KR102651749B1 - Traveling route setting system and working vehicle - Google Patents

Abstract

The present invention makes it possible to easily set a driving route when setting a driving route on a pavement.
In packaging, a past path acquisition unit is provided to acquire a past travel path traveled by a work vehicle in the past. In the packaging, a travel path setting unit is provided to set a travel path (L01 to L07) based on a past travel path.

Description

Travel route setting system and work vehicle {TRAVELING ROUTE SETTING SYSTEM AND WORKING VEHICLE}

The present invention relates to setting the driving path of a work vehicle on pavement.

As disclosed in Patent Document 1, a riding-type dishwasher, which is an example of a work vehicle, travels from one ridge toward the other ridge when paving, then turns at the edge of the other ridge, and then travels to the other ridge. It is running toward one ridge, and repeats driving from one (the other) ridge to the other (one) ridge, and turning at the edge of one (the other) ridge.

In Patent Document 1, a reference travel path (base line in FIG. 7 of Patent Document 1) is set by first performing a teaching run in which the driver manually steers the front wheels of the aircraft and causes the work vehicle to run along the ridge. In this way, when the reference travel path is set, the travel paths are set on the pavement so that they are parallel to each other along the reference travel path.

Japanese Patent Publication No. 2008-92818

In Patent Document 1, when starting driving on pavement, it is necessary to perform teaching driving to set a standard driving path. As a result, when driving on multiple pavements, it is necessary to repeat the setting of the standard travel route every time driving on the pavement starts, so there is room for improvement in terms of workability in setting the travel route.

The purpose of the present invention is to obtain a travel path setting system and work vehicle that can easily set a travel path when setting a travel path on a pavement.

The driving path setting system of the present invention,

In packaging, a past path acquisition unit that acquires a past driving path traveled by a work vehicle in the past;

The pavement is provided with a travel path setting unit that sets a travel path based on the past travel path.

For example, in one field, when planting seedlings with a riding-type rice transplanter, plowing (harrowing) with a tractor was done a few days ago, and planting of seedlings with the same riding-type rice transplanter last year, Since tillage (harrowing) with a tractor and harvesting with a combine have been carried out, there are many cases where past travel routes traveled by different work vehicles or the same work vehicle remain.

According to the present invention, the travel path is set based on the past travel path, and there is no need to set a reference travel path that serves as a standard for setting the travel path, so the workability of setting the travel path is good.

In the present invention,

The driving path setting unit,

It is appropriate to set the driving route to follow the past driving route.

When a work vehicle runs on a pavement, ruts may be generated by the wheels of the work vehicle or traveling devices such as a crawler.

For example, if a work vehicle is traveling along ruts, the running gear of the work vehicle may deviate from the non-rutted area into the ruts, or the running gear of the work vehicle may move from the rutted area to the non-rutted area. If the state is such that it goes out at an angle, the aircraft may move diagonally laterally (lateral sliding state), and the work may be disturbed in the left and right directions.

According to the present invention, since the traveling path is set to follow the past driving path, for example, the traveling device of the work vehicle maintains a state of traveling in a portion that is not a rut, so that the traveling device of the work vehicle does not fall into ruts. You can avoid it. Likewise, the traveling device of the work vehicle can be maintained in a state of traveling in the ruts, thereby preventing the traveling device of the work vehicle from leaving the ruts.

As a result, horizontal slippage of the body can be suppressed and disturbance in the left and right directions of work can be suppressed, thereby improving workability.

In the present invention,

It is suitable if the travel path is set to follow the past travel path so that the travel device of the work vehicle does not travel through wheel marks in the past travel path.

According to the present invention, when a work vehicle travels along a travel path, the driving device of the work vehicle does not run over the ruts of other work vehicles or the same work vehicle on the past travel path, thereby suppressing the deepening of ruts. You can.

In the present invention,

The driving path setting unit,

It is appropriate to set the driving route to intersect with the past driving route.

As described above, if the running gear of the work vehicle is in a state where it is tilted from a non-rutted area into the ruts, or the running gear of the work vehicle is in a state where it is diagonally moved from the ruts to a non-rutted area, the aircraft will There are cases where it moves diagonally to the side (lateral sliding state), which may result in the work being disturbed in the left and right directions.

