JPH07281743A - Method for traveling work vehicle for ground work and controller therefor - Google Patents

Abstract

PURPOSE:To straightly travel a work vhicle toward to exit/entrance after work in a working field is completed and to smoothly leave from the exit/entrance while keeping the straight traveling state. CONSTITUTION:In the state of defining respective both terminal sides of a rectangular working field K as sleeper parts K1 and K2 in the lengthwise direction of sides M2 and M3 adjacent to a reference side M1 and defining a center side part as a working object part Ks, a final working field part R1a communicated to an exit/entrance Mi provided at one terminal part of the reference side M1 is remained so that a work vehicle V can enter and leave along the length wise direction of adjacent sides, and while traveling the work wagon V forward and backward along the lengthwise direction of adjacent sides, the working object part Ks is worked in going and returning. Afterwards, while traveling the work wagon V forward and backward along the length-wise direction of the reference side M1, and first and second sleeper parts K1 and K1. Finally, while traveling the work wagon for the final working field part R1a from the second tied part K2 adjacent to a counter side M4 facing to the reference side M1 to the exit/entrance Mi, working is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to one end of a reference side out of a plurality of sides surrounding a rectangular work site, running along the longitudinal direction of an adjacent side adjacent to the reference side. In the longitudinal direction of the adjacent side, in the longitudinal direction of the adjacent side, with both end sides of the work site as headland parts and the center side part as the work target part, in the longitudinal direction of the adjacent side. Performing a reciprocating work for working on the work target portion while reciprocating the work vehicle along the
In both of the headland portions, a traveling method and a traveling control facility of a ground work vehicle for performing headland work for working on the headland portion while reciprocating the work vehicle along the longitudinal direction of the reference side. Regarding

[0002]

2. Description of the Related Art In the above-described traveling method and traveling control equipment for a work vehicle for ground work, conventionally, for example, as shown in FIG.
In the longitudinal direction of the adjacent sides M2, M3 adjacent to the reference side M1 from the entrance Mi provided at one end of the reference side M1 of the plurality of sides (ridges) surrounding the work field K formed of a rectangular field. After traveling along and entering work site K, work site K
Of the work target portion Ks, which is the center side portion in the longitudinal direction of the adjacent sides M2, M3, the work site portion Ks1 (the top work stroke in the figure) that is connected to the entrance Mi is first run to perform the planting work Then, the remaining work target portion Ks is turned while revolving along the longitudinal direction of the adjacent sides M2 and M3 by turning at the headland portions K1 and K2 on both end sides in the longitudinal direction of the adjacent sides M2 and M3. Planting against. Then, the headland portion K2 adjacent to the facing side M4 facing the reference side M1 of the two headland portions K1 and K2, and the adjacent side of the pair of adjacent sides M2 and M3 that is located away from the entrance Mi. Adjacent to M3, the above headland parts K1,
The work site portion K3 that relays K2 and the headland portion K1 that is adjacent to the reference side M1 are arranged in that order, and each portion K1, K
The non-working traveling in the backward state and the working traveling in the forward state are repeated in each of the work strokes of K2 and K3. A sharp turn is made 90 degrees to the left from the upper end) to exit from the work site K through the entrance Mi (see, for example, Japanese Patent Laid-Open No. 2-16607).

Further, in the example shown in FIG. 27, since the same work site is run twice in the headland and the like in the backward and forward positions, there are disadvantages such as rough ground and reduced work efficiency. In order to improve it, the one shown in FIG. 28 has been proposed. In this example, the work vehicle V travels along the longitudinal direction of the adjacent sides M2 and M3 adjacent to the reference side M1 from the entrance Mi provided at one end of the reference side M1 and then enters the work site K. As in the case of FIG. 27, the planting work is performed by first traveling the work site portion Ks1 (the top work stroke in the figure) that is connected to the entrance Mi of the work target portion Ks on the center side of the work site. Then, the remaining work target portion Ks is worked while turning around the headland portions K1 and K2 and traveling back and forth along the longitudinal direction of the adjacent sides M2 and M3. After that, the two strokes of the headland portion K2 adjacent to the facing side M4 facing the reference side M1 are separated from the entrance Mi of the pair of adjacent sides M2 and M3 left in the work for the work target portion Ks. Two adjacent strokes, one working stroke portion K3 at the bottom of the figure adjacent to the adjacent edge M3 and a headland portion K1 adjacent to the reference edge M1, in that order, and each portion K1, K2, K3. In each of the work strokes, the work traveling in the forward state is repeated while moving from the end portion of one stroke to the start end of the next stroke, and finally, as shown in FIG.
Similar to the case of 7, the headland portion K1 adjacent to the reference side M1
From the terminal end (upper end in the figure) of the final work stroke K1a, the vehicle makes a sharp turn to the left by 90 degrees and exits from the work site K through the entrance Mi.

[0004]

By the way, since the ground of a work site K such as a field is lower than that of a peripheral part such as a ridge surrounding the field, it is usually operated in the direction of entry and exit from the entrance Mi. An inclined traveling portion is provided along the work vehicle V so that the work vehicle V can enter and leave the work site K through the entrance Mi. However, both of the above conventional techniques (see FIG.
7 and FIG. 28), when exiting from the work site K, since the work vehicle V is exiting while making a sharp turn at a position immediately before the entrance Mi, that is, at the above-mentioned inclined portion, the wheels and the like are turned during the turning operation. There is a problem that the traveling device slips and the exit operation cannot be performed smoothly. Further, under conditions where the ground condition is extremely bad such as in a wetland, the slip may increase and the exit operation may be difficult.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the drawbacks of the above-mentioned conventional techniques, and after the work vehicle completes the work in the work place, the work place is operated from the entrance to the work place. When exiting to the outside, the object is to allow the vehicle to travel straight toward the entrance and exit so that it can smoothly exit from the entrance while maintaining the straight traveling condition.

[0006]

According to the present invention, there is provided a traveling method and a traveling control facility for a work vehicle for ground work, wherein one end of one of a plurality of sides surrounding a rectangular work site is a reference side. Is provided with an entrance / exit through which the work vehicle moves in and out along the longitudinal direction of the adjacent side adjacent to, and in the longitudinal direction of the adjacent side, both end sides of the work site are headland parts and the central part is Reciprocating work is performed on the work target portion while reciprocating the work vehicle along the longitudinal direction of the adjacent side in the state of the work target portion, and then the work is performed on both headland portions. A traveling method and a traveling control facility for a work vehicle for ground work for performing headland work for performing work on the headland portion while reciprocating the vehicle along the longitudinal direction of the reference side, the first of the traveling methods. 1
In the characteristic configuration of the above, the work site portion connected to the entrance and exit along the longitudinal direction of the adjacent side is the final work site portion, the reciprocating work is performed leaving the final work site portion, and then the pair of headland parts Of the first headland portion adjacent to the reference side of, and the headland work to work the second headland portion adjacent to the facing side facing the reference side, finally,
It is a point to work the final work site part while traveling the final work site part from the second headland part toward the doorway.

In the second characteristic configuration of the above traveling method, the work site portion adjacent to the adjacent side located away from the entrance of the pair of adjacent sides adjacent to the reference side is the relay work site. As a part, the reciprocating work is performed while leaving the relay work site part, and in the headland work, the relay work site part is used at the time of transition from the first headland part to the second headland part. The point is to work on the relay work site while traveling.

In the third characteristic configuration of the above traveling method, the work vehicle is caused to travel forward by one stroke so that each of the work strokes in the reciprocating work and the headland work can be performed in a forward movement state. After that, the reciprocating work and the headland work are performed by performing a turn to move to an adjacent stroke while changing the direction.

The first characteristic configuration of the traveling control facility is that a guiding beam is provided to guide the work vehicle along each of a plurality of work strokes lined up in the longitudinal direction of the reference side in the work target portion. First beam light projection means for projecting light along the longitudinal direction of the working stroke, a first headland portion of the pair of headland portions adjacent to the reference side, and an opposing side facing the reference side. In each of the adjacent second headland portions, a guiding beam of light is projected along the longitudinal direction of the work stroke so as to guide the work vehicle along each of the plurality of work strokes aligned in the longitudinal direction of the adjacent side. And a second beam light projecting means for controlling the beam in order to detect the deviation in the vehicle body lateral direction with respect to the light beams projected by the first beam light projecting means and the second beam light projecting means. For steering control that receives light A sensor, a steering means that controls the steering of the work vehicle, a ground working unit that can be switched between a ground working state and a non-working state, detection information of the steering control optical sensor, and a preset work schedule. A control means for controlling the operation of the steering means and the ground working unit based on the information;
Provided to the work vehicle, the control means performs the reciprocating work leaving the final work site part, with the work site part continuous to the entrance and exit along the longitudinal direction of the adjacent side as the final work site part, and thereafter, The first headland part adjacent to the reference side of the pair of headland parts, and the headland work adjacent to the opposite side facing the reference side, the headland work is performed, and finally In the order of working the final work site portion while traveling the final work site portion from the second headland portion toward the doorway, as the work schedule information, the steering means and the ground working unit. Is configured to control the operation of the.

