the lateral deviation from the driving target line is within a predetermined value Dauto (S35), and whether the directional deviation from the driving target line is a predetermined value. It is determined whether the current speed V is within a predetermined value Vauto (S37). If these steps S35, S36, and S37 are all within predetermined values, the automatic turning is turned off, the turning control is ended, and the automatic straight-ahead is turned on, and a notification based on this is activated (S39). If the lateral deviation from the running target line is within the predetermined value Dtole (S40; YES) and the directional deviation from the running target line is within the predetermined value θtole (S41; YES), the speed Notify that the upload is OK (S46). Thereby, the operator operates the speed-up operation to increase the speed of the rice transplanter 1.

If NO in step S40 or S41, that is, if the traveling aircraft 5 is deviating sideways or in a direction, a corrected steering angle θs is calculated accordingly, and the corrected steering angle θs is output to the steering motor 39 to correct the deviation of the aircraft. (S42). As described above, in the present embodiment, the steering unit S is controlled so that the traveling aircraft 5 travels along any one of the plurality of straight routes through the processes of step S40, step S41, and step S42. A straight-line control is configured. Furthermore, if the current speed V is greater than or equal to the predetermined value Vtole (S43; YES), a warning of excessive speed is issued (S45).

As explained above, the rice transplanter 1 according to the present embodiment starts the swing control, which is a simple control with a small processing burden, based on the operator's operation, and starts the swing control based on a predetermined trigger during the execution of the swing control. After finishing the control, straight-line control along the straight-line route of the next step is started. As a result, while preventing contact with the ridges, the rice transplanter 1 can autonomously turn on the headland through simple control with a small processing burden, and the traveling machine 5 can move toward the straight path for the next process before the turning is completed. It becomes possible to adjust the route. This makes it possible to suppress wobbling (overshoot) caused by straight-line control after the start of planting, and improve the workability of planting. In addition, the recognition of the straight-line route closest to the aircraft allows the transition to straight-line control by detecting the aircraft state that would have definitely shifted to the straight-line route of the next stroke, so compared to the conventional straight-line control routine. It is also easy to add a turning control routine without making any major modifications.

In addition, in the embodiment described above, the operation angle of the steering handle 13 and the steering handle angle with respect to the straight-ahead direction (reference line Lk0) are detected, but the present invention is not limited to this, and the turning of the aircraft operated by the steering handle is detected. Good too.

In the embodiment described above, the control unit 31 also controls the azimuth difference between the traveling direction of the traveling body 5 and the straight path of the next process, the orthogonal direction between the traveling body 5 and the straight path of the next process, during turning travel. A predetermined value according to conditions such as the distance, the azimuth difference between the traveling direction of the traveling aircraft 5 at the start of turning control and the traveling direction of the traveling aircraft 5 during turning, and the traveling distance of the traveling aircraft 5 from the start of turning control. Based on the trigger, the turning control is ended and the straight-line control along the straight-line route of the next step is started, but the present invention is not limited thereto. The control unit may end the turning control and start the straight-line control along the straight-line path of the next process based on the other triggers mentioned above, such as the operator's switch operation or the distance to the turn end position. , if more than one of the above conditions are satisfied, the turning control may be terminated and the straight-line control along the straight path of the next step may be started, or if at least one of the above-mentioned conditions is satisfied. If one of the conditions is satisfied, turning control may be ended and straight-line control along the straight-line route of the next step may be started. For example, the control unit determines that the azimuth difference between the traveling direction of the traveling aircraft and the straight path of the next process is less than or equal to a predetermined angle, and that the distance in the orthogonal direction between the traveling aircraft and the straight path of the next process is less than or equal to a predetermined distance. In at least one of these cases, the turning control may be ended and the straight-line control along the straight-line route of the next step may be started. Furthermore, the control section may end the turning control after starting the straight-ahead control, or may start the straight-ahead control after the end of the turning control, based on the predetermined trigger.

Further, in any of the embodiments described above, the riding-type rice transplanter 1 has been described as a working vehicle, but the present invention is not limited to this. The work vehicle may be another work vehicle such as a tractor or a combine harvester, for example.

