KR102539520B1 - Combines, Harvesters, and Autopilot Systems - Google Patents

Abstract

The combine is vertically oscillating at the upper end of the grain storage tank 9 for storing the grains after the threshing process, the longitudinal conveyance section 13 connected to the grain storage tank 9, and the longitudinal conveyance section 13 Equipped with a metal grain discharging device 12 that has a connected transverse transport section 14 and discharges the grains in the grain storage tank 9 to the outside, and a GPS antenna 20 that receives positional information from a satellite. . The GPS antenna 20 is provided at a higher position than the lateral transport section 14 in the stored state.

Description

Combines, Harvesters, and Autopilot Systems

The present invention relates to a combine equipped with a satellite positioning antenna for receiving positional information from a satellite.

Moreover, this invention relates to a harvester.

In addition, the present invention relates to an automatic steering system for a work vehicle that automatically drives a work piece along a driving route.

[1] Conventionally, for example, agricultural vehicles described in Patent Literature 1 are already known. The agricultural vehicle described in Patent Literature 1 is equipped with a satellite positioning antenna ("GPS antenna" in the literature) that receives positional information from a satellite, and various controls are performed using the positional information received from the satellite.

[2] A conventional harvester is described in Patent Literature 2, for example. The harvester described in the same document is provided with a cabin ("driver's cabin" in the same document) covering a driving unit in which an operator can ride.

[3] In a work vehicle that travels automatically, the deviation between the calculated position of the host vehicle and the target travel route is obtained, a control amount is obtained to eliminate this deviation, and the steering mechanism is controlled by a steering signal output based on the control amount. do. For example, the work vehicle disclosed in Patent Literature 3 includes a host vehicle position calculation unit that calculates the host vehicle position, a position difference calculation unit that calculates a position difference between the host vehicle position and the target travel path, and an output based on the position difference. A target steering operation unit that outputs a target steering value for driving along a target travel path based on the steering value of deviation cancellation, and a steering drive unit that steers steering wheels based on a steering drive signal generated from the target steering value are doing As a result, the work vehicle is automatically steered along the set target travel path, and work by automatic travel is realized.

Japanese Unexamined Patent Publication No. 2015-22662 Japanese Unexamined Patent Publication No. 2012-100604 Japanese Unexamined Patent Publication No. 2008-131880

[1] Background Art The problems corresponding to [1] are as follows.

In the agricultural vehicle described in Patent Literature 1, the satellite positioning antenna is located behind the rear wall of the cabin. However, since the rear wall of the cabin is usually made of metal, if the metal member is positioned at the same height as the satellite positioning antenna, it is feared that reception of radio waves by the satellite positioning antenna will be adversely affected.

In view of the above situation, a combine capable of enabling a satellite positioning antenna to receive positional information from a satellite satisfactorily is desired.

[2] The problems corresponding to background art [2] are as follows.

However, in the said conventional harvester, the equipment which can perform input operation and content confirmation of agricultural work information was not provided. In recent multifunctional harvesters, if input operation or content confirmation of agricultural work information is impossible, inconvenience in handling has occurred.

In light of the said situation, the harvester which is easy to perform the input operation and content confirmation of agricultural work information was requested|required.

[3] The problems corresponding to background art [3] are as follows.

In the work vehicle according to Patent Document 3, the distance between the center of the work vehicle and the target travel path is obtained as a position difference, and the automatic steering travel control of this work vehicle steers the steering wheel so that the center of the work vehicle is on the target travel path. do. For this reason, when the position of the working part in the work vehicle is deviated from the center of the work vehicle and is biased toward the front or rear portion of the vehicle body, in the position deviation correction process, even if the center of the work vehicle is located on the target travel path. Since the position of the working part is not always located on the travel route, workability may be deteriorated. In order to avoid this, it is conceivable to set the reference position of the work vehicle at the time of obtaining the position difference to the vicinity of the position of the work section. For example, when the position of the working part is located in the front part of the car body, such as a harvester equipped with a harvester in the front part of the car body, it is conceivable to set the reference position of the working vehicle in the front part of the car body. However, with this configuration, good effects are obtained in the case of forward movement, but in the case of reverse movement, the direction of the work vehicle is greatly inclined with respect to the target travel path in the process of correcting the positional deviation, and the rear portion of the work vehicle is the target. An adverse effect of greatly deviating from the travel route occurs.

From these circumstances, an automatic steering system capable of highly accurate automatic steering is desired in both reverse and forward travel.

[1] A solution to the problem [1] is as follows.

Features of the present invention are,

A grain storage tank for storing grains after threshing treatment;

A metal grain discharging device having a longitudinal conveying unit connected to the grain storage tank and a transverse conveying part movably connected to an upper end of the longitudinal conveying unit and discharging the grains in the grain storage tank to the outside;

A satellite positioning antenna for receiving position information from a satellite is provided,

The satellite positioning antenna is provided at a position higher than that of the transverse transport unit in a stored state.

According to this characteristic configuration, the satellite positioning antenna can receive positional information from the satellite satisfactorily, without being affected by the metallic transverse carrier.

Also, in the present invention,

A cabin covering the driver is provided,

It is preferable if the satellite positioning antenna is provided at a position higher than a part located at the highest position among the cabin frames supporting the cabin.

The cabin frame is usually made of metal. According to this characteristic configuration, the satellite positioning antenna can receive the positional information from the satellite satisfactorily without being influenced by the cabin frame.

Also, in the present invention,

A cabin covering the driver is provided,

It is preferable if a position changing mechanism is provided for changing the satellite positioning antenna to a high position position located above the top of the roof portion of the cabin and a low position position lower than the high position state.

According to this characteristic configuration, by placing the satellite positioning antenna in a high position state, the satellite positioning antenna can receive positional information from the satellite satisfactorily without being affected by the loop portion. Further, by placing the satellite positioning antenna in a low position state, the satellite positioning antenna is less likely to be obstructed during transportation or storage of the combine.

Also, in the present invention,

In the low position state, it is preferable if the satellite positioning antenna is positioned below the uppermost end of the loop portion.

According to this characteristic structure, it becomes difficult for a satellite positioning antenna to interfere more at the time of carrying and storing a combine.

Also, in the present invention,

The satellite positioning antenna is supported on the side of the cabin so as to be able to swing up and down,

It is preferable that the position change mechanism is configured to change between the high position state and the low position state by vertically rocking the satellite positioning antenna.

According to this characteristic configuration, it is possible to easily change between the high position state and the low position state only by swinging the satellite positioning antenna up and down.

Also, in the present invention,

The satellite positioning antenna is supported on one side of the cabin in the left-right direction of the aircraft so as to be able to swing up and down around an axis extending in the front-back direction of the aircraft;

It is preferable that the position change mechanism is configured to change between the high position state and the low position state by swinging the satellite positioning antenna up and down around the axial center.

According to this characteristic configuration, since the satellite positioning antenna is located on one side of the aircraft in the left-right direction in the cabin, the satellite positioning antenna does not obstruct the view of the aircraft in the front-back direction from inside the cabin.

Also, in the present invention,

A roof frame supporting the roof portion of the cabin is provided in the cabin frame supporting the cabin,

It is preferable that the satellite positioning antenna is supported on the roof frame via a bracket.

According to this characteristic configuration, it is easier to arrange the satellite positioning antenna at a desired position than in the case of directly supporting the satellite positioning antenna on the roof frame. In addition, the satellite positioning antenna can be reliably supported by a roof frame having high rigidity enough to support the roof portion.

Also, in the present invention,

The cabin is provided on one side of the aircraft in the left-right direction of the aircraft,

The roof frame includes a front frame extending in the left and right directions of the aircraft and constituting a front edge portion of the roof frame, and an inner frame extending in the front and rear directions of the aircraft and constituting an edge portion inside the aircraft in the left and right directions of the roof frame. become,

It is preferable that the satellite positioning antenna is supported on a corner portion of the front frame between an end inside the aircraft and a front end of the inner frame in the left and right direction of the aircraft in the loop frame.

According to this characteristic structure, a satellite positioning antenna approaches a reaping position in the aircraft front-back direction. As a result, for example, in the case of performing precision agriculture in which the quality of grain and the position of harvesting are related to each other for field management, correction of the positional information received by the satellite positioning antenna is reduced, and the positional information is treated as data. It gets easier.

Further, according to this characteristic configuration, the satellite positioning antennas come close to the positions on the left and right center sides of the aircraft. This reduces correction of the positional information received by the satellite positioning antenna, for example, in the case of automatically driving a pavement along a travel route, making it easy to handle the positional information as data.

Also, in the present invention,

It is preferable if the satellite positioning antenna is provided in the center of the aircraft in the left and right directions of the aircraft.

According to this characteristic configuration, the satellite positioning antenna is located in the center of the aircraft in the left and right directions of the aircraft. This reduces correction of the positional information received by the satellite positioning antenna, for example, in the case of automatically driving a pavement along a travel route, making it easy to handle the positional information as data.

Also, in the present invention,

A pair of left and right crawler traveling devices are provided,

The satellite positioning antenna is preferably provided at a central position between the crawler traveling device on the left side and the crawler traveling device on the right side in the left and right direction of the aircraft.