According to the present invention, since the travel path is set to intersect with the past travel path, the travel device of the work vehicle enters or exits the ruts while the travel device of the work vehicle intersects the ruts. A state in which the aircraft moves diagonally laterally when entering or exiting ruts is unlikely to occur (a state of horizontal sliding is difficult to occur).

As a result, horizontal sliding of the body can be suppressed, disturbance in the left and right directions of work can be suppressed, and workability can be improved.

The work vehicle of the present invention,

A positioning unit that detects the position of the aircraft,

In packaging, a travel path acquisition unit is provided that acquires a travel path set based on a past travel path traveled by another work vehicle or the same work vehicle in the past.

For example, in one field, when planting seedlings with a riding-type rice transplanter, plowing (harrowing) with a tractor was done a few days ago, and planting of seedlings with the same riding-type rice transplanter last year, Since tillage (harrowing) with a tractor and harvesting with a combine have been carried out, there are many cases where past travel routes traveled by different work vehicles or the same work vehicle remain.

According to the present invention, the travel path is set based on the past travel path, and there is no need to set a reference travel path that serves as a standard for setting the travel path, so the workability of setting the travel path in the work vehicle is improved. This becomes a good thing.

In the present invention,

It is suitable if there is an automatic travel control unit that automatically steers the aircraft so that the aircraft travels along the travel path based on the position of the aircraft.

According to the present invention, once the travel route is set, the aircraft can be automatically driven along the travel route, making it more convenient for the driver and improving workability.

Figure 1 is an overall side view of a riding type electric cooker.
Figure 2 is an overall plan view of a riding-type dishwasher.
Figure 3 is a schematic diagram showing the connection state of the control device and each part.
Figure 4 is a plan view showing the state of the past travel path of the pavement.
Fig. 5 is a plan view showing the state of the travel path set on the pavement.
Fig. 6 is a plan view showing the state of the travel path set on the pavement in the first embodiment of the invention.

In an embodiment of the present invention, a riding-type planting machine of a 6-row planting type, which is an example of a work vehicle that performs planting work in a field (paddy field), is disclosed.

The front-back direction and left-right direction in the embodiment of the present invention are described as follows, unless otherwise specified. When the aircraft 11 is traveling, the forward direction is "forward", and the backward direction is "rear". Based on the forward-facing posture in the front-back direction, the direction corresponding to the right is “right”, and the direction corresponding to the left is “left”.

(Full composition of riding-type dishwasher)

As shown in Figures 1 and 2, the passenger type electric vehicle is a body equipped with right and left front wheels 1 (corresponding to a traveling device) and right and left rear wheels 2 (corresponding to a traveling device) At the rear of 11), a link mechanism 3 and a hydraulic cylinder 4 for lifting and lowering the link mechanism 3 are provided, and a seedling planting device 5 as a working device is supported at the rear of the link mechanism 3. It is done.

The seedling planting device 5 includes a planting power transmission case 6 arranged at predetermined intervals in the left and right directions, a rotation case 7 rotatably supported on the right and left sides of the rear of the planting power transmission case 6, and a rotation case. It is equipped with a planting arm 8, a float 9, a seedling loading stand 10, etc. provided at both ends of the case 7.

A fertilizing device 18, which is a working device, is provided across the base 11 and the seedling planting device 5, and the fertilizing device 18 includes a hopper 13, a feeder 14, a blower 15, and a fertilizing device 18. It is equipped with a mouthpiece (16) and a hose (17).

In the body 11, on the rear side of the driver's seat 12, a hopper 13 for storing fertilizer and a dispensing part 14 are provided, and a blower 15 is placed on the horizontal outer side of the left side of the dispensing part 14. is provided. A fishing tool 16 is connected to the float 9, and six fishing tools 16 are provided, and six hoses 17 are connected across the feeding portion 14 and the fishing fishing equipment 16.

(Transmission system to front and rear wheels)

As shown in FIG. 1, the power of the engine 31 provided at the front of the body 11 is transmitted to a hydrostatic continuously variable transmission (not shown) through the transmission belt 32, and the transmission case ( 33) is transmitted to an internal gear shifting type auxiliary transmission device (not shown).