1 Work vehicle (rice transplanter)
2 Traveling device (front wheel)
3 Traveling device (rear wheel)
5 Traveling aircraft 31 Control section (control unit)
31b Storage unit (ROM)
31c Storage unit (RAM)
Lk1 to Lkn Straight route M1 Headland area (headland)
S Steering unit S3 Reference direction setting process S4 Straight route setting process S51 Headland setting process S40 to S41 Straight line control X1, X2 Virtual line Y Reference direction

Claims (2)

a traveling aircraft supported by a traveling device;
a steering unit that steers the traveling aircraft;
a control unit that controls the steering unit;
The control unit includes:
a reference orientation setting process of setting a reference orientation by the traveling aircraft traveling in a first direction;
straight route setting processing that sets a plurality of straight routes parallel to the reference direction;
headland setting processing of setting a virtual line parallel to the second direction passing near a side end of the traveling aircraft by traveling the traveling aircraft in a second direction intersecting the first direction; ,
straight-line control that controls the steering unit so that the traveling aircraft travels along any one of the plurality of straight-line routes;
During the execution of the straight-line control along a first straight-line route among the plurality of straight-line routes, the headland setting process is performed by the traveling aircraft before the straight-line control along the first straight-line route. The steering control is started by the control unit while restricting the automatic start of the straight-line control along the first straight-line route in the middle of a turn. A turning control in which the traveling aircraft is caused to travel in a turning direction toward a second straight path adjacent to the first straight path by maintaining the steering angle at a constant steering angle;
Allowing the start of the straight-ahead control along the second straight-ahead route based on a predetermined trigger during turning between the first straight-ahead route and the second straight-ahead route; start the straight-line control along the second straight-line route when the distance between the traveling aircraft and the second straight-line route in the second direction becomes equal to or less than a predetermined value; Starting the straight-line control along the second straight-line route even if the distance between the traveling aircraft and the second straight-line route in the second direction becomes equal to or less than the predetermined value in a state where the start of the straight-line route is not permitted. continue the turning control without
The predetermined opportunity is
the traveling aircraft has turned by a predetermined angle or more from the turning start position where the turning control is started from the first straight path to the second straight path;
the traveling aircraft has traveled a predetermined distance or more from the turning start position, and
At least one of the following: the angle of the traveling aircraft body with respect to the first direction becomes equal to or greater than a predetermined angle during the turning run;
A work vehicle characterized by: a traveling aircraft supported by a traveling device;
a steering unit that steers the traveling aircraft;
a storage unit that stores map data including headland areas;
a control unit that controls the steering unit;
The control unit includes:
a reference orientation setting process of setting a reference orientation by the traveling aircraft traveling in a first direction;
straight route setting processing that sets a plurality of straight routes parallel to the reference direction;
straight-line control that controls the steering unit so that the traveling aircraft travels along any one of the plurality of straight-line routes;
During execution of the straight-line control along the first straight-line route among the plurality of straight-line routes, the traveling aircraft starts when the traveling aircraft reaches the headland area stored in the storage unit, and during the turn The controller maintains the steering unit at a constant steering angle while preventing the straight-line control from automatically starting along the first straight-line route, thereby causing the traveling aircraft to travel in the first straight line. It is possible to execute a turning control for causing the vehicle to turn and travel toward a second straight route adjacent to the route,
Allowing the start of the straight-ahead control along the second straight-ahead route based on a predetermined trigger during turning between the first straight-ahead route and the second straight-ahead route; the straight-line control along the second straight-line route when at least the distance between the traveling aircraft and the second straight-line route in a second direction intersecting the first direction becomes equal to or less than a predetermined value; is started, and even if the distance in the second direction between the traveling aircraft and the second straight-ahead route becomes less than or equal to the predetermined value in a state where the start of the straight-ahead control is not permitted, the second straight-ahead route is not allowed. continue the turning control without starting the straight-ahead control along the
The predetermined opportunity is
the traveling aircraft has turned by a predetermined angle or more from a turning start position at which the turning control is started from the first straight path to the second straight path;
the traveling aircraft has traveled a predetermined distance or more from the turning start position, and
at least one of the following: the angle of the traveling aircraft body with respect to the first direction becomes equal to or greater than a predetermined angle during the turning travel;
A work vehicle characterized by:

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