Here, the "central position" includes the actual central position and the approximate central position.

According to this characteristic configuration, the satellite positioning antenna is located at the center position between the crawler traveling device on the left side and the crawler traveling device on the right side in the left and right direction of the body. This reduces correction of the positional information received by the satellite positioning antenna, for example, in the case of automatically driving a pavement along a travel route, making it easy to handle the positional information as data.

Also, in the present invention,

It is suitable if the said satellite positioning antenna is provided in the center position of the reaping width in the body left-right direction.

Here, the "central position" includes the actual central position and the approximate central position.

According to this characteristic structure, the satellite positioning antenna is located in the center position of the reaping width in the body left-right direction. Because of this, the reaping width on the left side and the reaping width on the right side are the same with respect to the central position of the reaping width (ie, the position of the satellite positioning antenna), so for example, the quality of the grain and the reaping position are correlated to perform field management. In the case of precision agriculture, it becomes easy to manage the cutting width based on the positional information received by the satellite positioning antenna.

Also, in the present invention,

A pair of left and right crawler traveling devices are provided,

It is preferable if the satellite positioning antenna is provided at the same position as the front end of the pair of left and right crawler traveling devices in the forward and backward directions of the aircraft.

Here, the "same position" also includes completely the same position and substantially the same position.

According to this characteristic structure, a satellite positioning antenna approaches a reaping position in the aircraft front-back direction. As a result, for example, in the case of performing precision agriculture in which the quality of grain and the position of harvesting are related to each other for field management, correction of the positional information received by the satellite positioning antenna is reduced, and the positional information is treated as data. It gets easier.

Also, in the present invention,

A erecting device for erecting the planting grain stem of the pavement is provided,

It is preferable if the satellite positioning antenna is provided above the standing device in a state where it overlaps with the standing device in plan view.

According to this feature structure, the standing position can be appropriately managed so that standing failure does not arise.

Also, in the present invention,

It is provided with a blade for cutting the planting grain of the pavement,

It is suitable if the satellite positioning antenna is provided right above or almost right above the blade.

According to this characteristic structure, a harvesting position can be managed appropriately so that a harvesting residue may not arise as much as possible.

[2] A solution to the problem [2] is as follows.

The harvester of the present invention,

A cabin covering the driver's part;

An input monitor capable of inputting and displaying agricultural work information is provided,

The input monitor is disposed above the front side portion in the cabin.

ADVANTAGE OF THE INVENTION According to this invention, an operator can perform input operation and content confirmation of agricultural work information through an input monitor. For example, if the input monitor is disposed on the center side of the aircraft, there is a fear that it may interfere when checking the state of the harvester located in front of the cabin. For this reason, this problem can be avoided by arranging the input monitor on the upper part of the front side part in the cabin. In addition, since the upper part of the front side part in the cabin is a location where the hand of the operator riding the driver can reach and is easily visible, it is easy to perform input operation and content confirmation of agricultural work information through the input monitor. .

Thus, if it is this invention, it becomes easy to perform input operation and content confirmation of agricultural work information.

In the present invention,

It is preferable if the input monitor is disposed on an upper part outside the body in the cabin.

According to this configuration, since the cabin is often arranged outwardly with respect to the center of the aircraft, the pilot's line of sight tends to be directed toward the center of the aircraft. , so that the input monitor does not block the pilot's field of view looking towards the center of the aircraft.

In the present invention,

It is preferable if an instrument panel is provided in the body center side location in the cabin.

According to this configuration, the instrument panel can be suitably laid out at a location on the center side of the aircraft away from the input monitor. This makes it easier for the operator to distinguish between the display on the input monitor and the display on the instrument panel.

In the present invention,

It is preferable if the instrument panel is arranged below the upper and lower center points in the cabin.

According to this configuration, by arranging an instrument panel that is relatively frequently checked during work travel at a location in the cabin where the operator looks down, the operator can view the display on the instrument panel while confirming the state of the reaping unit located at the front lower side of the cabin. It becomes something that can be verified.

In the present invention,

It is preferable if the input monitor is installed on a pillar provided outside the body in the front portion of the cabin.

According to this configuration, it is possible to suitably install the input monitor in an aspect in which the input operation and display confirmation are easily performed utilizing the filler.

In the present invention,

A back monitor capable of displaying the situation behind the aircraft is provided on the upper part of the outside of the aircraft in the cabin,

It is preferable if the input monitor is disposed below the bag monitor.

According to this configuration, the input monitor can be suitably arranged by utilizing the empty space below the back monitor. By setting it as such an arrangement, input operation and content confirmation of agricultural work information can be performed suitably through the input monitor in the lower side of a bag monitor, confirming the situation behind a body with a bag monitor.

In the present invention,

The input monitor is suitable if it can be attached to or detached from the cabin.

According to this configuration, the input monitor can be easily maintained by separating the input monitor from the cabin. In addition, it becomes easy to replace the input monitor between other aircraft and other models. In addition, the input monitor brought out of the cabin can be used as a portable and remotely operated input terminal.

[3] A solution to the problem [3] is as follows.

According to the present invention, an automatic steering system for a work vehicle that automatically travels a work vehicle along a travel route includes a satellite positioning module that outputs positional information based on satellite information from a satellite, and steering of the work vehicle in forward travel. A forward reference position calculation unit that calculates a forward reference position serving as a reference position for control based on the positional information; and a reverse reference position serving as a reference position for steering control of the work vehicle in reverse travel based on the positional information. and outputs a steering control signal for forward motion calculated based on the deviation between the travel path and the forward reference position during forward travel, and the travel path and the reverse drive during reverse travel. A steering control unit for outputting a steering control signal for backward movement calculated based on a deviation of a reference position, and a steering mechanism for steering the work vehicle based on the steering control signal for forward movement and the steering control signal for reverse movement. .

According to this configuration, the reference position of the work vehicle used when obtaining the deviation (positional misalignment) of the work vehicle with respect to the travel route differs between forward travel and reverse travel. That is, in forward travel, the forward reference position is calculated as the reference position for steering control. Also, in reverse travel, the reverse reference position is calculated as a reference position for steering control. That is, in the steering control in forward travel, the forward reference position is used as the reference position used when calculating the deviation. And this forward reference position is set so as to be suitable for steering control in forward traveling. Similarly, in steering control in reverse travel, the reverse reference position is used as a reference position used in calculating the deviation. And this reverse reference position is set so as to be suitable for steering control in reverse travel. This realizes an automatic steering system capable of highly accurate automatic steering both in reverse and forward travel.

In one preferred embodiment of the present invention, the reference forward position and the reference backward position are set on front-back direction lines extending from the left and right centers of the work vehicle in the front-back direction. With this configuration, either of the left and right side ends of the work vehicle deviate greatly from the travel path in the steering control process for the work vehicle displaced from the travel path to return to the travel path in either case of forward travel or reverse travel. that can be avoided.

BACKGROUND OF THE INVENTION [0002] In one of the work vehicles that run in the field, there is a harvester equipped with a harvester in the rear portion of the vehicle body as well as a harvester equipped in the front portion of the vehicle body. Since crops such as rice or wheat are harvested from the field while moving forward, it is important to quickly and accurately align the harvester with the travel path in forward travel. For this purpose, it becomes advantageous to set the forward reference position to the vicinity of the reaping part. Further, in the field work travel of the harvester, direction change turning travel using reverse (90° turning travel or 180° turning travel) is often used. In addition, since the harvester has a harvest tank at the rear portion of the vehicle body, the overall length of the harvester is long and the width of the rear portion of the vehicle body is wide. For this reason, it is important to reduce the amount by which the rear portion of the vehicle body deviates from the travel path when aligning the vehicle body with the travel path in reverse travel. That is, it is advantageous to set the reverse reference position near the rear portion of the vehicle body. Therefore, when the working vehicle is a harvester equipped with a reaping unit in the front portion of the vehicle body and a harvest tank in the rear portion of the vehicle body, in the present invention, the forward reference position is set in the front portion of the vehicle body, and the reverse movement It is suitable if the reference position is set at the rear portion of the vehicle body.

In a harvester, an operating unit is installed right behind the harvesting unit so that the condition of the harvesting unit can be easily monitored. Since the driver's unit is configured so that the view from the driver's unit is good, the area around the driver's unit, including the cabin, is a place where satellite radio wave reception sensitivity is good. Further, the coordinate position (longitude and latitude values) included in the positional information from the satellite positioning module indicates the coordinate position of the antenna position on the map. Therefore, when using this coordinate position as a forward reference position, it is preferable that the position of the antenna be the same as the forward reference position. For this reason, in one preferred embodiment of the present invention, the antenna of the satellite positioning module is disposed in the front portion of the vehicle body. In addition, as one preferred embodiment of the present invention, if the forward reference position calculation unit is configured to calculate the coordinate position indicated by the position information output from the satellite positioning module as the forward reference position, the coordinate position indicated by the position information Since can be used as a forward reference position as it is, it is preferable.