The right and left front axle cases 34 are connected to the right and left sides of the transmission case 33, so that the right and left front wheels 1 can be steered to the right and left sides of the front axle case 34. It is supported. The power of the auxiliary transmission device is transmitted to the right and left front wheels 1 through a front wheel differential gear device (not shown) and a transmission shaft (not shown) inside the front axle case 34.

The rear axle case 35 is supported along the left and right directions at the lower part of the rear of the body 11, and the right and left rear wheels 2 are supported on the right and left sides of the rear axle case 35. The power of the auxiliary transmission is transmitted to the right and left rear wheels 2 through the transmission shaft 36, the transmission shaft (not shown) inside the rear axle case 35, and the side clutch (not shown). .

As shown in FIGS. 1, 2, and 3, a steering handle 20 is provided on the front side of the driver's seat 12, and the front wheel 1 is steered by the steering handle 20. A shift lever 37 is provided on the left side of the control handle 20, and the continuously variable transmission can be shifted from the neutral position (N) to the forward side (F) and the reverse side (R) by the shift lever 37. It can be operated steplessly.

(Transmission system to seedling planting device and fertilization device)

As shown in FIGS. 1, 2, and 3, the power branched from just before the auxiliary transmission device in the transmission case 33 is transmitted to the seedling planting device 5 through the planting clutch 26 and the PTO shaft 38. ) and is provided with an electric motor 28 that operates the planting clutch 26 in an electric state and a blocked state.

When the planting clutch 26 is operated in an electric state, the seedling loading stand 10 is reciprocated horizontally and driven left and right, and the rotary case 7 is rotationally driven, and the planting arm ( 8) Take turns taking out seedlings and planting them in the field. When the planting clutch 26 is operated in the blocked state, the seedling loading stand 10 and the rotation case 7 are stopped.

As shown in FIGS. 1, 2, and 3, the power of the auxiliary transmission device in the transmission case 33 is transmitted to the feeding portion 14 of the fertilizing device 18 through the fertilizing clutch 27. , the fertilizing clutch 27 is operated in the electric state and the blocking state by the electric motor 28.

When the fertilizing clutch 27 is operated in an electric state, the fertilizer in the hopper 13 is delivered by the feeding unit 14, and is fed to the tool 16 through the hose 17 by the return wind of the blower 15. It is supplied, and as a groove is formed in the pavement by the harvesting device 16, fertilizer is supplied from the farming device 16 to the groove of the pavement. When the fertilizing clutch 27 is operated in the blocked state, the dispensing unit 14 is stopped.

In the seedling planting device 5, each of the three planting power cases 6 is provided with a small tank clutch (not shown), and the two sets of planting arms 8 (rotating cases 7) are independently operated. It can be stopped. Also in the fertilization device 18, the dispensing unit 14 is provided with a small tank clutch (not shown), and the small tank clutch of the planting arm 8 (rotating case 7) and the dispensing unit 14 A small tank clutch is connected.

For example, by stopping the two sets of planting arms 8 (rotating case 7) on the right and the feeding unit 14 corresponding to the two sets on the right, the planting of the two sets of seedlings on the right and the supply of fertilizer can be stopped. there is.

(Automatic lifting and lowering control of seedling planting device)

As shown in FIG. 3, the rear portion of the central float 9 is supported around the axis P1 in the left and right directions of the seedling planting device 5 so as to be able to swing up and down, relative to the seedling planting device 5. A potentiometer-type height sensor 22 is provided to detect the height of the central float 9, and the detected value of the height sensor 22 is input to the control device 23. As the body 11 progresses, the central float 9 tracks the pavement, and the detection value of the height sensor 22 determines the distance from the pavement (central float 9) to the seedling planting device 5. Height can be detected.

An automatic lifting control unit 54 is provided as software in the control device 23, and a control valve 24 for supplying and discharging hydraulic oil to the hydraulic cylinder 4 is provided. The control valve (24) is operated by the automatic lifting control unit 54. 24) is manipulated.

When the control valve 24 is operated to the raising position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 contracts and operates, and the seedling planting device 5 is raised. When the control valve 24 is operated to the lowered position, hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is expanded, and the seedling planting device 5 is lowered.