A second characteristic configuration of the traveling control facility is that the working vehicle is arranged along the guiding beam from the first beam light projecting means or the second beam light projecting means. A trigger optical sensor for receiving the guiding beam light from the second beam light projecting means or the first beam light projecting means projected while intersecting with the guiding beam light when the vehicle is automatically traveling. Provided, the control means, based on the light reception information of the optical sensor for the trigger,
It is configured to set the start position of the turning motion from the end of each stroke to the start of the next stroke adjacent to the stroke.

[0011]

According to the first characteristic configuration of the method for traveling a work vehicle for ground work according to the present invention, the work vehicle is provided at one end of one reference side out of a plurality of sides surrounding a rectangular work place. After entering the work site from the entrance along the longitudinal direction of the adjacent side adjacent to the reference side, in the longitudinal direction of the adjacent side of the work site, leaving the final work site part connected to the entrance along the longitudinal direction of the adjacent side. While reciprocating along the longitudinal direction of the adjacent side on each end side as a headland part, reciprocating work is performed on the work target part that is the central side part in the longitudinal direction of the adjacent side of the work site, and then in the longitudinal direction of the reference side. While traveling back and forth along the headland, headland work is performed on the first headland part adjacent to the reference side of the pair of headland parts and the second headland part adjacent to the opposite side facing the reference side. Finally, from the second headland part to the entrance Only by working the final work fabric part while running the final work fabric part.

According to the second characteristic configuration of the above traveling method, the work vehicle enters the work site from the doorway along the longitudinal direction of the adjacent side, and then, the final work site portion and the pair of work vehicles. Reciprocating along the longitudinal direction of the adjoining side, with both end sides in the longitudinal direction of the adjoining side of the work site as headland parts, leaving the relay work site adjacent to the adjoining side located away from the entrance While traveling, reciprocating work is performed on the work target portion which is the central side portion in the longitudinal direction of the adjacent side of the work site, and then while traveling back and forth along the longitudinal direction of the reference side, of the pair of headland parts. The headland work is performed on the first headland part adjacent to the reference side and the second headland part adjacent to the facing side facing the reference side, and in the headland work, the first headland part From the second to the second headland section While traveling working fabric part working the relay working fabric part thereof, and finally working the final work fabric part while running the final work fabric part toward the doorway from the second headland portion.

According to the third characteristic configuration of the above traveling method, the work vehicle performs the work of each work stroke in the reciprocating work and the headland work in a forward state, and completes each work stroke in one stroke. After traveling forward for a minute, the vehicle turns while changing its direction so as to move to each work stroke in the next reciprocating work and the headland work which are adjacent to each other.

Further, according to the first characteristic configuration of the traveling control facility for a work vehicle for ground work according to the present invention, the work vehicle has a length of the adjacent side from the doorway based on preset work schedule information. After entering the work site along the direction, in the work target part on the central side in the longitudinal direction of the adjacent side of the work site, leaving the final work site part connected to the entrance / exit along the longitudinal direction of the adjacent side, the reference side In the lateral direction of the vehicle body detected from the information received by the steering control optical sensor for the guidance beam light projected from the first beam light projection means along the longitudinal direction of the plurality of work steps lined up in the longitudinal direction. In a state in which the steering means is operated based on the deviation information and the work is guided along each of the work strokes, the ground work unit is operated in the ground work state to reciprocate along the adjacent side longitudinal direction, and the work is performed. Adjacent to the ground Longitudinal direction In each headland part on both ends of, the reciprocating work is performed by turning the ground work part while switching to the non-working state, and then along the longitudinal direction of the plurality of work strokes arranged in the longitudinal direction of the adjacent side. The steering means is operated based on the shift information in the vehicle body lateral width direction detected from the information received by the steering control light sensor to receive the guidance light beam projected from the second light beam projection means, and the work process is performed. While traveling back and forth along the longitudinal direction of the adjacent sides while being guided along each of the above, the first headland portion adjacent to the reference side of the pair of headland portions, and the facing opposite the reference side. The ground working unit is operated in a ground working state with respect to the second headland portion adjacent to the side to perform headland work, and finally from the first beam light projection means along the longitudinal direction of the final work ground portion. Guide light beam projected The second headland portion in a state of being guided along the final work site portion by operating the steering means based on the shift information in the vehicle body width direction detected from the information received by the steering control optical sensor. From the ground to the entrance and exit, the ground work section is operated in the ground work state while running on the final work site to work on the final work site.

Here, in the above-mentioned traveling control equipment, in order to correspond to the second characteristic configuration of the traveling method, the control means leaves the final work place portion and the relay work place portion, and the work vehicle is operated. Reciprocating work is performed on the work target portion while being guided and traveled by the guiding beam light from the first beam light projecting means, and in the headland work, the first headland part to the second headland part Traveling along the relay work site portion while being guided by the guiding beam light from the first beam light projection means projected along the longitudinal direction of the relay work site portion when transitioning to While doing so, it is possible to operate the ground work unit to the ground work state and work the relay work site portion.
Further, in order to correspond to the third characteristic configuration of the traveling method, the control means is configured to cause the first beam light projection means or the second beam light projection means along the longitudinal direction of each work stroke in the reciprocating work and the headland work. Guide light is projected along each work stroke by operating the steering means based on the deviation information in the vehicle width direction detected from the information received by the steering control light sensor from the guidance beam light projected from the means. While carrying out each of the work steps of the reciprocating work and the headland work in a forward state, the work vehicle is moved forward by one stroke of each work step,
The steering means may be configured to perform a turning operation to change the direction of the work vehicle and move the work vehicle to an adjacent stroke.

According to the second characteristic configuration of the traveling control facility, the work vehicle is guided along the guiding light beam from the first beam light projecting means or the second beam light projecting means. The second beam light projecting means or the first beam light projected while intersecting with the guiding beam light when the vehicle automatically travels in each work stroke in the reciprocating work or the headland work in the above state. When the guiding light beam from the projecting means is received by the trigger optical sensor, the starting position of the turning operation from the end portion of each work stroke to the start end portion of the next stroke adjacent thereto based on the received light information. The work vehicle starts the turning motion toward the starting end of the next stroke at the set starting position of the turning motion.

[0017]

Therefore, according to the first characteristic configuration of the method for traveling a work vehicle for ground work according to the present invention, the work vehicle has one end of one reference side among a plurality of sides surrounding a rectangular work place. After entering the work site along the longitudinal direction of the adjacent side adjacent to the reference side from the entrance provided in the section, leaving the final work site part connected to the entrance along the longitudinal direction of the adjacent side, leaving the work site After performing reciprocating work on the work target portion that is the central side portion in the adjacent side longitudinal direction, for the first headland portion and the second headland portion that are the headland portions on both end sides in the adjacent side longitudinal direction of the work site Since the headland work was performed, finally, the final work site portion was worked while traveling the final work site portion from the second headland portion adjacent to the facing side facing the reference side toward the doorway, The work vehicle finishes working on the work site After that, when exiting from the entrance to the work site, it is possible to run straight toward the entrance and exit from the entrance while keeping the straight running state. Since the work vehicle is retreating while making a sharp turn in the part formed in the section, the traveling device such as wheels slips during the turning operation and the retreat operation cannot be performed smoothly, and the ground conditions such as wet fields are extremely extreme. Under such a bad condition, the problem that the slip becomes large and the exit operation becomes difficult is solved.

According to the second characteristic configuration of the above traveling method, the work vehicle, after entering the work site from the entrance, is located apart from the entrance in addition to the final work site part connected to the entrance. After performing the reciprocating work for the work target portion that is the central side portion in the longitudinal direction of the adjacent side of the work site, leaving the relay work site portion adjacent to the adjacent side, The headland work is performed on the first headland part and the second headland part which are the headland parts of the, and for relaying when the first headland part is transferred to the second headland part in the headland work. While running the work site part, work on the relay work site part, and finally, while traveling the final work site part from the second headland part adjacent to the opposite side facing the reference side toward the entrance and exit Work on the work area Therefore, in the first characteristic configuration, since there is no relay work site part, the transition from the first headland part to the second headland part in the headland work is performed in the final work site part in the non-working state. The disadvantage of the second characteristic structure that the ground condition is rough before the final work running of the final work site and may hinder work such as planting is eliminated, and thus, Suitable means for realizing the effect of the first characteristic configuration can be obtained.

Further, according to the third characteristic configuration of the above traveling method, the work vehicle is adapted to work forward and backward during each of the reciprocating work and the headland work. In the case of non-working traveling in each work stroke in the reverse state and traveling in the same stroke in the forward state, since the vehicle travels on the same ground twice, the ground is rough or the work efficiency is lowered. Therefore, it is possible to obtain more preferable means for realizing the effects of the first and second characteristic configurations.

Further, according to the first characteristic configuration of the traveling control facility for a work vehicle for ground work according to the present invention, the work vehicle, after entering the work site from the doorway along the longitudinal direction of the adjacent side, In the reciprocating traveling, along the longitudinal direction of the plurality of work strokes arranged in the longitudinal direction of the reference side, and in the headland traveling, along the longitudinal direction of the plurality of working strokes arranged in the longitudinal direction of the adjacent side. , Each of which automatically travels in a state of being guided along the projected beam of light for projection, and at the same time, in the reciprocal traveling, while working while leaving a final work site portion connected to the entrance and exit along the longitudinal direction of the adjacent side, ,
Finally, since I worked while automatically traveling in the state of being guided by the guiding beam of light along the longitudinal direction of the final work site, I decided to leave the work site from the entrance,
It is possible to automatically travel each of the work strokes by a beam light guide system with good travel following performance, and thus it is suitable for carrying out the travel method of the ground work vehicle according to the first characteristic configuration. Driving control equipment can be obtained.