1 : is a figure which shows 1st Embodiment (it is the same to FIG. 9 hereafter), and is a left side view which shows a normal type combine.
2 is a plan view showing a normal type combine.
3 : is a figure which shows the satellite positioning system in this combine.
4 is a front view showing a support structure of a satellite positioning device.
Fig. 5 is a plan view showing a normal type combine according to another embodiment.
Fig. 6 is a plan view showing a cutting-off type combine according to another embodiment.
Fig. 7 is a perspective view showing a support structure of a satellite positioning device according to another embodiment.
Fig. 8 is a satellite positioning device according to another embodiment, and is a front view showing the satellite positioning device in a high position state.
Fig. 9 is a satellite positioning device according to another embodiment, and is a front view showing the satellite positioning device in a low position state.
Fig. 10 is a view showing a second embodiment (the same applies to Fig. 15 hereinafter) and is a right side view showing the entire harvester.
11 is a top view showing the entire harvester.
12 is a partial cross-sectional view of a driving unit viewed from the top.
13 is a partial cross-sectional view of a driving unit viewed from the rear.
Fig. 14 is a partial cross-sectional view of a driving unit in another embodiment, seen from the rear.
15 is a partial cross-sectional view of a driving unit in another embodiment seen from the rear side.
Fig. 16 is a diagram showing a third embodiment (the same applies to Fig. 25 hereinafter), and is an explanatory diagram schematically showing work travel in packaging of a harvester, which is one of the embodiments of the work vehicle.
17 is a side view of the harvester.
18 is a functional block diagram showing the control system of the harvester.
Fig. 19 is an explanatory diagram illustrating a forward reference position and a backward reference position.
Fig. 20 is an explanatory diagram illustrating steering control for correcting a positional deviation from a travel path during forward travel.
Fig. 21 is an explanatory diagram illustrating steering control for correcting a positional deviation from a travel path during reverse travel.
Fig. 22 is a schematic diagram illustrating direction change turning running at 90°.
Fig. 23 is a schematic diagram showing 180° direction change turning travel.
24 : is explanatory drawing explaining the raising/lowering control of the reaping part in 90 degree direction change turning run.
25 : is explanatory drawing explaining the raising/lowering control of the reaping part in 90 degree direction change turning run.
Fig. 26 is a diagram showing an example of a travel route composed of curved parallel lines.
27 is a diagram showing an example of a travel path including curved mesh lines.
Fig. 28 is a diagram showing an example of a travel route made of curved mesh lines.

[First Embodiment]

A first embodiment of the present invention will be described below with reference to FIGS. 1 to 9 . In the following description, the direction of the arrow F shown in FIGS. 1 and 2 is "the front side of the machine", the direction of the arrow B is the "rear side of the machine", the direction of the arrow L shown in Fig. 2 is "the left side of the machine", The direction of the arrow R is called "the right side of the aircraft".

[Overall composition of the combine]

In FIG. 1 and FIG. 2, a normal type combine is shown as an example of the "combine" concerning this invention. This combine is provided with a body frame 1 and a pair of left and right crawler traveling devices 2. In front of the body, a reaping unit 3 for reaping planted grain stems of the field is provided. The reaping unit 3 is provided with a reel 4 for winding up the planted grain stem, a blade 5 for cutting the planted grain stem, and a winding auger 6 for winding up the planted grain stem. The reaping part 3 has a reaping width wider than the body width.

On the right side of the front part of the body, a cabin 8 covering the driving unit 7 is provided. Behind the cabin 8, the grain storage tank 9 which stores the grain after a threshing process is provided. On the left side of the grain storage tank 9, the threshing apparatus 10 which threshes a harvested grain stem is provided. The feeder 11 which conveys the harvested grain culm toward the threshing apparatus 10 across the reaping part 3 and the threshing apparatus 10 is provided.

The grain discharge device 12 which discharges the grain in the grain storage tank 9 to the outside is provided. The grain discharge device 12 is constituted by a metal member. The grain discharge device 12 is equipped with a vertical conveying unit 13 connected to the grain storage tank 9 and a horizontal conveying unit 14 connected to the upper end of the vertical conveying unit 13 so as to be able to vertically swing has been The grain discharge device 12 can turn around the pivot center Z1 extending in the vertical direction. The transverse transport section 14 is capable of up and down rocking around the rocking axis X1 extending in the horizontal direction. In the front part of the threshing device 10, the pedestal 15 on which the grain discharge device 12 is mounted is installed. In the state where the grain discharge device 12 is mounted on the pedestal 15, the grain discharge device 12 is in a housing state.

The driving unit 7 is provided with a driver's seat 16 on which the driver sits. The cabin 8 is equipped with a cabin frame 17 that supports the cabin 8 . The cabin frame 17 is equipped with a roof frame 18 that supports the roof portion 8A of the cabin 8 .

[Satellite positioning device]

3, the satellite positioning system in this combine is shown. This combine is provided with a satellite positioning device 19 that outputs positional information of this machine based on positional information from a GPS (Global Positioning System) satellite S1. The positional information output by the satellite positioning device 19 can be used, for example, in the case of automatically traveling a field along a travel route, or precision agriculture in which the quality of a grain and the harvesting position are correlated and the field management is performed.

The satellite positioning device 19 includes a GPS antenna 20 (corresponding to the "satellite positioning antenna" according to the present invention) for receiving positional information from the satellite S1, an antenna 21 for communication with the base station S2, , a case 22 incorporating the GPS antenna 20 is provided. The satellite positioning device 19 corrects the positional information from the satellite S1 received by the GPS antenna 20 with the correction information received by the communication antenna 21 from the base station S2, and then corrects the positional information of this machine. is supposed to output.

As shown in FIGS. 1 and 3 , the GPS antenna 20 has the lower end of the case 22 located above the upper end of the loop part 8A, and the horizontal carry section 14 in the housed state. ) is located at a higher position. That is, the GPS antenna 20 is provided at a position higher than the part (roof frame 18) located at the highest position among the cabin frames 17.

As shown in Fig. 2, the GPS antenna 20 is provided in the center of the aircraft in the left-right direction of the aircraft. Specifically, the GPS antenna 20 is provided at a central position C between the crawler traveling device 2 on the left and the crawler traveling device 2 on the right in the left-right direction of the aircraft. The GPS antenna 20 is provided at the same position as the front end of the pair of left and right crawler traveling devices 2 in the longitudinal direction of the aircraft. Specifically, the GPS antenna 20 is provided at a position slightly forward of the front end of the pair of left and right crawler traveling devices 2 in the longitudinal direction of the aircraft.

As shown in FIG. 4 , the satellite positioning device 19 is supported by the roof frame 18 via the bracket 23 . The roof frame 18 is provided with a front frame 18A and a left frame 18B (corresponding to the "inner frame" according to the present invention). The front side frame 18A extends in the left-right direction of the aircraft and constitutes a front edge portion of the roof frame 18 . In addition, the left frame 18B extends in the front-rear direction of the aircraft and constitutes an edge portion (left edge portion) inside the aircraft in the left-right direction of the aircraft among the roof frames 18. The bracket 23 is provided with a transverse portion 23A extending in the left-right direction of the body and a longitudinal portion 23B extending in the vertical direction. The transverse portion 23A and the longitudinal portion 23B are constituted by, for example, square pipes. The horizontal portion 23A protrudes from the left frame 18B toward the inside (left side) of the body in the left-right direction of the body. The longitudinal portion 23B protrudes upward from the transverse portion 23A.

A substantially L-shaped plate 24 is fixed (for example, fixed by welding) to a corner portion between the left end of the front frame 18A and the front end of the left frame 18B. The right end of the horizontal portion 23A is fixed to the left side surface of the plate 24 (for example, by welding). That is, the satellite positioning device 19 is supported in the corner of the roof frame 18 between the left end of the front frame 18A and the front end of the left frame 18B.

[Other embodiments of the first embodiment]

Hereinafter, another embodiment in which the above embodiment is modified is described. Except for the matters described in each of the following different embodiments, the matters described in the above embodiments are the same. You may combine the above-mentioned embodiment and each other embodiment below suitably within the range which does not generate a contradiction. In addition, the scope of the present invention is not limited to the above embodiment and each other embodiment below.

(1) In the above embodiment, the satellite positioning device 19 is supported on the roof frame 18 at a corner between the left end of the front frame 18A and the front end of the left frame 18B. However, instead of this, the satellite positioning device 19 may be supported on the roof frame 18 at a portion other than the corner between the left end of the front frame 18A and the front end of the left frame 18B. . Alternatively, the satellite positioning device 19 may be supported by frames other than the roof frame 18 among the cabin frames 17 .

(2) In the above embodiment, the GPS antenna 20 is located in the center of the body (specifically, the center position between the crawler traveling device 2 on the left and the crawler traveling device 2 on the right) in the left and right directions of the aircraft (C )) is provided. However, instead of this, the GPS antenna 20 may be provided in the center position of the reaping width in the body left-right direction. Alternatively, as shown in Fig. 5, the GPS antenna 20 is at the center position between the crawler traveling device 2 on the left and the crawler traveling device 2 on the right side in the body left-right direction, and is also the center position of the cutting width. (C) may be provided.