Based on the height from the field to the seedling planting device 5 in the operating state of the automatic lifting control section 54, the seedling planting device 5 is controlled by the automatic lifting control section 54 so that the seedling planting device 5 is maintained at a set height from the field. The valve 24 is operated, the hydraulic cylinder 4 expands and contracts, and the seedling planting device 5 is automatically raised and lowered. Thereby, the planting depth of seedlings is maintained at the set depth.

(Raising and lowering operation of the seedling planting device using the operating lever)

As shown in FIGS. 2 and 3, an operating lever 39 is provided on the lower right lateral side of the control handle 20, and the operating lever 39 extends and protrudes horizontally outward on the right side.

The operation lever 39 is operated from the neutral position N to the upper first raised position UU1, the second raised position UU2, the lower first lowered position DD1, and the second lowered position DD2. It is supported as possible and pressed to the neutral position N, and the operating position of the operating lever 39 is input to the control device 23.

When the operation lever 39 is operated to the second raising position UU2, the planting clutch 26 and the fertilizing clutch 27 are operated in a blocked state by the electric motor 28, and the automatic lifting control unit 54 is stopped. state, the control valve 24 is operated to the raising position, and the seedling planting device 5 is raised. When the seedling planting device 5 reaches the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 is automatically stopped.

When the operating lever 39 is operated to the second lowered position DD2, the planting clutch 26 and the fertilizing clutch 27 are operated in a blocked state by the electric motor 28, and the automatic raising/lowering control unit 54 is stopped. state, the control valve 24 is operated to the lowered position, and the seedling planting device 5 is lowered. When the central float 9 touches the field, the automatic lifting control unit 54 enters an operating state, and the seedling planting device 5 touches the field and enters a stopped state.

When the operation lever 39 is operated to the second lowered position (DD2) and then to the neutral position (N), and then the operation lever 39 is operated again to the second lowered position (DD2), the automatic lifting control unit 54 In the operating state, the planting clutch 26 and the fertilizing clutch 27 are operated in an electric state by the electric motor 28.

When the operation lever 39 is operated to the first raising position UU1, the planting clutch 26 and the fertilizing clutch 27 are operated in a blocked state by the electric motor 28, and the automatic lifting control unit 54 is stopped. state, the control valve 24 is operated to the raised position, and the seedling planting device 5 is raised, and the seedling planting device ( 5) increases. When the operation lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the raising of the seedling planting device 5 is stopped.

When the operation lever 39 is operated to the first lowering position DD1, the planting clutch 26 and the fertilizing clutch 27 are operated in a blocked state by the electric motor 28, and the automatic raising/lowering control unit 54 is stopped. state, the control valve 24 is operated to the lowering position, the seedling planting device 5 is lowered, and the seedling planting device ( 5) is lowered. When the operation lever 39 is operated to the neutral position (N), the control valve 24 is operated to the neutral position and the descent of the seedling planting device 5 is stopped.

As described above, the seedling planting device 5 can be raised and lowered only while the operating lever 39 is operated to the first raising position UU1 and the first lowering position DD1, and the seedling planting device 5 ) can be raised and lowered to an arbitrary height and stopped.

(Configuration of detection of aircraft position and aircraft orientation)

As shown in FIGS. 1 and 2, right and left support frames 19 are provided on the right and left sides of the front part of the body 11, and a spare seedling loading stand 21 is provided on the support frame 19. is supported. A support frame 25 is connected across the upper portions of the right and left support frames 19.

In the support frame 25, a measuring device 29 (equivalent to a positioning unit) is installed at a portion located at the left and right centers (CL) of the body 11 in plan view. The measurement device 29 is equipped with a receiving device (not shown) that acquires position information using a satellite positioning system and an inertial measurement device (not shown) that detects the inclination (pitch angle, roll angle) of the aircraft 11. and the measurement device 29 outputs positioning data indicating the position of the aircraft 11.

An inertial measurement device 30 for measuring inertial information is installed in a portion of the rear axle case 35 located at the left and right centers (CL) of the body 11 in plan view. The inertial measurement of the inertial measurement device 30 and the measurement device 29 is comprised of an IMU (Inertial Measurement Unit).