Further, in the traveling control facility for the ground work vehicle, the reciprocating operation is performed while leaving the relay work place portion in addition to the final work place portion, and in the headland work, At the transition from the first headland portion to the second headland portion, it is guided by the guide beam light from the first beam light projection means projected along the longitudinal direction of the relay work site portion. In this state, the ground work unit is operated in the ground work state while traveling along the relay work land portion, and the relay work land portion is configured to work, thereby making In the travel control equipment, suitable travel control equipment for implementing the second characteristic configuration of the travel method can be obtained. Further, in the traveling control facility for the work vehicle for ground work, each of the work steps of the reciprocating work and the headland work is performed by a first beam light projection means or a second beam along the longitudinal direction of the work steps. After traveling automatically in the forward state in the state of being guided along the guidance light beam projected from the light projection means, the vehicle travels forward for one stroke of each work stroke, and then the steering means is operated to change the direction of the work vehicle. By configuring so that the vehicle is turned and moved to the adjacent stroke, it is possible to obtain suitable traveling control equipment for implementing the third characteristic configuration of the traveling method in the traveling control equipment for the ground work vehicle.

According to the second characteristic configuration of the traveling control facility, the work vehicle has good traveling followability along each of the work strokes in the reciprocating work or the headland work along the guiding beam light. While being able to run automatically, the relatively simple means of adding a trigger optical sensor that receives a guiding light beam projected from the lateral direction of the vehicle body to the work vehicle, avoiding complication of the equipment configuration as much as possible, It is possible to accurately set the turning operation start position toward the start end of the next stroke at the end of the work stroke and move the work vehicle between adjacent work strokes with better traveling followability. Therefore, more suitable means of the travel control facility for the ground work vehicle can be obtained.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a work vehicle for rice transplanting as a work vehicle for ground work and its running method and running control equipment will be described below with reference to the drawings.

As shown in FIG. 1, at one end (upper left end of the figure) of one reference side M1 among a plurality of sides surrounding a rectangular work site K, an adjacent side M2 adjacent to the reference side M1 is provided. M3
Is provided with an entrance Mi through which the work vehicle V moves in and out along the longitudinal direction of the work vehicle V, and the headland portion K is provided at both end sides of the work area K in the longitudinal direction of the adjacent sides M2 and M3.
1, K2 and the central portion as the work target portion Ks, a reciprocating work for working on the work target portion Ks while traveling the work vehicle V back and forth along the longitudinal direction of the adjacent sides M2, M3. And then both headland parts K1,
At K2, the headland work is performed on the headland portions K1 and K2 while the work vehicle V travels back and forth along the longitudinal direction of the reference side M1. The work target portion Ks and the two headland portions K1 and K2 are adjacent to each other on an adjacent side M2.
It is divided by two boundary lines Y, Y on the right side and the left side provided at both end positions of the work target portion Ks in the longitudinal direction of M3 along the reference side M1.

In order to guide the work vehicle V on the ground side along each of the plurality of work strokes R1 aligned in the longitudinal direction of the reference side M1 in the work target portion Ks, the guiding beam light A1 is emitted in the longitudinal direction of the work stroke R1. A first beam light projection device B1 as a first beam light projection means for projecting along the direction is provided, and the reference side M1 of the pair of headland portions K1, K2 is provided.
In each of the first headland portion K1 adjacent to the second headland portion K2 and the second headland portion K2 adjacent to the facing side M4 facing the reference side M1, each of the plurality of work steps R2 arranged in the longitudinal direction of the adjacent sides M2 and M3. A second beam light projection device B2 is provided as a second beam light projection means for projecting the guidance beam light A2 along the longitudinal direction of the work stroke in order to guide the work vehicle V along the same.

The first beam light projection device B1 is basically installed at a boundary position between two adjacent work steps of the plurality of work steps R1 at a ratio of one to two adjacent work steps. However, the drawing shows the case where the number of work strokes R1 is odd, and one first beam light projection device B1 is arranged only for the work stroke R1 (R1a) at the uppermost end.
Further, the second beam light projection device B2 is installed at the boundary position of the work steps because the plurality of work steps R2 are two. Further, in the figure, the guiding beam light A2 from the second beam light projection device B2 in the longitudinal direction of the adjacent sides M2, M3.
Third beam light projecting device B3 for projecting the beam light A3 in parallel with the guiding beam light A2 inside the projection position of
Is provided. In addition, when the number of the plurality of work strokes R1 arranged in the longitudinal direction of the reference side M1 is an even number, as shown in FIG. One of the two work steps is installed at the boundary position between the two work steps. or,
Although not described in detail, each beam light projection device B1, B2, B3
Is composed of a laser device or the like, and each beam light A1, A
2, A3 are scanned within a predetermined vertical angle range (see FIG. 3).
reference).

Next, a method of traveling the work vehicle V in the case of FIG. 1 will be described. First, the work site portion connected to the entrance Mi along the longitudinal direction of the adjacent sides M2, M3 is defined as the final work site portion R1a, and the adjacent one of the pair of adjacent sides M2, M3 located away from the entrance Mi. The work site portion adjacent to the side M3 is used as the relay work site portion R1b, and the reciprocating work is performed while leaving the final work site portion R1a and the relay work site portion R1b. Here, the final work site part R1a is a work site part corresponding to one work process at the uppermost end of the plurality of work processes R1 arranged in the longitudinal direction of the reference side M1, and the relay work site part R1b is , A work site portion corresponding to two work strokes on the lower end side of the plurality of work strokes R1. Then, the pair of headland portions K
The first headland portion K adjacent to the reference side M1 of 1, K2
1 and the second headland portion K2 adjacent to the facing side M4 facing the reference side M1 is performed, and in the headland work, from the first headland portion K1 to the second pillow At the time of transition to the ground portion K2, the relay work site portion R1
Working the relay work site part R1b while traveling b, and finally working the final work site part R1a while traveling the final work site part R1a from the second headland part K2 toward the entrance Mi. It is set.

Further, the work vehicle V is moved forward by one stroke so that each of the work strokes in the reciprocating work and the headland work can be performed in the forward movement state, and then 180 degrees or 90 degrees.
The turning is performed to move to the adjacent stroke while changing the direction. That is, in the turning for moving between the respective work strokes R1 in the reciprocating work and between the respective work strokes R2 in the headland work, the direction is changed by 180 degrees, and the work stroke R1 of the reciprocating work (for the final work land portion and In the turning for the movement between the relay work site portion strokes R1a and R1b) and the headland work stroke R2, the direction is changed by 90 degrees. By running the work vehicle V as described above, the work (planting work in this case) in the work area K in a predetermined range can be continuously performed.

Explaining the structure of the work vehicle V,
As shown in FIGS. 3 and 4, a rear part of the vehicle body 5 having a pair of left and right front wheels 3 and rear wheels 4 is a seedling planting device 6 as a ground working unit that is switchable between a ground working state and a non-working state.
However, it is provided so as to be able to move up and down and stop driving. In other words, when the vehicle is driven in the lowered state, it is the ground work state, and the other states are non-working states. Further, as shown in FIG. 5, the front and rear wheels 3 and 4 have a pair of left and right wheels and are configured so that they can be individually steered.
And electromagnetically operated control valves 9 and 10 for them. That is, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase. In addition, it is possible to selectively use three types of steering types, that is, a parallel steering type that steers at the same angle. As described above, the hydraulic cylinders 7 and 8 and the control valves 9 and 10 constitute steering means 7 to 10 that control the steering of the work vehicle V.

In FIG. 5, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to drive the front and rear wheels 3 and 4 simultaneously, 12 is an electric motor for gear shifting operation, and 13 is a planting device. 6, a hydraulic cylinder for raising and lowering, 14 a control valve thereof, 15 an electromagnetically operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 a work vehicle V
Is a control device using a microcomputer for controlling the traveling of the plant and the operation of the planting device 6, and based on detection information by various sensors described later and work data stored in advance, the shift motor 12 and each control valve 9 , 10, 1
4 and each of the planting clutch 15 are controlled.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 5, steering angle detection sensors R1 and R2 using potentiometers for detecting steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor R3 that uses a potentiometer to indirectly detect the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and an encoder S3 for detecting the traveling distance by counting the number of rotations of the output shaft of the transmission 11.
And a direction sensor S4 using geomagnetism for detecting the vehicle body direction, an inclination sensor S6 installed in the planting device 6 for detecting a tilt angle in the vehicle body width direction, and a connection portion of the planting device 6 to the vehicle body 5. And a potentiometer S5, which will be described later, are installed.