(3) In the said embodiment, the reaping part 3 has a reaping width wider than body width. However, instead of this, the reaping part 3 may have substantially the same reaping width as body width.

(4) In the above embodiment, the GPS antenna 20 is provided at a position slightly forward of the front end of the pair of left and right crawler traveling devices 2 in the forward and backward direction of the aircraft. However, instead of this, the GPS antenna 20 may be provided at the same position as the front end of the pair of left and right crawler traveling devices 2 in the longitudinal direction of the aircraft. Alternatively, the GPS antenna 20 may be provided at a position on the rear side of the front end of the pair of left and right crawler traveling devices 2 in the forward and backward direction of the aircraft.

(5) In the above embodiment, the bracket 23 is constituted by a square pipe. However, instead of this, the bracket 23 may be constituted by a round pipe. Alternatively, the bracket 23 may be constituted by a plate.

(6) In the above embodiment, the bracket 23 is fixed to the roof frame 18 by welding. However, instead of this, the bracket 23 may be attached to the roof frame 18 in a detachable manner.

(7) In the above embodiment, the cabin 8 is provided on the right side in the front part of the body. However, instead of this, the cabin 8 may be provided on the left side in the front part of the body.

(8) In the said embodiment, although the "combine" concerning this invention was a normal type combine, the same "combine" may be a cutting type combine. As shown in FIG. 6, the reaping part 3 is equipped with the some raising device 25 which raises the planted grain stem, and the blade 5 which cuts the planted grain stem. The GPS antenna 20 is provided right above or substantially right above the blade 5 .

(9) In the other embodiment (8), the GPS antenna 20 is provided immediately above or substantially immediately above the blade 5. However, instead of this, the GPS antenna 20 may be provided above the standing device 25 in a state where it overlaps with the standing device 25 in plan view.

(10) As shown in Figs. 7 to 9, position change in which the GPS antenna 20 is changed to a high position state located above the uppermost end of the loop portion 8A and a low position state lower than the high position state. A mechanism 26 may be provided. The GPS antenna 20 is supported on a side portion (left side portion) on one side of the left-right direction of the aircraft in the cabin 8 so as to be able to swing up and down around an axis Y1 extending in the front-back direction of the aircraft. The position change mechanism 26 is configured to change between a high position state and a low position state by vertically rocking the GPS antenna 20 around the axial center Y1.

More specifically, the position change mechanism 26 is provided with a mounting bracket 27, a fixing bracket 28, and a pair of front and rear support shafts 29. The satellite positioning device 19 is connected to the left edge of the roof frame 18 (the left frame 18B) via the mounting bracket 27 and the fixing bracket 28 (both correspond to the "bracket" according to the present invention). is supported on

A satellite positioning device 19 is attached to the mounting bracket 27 . The mounting bracket 27 is supported by the fixed bracket 28 via a pair of front and back support shafts 29 so as to be able to swing up and down around the axis Y1. The mounting bracket 27 is provided with a pedestal 30 , an arm portion 31 , and a fixing portion 32 . On the pedestal 30, the satellite positioning device 19 is mounted and fixed. The arm portion 31 extends from each of the front and rear end portions of the pedestal 30 toward the axis Y1 side. The fixing part 32 extends across the arm part 31 on the front side and the arm part 31 on the rear side.

The fixing bracket 28 is fixed to the left frame 18B. The fixing bracket 28 is provided with a bottom plate portion 33, a support portion 34, a lower portion 35, and an upper portion 36. The support portion 34 is provided so as to stand up from each of the front and rear end portions of the bottom plate portion 33 . The lower deflector portion 35 is provided so as to hang from the lower surface of the bottom plate portion 33 . The upper deflector portion 36 extends across the support portion 34 on the front side and the support portion 34 on the rear side. And by the support part 34, the arm part 31 is supported via the support shaft 29 so that vertical swing is possible around the axis Y1.

According to this configuration, as shown in FIG. 8 , in a state where the mounting bracket 27 is rocked upward around the axis Y1 and the GPS antenna 20 is in a high position state, the arm portion 31 is moved to the support portion 34. and the fixing part 32 can be fixed to the upper fixing part 36 by means of bolts 37. At that time, the fixing part 32 contacts the upper fixing part 36, so that the mounting bracket 27 no longer swings to the right. In this way, the position of the GPS antenna 20 can be fixed in a high position state.

Further, as shown in FIG. 9 , after the bolt fixing of the arm part 31 to the support part 34 and the bolt fixing of the fixing part 32 to the upper part 36 are released, the mounting bracket 27 The fixing part 32 can be fixed to the lower deflecting part 35 with the bolt 38 in a state where the GPS antenna 20 is in a low position state by swinging downward around the axis Y1. At that time, the fixing part 32 comes into contact with the lower fixing part 35, so that the mounting bracket 27 no longer swings to the right. In this way, the position of the GPS antenna 20 can be fixed in a low position state.

Here, in the low position state, the GPS antenna 20 is positioned below the uppermost end of the loop portion 8A. In this embodiment, in the low position state, the GPS antenna 20 is located below the lowest end of the loop part 8A.

(11) In the other embodiment (10), in the low position state, the GPS antenna 20 is located below the uppermost end of the loop portion 8A, but if it is lower than the high position state, in the low position state, The GPS antenna 20 may be positioned above the uppermost end of the loop portion 8A.

(12) In the other embodiment (10), the GPS antenna 20 is supported on the left side of the cabin 8 so that it can swing up and down, but it may be supported on the right side of the cabin 8 so that it can swing up and down, Alternatively, the front portion or the rear portion of the cabin 8 may be supported so as to be capable of vertical rocking. In addition, although the GPS antenna 20 can swing up and down around the axis Y1 extending in the forward and backward direction of the aircraft, it may swing up and down around the axis extending in the left and right direction of the aircraft.

(13) In the other embodiment (10), the position change mechanism 26 is configured to change between the high position state and the low position state by causing the GPS antenna 20 to swing up and down around the axial center Y1. However, instead of this, the position changing mechanism 26 may be configured to change between the high position state and the low position state by sliding the GPS antenna 20 up and down.

[Second Embodiment]

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 10 to 15 . In addition, as shown in Fig. 11 , arrow F indicates "forward", arrow B indicates "rearward", arrow L indicates "left", and arrow R indicates "right".

As shown in Figs. 10 and 11, etc., the traveling machine of a normal combine (an example of a "harvester") is provided with a frame-shaped machine frame 102 supported by a pair of left and right crawler type traveling devices 101, there is. In the body frame 102, a shear throwing type threshing device 103 capable of threshing processing of harvested grain stems, a grain tank 104 capable of storing grains, a driving unit 105 on which an operator can ride, and a driving unit 105 A cabin 106 covering the is provided. Moreover, the front part of a traveling body is equipped with the reaping conveyance apparatus 107 which can move up and down with respect to the base frame 102, and can perform reaping and backward conveyance of planted grain stems. In addition, the traveling body is provided with an unloader 108 capable of discharging the grain stored in the grain tank 104 to the outside of the body.

As shown in FIG. 11 , a driving unit 105 is disposed on the front right side of the traveling body. Moreover, it is the rear side of the driving part 105, and the grain tank 104 is arrange|positioned in the right rear part in a traveling body. Moreover, it is the left side of the grain tank 104, and the threshing apparatus 103 is arrange|positioned in the left rear part in a traveling body.

The harvesting conveyance device 107 is equipped with a harvesting part 109 and a feeder 110 . The reaping part 109 reaps the planting grain stem of a field. Moreover, the feeder 110 conveys the harvested grain stalk harvested by the reaping part 109 toward the threshing apparatus 103 located diagonally upward and backward.

10, 11, etc., the reaping part 109 is provided with the blade 111, the reel device 112, the transverse transfer auger 113, etc. The blade 111 cuts the root of the grain stem to be planted in the field. In addition, the reel device 112 rolls up the planted grain stems and harvested grain stems planted in the field backward. Further, the transverse transfer auger 113 collects the harvested grain stalks rolled up by the reel device 112 toward the feeder 110 and sends them out backward.

As shown in FIG. 10 , an engine room 114 is formed below the driver 105 . In the engine room 114, an engine 115 as a power source, a fan 116 driven by the engine 115, and a cooling radiator (not shown) of the engine 115 are sequentially arranged from the left side. Outside the right side of the engine room 114, a dustproof cover 118 is disposed. Basically, by driving the fan 116, outside air is sucked in from the right side through the dustproof cover 118. Then, after cooling the radiator and the engine 115, the sucked outside air is discharged to the left side of the engine room 114.

Moreover, the normal type combine in this embodiment can run automatically. In addition, it is not necessary for an operator to board the driving unit 105 . However, this invention is not limited to this, A normal type combine may be comprised so that it may be manually operated.