A representative example of the above-described satellite positioning system (GNSS: Global Navigation Satellite System) is GPS (Global Positioning System). GPS is a measurement device 29 using a plurality of GPS satellites orbiting the skies of the Earth, a control station that tracks and controls GPS satellites, and a receiving device provided by the object to be determined (aircraft 11). is to measure the location of the receiving device.

The inertial measurement device 30 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle (turning angle of the aircraft 11) of the aircraft 11 and acceleration in three axes orthogonal to each other. It is equipped with an acceleration sensor (not shown). The inertial information measured by the inertial measurement device 30 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor.

As a result, the position and orientation of the body 11 are detected by the measurement device 29 and the inertial measurement device 30.

(Configuration regarding automatic flight of the aircraft)

As shown in FIG. 3, a steering motor 40 is provided to operate the control handle 20, and a display device 42 having a liquid crystal display or the like is provided on the front side of the control handle 20. .

2 and 3, the operating position of the shift lever 37 is input to the control device 23, and a shift motor 41 that operates the shift lever 37 is provided. An automatic operation unit 43 in the form of a push button for starting and stopping automatic travel is provided on the grip portion of the shift lever 37, and a signal from the automatic operation unit 43 is input to the control device 23.

In addition to the automatic lifting and lowering control unit 54 described in (automatic lifting and lowering control of seedling planting device) in the preceding paragraph, a past route acquisition unit 51, a travel route acquisition unit 52, a travel route setting unit 53, and an automatic travel control unit ( 55), the ridge edge acquisition unit 56 is provided in the control device 23 as software.

(Acquisition of position data of ridge edge)

As shown in Figure 5, for example, in a pavement having ridges (B1, B2, B3, B4), the positional data of the ridge edges (B11, B21, B31, B41) of the ridges (B1 to B4) are , for example, is obtained in advance by one (or more than one) of the methods shown in (1) to (5) below, and is acquired and stored in the ridge edge acquisition unit 56.

(1) The measuring device 29 shown in FIGS. 1 and 2 is removed from the body 11, and a worker with the measuring device 29 walks along the ridge edges B11 to B41, thereby measuring the measuring device ( Positioning data indicating the position of the worker according to 29) is obtained as position data of the edge of the ridge (B11 to B41).

(2) By running the riding electric machine shown in FIGS. 1 and 2 (with the measuring device 29 installed) along the edge of the ridge (B11 to B41), the body 11 is measured by the measuring device 29. Positioning data indicating the position of is obtained as position data of the ridge edges (B11 to B41).

In this case, the measuring device 29 is installed at the left and right center (CL) of the body 11, and the outer end of the body 11 (seedling planting device 5) is located at the edge of the ridge (B11 to B41). ), from the positioning data indicating the position of the body 11 by the measuring device 29, the outer position is 1/2 of the lateral width of the body 11 (seedling planting device 5), the edge of the ridge. Correction is performed so that the position data becomes (B11 to B41).

(3) The same riding-type planting machine (or another riding-type planting machine or riding-type seeding machine equipped with the measuring device 29) has driven on the pavement in the past, and has collected positioning data indicating the position of the aircraft 11 that has driven on the pavement. If obtained, this positioning data is used as the positioning data of the ridge edges (B11 to B41). In this case, the correction described in (2) of the preceding paragraph is performed.

(4) If various work vehicles such as combines or tractors equipped with the measuring device 29 have driven on pavement in the past (or present) and have obtained positioning data indicating the position of the work vehicle running on the pavement, this positioning The data is used as position data of the ridge edges (B11 to B41).

(5) If a commercially available storage medium recording the positional data of the ridge edges (B11 to B41) exists, this storage medium is used.

(Acquisition of past driving routes)

In fields, rotary work is often performed using a tractor (not shown) before planting seedlings using a riding-type transplanter. In this case, let us assume that in the same field, a tractor equipped with a measuring device 29, as shown in FIG. 4, was traveling along the past travel paths L11 to L19 and performing rotary work.

The positioning data of the past travel routes (L11 to L19) by the measuring device 29 of the tractor are acquired and stored in the past route acquisition unit 51 as the past travel routes (L11 to L19). Similarly, data on the tread of the tractor is also acquired and stored in the past path acquisition unit 51.