Further, as shown in FIGS. 3 and 4, the work vehicle V receives the guidance beam lights A1 and A2 projected by the first beam light projection device B1 and the second beam light projection device B2. In order to detect a shift in the vehicle body width direction, the steering control optical sensor S1 that receives the beam lights A1 and A2, and the work vehicle V from the first beam light projection device B1 or the second beam light projection device B2. When the vehicle automatically travels along the guidance light beams A1 and A2, the guidance light beams A1 and A2
Beam light projecting device B2 projected in a state of intersecting with
Alternatively, the guiding beam light A from the first beam light projection device B1
2, A1 and a trigger optical sensor S2 for receiving the beam light A3 from the third beam light projection device B3. The steering control optical sensor S1 has both axial cores of the front wheel 3 in plan view on both left and right sides of the front part of the vehicle body so that the guiding beam lights A1, A2 on either the left or right side of the vehicle body can be received. The pair of left and right trigger optical sensors S2 are arranged on the connecting line, and the trigger optical sensor S2 is composed of a pair of front and rear sensors S2a and S2b located above the center of the vehicle body in the plan view. It is located a predetermined distance forward of the line connecting the cores, and the rear sensor S2b is located on the line connecting the two axis cores of the rear wheel 4. The trigger optical sensor S2 is a beam light A from both left and right sides of the vehicle body.
Only the presence or absence of light reception for 1, A2 and A3 is detected, and the light reception position cannot be detected.

The steering control optical sensor S1 will be described in more detail. As shown in FIG. 6, a pair of front and rear light beams are arranged side by side with a distance d in the longitudinal direction of the vehicle body and an interval in the vertical direction. In order to enable the guiding beam lights A1 and A2 to be received in any direction before and after the vehicle body without any difference, the incident light beams from the front and rear directions of the vehicle body are formed by the sensors S1a and S1b. Both optical sensors S
Reflecting mirror 18 that reflects toward the light receiving surface of each of 1a and S1b
Is equipped with. Each of the pair of front and rear optical sensors S1a and S1b has a plurality of light receiving elements D arranged side by side in the lateral direction of the vehicle body, and is guided based on the position of the light receiving element D0 located at the sensor center in the lateral width direction. Beam light A1, A2
The positions X1 and X2 of the light receiving elements D before and after receiving the light are detected.

Using the control device 16, the operation of the steering means 7 to 10 and the planting section 6 is controlled based on the detection information of the steering control optical sensor S1 and the preset work schedule information. The control means 100 is configured to perform the reciprocating work while leaving the final work site portion R1a and the relay work site portion R1b, and thereafter,
The headland work for working the first headland portion K1 and the second headland portion K2 is performed, and in the headland work, when the first headland portion K1 is transferred to the second headland portion K2. The relay work site portion R1b is run while traveling, and finally the final work site portion R1a is run while traveling from the second headland portion K2 toward the entrance Mi. Is configured to control the operation of the steering means 7 to 10 and the planting section 6 with the work order information as the work schedule information.

Further, the control means 100 causes the work vehicle V to move forward by one stroke so that each work stroke in the reciprocating work and the headland work can be performed in a forward state. V is the guiding beam light A1, A from the first beam light projector B1 or the second beam light projector B2.
The guide beam light A2 from the second beam light projecting device B2 or the first beam light projecting device B1 which is projected while intersecting with the guide beam lights A1 and A2 while automatically traveling along the line 2. , A1 for trigger light sensor for receiving A1
Based on the light reception information of 2, the start position of the turning operation of 180 degrees or 90 degrees from the end portion of each stroke to the start end portion of the next stroke adjacent thereto is set.

The steering control by the control means 100 for automatically traveling the work vehicle V along the guidance beam lights A1 and A2 will be described. The steering control optical sensor S1
Based on the positions X1 and X2 of the respective light receiving elements of the pair of front and rear photosensors S1a and S1b and the distance d in the vehicle front-rear direction from the following formula, Then, the inclination φ and the position deviation x in the width direction are obtained.

[0037]

## EQU1 ## φ = tan ^-1 (| X1-X2 | / d) x = X1

However, when the vehicle body is tilted, it is necessary to remove the error due to the tilt. Hereinafter, this error removal will be described. As shown in FIG.
Is connected to the vehicle body 5 in a rotatable state about an axis along the longitudinal direction of the vehicle at a connection point with respect to the vehicle body 5, and at the connection point, a potentiometer S5 for detecting a rotation angle of the planting device 6 and the vehicle body 5 about the axis. Is installed,
Based on the detection information of the tilt sensor S6, the control device 16 operates the tilting means M including a link mechanism (not shown) and an electric motor for driving so that the planting device 6 has a horizontal posture in the lateral direction of the vehicle body. (See FIG. 5). Therefore, the rolling angle of the vehicle body 5 can be obtained by adding / subtracting both detection angles of the potentiometer S5 and the tilt sensor S6. Then, as shown in FIG.
The difference in height between the connection point and the steering control optical sensor S1 on the vehicle body is L1, and the horizontal direction on the vehicle body from the connection point (center of the vehicle body left and right) to the center of the light receiving section of the steering control optical sensor S1. The distance L2 in the direction is L2, and the rolling angle of the vehicle body is θ. A lateral distance L3 from the connection point to the center of the light receiving portion of the steering control optical sensor S1 in a tilted state of the vehicle body is obtained. The correction amount is the amount ΔL obtained by subtracting the lateral distance L2 when the vehicle body 5 is not tilted. Therefore,
The deviation x ′ after the inclination correction is obtained as a value x ′ obtained by adding the correction amount ΔL to the deviation x. Incidentally, when θ = 0, ΔL = L2−L2 = 0, and x ′ = x.

[0039]

(2) L3 = L1 × sin θ + L2 × cos θ ΔL = (L3-L2) x ′ = x + ΔL

In this example, the positional deviation x in the lateral width direction is the light receiving position of one (S1a) of the pair of photosensors S1a and S1b, but an error due to the inclination φ does not occur. In order to do so, the average value of the light receiving positions X1 and X2 of the pair of optical sensors S1a and S1b may be used. Then, the work vehicle V is steering-controlled by setting a target steering angle so that both the inclination φ and the deviation x ′ are zero. However, in the present embodiment, steering control is performed by a two-wheel steering system in which only the front wheels 3 are steered during straight traveling in each work stroke.

Next, the traveling method of the work vehicle V will be described with reference to FIG.
If you explain more concretely based on,
Of the work strokes R1 of the work target portion Ks, the work stroke R1 farthest from the entrance Mi except for the relay work ground portion R1b consisting of two work strokes R1 is set to the work start position of the start end portion. The process starts from the Pst point on the right boundary line Y shown in the leftward direction in the drawing. Therefore, first, the vehicle is made to travel forward to the Pst point in a non-working state. The path is guided by the guiding beam light A1 based on the detection information from the steering control optical sensor S1 on the left side, and while advancing along the side M2 from the entrance Mi, the guiding beam light projected from the side. A2 turns 90 degrees rightward based on the information received by the rear sensor S2b for trigger, and this time, while being guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the right side, The vehicle advances downward along the side M1. Then, while counting the number of times the trigger sensor S2 receives the guiding beam light A1 projected from the side, the lowermost guiding beam light A1 is detected.
2b turns right by 180 degrees based on the information received, and this time, it moves forward while being guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the right side in the upward direction of the drawing. To do. Then, based on the information received by the rear side sensor S2b, the second guidance beam light A1 from the bottom projected from the side is turned 90 degrees to stop at the point Nh. The first seedling supply is performed at this Nh point. Although not shown, seedling replenishment is appropriately performed thereafter when the work vehicle V is stopped at the starting end of the work strokes R1, R2 on the reference side M1 side. After replenishing seedlings, this time heading to the right in the figure,
Based on the detection information of the steering control optical sensor S1 on the right side, the vehicle advances while being guided by the guiding beam light A1. And
While counting the number of times the trigger sensor S2 receives the beam lights A2 and A3 projected from the side, 180 degrees right based on the information received by the front sensor S2a of the guidance beam light A2 on the far right side of the figure. After turning, the planting device 6 is lowered when this turning is completed, and the right boundary line is located at a predetermined distance from the position where the front-side sensor S2a for trigger receives the second guiding beam light A3 from the right in the figure. Drive to Pst point on Y.

When the point Pst is reached, the planting device 6 is driven to start the planting work, and the guiding beam light is directed toward the left direction in the drawing based on the detection information of the steering control optical sensor S1 on the right side. Move forward while being guided by A1.
When the number of rows (for example, six rows) of the planting device 6 is odd due to the size of the work site K (five or less), the odd rows are planted in the first work process R1. adjust. Then, the beam light A2 projected from the side
While counting the number of times that the sensor S2 for trigger receives A3, the vehicle moves forward to the left boundary line Y, which is a point traveled for a predetermined distance from the position where the front side sensor S2a receives the leftmost guide beam light A2 in the figure. . When the vehicle arrives at the left boundary line Y, the planting device 6 is stopped and raised to stop the planting work, and it turns right by 180 degrees to move to the start end of the next work stroke R1. When the turning is completed, the planting device 6 is lowered and the next work process R is performed.
In 1, the vehicle travels a predetermined distance from the position where the front sensor S2a for triggering receives the second light beam A3 from the left in the figure, and when the left boundary line Y is reached, the planting device 6 is driven to start. The planting operation is started, and the plant moves forward in the right direction of the drawing while being guided by the guiding beam light A1 based on the detection information of the steering control optical sensor S1 on the right side.
After that, in the same way as described above, 18 at the end of each work process R1.
While turning 0 degrees right or left, planting work is performed for each work stroke R1 of the work target portion Ks, and the work target portion K
In the final work stroke R1 of s (the second stroke from the top of the figure), the right boundary line Y, which is a point after traveling a predetermined distance from the position where the front side sensor S2a receives the guiding beam light A2 on the far right side of the figure. Drive to the end position Pen located above.