[about the cabin]

As shown in Fig. 11, the cabin 106 is arranged in a state that is biased from the body center side to the outside. 10 to 13, the driving unit 105 in the cabin 106 is provided with a driver's seat 120, a side panel box 121, an operation box 122, an input monitor 123, and the like. there is. An operator can be seated in the driver's seat 120 . In addition, the side panel box 121 is located on the left side of the driver's seat 120 . In addition, the operation box 122 is located on the front right side of the driver's seat 120 . In addition, the input monitor 123 is capable of inputting and displaying agricultural work information.

10, 11, etc., the cabin 106 includes a floor member 124, four pillars 125, a roof portion 126, a windshield 127, an elevation door 128, a left wall portion ( 129), a rear wall portion 130, and the like are provided. The operator's feet can be placed on the floor member 124 . Further, the four pillars 125 protrude upward from the floor member 124 . Also, the roof portion 126 is supported by four pillars 125 . In addition, the windshield 127 is located on the front side of the driver's seat 120 . In addition, the elevation door 128 is located on the right side of the driver's seat 120 . In addition, the left wall portion 129 is located on the left side of the driver's seat 120 . In addition, the rear wall portion 130 is located on the rear side of the driver's seat 120 .

As shown in FIGS. 10 to 13 , an antenna 131 capable of receiving GNSS positional information is disposed on the upper surface side of the roof portion 126 of the cabin 106 .

As shown in FIGS. 10 to 13 , a rearview mirror 151 is supported on the right side of the front end of the cabin 106 via a support rod 149 and a mirror support member 150 . The support rod 149 extends in the longitudinal direction. In addition, the mirror support member 150 is attached to the support rod 149 . And the rearview mirror 151 can illuminate the rear.

As shown in FIG. 12 , among the four pillars 125, the right front pillar 125A (corresponding to “pillar”) and the left front pillar 125B located on the front side are the lowermost part of the floor member 124. It is installed upright from the bottom surface 124A of . Among the four pillars 125, the right rear pillar 125C and the left rear pillar 125D, which are located on the rear side, serve as a support for the driver's seat 120 and a bulkhead for the engine bonnet among the floor members 124. It is installed upright from the plate upper part 124B.

As shown in FIG. 10, FIG. 12, etc., the windshield 127 is provided between the right front pillar 125A and the left front pillar 125B. The front glass 127 is made of curved glass. The windshield 127 is provided over the entire range from the bottom surface 124A to the roof portion 126 . The windshield 127 has a shape that bulges forward from the front edge of the bottom surface 124A. The windshield 127 is formed into a protruding curved surface shape in which the center portion in the left-right direction bulges forward from both end portions in the left-right direction when viewed in a plan view.

As shown in FIGS. 10 and 12 , etc., between the right front pillar 125A and the right rear pillar 125C at the right side portion of the cabin 106, a doorway for the operator to get in and out is formed. The elevator doors 128 are capable of opening and closing the elevator doors. The elevating door 128 is attached so that opening and closing operations are possible through a hinge 132 provided on the right rear pillar 125C side.

As shown in FIGS. 10 and 12 , the elevating door 128 is provided with an outer circumferential frame 133 , a transparent glass 134 , an open and closeable non-clerk door window 135 , a handle 136 , and the like. The transparent glass 134 is surrounded by an outer frame 133 . The door window 135 is provided above the transparent glass 134 . The handle 136 is provided on the front portion of the transparent glass 134 .

As shown in Fig. 12, the left wall portion 129 is between the left front pillar 125B and the left rear pillar 125D, and can be opened from the middle position in the vertical direction to the upper part of the horizontal side surface. A side window 137 is provided.

[About equipment in the cabin]

As shown in Figs. 12 and 13, the control box 122 includes a handle 138 that the driver can hold to stabilize his posture, and a steering lever 139 that can manually steer the traveling device 101. , a combination switch 140 and the like are provided.

As shown in FIG. 13 , the input monitor 123 is disposed in the upper part of the right outer side of the aircraft among the front side parts in the cabin 106 . The input monitor 123 is arranged at a height near the head of an operator seated in the driver's seat 120 . The input monitor 123 is disposed higher than the rearview mirror 151 . The input monitor 123 is installed on the right front pillar 125A provided outside the body in the front part of the cabin 106. The input monitor 123 is installed above the operation box 122 via an L-shaped bracket 141 on a part of the right front pillar 125A. The input monitor 123 is detachable from the cabin 106 . For this reason, it is also possible to remove the input monitor 123 and carry it to the outside of the traveling body for use. The separated input monitor 123 can also be reinstalled on another working vehicle (a combine, a tractor, a rice transplanter, etc.).

As shown in Fig. 12 and the like, the side panel box 121 is provided with a box main section 121A and an electrical equipment placement section 121B. The box main part 121A is provided with a main shift lever 142 for shift operation and the like. The electrical component placement section 121B is located on the front end side of the box main section 121A. In addition, electrical components are provided in the electrical component placement unit 121B.

As shown in FIG. 12 and the like, in the box main section 121A, a main shift lever 142, a sub shift lever 143, and the like are disposed on the far side from the driver's seat 120. An instrument panel 144 is provided in the electrical component placement unit 121B. That is, the instrument panel 144 is provided at a location near the center of the aircraft in the cabin 106 . In addition, the instrument panel 144 is disposed lower than the upper and lower center positions in the cabin 106 .

The instrument panel 144 shown in FIG. 12 and the like is composed of a liquid crystal display. On the instrument panel 144, it is possible to display information such as the running vehicle speed, the engine speed, the engine load based on the engine speed, and the remaining amount of fuel, for example.

Since the instrument panel 144 is located at a position where the operator looks down, the operator can check the value of the instrument panel 144 while looking down and confirming the state of the harvesting conveyance device 107 through the windshield 127 .

[About agricultural work information and input monitor]

The input monitor 123 is provided with a touch panel capable of displaying and inputting agricultural work information. As said agricultural work information, there exist the following things, for example.

Pavement data that combines the shape of the pavement with GNSS location information

・Scheduled driving route

・Start position, end position, turning position, turning method of automatic driving

・Discharge method of discharged straw

・Travel speed during non-work driving, travel speed during work driving

Remaining working distance, remaining working time

Discharge position for discharging grains from the grain tank 104 out of the gas

・Refueling location

・Types and varieties of crops grown in the field

The input monitor 123 has the following functions, for example.

The input monitor 123 is capable of calculating its position based on the GNSS information received by the antenna 131. In addition, the input monitor 123 is equipped with a short-distance communication function for communicating with other work vehicles, for example.

The input monitor 123 is capable of inputting packaging data. In the input monitor 123, it is possible to perform an input operation of a condition for generating a scheduled travel route for automatically traveling the traveling machine, generation of a scheduled travel route based on the generating condition, display of the generated scheduled travel route, and the like.

In the scheduled travel route, a start position at which the automatic travel of the traveling machine starts, an end position at which the automatic running of the traveling machine ends, a turning position, a turning method at the turning position (for example, an α turn or a U-turn), etc. information is included.

In the input monitor 123, it is possible to input information on a method of discharging the waste straw, such as a dropper method in which the waste straw is discharged out of the machine as it is, a shredding method in which the waste straw is shredded with a shredding device and discharged out of the machine.

It is possible to input the kind of crop (for example, rice, barley) and variety to the input monitor 123 as work information.

To the input monitor 123, it is possible to input the travel speed of the traveling body during non-work travel, the travel speed of the travel body during work travel, and the like.

On the input monitor 123, it is possible to display the remaining working distance and remaining working time in automatic driving.

On the input monitor 123, it is possible to calculate and display the discharge position (the position at which the grain tank 104 is filled) during automatic traveling.

The input monitor 123 is capable of calculating and displaying a refueling position (a position where the remaining amount of fuel falls below a certain value) during automatic driving.

As described above, since the input monitor 123 is disposed at a location where input operation and display confirmation are easy to be performed in the driver 105 in the cabin 106, input and display of agricultural work information is performed. It becomes easy to do. In addition, since the input monitor 123 is disposed away from the left and right center of the driving unit 105, it is difficult for the driver's front view to be blocked by the input monitor 123.

[Other embodiments of the second embodiment]

Hereinafter, another embodiment in which the above embodiment is modified is described. Except for the matters described in each of the following different embodiments, the matters described in the above embodiments are the same. You may combine the above-mentioned embodiment and each other embodiment below suitably within the range which does not generate a contradiction. In addition, the scope of the present invention is not limited to the above embodiment and each other embodiment below.

(1) In addition to the above embodiment, as shown in FIG. 14 , a back monitor 200 capable of displaying a situation behind the aircraft may be provided at an upper part outside the aircraft in the cabin 106 . In this case, the input monitor 123 is arranged below the white monitor 200 . The back monitor 200 can be installed at a location above the input monitor 123 in the right front pillar 125A via the stay 201 . In this case, the input monitor 123 may be arranged so that the lower end of the input monitor 123 and the upper end of the rearview mirror 151 are substantially at the same height. In addition, you may make it possible to display the situation behind an aircraft on the input monitor 123, without providing such a back monitor 200.