(Setting of driving route)

As shown in FIG. 5, when the riding-type electric vehicle arrives near the pavement, the travel route setting unit based on the position data of the ridge edges (B11 to B41) and the position data of the past travel routes (L11 to L19) By (53), the travel routes L01 to L07 are set as described below.

Dipping along the ridge edges B11, B21 at a position on the center side of the field at a predetermined distance W2 equal to 1 or 2 times the horizontal width of the seedling planting device 5 from the ridge edges B11, B21. ) lines (LA1, LA2) are set.

From the ridge edges B31 and B41, immersion lines LA3 and LA4 are set along the ridge edges B31 and B41 at a position on the center side of the pavement at a predetermined distance W2, which is the same as described above.

As shown in FIG. 4, since the past driving routes (L11 to L19) span the ridges (B1, B2), as shown in FIG. 5, like the past driving routes (L11 to L19), the driving route (L01) , L02, L03, L04, L05, L06, L07) are parallel to the immersion lines LA3 and LA4 and are also parallel to each other at a predetermined interval W1 (lateral width of the seedling planting device 5). It is set over (LA1, LA2), and the direction of the travel paths L01 to L07 (see arrows for the travel paths L01 to L07 shown in FIG. 5) is set.

As shown in Fig. 5, the starting end of the travel path L01 to L07 becomes the starting position C1, C2, C3, C4, C5, C6, and C7. The end portions of the travel paths L01 to L07 become end positions D1, D2, D3, D4, D5, D6, and D7. As a result, connecting the start positions (C1 to C7) and the end positions (D1 to D7) becomes the travel path (L01 to L07).

(Modification and acquisition of driving route)

As described in the preceding paragraph (setting of the traveling path), when the traveling path L01 to L07 is set, the traveling path setting unit 53 performs correction of the traveling path L01 to L07 as described below. .

In the travel paths (L01 to L07) shown in FIG. 5, the front wheel 1 and the rear wheel (1) and the rear wheels ( 2) The passing position is detected.

In the past travel paths (L11 to L19) shown in FIG. 5, based on the tread of the tractor, the tractor's measuring device 29 is located on the past travel paths (L11 to L19) of the front and rear wheels of the tractor. The position of the ruts is detected.

In a riding-type electric vehicle, the tread of the front wheel 1 and the tread of the rear wheel 2 are approximately the same, so the passing positions (ruts) of the front wheel 1 and the rear wheel 2 are the same position. Similarly, in a tractor, the tread of the front wheels and the tread of the rear wheels are approximately the same, so the passing positions (tracks) of the front and rear wheels are the same.

The passing positions of the front wheels (1) and rear wheels (2) of the riding electric tractor are compared with the positions of the wheel tracks of the front and rear wheels of the tractor, and whether any overlap is detected in the travel paths L01 to L07. .

As shown in FIG. 5, for example, in the case of overlap in the travel path L03, the position of the travel path L03 is slightly changed to the travel path L02 side (or the travel path L04 side), The passing positions of the front wheels (1) and rear wheels (2) of the riding electric machine and the positions of the wheel marks of the front and rear wheels of the tractor are set so as not to overlap.

If the position of the travel path L03 is slightly changed toward the travel path L02, the travel paths L02 and L03 come closer.

In this case, for example, in the travel path L02, a position (or, The limit of change is the position where the pavement mud flowing horizontally from the left float (9) does not affect it.

If the position of the travel path L03 is slightly changed toward the travel path L02, the travel paths L03 and L04 become separated. In this case, the gap (between rows) (generally 300 mm) in the left and right directions of the adjacent planting arms 8 becomes the change limit.

As described above, when the position of the travel path (L01 to L07) is changed, the seedlings planted in the field and the ridge edge (B41) when the aircraft 11 travels the travel path (L07) are calculated by integrating the change in position. ) may become narrower or wider than the predetermined interval W2.

In this case, when the aircraft 11 travels the travel route L07 and the gap between the seedlings planted in the field and the ridge edge B41 becomes narrower than the predetermined gap W2, in the travel route 07, It is necessary to operate the small tank clutch in the closed state so that when the aircraft 11 travels the travel path L07, the distance between the seedlings planted in the field and the edge of the ridge B41 is the predetermined distance W2. .