Next, in order to move to the start end of the inner working stroke R2 of the two working strokes R2 of the second headland portion K2, first, based on the detection information of the steering control optical sensor S1 on the right side. While being guided by the guiding beam light A1, the vehicle moves backward from the end position Pen to a position where the front side sensor S2a receives the guiding beam light A2 on the far right side in the figure, and then switches to the forward state and rotates 90 degrees clockwise. Then, the planting device 6 is lowered, and the guiding beam light A1 projected from the side is guided while being guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the left side. The vehicle travels in a backward state from the position where the rear sensor S2b receives the light to a position of a predetermined distance to reach the planting start position. After that, the planting device 6 is driven to perform the work process R2,
In the forward state, the guiding beam light A1 projected from the side is guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the left side, and the guiding beam light A1 projected from the side is used as the trigger sensor S2.
The number of times the light is received is counted, and the lowermost guidance light beam A
1 is traveled for a predetermined distance from the position where the front side sensor S2a receives light to reach the planting stop position.

Next, in order to move to the start end of the inner stroke R1b of the two work strokes R2 of the relay work area R1b, first, based on the detection information of the left steering control optical sensor S1. While being guided by the guiding beam light A2, the vehicle travels backward from the planting stop position of the work stroke R2 to a position where the lowermost guiding beam light A1 is received by the front sensor S2a, and then switches to the forward state 90 Turn right, then
The steering control optical sensor S1 on the left side is switched to the reverse drive state.
While being guided by the guiding beam light A1 based on the detection information of the above, the guiding beam light A2 projected from the side travels for a predetermined distance from the position where the rear sensor S2b for trigger receives and reaches the planting start position. . After that, the work process R1
b while being guided to the guiding beam light A1 based on the detection information of the left steering control optical sensor S1 in the forward state,
The number of times the trigger sensor S2 receives the beam lights A2 and A3 projected from the side is counted, and the planting is stopped by traveling for a predetermined distance from the position where the front side sensor S2a receives the leftmost guide beam light A2. To the position.

Next, in order to move to the start end portion of the work stroke R2 inside the first headland portion K1, first, the guidance beam light A1 is guided based on the detection information of the steering control optical sensor S1 on the left side. Meanwhile, after moving backward from the planting stop position to the position where the front-side sensor S2a receives the leftmost guiding beam light A2 in the figure, the state is switched to the forward state and turned 90 degrees to the reverse state. The guiding beam light A1 projected from the side while being guided to the guiding beam light A2 based on the detection information of the left steering control optical sensor S1.
Is traveled for a predetermined distance from the position where the rear sensor S2b for trigger receives light to reach the planting start position. After that, in the working stroke R2, the steering control optical sensor S on the left side in the forward movement state.
The number of times the trigger sensor S2 receives the guiding beam light A1 projected from the side while being guided by the guiding beam light A2 based on the detection information of 1 is counted, and the uppermost guiding beam light A1 is detected. The vehicle moves forward from the position where the front sensor S2a receives the light to a work stop position where the vehicle has traveled a predetermined distance.

When the work stop position is reached, the planting device 6 is stopped and raised to stop the planting work, and the work stroke R2 outside the first headland portion K1 is performed.
Turn 180 degrees to the left to move to the beginning. When the turning is completed, the planting device 6 is lowered, and in the work process R2, the second guiding beam light A1 from the top of the drawing travels for a predetermined distance from the position where the front sensor S2a for trigger receives. When the work start position is reached, the planting device 6 is driven to start the planting work, and the guidance beam light A2 is generated based on the detection information of the steering control optical sensor S1 on the left side in the downward direction of the drawing. Move forward while being guided. Then, the guiding light beam A projected from the side
The number of times that the trigger sensor S2 receives 1 is counted, and the robot moves forward to the work stop position, which is a point where the vehicle has traveled a predetermined distance from the position where the lowermost guide beam light A1 was received by the rear sensor S2b.

Next, in order to move to the start end portion of the stroke R1b outside the relay work site portion R1b, first, the guiding light beam A is detected based on the detection information of the left steering control optical sensor S1.
While being guided to 2, the lowermost guide beam light A1 from the planting stop position in the work stroke R2 is provided to the rear sensor S2.
After moving backward to a position where b is received, the vehicle turns left 90 degrees in the forward state, and is further switched to the backward state, and based on the detection information of the steering control optical sensor S1 on the left side, the guiding light beam A
While being guided to 1, the guide beam light A2 projected from the side travels for a predetermined distance from the position where the rear sensor S2b for trigger receives and reaches the planting start position. After that, the work stroke R1b is guided forward by the guide beam light A1 based on the detection information of the steering control optical sensor S1 on the left side in the forward state, and the beam lights A2 and A3 projected from the side are provided.
The number of times the trigger sensor S2 receives light is counted, and the rightmost guiding beam light A2 travels for a predetermined distance from the position where the rear sensor S2b receives and reaches the planting stop position.

Next, in order to move to the starting end portion of the work stroke R2 outside the second headland portion K2, first, based on the detection information of the steering control optical sensor S1 on the left side, it is guided to the guiding beam light A1. While moving backward from the work stop position of the stroke R1b outside the relay work site portion R1b to the position where the rear-side sensor S2b receives the guiding beam light A2 on the far right side in the figure, 90 degrees in the forward state. Turning to the left and further switching to the reverse drive state, the guiding beam light A1 projected from the side while being guided by the guiding beam light A2 based on the detection information of the left steering control optical sensor S1 is used as a trigger. The vehicle travels a predetermined distance from the position where the rear sensor S2b receives the light and reaches the planting start position. After that, the work stroke R2 is guided to the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the left side in the forward state, and the guiding beam light A1 projected from the side is used as the trigger sensor. The number of times S2 receives light is counted, and the uppermost guiding beam light A1 travels a predetermined distance from the position where the front sensor S2a receives light to reach the planting stop position.

Next, in order to move from the end portion of the work stroke R2 outside the second headland portion K2 to the start end portion of the final work portion R1a, first, the steering control optical sensor S1 on the left side is moved.
While being guided by the guiding beam light A2 based on the detection information of 1), the vehicle moves backward to a position where the front side sensor S2a receives the guiding beam light A1 on the upper side of the figure,
Turn left by 0 degrees, switch to the reverse state, and trigger the beam lights A2 and A3 projected from the side while being guided by the guiding beam light A1 based on the detection information of the steering control optical sensor S1 on the right side. After performing the planting work on the final work site portion R1a while counting the number of times that the sensor S2 receives light, the vehicle travels straight in the forward state and exits from the work site through the entrance Mi.

Next, the operation of the controller 16 will be described with reference to the flow charts shown in FIGS. As shown in FIG. 8, the entire process flow is an initialization process for a communication unit such as RS232C (not shown) and actuators (the shift motor 12, the control valves 9, 10, 14 and the planting clutch 15). After doing
Perform work plan setting processing to set a work plan in which control contents are distinguished by numbers. Next, the corresponding control data is read based on the work plan set in the work plan setting process, and the vehicle body control process is executed to actually execute the vehicle body control based on the control data. The execution status of the work plan by the vehicle body control process is checked by the work plan check process, and when the completion of one work plan is confirmed, after performing the necessary communication process to the ground side, the work end instruction is given. If there is, end processing is performed, and otherwise, the flow from the work plan set processing is repeated.

In the work plan setting process, as shown in FIG. 9, it is determined whether or not a new work plan is set. Specifically, when a plan flag described later is in a reset state, it is determined that a new work plan is set. When it is judged that a new work plan is set,
After setting the plan flag, the plan numbers input in a predetermined order are read in order. And when the control information corresponding to the plan number is prepared,
It is read and set as control contents.
Here, the control contents are given as program data, and it is confirmed whether or not the data of the starting step (usually step 0) for setting the starting position of the program and the program have ended in a normal state. The data of the end step for performing is also set at the same time. On the other hand, if there is no control information corresponding to the entered plan number, it is processed as an abnormality.

In the vehicle body control process, as shown in FIG.
First, check whether the plan flag is set,
No processing is performed when the plan flag is reset. When the plan flag is in the set state, the control contents set in the work plan setting process (FIG. 9) are read out and it is checked whether or not the corresponding process is actually present.
As the process corresponding to the above control content, as shown in the figure, a stop process for stopping the work vehicle V, a straight-forward process for moving the work vehicle V forward or backward in a straight line based on the distance measurement information by the encoder S3. (End with distance measurement), straight forward processing (end with light source measurement) for moving the work vehicle V forward or backward to a position where the trigger sensor S2 detects the guiding beam lights A1, A2 a set number of times (end with light source measurement), each work stroke R1 , R2, a swirling process for swiveling from the end of R2 to the start of the next stroke, and the guiding beam light A for the next stroke.
1 and A2 are provided with orbital convergence processing for making the steering control sensor S1 properly receive light, and seedling supply apparatus processing for instructing seedling supply and drive control of the planting apparatus 6. There is. In the turning process and the trajectory converging process, the steering of the vehicle body is controlled by four-wheel steering.