(2) In the above embodiment, the input monitor 123 is exemplified as being disposed on the upper part of the front side of the cabin 106 outside the body, but is not limited thereto. For example, as shown in FIG. 15 , the input monitor 123 may be disposed at an upper portion of the front side portion in the cabin 106 on the center side of the body. In this case, the input monitor 123 is located on the upper left front side in the cabin 106 . In addition, the input monitor 123 can be installed via the bracket 141 on the left front pillar 125B as a "pillar". In addition, the input monitor 123 is positioned above the instrument panel 144 .

(3) In the above embodiment, the instrument panel 144 has been exemplified as being disposed lower than the upper and lower center points in the cabin 106, but is not limited thereto. For example, the instrument panel 144 may be disposed above the upper and lower center of the cabin 106 or the upper and lower center of the cabin 106 .

(4) In the above embodiment, it is exemplified that the instrument panel 144 is provided at a location on the body center side in the cabin 106, but is not limited thereto. The instrument panel 144 may be provided at a location outside the body in the cabin 106 .

(5) Although the above embodiment exemplifies that the input monitor 123 is installed in the "pillar", it is not limited thereto. For example, the input monitor 123 may be installed on a member other than the "pillar".

(6) In the above embodiment, the input monitor 123 is detachable from the cabin 106, but is not limited thereto. For example, the input monitor 123 may be a fixed type that cannot be attached or detached from the cabin 106 .

(7) In the above embodiment, the instrument panel 144 composed of a liquid crystal display is exemplified, but is not limited thereto. For example, a meter panel provided by arranging a vehicle speedometer displaying the running vehicle speed, a tachometer displaying the engine speed, a load meter displaying the engine load based on the engine speed, a fuel gauge displaying the remaining amount of fuel, and the like. It may be the instrument panel 144 composed of.

(8) In the above embodiment, it is exemplified that the input monitor 123 is installed on the right front pillar 125A provided outside the body in the front part of the cabin 106, but it is not limited to this. . For example, the input monitor 123 may be installed on a member other than the right front pillar 125A.

(9) Although the above embodiment exemplifies that the input monitor 123 is arranged at a height near the head of an operator seated in the driver's seat 120, it is not limited thereto. The height at which the input monitor 123 is arranged can be appropriately changed as long as it is a height at which the operator can easily perform input manipulation and display confirmation.

(10) Although an example of agricultural work information is enumerated in the said embodiment, the input monitor 123 may handle only some of these agricultural work information. Moreover, information other than what is enumerated above may be included as agricultural work information.

(11) It is not necessary to have all of the functions of the input monitor 123 enumerated in the above embodiment, and only some of them may be provided.

(12) A structure opposite to the left and right may be used in the above embodiment.

[Third Embodiment]

Hereinafter, a third embodiment of the present invention will be described with reference to FIGS. 16 to 25 .

Hereinafter, an embodiment of an automatic steering system for a work vehicle that automatically travels a work piece along a travel route will be described using drawings. In this embodiment, the work site is a field in which wheat and the like are planted, and the work vehicle is a harvester 301 that harvests crops while traveling. As shown in Fig. 16, this harvester 301 is a model generally called a normal combine. In the harvesting work in the field, the area in which the harvester 301 circumnavigates while performing work along the boundary of the field called a headland is set as the outer periphery area SA. The inside of the outer periphery area SA is set as the center area CA. The outer periphery area SA is used as a space for movement and a space for direction change, etc., for the harvester 301 to discharge and replenish harvested crops. In order to secure the outer periphery area SA, the harvester 301 performs 3 to 4 round trips along the boundary line of the field as the first work run. Regarding the work travel for the center area CA, a spiral travel path consisting of a straight line parallel to one side of the outer circumferential shape of the center area CA and a 90° turning path (see Fig. 22), or A straight reciprocating path composed of a straight path parallel to one side and a 180° turning path (see Fig. 23) is generated, and automatic work travel along the travel path is performed.

The harvester 301 includes a satellite positioning module 307 that outputs satellite information including positioning data based on a GPS signal that is satellite information from satellite GS used in GPS (Global Positioning System). The harvester 301 has a function of calculating the positional coordinates of a specific location in the harvester 301 as a reference position from positioning data. The harvester 301 has a function of performing automatic steering so as to align the calculated reference position with the travel route.

An overview of the harvester 301 will be described using FIG. 17 . In FIG. 17 , “F” indicated with an arrow indicates the forward direction of the harvester 301, and “B” in English indicates the rear direction of the harvester 301. The direction of the arrow indicates the front-back direction with respect to the harvester 301.

This harvester 301 has a vehicle body 310 supported by a traveling device 311 . In this embodiment, the traveling device 311 is composed of a pair of left and right crawler mechanisms, and steering of the harvester 301 is performed by adjusting the crawler speed of the left crawler mechanism and the crawler speed of the right crawler mechanism. Therefore, the pair of left and right crawler mechanisms correspond to the "steering mechanism" of the present invention. A driving unit 312 is disposed in the front area of the vehicle body 310, that is, in the front portion of the vehicle body. From the rear of the driver 312 to the rear of the vehicle body 310, the threshing device 313 and the harvested product tank 314 storing the harvested product are moved in the left-right direction (in the plane of the harvester 301). direction orthogonal to the front-back direction when viewed) are arranged and arranged. Moreover, in front of the driving part 312 in the vehicle body front part, the reaping part 315 is arrange|positioned so that it can move up and down. Above the reaping part 315, the reel 317 which raises a grain stem is provided. Between the reaping part 315 and the threshing apparatus 313, the conveying apparatus 316 which conveys the harvested grain stem is provided. In addition, a discharge device 318 is provided to discharge the harvest from the harvest tank 314 . The driving unit 312 is partitioned off by a cabin. An antenna 307a of a satellite positioning module 307 is provided above the front end on the center side of the aircraft in the cabin. In addition, in order to complement the satellite navigation, it is also possible to combine the satellite positioning module 307 with an inertial navigation module having a built-in gyro acceleration sensor or magnetic orientation sensor.

18 shows the control system constructed in this harvester 301. The control system is shown divided into a control unit CU and a peripheral device group. The control unit CU processes the input signal (data) and outputs a newly generated signal (data). Further, the peripheral device group is composed of a data input device group and a data output device group. An actual control unit CU is composed of a plurality of ECUs, but is shown here as one computer system for simplicity of explanation.

In the control unit CU, various functions are built by software or hardware or both in order to perform work travel. The control unit CU has an input signal processing unit 380, an output signal processing unit 390, and a communication processing unit 360 as input/output interfaces.

The input signal processing unit 380 is connected to a driving state detection sensor group 381 , a work state detection sensor group 382 , an automatic/manual switching operating tool 383 and the like. The driving state detection sensor group 381 includes sensors for detecting driving states such as engine speed and speed change state. The work state detection sensor group 382 includes a sensor that detects the height of the reaping unit 315 and a sensor that detects the storage amount of the harvested product tank 314. The automatic/manual switching control tool 383 is a switch that selects between an automatic driving mode for driving with automatic steering and a manual driving mode for driving with manual steering.

The output signal processing unit 390 is connected to a vehicle traveling machine group 391, a work device machine group 392, a notification device group 393, and the like, which are equipped in the harvester 301. The vehicle driving device group 391 includes a steering device that performs steering by adjusting the speed of the left and right crawler mechanisms, and although not shown, controls the operation of a transmission mechanism, an engine unit, etc. through a control signal from the control unit CU. device is included. In the working device group 392, there are devices that control operations of the reaping unit 315, the threshing device 313, the conveying device 316, and the discharging device 318 based on a control signal from the control unit CU. Included. The notification device group 393 includes lamps, buzzers, and speakers.

The communication processing unit 360 has a function of receiving data processed by the external data processing device and transmitting data processed by the control unit CU to the external data processing device. In this embodiment, a general-purpose terminal VT equipped with a graphical user interface is connected to the control unit CU via the communication processing unit 360 or directly via a vehicle-mounted LAN. The general-purpose terminal VT is a tablet-type computer equipped with a touch panel, and displays various notification information on the touch panel, such as the appearance of the pavement, completed travel route (trajectory), travel route to be traveled from now on, and warning information for passengers. do. Also, the general purpose terminal VT can send various operation commands and data to the control unit CU. Also, the communication processing unit 360 has a function of handling various communication formats. In this way, the communication processing unit 360 can exchange data with a management computer at a remote location (not shown here).

In the control unit CU, an automatic travel system function unit, a steering calculation system function unit, and a control system function unit are constructed. The automatic driving system function unit handles data related to automatic driving. The steering calculation system functional unit performs calculation processing for steering control. The control system function unit generates control data for outputting a control signal.

The automatic driving system function unit includes a vehicle position calculation unit 370, a driving route generating unit 361, and a driving route setting unit 362. The host vehicle position calculation unit 370 calculates the body position (own vehicle position) of the harvester 301 based on the positioning data output from the satellite positioning module 307 . This body position is basically the coordinate position (latitude and longitude) of the antenna 307a of the satellite positioning module 307. The travel route creation unit 361 refers to pavement information including the topography of the pavement to be worked on and the like, and creates a travel route using a previously installed travel route creation program. The travel route setting unit 362 develops the travel route in memory so that the travel route generated by the travel route generation unit 361 can be read so as to be used as a travel route that is the target of automatic travel. In addition, after the travel path generation unit 361 is built in the management computer, general terminal VT, etc., the travel path generated by the travel path generation unit 361 in the management computer or general terminal VT is input to the control unit CU. A configuration may be employed.