When the aircraft 11 travels the travel route L07, if the gap between the seedlings planted in the field and the ridge edge B41 becomes wider than the predetermined distance W2, the aircraft 11 moves along the ridge edge B41. When driving, planting seedlings (planting around), and supplying fertilizer, operation of the small tank clutch is necessary.

After the above processing is performed, the start positions (C1 to C7) and end positions (D1 to D7), the travel path (L01 to L07), and the need for operation of the small tank clutch are displayed on the display device 42 (see FIG. 3). ), so if the driver determines that there is no problem, the driver presses the OK button (not shown).

As a result, the positional data of the travel path (L01 to L07), start positions (C1 to C7), and end positions (D1 to D7) are acquired and stored in the travel path acquisition unit 52 (see FIG. 3).

(Automatic driving of the aircraft)

As described in the preceding paragraph (Modification and Acquisition of Driving Path), in a state in which the driving path (L01 to L07) is set, the driver operates the control handle 20 and the shift lever 37 as shown in FIG. 5. Then, the body 11 is driven, and with the body 11 (seedling planting device 5) positioned at the starting position C1, the driver operates the automatic operation unit 43 to start running.

At the same time, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field and operates the planting clutch 26 and the fertilization clutch 27 in an electric state to plant seedlings and apply fertilizer. Start supply.

When the automatic operation unit 43 is operated, the automatic travel control unit 55 is put into operation. In the operating state of the automatic travel control unit 55, based on the detection of the measurement device 29 and the inertial measurement device 30, the steering motor 40 is activated to perform automatic steering operation of the front wheel 1, The shift motor 41 operates to automatically operate the shift lever 37, so that the aircraft 11 automatically travels at a constant speed along the travel path L01.

The position of the aircraft 11, the travel route L01 along which the aircraft 11 travels, and the next travel route L02 along which the aircraft 11 must travel are displayed on the display device 42.

When the body 11 (seedling planting device 5) reaches the end position D1, the driver operates the operation lever 39 to raise the seedling planting device 5 from the field, planting seedlings and supplying fertilizer. is stopped, and as the seedling planting device 5 is raised by the operation lever 39, the automatic travel control unit 55 is in a stopped state.

The driver operates the control handle 20 and the shift lever 37 to turn the body 11 and positions the body 11 (seedling planting device 5) at the starting position C2. In the display device 42, the travel route L01 disappears, the travel route L02 along which the aircraft 11 travels is displayed, and then the next travel route L03 along which the aircraft 11 should travel is displayed. .

With the body 11 (seedling planting device 5) positioned at the starting position C2, the driver operates the automatic operation unit 43 to start traveling. At the same time, the driver operates the operation lever 39 to lower the seedling planting device 5 to the field and operates the planting clutch 26 and the fertilization clutch 27 in an electric state to plant seedlings and apply fertilizer. Start supply.

As a result, the automatic travel control unit 55 is put into an operating state, operations similar to those described above are performed, and the body 11 automatically travels at a constant speed along the travel path L02.

When the body 11 (seedling planting device 5) reaches the end position D2, the driver turns the body 11 in the same manner as described above and moves the body 11 (seedling planting device 5) to the starting position. It is positioned at (C3), the automatic operation part 43 is operated, the operation lever 39 is operated to lower the seedling planting device 5 into the field, and the planting clutch 26 and the fertilization clutch 27 are electrically operated. Manipulate the state.

Afterwards, the driver repeats the same operations as described above to drive the aircraft along the travel paths (L04 to L07), and finally to drive the aircraft 11 along the edges of the ridges (B11 to B41) to create a certain type of operation. Planting (running around) and fertilizer supply are performed, and planting of seedlings and fertilizer supply in one field are completed.

(First embodiment of the invention)

In the (setting of the driving route) of the above-described (form for carrying out the invention), based on the positional data of the ridge edges (B11 to B41) and the positional data of the past driving routes (L11 to L19), the driving path setting unit The travel paths L01 to L07 may be set as shown in FIG. 6 by (53).