In the work plan check process, as shown in FIG. 11, first, it is checked whether or not the plan flag is set, and when the plan flag is reset, the process is not performed. When the plan flag is set, the achievement status of the work plan executed in the vehicle body control process (FIG. 10) is checked. Specifically, if the content of the control step that is initially set in the start step and is set so that the numerical value increases as the control data is executed is the end step, the process is performed in a normal state. It is determined that the processing has ended, and if the step is any other step, it is determined that the processing has not ended or that the processing has ended in an abnormal state. When the achievement of the work plan is confirmed, the work plan number is updated to the next plan number, and then the plan flag and the control step are cleared.

Next, a specific example of the control content of the work plan designated by a number will be described in association with the traveling route of the work vehicle V shown in FIG. Plan number 1 is zenshin-laser-left-r
It is written as ear-nowwork (1), and its contents are
In the forward state, while the guiding beam light is detected by the steering control optical sensor S1 on the left side and guided to it, the rear sensor S2b for trigger receives the guiding beam light from the side once, It means to go straight in a non-working state. That is, it corresponds to traveling straight ahead from the entrance Mi along the side M2 to the point where the vehicle turns 90 degrees in the forward state. Plan number 2 is written as turn (-90),
The content means turning right in the forward movement state.
That is, it corresponds to turning rightward by 90 degrees from the direction along the side M2 and heading in the direction of the work stroke R2 of the first headland portion K1.
Here, the sign of the angle is + for counterclockwise and − for clockwise.
And The plan number 3 is written as search (right), and its content is the steering control optical sensor S1 on the right side.
Means to control the vehicle so that the vehicle receives the light beam for guidance. That is, after the 90-degree right turn, the steering control optical sensor S1 on the right side is moved to the first headland portion K.
It corresponds to the state of receiving the guiding beam light A2 along the first work process R2. Plan number 4 is zens
hin-laser-right-rear-nowo
It is written as rk (8), and its content is that in the forward state, the guiding beam light is detected by the steering control optical sensor S1 on the right side and guided by it, while the guiding beam light from the side is used for triggering. To the position where the rear sensor S2b receives light eight times,
It means going straight in a non-working state. That is, the above 90
It corresponds to traveling straight from the turning point to the 180-degree turning point at the lower end of the work site K along the work stroke R2 of the first headland portion K1. Also, Zenshin-pulse
-Left-work (5) is a state of forward movement, in which the guiding beam light is detected by the steering control optical sensor S1 on the left side and guided to it, to a position where five pulses are output from the encoder S3. , Means to go straight in the working state, koushin-laser-left-fro
nt (1) is a reverse drive state, and while detecting the guidance light beam by the steering control optical sensor S1 on the left side and being guided thereto, the front guidance sensor S2a for triggering the guidance light beam from the side is 1 It means that the vehicle goes straight to the position where it receives light twice in a non-working state. Hereinafter, although the details are omitted, while making the same notation, corresponding to each part of the traveling route of FIG.
Each control content is set with a work plan number.

Next, each process of the vehicle body control process will be described. First, in the stop processing, as shown in FIG. 12, a neutral state set of the transmission 11 (step 0), each solenoid set for brake operation, clutch disengagement, double speed operation off operation (step 1), and neutral set of steering. After performing (Step 2), the received light data of the left or right steering control optical sensor S1 used at that time is fetched (Step 3). Then, it is checked whether or not it is in the light receiving state (step 4). If it is in the light receiving state, the control step is advanced to the final step, step 5, and if it is in the non-light receiving state, the control step is left as it is. . As a result, it is possible to know whether the stop processing has been normally executed. Hereinafter, although not described, it is assumed that the control step becomes the corresponding number of steps as the control flow is executed.

In the straight-ahead processing (end of distance measurement), the process shown in FIG.
As shown in FIG. 14, after the brake is released and the solenoid for engaging the clutch is set (step 0), the left or right steering control optical sensor S1 in use is used.
The received light data of (1) is fetched (step 1), and it is checked whether or not it is in a light receiving state (step 2). If it is receiving light,
The distance data from the encoder S3 is reset and the process proceeds to step 3, but if it is in the non-light-receiving state, the process returns to step 1 to capture the light-receiving data. Therefore, if the non-light receiving state continues, the process stays at step 1 or 2. In step 3, the speed change device 11 is set to a predetermined speed change state, and the planting device 6 is driven in a lowered state. Step 4
Then, after receiving the light reception data of the steering control optical sensor S1, the light reception state is checked in step 5. As shown below, the non-light reception state has already been detected three times in succession (light reception error). If the count is 3), the engine is stopped as an abnormality. On the other hand, if the continuous non-light receiving state is twice or less and the non-light receiving state is the current time, the light receiving miscount is incremented by 1, and if the continuous non-light receiving state is two times or less, the current light receiving state is If so, the predetermined steering control (see FIG. 24) is performed based on the received light data, and the received light miscount is cleared, and then each encoder S
Request distance data from 3 (step 6). In step 7, it is checked whether or not the target distance has been reached, and if the target distance has been reached, the transmission 11 is set to a neutral state, the planting device 6 is raised to stop driving (step 7), and Brake operation, solenoid setting for clutch disengagement (step 8), and steering neutral setting (step 9) are performed. If the target distance is not reached in step 7, the flow from step 4 is repeated. At this time, if speed control is necessary, after performing the process, the flow from step 4 is repeated.

In the straight-ahead processing (finished by measuring the light source), FIG.
As shown in FIG. 16, after the brake is released and the solenoid for engaging the clutch is set (step 0), the left or right steering control optical sensor S1 in use is used.
The received light data of (1) is fetched (step 1), and it is checked whether or not it is in a light receiving state (step 2). If it is receiving light,
The distance data from the encoder S3 is reset and the process proceeds to step 3, but if it is in the non-light-receiving state, the process returns to step 1 to capture the light-receiving data. Therefore, if the non-light receiving state continues, the process stays at step 1 or 2. In step 3, the speed change device 11 is set to a predetermined speed change state, and the planting device 6 is driven in a lowered state. Step 4
Then, after the light reception data of the steering control optical sensor S1 is fetched, the light reception state is checked in step 5. As shown below, the non-light reception state has already been detected three times in succession (light reception). When the miscount is 3), the engine is stopped as an abnormality. On the other hand, if the continuous non-light receiving state is twice or less and the non-light receiving state is the current time, the light receiving miscount is incremented by 1, and if the continuous non-light receiving state is two times or less, the current light receiving state is If so, predetermined steering control (see FIG. 24) is performed on the basis of the received light data, the received light miscount is cleared, and then the distance data from each encoder S3 is requested (step 6).

In step 7, it is judged whether or not the trigger check distance at which the trigger light can be received is reached, and if this trigger check distance is not reached, the flow from step 4 is repeated. At this time, if speed control is necessary, after performing the process, the flow from step 4 is repeated. On the other hand, if the trigger check distance has been reached, it is further checked whether or not an overrun has occurred, and if overrun, an abnormal process such as engine stop is performed as an abnormal condition. If the trigger check distance has been reached and there is no overrun, it is checked whether or not the trigger light is received, and if the trigger light is not received, step 4
Repeat the flow from. At this time, if speed control is necessary, after performing the process, the flow from step 4 is repeated. If the trigger check distance has been reached and there is no overrun, if the trigger light is received, the transmission 11 is set to the neutral state, the planting device 6 is raised to stop the drive (step 7), and the brake is activated. , Set the solenoid for clutch disengagement operation (step 8) and set the steering neutrally (step 9).

In the turning process, as shown in FIGS. 17 to 21, first, the vehicle body direction data is obtained from the direction sensor S4 (step 0), and in step 1, the turning angle (90 degrees) is added to the current vehicle body direction. Or 180 degrees) is added or subtracted to calculate the reversal direction, that is, the target direction, and the light reception determination region for determining the light reception of the guiding beam light in the next stroke (the vehicle speed is decelerated in this region, it is also called a deceleration area). ) Is set in a predetermined angle (45 degrees) range on both sides of the target azimuth as a center, and a turnable region that allows turning beyond the target azimuth is set as an angle obtained by adding a predetermined angle to the target azimuth. Then, set the solenoid to release the brake. Then, after resetting the distance data from the encoder S3 (step 2) and setting the steering angle (usually the maximum steering angle) (step 3), the transmission 11 is set to a predetermined shift state and the planting device 6 And stop driving (step 4),
Enter steering angle information (step 5)
To go to step 6.

In step 6, the necessity of the double speed operation is judged from the steering angle of the steering wheel, and if the double speed operation is not necessary, the body direction data is obtained, and in step 7,
It is checked whether or not the light receiving determination area is reached. Here, if the light receiving determination area has been reached, the transmission 11 is set to a neutral state, an abnormal end process is performed (step 16), and the process ends. If the light receiving determination area has not been reached, the encoder S3
The distance data is obtained from the data, and if it is determined in step 8 that the vehicle is overrun exceeding the limit distance in turning movement, abnormal stop processing is performed, and then abnormal termination processing is performed ( Step 16) The process is completed, but if there is no overrun, the flow from step 5 is repeated while raising the planting device 6 and stopping driving. On the other hand, if the double speed operation is required in step 6, the double speed operating device (not shown) is turned on to obtain the vehicle body direction data (step 9), and then the process proceeds to step 10.