The steering operation system function unit includes a forward reference position calculation unit 371, a reverse reference position calculation unit 372, a forward/reverse determination unit 373, and a deviation calculation unit 374. The forward reference position calculation unit 371 calculates a forward reference position FP serving as a reference position for steering control in forward traveling based on the body position. As described above, the body position is calculated by the vehicle position calculator 370 based on the positional information from the satellite positioning module 307 . The reverse reference position calculation unit 372 calculates a reverse reference position RP serving as a reference position for steering control in reverse traveling based on the body position.

As shown in Fig. 19, in this embodiment, a forward reference position (FP) is set approximately immediately below the antenna 307a of the satellite positioning module 307. Therefore, the vehicle body position calculated by the own vehicle position calculation unit 370 (indicated by a large white circle and symbol VP in FIG. 19 ) and the forward reference position FP are substantially the same position. Therefore, the forward reference position calculation unit 371 can calculate the vehicle body position as the forward reference position FP. Alternatively, the forward reference position calculator 371 can calculate the forward reference position FP by adding a slight correction value to the vehicle body position. The reverse reference position RP is set at the rear portion of the vehicle body 310 .

In Fig. 19, a point indicated by a symbol CP is a point passing through a turning reference path LS defined by a steering amount for turning, and is referred to herein as a turning reference point CP. This turning reference point CP is set approximately at the center of the vehicle body 310 . As shown in FIG. 19 , in this embodiment, the forward reference position FP, the turning reference point CP, and the reverse reference position RP are positioned on the vehicle body reference line VL. Further, the vehicle body reference line VL is a front-back direction line extending from the left and right center of the harvester 301 in the front-back direction. In addition, the distance between the forward reference position FP and the turning reference point CP is set substantially equal to the distance between the backward reference position RP and the turning reference point CP.

The forward/reverse determination unit 373 determines whether the harvester 301 is in a forward traveling state or a backward traveling state based on a detection signal from the traveling state detection sensor group 381 .

The deviation calculation unit 374 calculates the deviation between the travel path and the forward reference position FP when the forward travel state is detected by the forward/backward determination unit 373, that is, during forward travel. In addition, the deviation calculation unit 374 calculates the deviation between the travel path and the reverse reference position RP when the reverse travel state is detected by the forward/reverse determination unit 373, that is, during reverse travel.

The control system function unit includes a steering control unit 364, a travel control unit 365, an operation control unit 366, and a notification control unit 363.

The steering control unit 364 controls the devices included in the vehicle driving device group 391 in either an automatic driving (automatic steering) mode or a manual driving (manual steering) mode. In the manual drive mode, the steering control unit 364 controls the vehicle travel device group 391 to create a speed difference between the pair of crawler mechanisms on the left and right of the travel device 311 based on the driver's operation. In the automatic running control mode, the steering control unit 364 generates a speed difference between the left and right crawler mechanisms of the traveling device 311 based on the deviation calculated by the deviation calculating section 374, so that the vehicle traveling device group 391 to control

In the automatic steering control, the steering calculation system function unit and the control system function unit are linked, and during forward travel, the forward steering control signal calculated based on the deviation calculated by the deviation calculation unit 374 is the vehicle driving device group 391 ) is given to In addition, during reverse travel, the steering control signal for reverse calculated based on the deviation calculated by the deviation calculator 374 is given to the vehicle traveling device group 391 .

In the manual driving mode, the driving control unit 365 controls the vehicle driving device group 391 so that the vehicle speed determined based on the driver's manual operation is realized. Further, in the automatic driving mode, the driving control unit 365 controls the vehicle driving device group 391 so that a preset vehicle speed is realized. In this embodiment, since the traveling apparatus 311 is a steering mechanism, the traveling control unit 365 and the steering control unit 364 are linked with each other. The steering control unit 364 may be incorporated in the travel control unit 365 . The driving control unit 365 also has a function of giving an engine speed control signal and other driving-related control signals to the vehicle driving device group 391 .

The operation control unit 366 controls the movement of operation devices provided in the reaping unit 315, the threshing device 313, the discharging device 318, etc. constituting the harvester 301, the working device device group 392 give a control signal to In the manual driving mode, the work control unit 366 gives a control signal to the work device group 392 based on the driver's operation. Further, in the automatic driving mode, the work controller 366 gives a control signal to the work device group 392 based on a set program.

The notification control unit 363 generates a notification signal for notifying the driver or supervisor of necessary information (visual information or auditory information) via the notification device group 393 . For example, when it is detected that the harvest tank 314 is full, the notification control unit 363 blinks the work light 1231 (see Fig. 17) provided in the cabin in a predetermined pattern, and from a buzzer in a predetermined pattern. beep intermittently with Thereby, the supervisor knows that the harvester 301 will automatically deviate from the driving route due to the harvest tank 314 being full and move to the harvest discharge point. When the harvester 301 deviates from the travel path for discharging the harvest and the drive clutch of the reaping unit 315 is cut off, the above-described notification accompanying the detection of the harvest tank 314 being full is stopped. Alternatively, notification accompanying full detection may be continued until the harvester 301 moves to the harvested product discharge point. In addition, the notification accompanying the detection of the fullness of the harvested product tank 314 may be only blinking of the work light 1231 or only sounding of a buzzer.

Next, using Figs. 20 and 21, the positional deviation from the travel path of the harvester 301 during forward travel (FIG. 20) and the position from the travel path during reverse travel (FIG. 21) The flow of automatic steering control for correcting the misalignment will be explained. At the time of forward travel shown in FIG. 20 , as described above, the deviation indicating the positional deviation distance from the travel path of the harvester 301 is the shortest distance between the forward reference position FP and the travel path that is the target of automatic travel. It is calculated as a distance, that is, a distance of a perpendicular line descended from the forward reference position FP here to the travel route. The steering amount for reducing this deviation is calculated, and the position misalignment is corrected while the harvester 301 moves forward along the turning reference path LS (indicated by the two-dot chain line in FIGS. 20 and 21) determined based on the steering amount. do At this time, the turning reference point CP set approximately at the center of the vehicle body 310 moves on the turning reference path LS.

At the time of reverse travel shown in FIG. 21 , as described above, the deviation indicating the positional deviation distance from the travel path of the harvester 301 is the shortest distance between the reverse reference position RP and the travel path that is the target of automatic travel. The distance, that is, here, is calculated as the distance of the perpendicular from the reverse reference position RP to the travel path. The steering amount for reducing this deviation is calculated, and position misalignment correction is performed while the harvester 301 moves backward along the turning reference path LS determined based on the steering amount. At this time, the turning reference point CP set approximately at the center of the vehicle body 310 moves on the turning reference path LS. Since the distance between the forward reference position (FP) and the turning reference point (CP) and the distance between the reverse reference position (RP) and the turning reference point (CP) are set to be the same, position misalignment correcting travel and reverse travel during forward travel The misalignment correcting run at the time draws the same misalignment correcting trajectory, as is evident from FIGS. 20 and 21 .

In addition, reverse travel in this harvester 301 occurs in direction change turning travel using reverse used when shifting from a straight travel path to a straight travel path, for example. In Fig. 22, a 90° direction turning turning run used for path transition in whirlpool running is shown. In this direction-changing turning travel, the route goes from the destination travel path L1 through the forward travel path ML1, the backward travel path ML2, and the forward travel path ML3 to the destination travel path L2. In FIG. 23 , 180° direction turning turning driving used in path transition in straight-line reciprocating driving is shown. Similarly, in this direction-changing turning travel, the path goes from the destination travel path L1 through the forward travel path ML4, the backward travel path ML5, and the forward travel path ML6 to the destination travel path L2. In the reverse travel path ML2 and the reverse travel path ML5 in which the harvester 301 travels in reverse, the above-described automatic steering control functions effectively. The reverse travel of the harvester 301 is carried out when the harvest tank 314 is full and the harvester 301 automatically departs from the travel path and is aligned with the harvest discharge point, or when the harvester 301 automatically aligns with the harvest discharge point. It is also performed at the time of returning travel to move to the travel route, and the like.

Next, raising/lowering control of the reaping part 315 in 90 degree direction change turning running is demonstrated using FIG.24 and FIG.25. As described above, the 90° turn-turning travel is transitional travel from the destination travel path L1 to the destination travel path L2 extending in a direction perpendicular to the destination travel path L1. Fig. 24 shows the state before entering the direction change turning travel from the original travel path L1. Fig. 25 shows a state before entering the destination travel path L2 in the last straight line travel of the direction change turning travel. In the state of FIG. 24 , if the reaping unit 315 of the harvester 301 deviate from the original travel path L1, there is no need to perform the reaping operation, so the operation control unit 366 moves the reaping unit 315 to the working position ( It is raised from (indicated by H1 in FIG. 25) to a raised position (indicated by the height of H3 in FIG. 25) high enough to avoid digging into a ridge or the like. Then, before ending the direction change turning driving and entering the destination travel route L2, the work controller 366 lowers the harvester 315 to the work position so that the harvesting work is possible.