In step 10, it is judged from the vehicle body direction whether or not it is within the deceleration area, that is, within the light receiving determination area. If it is not within the deceleration area, distance data is obtained from the encoder S3, and if it is determined that the vehicle is overrunning in step 11 based on the distance data, abnormal stop processing is performed and then abnormal end processing is performed. (Step 16) The process is completed, but if there is no overrun, the flow from step 9 is repeated. On the other hand, if within the deceleration area,
After decelerating the vehicle speed, the light reception data of the steering control optical sensor S1 on the left or right side used in the next stroke is fetched (step 12), and in step 13, the guiding beam light of the next stroke, that is, the laser orbit. Check the light receiving status of. here,
If it is in the non-light receiving state, after obtaining the vehicle body direction data,
In step 14, it is checked whether or not it is in the turnable area,
If it exceeds the turnable region, the abnormal stop process is performed, and then the abnormal end process is performed (step 16) to end the process. If it does not exceed the turnable area, the distance data is obtained, and in step 15, it is checked whether or not there is an overrun. If it is overrun, abnormal stop processing is performed and then abnormal end processing is performed. (Step 16) The process is completed, but if there is no overrun, the flow from step 12 is repeated. On the other hand, if it is in the light receiving state in step 13, after performing stop processing, in step 17, after confirming that the vehicle body is stopped, the light receiving data of the steering control optical sensor S1 is fetched, and the process proceeds to step 18.

At step 18, the steering control optical sensor S
It is checked whether the light receiving position of 1 is the central position D0. If the light receiving position is the central position, the neutral setting of the steering wheel (step 23), the setting of the solenoid for brake operation (step 24), and the clutch The solenoid for the cutting operation is set (step 25), and the process ends. On the other hand, when the light receiving position is not in the center position, it is further checked whether or not the light receiving position is deviated, and when it is closer to the front side, that is, the stroke side before turning, it is the turning direction as it is, and it is not the front side. That is, when the vehicle is approaching the travel side after turning, the turning direction is reversed, and the vehicle turns at low speed. Then, while resetting the distance data, the limit value (for example, 1 m) of the moving distance in the turning traveling is set (step 19), and the light reception data of the steering control optical sensor S1 is fetched (step 20).
In step 21, it is checked whether or not the light receiving position is the center position D0. Here, if the light receiving position is not the center position, the distance data is obtained, and then in step 22, it is checked whether or not there is an overrun exceeding the limit value of the moving distance. After performing the abnormal stop process, the abnormal end process is performed (step 16) to end the process, but if there is no overrun, the light reception data of the steering control optical sensor S1 is fetched, and then the flow from step 21. repeat. If the light receiving position is the central position in step 21, the stop process is performed, and then the flow from step 23 is performed to complete the process.

In the trajectory convergence processing, as shown in FIG.
After deactivating the brake, setting the solenoid for engaging the clutch (step 0), and setting the neutral position of the steering (step 1), the left or right steering control optical sensor S1 to be used in the next stroke. (Step 2), and it is checked in step 3 whether or not the guiding beam light of the next step is received. here,
If it is in the non-light-receiving state, stop processing is performed and the process returns to step 2. On the other hand, in the light receiving state, while operating the transmission 11 at a low speed and driving the planting device 16 to the raised state, the distance data is obtained (step 4) and the light receiving data is taken in (step 5). And proceed to step 6.

In step 6, it is checked whether or not the guiding beam light of the next step is received, and if it is in the non-light receiving state,
After the light-receiving miscount is incremented by one, if the light-receiving miscount is 3, that is, the non-light-receiving state is three consecutive times, abnormal stop processing is performed, but if the light-receiving miscount is 2 or less, A track approaching process is performed to bring the vehicle body closer to the guidance light beam. On the other hand, if it is in the light receiving state, it is checked whether or not the light receiving position is the sensor center position after clearing the light receiving miscount. Here, when the vehicle is not in the center position, a predetermined steering control (FIG. 24) is performed so that the vehicle is centered, and then distance data is obtained (step 7), and in step 8, it is preset based on the distance data. It is judged whether or not the vehicle has overrun beyond the limit travel distance in the trajectory convergence processing, and if it is overrun, abnormal stop processing is performed and the processing ends, but if it is not overrun, predetermined speed control is performed. Then, the flow from step 5 is repeated. When it is at the center position, the transmission 11 is operated to the neutral state and the planting device 16 is lowered, and then the stop process is performed (step 9), and the process is ended.

In the steering control, as shown in FIG. 24, first, it is judged whether or not the state is the four-wheel steering (4WS) state. In the case of the four-wheel steering, based on the light reception data of the steering control optical sensor S1. The inclination φ of the vehicle body 5 detected as described above and the lateral displacement x '(the deviation after the inclination correction)
Then, the turning angles of the rear wheels 4 and the front wheels 3 are calculated, and the rear wheels 4 and the front wheels 3 are set so as to reach the turning angles. However, when the steering is not four-wheel steering, that is, two-wheel steering, The turning angle of the front wheel 3 is calculated from the lateral displacement x ', and the front wheel 4 is set so that the turning angle becomes the turning angle, and the rear wheel 4 is set to the neutral state.

[Other Embodiment] In the above embodiment, the start position and end position of the work in each work stroke R1, R2, and
The starting position of the turning movement from the end portion of one work stroke to the start portion of the next stroke, etc., is the beam light A1 projected from the side.
A2 and A3 are set based on the information received by the trigger optical sensor S2.
If the light reception of 2 and A3 is missed, the work cannot be started and ended properly, and the work vehicle V may overrun and collide with the periphery of the work site K or jump out of the work site. Therefore, in the above control, the number of output pulses of the encoder S3 that detects the rotation speed of the drive shaft to the wheels 3 and 4 is converted into distance information, and the light receivable area and the travel limit distance of the trigger optical sensor S2 are calculated. I have checked that the work vehicle V will not overrun. However, an error is likely to occur between the rotational speed of the drive shaft and the actual traveling distance due to wheel slips or the like, and the above check may not be performed properly. Particularly, since the length of the stroke R1 of the reciprocating work is relatively long, for example, about 100 m, the error of the distance information during the traveling of the stroke is likely to be large.

Therefore, for example, as shown in FIG. 1, the light beams A2 and A2 are provided at intermediate positions in the longitudinal direction of the stroke R1.
A fourth beam light projecting device B4 for projecting the beam light A4 in a state parallel to 3 is installed, and the encoder S3 from receiving the beam light A2 or A3 at both ends of the stroke to receiving the central beam light A4 Output pulse number or the beam light A2 at both ends of the stroke after receiving the central beam light A4
Or, the number of output pulses of the encoder S3 until receiving the light of A3 is corrected according to a known distance from the projection position of the beam light A2 or A3 on both ends of the stroke to the projection position of the central beam light A4. You may Accordingly, for example, even under a traveling condition in which the wheel slip is large, it is possible to correctly detect the traveling distance based on the output pulse number of the encoder S3 according to the condition, and the working vehicle V It will be possible to properly check for overrun.

Further, in the above embodiment, the headland portions K1, K2
Although it has been shown that it is composed of two working strokes R2, various concrete conditions such as the number of strokes of the headland portions K1 and K2 and the working width thereof can be set variously. For example, FIG. 25 shows an example in which the work width of the ground work unit 6 (planting part) is set to a wide width such as 12 instead of 6 and the headland parts K1 and K2 are configured by one work stroke R2. To illustrate. In the traveling method of the work vehicle V in this case, for example, the work end position of the work target portion Ks on the center side of the work site is set to the upper end of the first headland part K1, and the first headland part K1 is drawn from this position. Work traveling toward the lower side, then turn left 90 degrees at the lower end of the first headland portion K1, and then work with the relay work area portion R1b (this stroke is also one stroke) toward the right side of the drawing. The vehicle then travels, then turns 90 degrees to the left at the right end of the relay work site R1b, and then the second headland part K2 is directed to the upper side of the drawing for work travel, and finally the second
After turning 90 degrees to the left at the upper end of the headland portion K2, the vehicle travels straight through the final work site portion R1a and exits from the work site through the entrance Mi.

Further, in the above embodiment, the relay work site portion R1b is provided adjacent to the adjacent side M3 farther from the entrance Mi, but the present invention is not limited to this, and for example, FIG. As illustrated, this relay work site portion R
1b may not be provided. In the traveling method of the work vehicle V in this case, for example, the work end position of the work target portion Ks on the center side of the work place is set to the upper end portion of the first headland portion K1, and from this position, the first headland portion K1 is operated. After traveling the outer stroke R2 of the work stroke R2 toward the lower side of the drawing, turn left 180 degrees at the lower end of the stroke R2 and turn it over, and then turn the inner stroke R2 toward the upper side of the drawing. Work, then
At the upper end of the inner stroke R2, turn 90 degrees rightward and travel toward the right side of the figure in the final work site portion R1a in a non-working state, and then turn 90 degrees right at the right end portion of the final work site portion R1a. After turning, after working traveling toward the inner stroke R2 of the second headland portion K2 as shown in the figure, at the lower end of the stroke R2, turn 180 degrees counterclockwise and reverse, and then the outer stroke R2 of the figure. Work traveling toward the upper side, and finally, stroke R on the outside
Turn 90 degrees to the left at the upper end of 2 and then final work site part R1
The vehicle travels straight in a, and exits from the work site through the entrance Mi.

Further, in the above embodiment, the case where the work vehicle V is traveled forward in each work stroke R1 and R2 has been described, but it is not necessary to travel all the strokes R1 and R2 in forward travel, and only a part thereof is required. You may make it drive | work in a backward state in the process of.

Further, in the above embodiment, the beam light projecting means B1, B2, B3, B4 for projecting the guiding beam lights A1, A2, A3, A4 are constituted by the laser beam generators. A beam light generator other than the generator may be used.

In the above embodiment, a pair of steering control optical sensors S1 are provided on the front side and the left side of the vehicle body 5. However, the present invention is not limited to this. One may be provided on the side or in the center of the vehicle body on the left and right sides. In this case, the guiding light beams A1, A
One 2 is provided for each work process R1, R2. In addition, the configuration of the light detection unit of the steering control optical sensor S1
The present invention is not limited to the one having a plurality of light receiving elements divided as in the above embodiment, but various modifications can be made.

Further, in the above embodiment, the steering of the work vehicle V is configured to be capable of four-wheel steering, and the steering means 7 to
10 is composed of a hydraulic cylinder and its control valve for steering the front wheel 3 and the rear wheel 4 separately.
-10 are not limited to this, and various means are possible.

Further, in the above embodiment, the pair of front and rear optical sensors for trigger S2 are provided at a predetermined position in the left and right center of the vehicle body. However, the present invention is not limited to this. It may be provided.

Further, in the above embodiment, the case where the work vehicle V is automatically driven by the control device 16 has been shown, but instead of being automatically driven, for example, an operator gets on the steering wheel and shifts manually. You may make it run.

In the above embodiment, the present invention is applied to a work vehicle for rice planting as a work vehicle for ground work, but it is used for agricultural work other than rice planting and various ground work vehicles other than farm work. It is also applicable to
The specific configuration of each unit such as the ground work unit 6 is variously changed according to the purpose of the work vehicle, working conditions, and the like.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[0078]

[Brief description of drawings]

FIG. 1 is a plan view showing an entire traveling route and a projection position of a guidance light beam.

FIG. 2 is a plan view showing another example of the projection position of the guiding light beam.

FIG. 3 is a schematic side view of a work vehicle and a beam light projection means for guidance.

FIG. 4 is a schematic plan view showing a work vehicle and a beam light detection sensor for guidance.

FIG. 5 is a block diagram of a control configuration.

FIG. 6 is an explanatory diagram of a light receiving position of a steering control optical sensor.

FIG. 7 is an explanatory diagram for correcting inclination of a deviation detection value in the lateral direction of the vehicle body.

FIG. 8 is a flowchart of control operation.

FIG. 9 is a flowchart of control operation.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a flowchart of control operation.

FIG. 14 is a flowchart of control operation.

FIG. 15 is a flowchart of control operation.

FIG. 16 is a flowchart of control operation.

FIG. 17 is a flowchart of control operation.

FIG. 18 is a flowchart of control operation.

FIG. 19 is a flowchart of control operation.

FIG. 20 is a flowchart of control operation.

FIG. 21 is a flowchart of control operation.

FIG. 22 is a flowchart of control operation.

FIG. 23 is a flowchart of control operation.

FIG. 24 is a flowchart of control operation.

FIG. 25 is a plan view illustrating a traveling method according to another embodiment.

FIG. 26 is a plan view illustrating a traveling method of another embodiment.

FIG. 27 is a plan view illustrating a traveling method of a conventional example.

FIG. 28 is a plan view illustrating a traveling method of another conventional example.

[Explanation of symbols]

 K Work site M1 Reference side M2 Adjacent side M3 Adjacent side M4 Opposite side V Work vehicle Mi gateway K1, K2 Headland part K1 First headland part K2 Second headland part Ks Work target part R1a Final work part part R1b For relay Work site portion B1 First beam light projection means B2 Second beam light projection means S1 Steering control optical sensor 7 to 10 Steering means 6 Ground working unit 100 Control means S2 Trigger optical sensor

Claims (5)

[Claims] 1. A reference side (M) at one end of a reference side (M1) among a plurality of sides surrounding a rectangular work site (K).
The entrance (M) through which the work vehicle (V) enters and exits by traveling along the longitudinal direction of the adjacent sides (M2, M3) adjacent to 1).
i) is provided, and in the longitudinal direction of the adjacent sides (M2, M3), the headland portion (K
1) and (K2) and the central portion is the work target portion (K
s), the work vehicle (V) is reciprocated along the longitudinal direction of the adjacent sides (M2, M3) to perform the reciprocal work for the work target portion (Ks), and then, In the two headland parts (K1) and (K2), the work vehicle (V) is moved back and forth along the longitudinal direction of the reference side (M1) to the headland parts (K1) and (K2). A method of traveling a work vehicle for ground work for performing headland work, comprising: a work land portion connected to the doorway (Mi) along a longitudinal direction of the adjacent sides (M2, M3); (R1
As a), the reciprocating work is performed while leaving the final work site part (R1a), and then the first side adjacent to the reference side (M1) of the pair of headland parts (K1) and (K2). Headland part (K1), and
The headland work is performed by working the second headland portion (K2) adjacent to the facing side (M4) facing the reference side (M1), and finally, the entrance from the second headland portion (K2). A method of traveling a work vehicle for ground work, comprising: working the final work site portion (R1a) while running the final work site portion (R1a) toward (Mi). 2. The entrance (Mi) of a pair of adjacent sides (M2), (M3) adjacent to the reference side (M1).
In the headland work, the reciprocating work is performed while leaving the relay work place part (R1b) as a work place part adjacent to the adjacent side (M3) located away from the relay work place part (R1b). , Working the relay work site portion (R1b) while traveling the relay work site portion (R1b) during the transition from the first headland part (K1) to the second headland part (K2). The method for traveling a work vehicle for ground work according to claim 1. 3. The work vehicle (V) is moved forward by one stroke so that each of the work strokes in the reciprocating work and the headland work is performed in a forward state, and then the work vehicle (V) is adjacent to the work vehicle (V) while changing its direction. The traveling method for a work vehicle for ground work according to claim 1 or 2, wherein the reciprocating work and the headland work are performed by performing a turn to move in a stroke. 4. The reference side (M) is provided at one end of one reference side (M1) among a plurality of sides surrounding a rectangular work site (K).
The entrance (M) through which the work vehicle (V) enters and exits by traveling along the longitudinal direction of the adjacent sides (M2, M3) adjacent to 1).
i) is provided, and in the longitudinal direction of the adjacent sides (M2, M3), the headland portion (K
1) and (K2) and the central portion is the work target portion (K
s), the work vehicle (V) is reciprocated along the longitudinal direction of the adjacent sides (M2, M3) while performing reciprocating work for the work target portion (Ks), and then In the two headland parts (K1) and (K2), the work vehicle (V) is reciprocated along the longitudinal direction of the reference side (M1) to the headland parts (K1) and (K2). A traveling control facility for a ground work vehicle that performs headland work, wherein the reference side (M1) is provided in the work target portion (Ks).
First beam light projection means (B) for projecting the guiding beam light along the longitudinal direction of the work stroke so as to guide the work vehicle (V) along each of the plurality of working strokes arranged in the longitudinal direction of the work stroke.
1) and a first headland portion (K1) adjacent to the reference side (M1) of the pair of headland portions (K1) and (K2) and an opposite side () facing the reference side (M1). In each of the second headland portion (K2) adjacent to M4), the adjacent side (M
2, M3) second beam light projection means for projecting the guiding beam light along the longitudinal direction of the work stroke so as to guide the work vehicle (V) along each of the plurality of working strokes arranged in the longitudinal direction. (B2) is provided on the ground side to detect a shift in the vehicle width direction with respect to the beam light projected by the first beam light projection means (B1) and the second beam light projection means (B2). , A steering control optical sensor (S1) for receiving a light beam, and steering means (7 to 10) for steering the work vehicle (V).
And a ground working unit (6) that can be switched between a ground working state and a non-working state, and the steering based on the detection information of the steering control optical sensor (S1) and preset work schedule information. Means (7-
10) and a control means (100) for controlling the operation of the ground work part (6) are provided in the work vehicle (V), and the control means (100) is a longitudinal direction of the adjacent sides (M2, M3). The work site portion connected to the entrance (Mi) along the direction is defined as the final work site portion (R1).
As a), the reciprocating work is performed while leaving the final work site part (R1a), and then the first side adjacent to the reference side (M1) of the pair of headland parts (K1) and (K2). Headland part (K1), and
The headland work is performed by working the second headland part (K2) adjacent to the facing side (M4) facing the reference side (M1), and finally, the entrance from the second headland part (K2). The order of working the final work site portion (R1a) while traveling the final work site portion (R1a) toward (Mi) is, as the work schedule information, the steering means (7 to 10) and the ground surface. A travel control facility for a ground work vehicle configured to control the operation of the work unit (6). 5. The work vehicle (V) is provided with the work vehicle (V).
When the vehicle automatically travels along the guiding beam light from the first beam light projecting means (B1) or the second beam light projecting means (B2), it projects in a state intersecting with the guiding beam light. An optical sensor for trigger (S2) for receiving the guiding beam light from the second beam light projecting means (B2) or the first beam light projecting means (B1) is provided, and the control means (100) is , The start position of the turning operation from the end of each stroke to the start of the next stroke adjacent to the stroke is set based on the light reception information of the trigger optical sensor (S2). The traveling control facility for the work vehicle for ground work according to claim 4.