However, as shown in Fig. 25, the harvester 301, before entering the destination travel path L2, travel device 311 (a pair of left and right crawler mechanisms) generated when traveling on the destination travel path L1. You will step on the wheel tracks. Since there is a part protruding from the pavement surface in this rut, if the reaping part 315 is in the working position, there is a possibility that the tip of the reaping part 315 will dig into the raised part of the rut. On the other hand, in order to avoid this, if the reaping part 315 is left raised to the raised position until it passes the rut, the lowering to the working position performed right in front of the destination travel route L2 is insufficient. It enters into the transfer destination travel path L2, and harvesting in the unsuitable height position of the reaping part 315 will be performed. For this reason, the work control part 366 is setting the middle raise position (shown by the height of H2 in FIG. 25) as a raise/lower control position of the reaping part 315 between a raise position and a work position. In addition, the operation control unit 366 lowers the reaping unit 315 from the raised position to the middle rising position before entering the rut, and after the tip of the reaping unit 315 passes through the rut, the reaping unit ( 315) to the working position. This solves the problem in turning at 90 degrees. Since the problem of such a rut can occur also in a turning run other than the 90° direction change turning run, you may perform the raising/lowering control of this reaping part 315 also in such a case.

In addition, in FIG. 25, the clutch threshold value (shown by the height of TH in FIG. 25) of interruption|disconnection and connection of a reaping clutch is set between a lift position and an intermediate lift position. That is, when the reaping unit 315 rises beyond the clutch threshold, the reaping clutch is blocked, the drive (cutter, etc.) of the reaping unit 315 stops, and the reaping unit 315 descends below the clutch threshold, The reaping clutch is connected, and the drive (cutter etc.) of the reaping part 315 is restarted. In addition, the drive system related to the threshing device 313 turns ON during continued automatic running, but turns OFF when departing from the travel route and moving to another place for discharging crops or refueling.

When the general-purpose terminal VT is configured to be detachable, the detached general-purpose terminal VT can be carried not only to other harvesters 301 but also to rice transplanters and tractors, and can be connected to those control systems. As a result, the general-purpose terminal VT can be commonly used as a part of the control system of agricultural machines such as rice transplanters, tractors, and harvesters 301, and information on work performed in the field by various agricultural machines is accumulated in the general-purpose terminal VT. I can go. As a result, it becomes possible to use the work information of various agricultural machines in the case of planning agricultural work for the said field. For example, the planting direction in the seed planting work performed by the rice transplanter can be read from the work information accumulated when connected to the rice transplanter. And more efficient harvesting work becomes possible by matching this planting|plant direction and the reaping direction of the harvester 301. For this reason, it is one of the preferred embodiments to build functions such as the travel path generation unit 361 into the general-purpose terminal VT. In addition, even when such a general-purpose terminal VT is not used, the harvester 301 refers to the planting direction in seedling planting work acquired through communication or USB memory from work information stored in an external computer or the like, It is also possible to match the planting direction and the reaping direction of the harvester 301.

[Other embodiments of the third embodiment]

Hereinafter, another embodiment in which the above embodiment is modified is described. Except for the matters described in each of the following different embodiments, the matters described in the above embodiments are the same. You may combine the above-mentioned embodiment and each other embodiment below suitably within the range which does not generate a contradiction. In addition, the scope of the present invention is not limited to the above embodiment and each other embodiment below.

(1) In the above-described embodiment, a forward reference position (FP) is set approximately immediately below the antenna 307a of the satellite positioning module 307, and the body position calculated by the host vehicle position calculator 370 (own vehicle position) Also called) was set as the forward reference position (FP). Instead of this, the forward reference position FP may be shifted from the body position and corrected from the body position to calculate the forward reference position FP.

(2) In the above-described embodiment, the distance between the forward reference position FP and the turning reference point CP is set substantially equal to the distance between the backward reference position RP and the turning reference point CP. Alternatively, the distance between the forward reference position FP and the turning reference point CP and the distance between the backward reference position RP and the turning reference point CP may be different.

(3) In the embodiment described above, the automatic steering system according to the present invention is applied to a work vehicle in which a crawler mechanism is employed as the travel device 311. Alternatively, the automatic steering system according to the present invention may be applied to a work vehicle employing a wheel travel mechanism as the travel device 311 or a work vehicle employing a travel mechanism combining wheels and a crawler.

(4) The division of each functional unit in the functional block diagram shown in Fig. 18 is an example for easy understanding of the explanation, and it is free to integrate various functional units or divide a single functional unit into a plurality of parts.

(5) The travel path in the center area CA does not have to be straight. For example, as shown in FIG. 26 , the travel path in the center area CA may be a curved parallel line.

(6) In the travel path shown in Fig. 27, the travel path in the horizontal direction on the ground is straight, and the travel path in the vertical direction on the ground is curved. In addition, in the travel path shown in FIG. 28, both the travel path in the horizontal direction and the travel path in the vertical direction on the ground are curved. In this way, the travel route in the center region CA may be a curved mesh line. In addition, a curved mesh line may be included in the travel route in the center region CA.

(7) In the example shown in Fig. 23, linear reciprocating travel is performed. However, the present invention is not limited to this, and may be configured so that reciprocating travel is performed by repeating travel along the curved travel path shown in FIGS. 26 to 28 and U-turn travel.

The present invention can be used for a combine not equipped with a cabin other than a combine equipped with a cabin. In addition, the present invention can be used for various harvesters, such as a cut-off combine and a corn harvester, in addition to the above ordinary combine. In addition, the present invention can be applied to an automatic driving work vehicle that travels along a travel route, and is applicable to an automatic driving work vehicle other than a normal combine, for example, a self-removing combine or other agricultural vehicles (tractors, rice transplanters, etc.) ), or construction machinery.

(First Embodiment)
2: Crawler traveling device
5: blade
7: driving part
8 : Cabin
8A: loop part
9: grain storage tank
12: grain discharge device
13: longitudinal transport unit
14: lateral transport unit
17 : cabin frame
18: loop frame
18A: Front side frame
18B: left frame (inner frame)
20: GPS antenna (satellite positioning antenna)
23: bracket
25: standing device
26: position change mechanism
27: installation bracket
28: fixed bracket
C: Center position (central position between the crawler traveling device on the left and the crawler traveling device on the right)
S1: Satellite
Y1: axis
(Second Embodiment)
105: driving part
106: Cabin
123: input monitor
125A: right front pillar (pillar)
144: instrument panel
200: back monitor
(Third Embodiment)
301: harvester (work vehicle)
307: satellite positioning module
307a: antenna
310: body
311: traveling device (steering mechanism)
315: reaping part
362: driving route setting unit
363: notification control unit
364: steering control unit
365: driving control unit
366: work control
370: Own vehicle location calculation unit
371: forward reference position calculation unit
372: backward reference position calculation unit
373: Forward and backward judgment unit
374: deviation calculation unit
381 Driving state detection sensor group
382: work state detection sensor group
391: Vehicle driving device group (including steering device)
CP: turning reference point
FP: forward reference position
LS: turning reference path
RP: backward reference position
VL: body reference line (front-to-rear direction line)

Claims (26)

delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete It is an automatic steering system of a work vehicle that automatically drives the work site along the driving route.
a satellite positioning module for outputting location information based on satellite information from a satellite;
A forward reference position calculation unit that calculates a forward reference position serving as a reference position for steering control of the work vehicle in forward traveling based on the positional information;
A reverse reference position calculation unit for calculating a reverse reference position serving as a reference position for steering control of the work vehicle in reverse travel based on the position information;
When driving forward, a steering control signal for forward motion calculated based on the deviation between the travel path and the forward reference position is output, and when driving backward, the steering control signal for forward motion is calculated based on the deviation between the travel path and the reference position reverse motion. A steering control unit for outputting a steering control signal for use;
A steering mechanism for steering the work vehicle based on the forward steering control signal and the backward steering control signal is provided,
The forward reference position is set in the front part of the vehicle body, and the reverse reference position is set in the rear part of the vehicle body;
The forward reference position and the backward reference position are set on a front-back direction line extending from left and right centers of the work vehicle in a front-back direction,
The turning reference point located at the center of the body of the work vehicle is located on the forward-backward direction line,
The distance between the forward reference position and the turning reference point is equal to the distance between the reverse reference position and the turning reference point. delete The method of claim 22,
The automatic steering system of claim 1 , wherein the work vehicle is a harvester equipped with a harvesting unit in the front portion of the vehicle body and a harvest tank in the rear portion of the vehicle body. According to claim 24,
An automatic steering system in which an antenna of the satellite positioning module is disposed in the front part of the vehicle body. The method of claim 22,
The automatic steering system of claim 1 , wherein the forward reference position calculator calculates a coordinate position indicated by the position information output from the satellite positioning module as the forward reference position.

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