An immersion line (LA1) is placed along the ridge edges (B11, B21) at a position on the center side of the field at a predetermined interval (W2) of one or two times the horizontal width of the seedling planting device (5) from the ridge edges (B11, B21). , LA2) is set. From the ridge edges B31, B41, immersion lines LA3, LA4 are set along the ridge edges B31, B41 at a position on the center side of the pavement at a predetermined interval W2, which is the same as described above.

As shown in FIG. 4, since the past driving paths (L11 to L19) span the ridges (B1 and B2), the driving path ( The harrowing lines (LA3, LA4) are parallel to the immersion lines (LA1, LA2) and are parallel to each other at a predetermined interval (W1) (lateral width of the seedling planting device 5). ), and the direction of the travel paths L01 to L05 (see arrows for the travel paths L01 to L05 shown in FIG. 6) is set.

As shown in Fig. 6, the starting end of the travel path (L01 to L05) becomes the starting position (C1, C2, C3, C4, C5). The terminal portion of the travel path (L01 to L05) becomes the ending position (D1, D2, D3, D4, D5). As a result, connecting the start positions (C1 to C5) and the end positions (D1 to D5) becomes the travel path (L01 to L05).

In this case, the position change of the travel path (L01 to L05) as described in (Modification and acquisition of the travel path) in the preceding paragraph is not performed, and the travel path (L01 to L05) is acquired by the travel path acquisition unit 52. I remember.

When the driving path (L01 to L05) is set to intersect with the past driving path (L11 to L19), the front wheels (1) and rear wheels (2) of the riding electric machine intersect the wheel tracks of the front and rear wheels of the tractor. Since it enters or exits the state, it is expected that the vertical movement (pitching) of the aircraft 11 will become more severe.

In this case, the control sensitivity of the automatic lifting control unit 54 is configured to be automatically set to a sensitive state, so that even if the vertical movement (pitching) of the aircraft 11 is severe, the planting depth of the seedlings by the seedling planting device 5 is set to the set depth. Just keep it as .

(Second embodiment of the invention)

The past route acquisition unit 51 and the traveling route setting unit 53 are taken out from the above-described (mode for carrying out the invention) and (first embodiment of the invention) riding type electric tableware, and It may be equipped with one or more external computers (not shown), etc., and may be a driving route setting system including a past route acquisition unit 51 and a driving route setting unit 53.

In the above-described (mode for carrying out the invention) and (first embodiment of the invention) riding electric rice cooker, the past route acquisition unit 51 and the driving route setting unit 53 are mounted on the riding electric rice cooker. It can be used as a driving route setting system.

In the above-described (mode for carrying out the invention) and (first embodiment of the invention) riding electric vehicle, the above-described driving method is provided without the past route acquisition unit 51 and the travel route setting unit 53. The travel path (L01 to L07) is set by the route setting system, etc., and the set travel path (L01 to L07) is transmitted to the control device 23 of the riding type electric machine, and the driving path acquisition unit ( 52), it may be configured to be acquired and remembered.

(Third embodiment of the invention)

Even if the aircraft 11 is configured to automatically travel by the automatic travel control unit 55, including turning from the travel route (L01 to L07) to the next travel route (L01 to L07) and driving around the edge of the ridge (B11 to B41), do.

(Fourth embodiment of the invention)

The automatic travel control unit 55 may be abolished. According to this configuration, the driver operates the control handle 20 and the shift lever 37 while visually viewing the position and travel path (L01 to L07) of the aircraft 11 displayed on the display device 42, (11) is driven along the travel path (L01 to L07).

(Fifth embodiment of the invention)

In the same field, the following items are listed based on maps such as the quantity map and taste map of grains harvested by the combine last year, the workload when the tractor or combine runs, the work speed, and the tillage depth of the rotary tillage device. You can control it.

In the seedlings loaded on the seedling loading stand 10 of the riding type rice cooker, the amount of rice seeds at the time of seedling growth, the type and thickness of the top soil, the type and thickness of the covering soil, etc.

In the seedling planting device (5) for a riding-type rice planter, the planting depth of the seedlings, the amount of seedlings taken out from the seedling loading stand (10) by the planting arm (8), and the seedlings in the traveling direction of the body (11) Planting interval (weekly), horizontal transfer speed of the seedling loading stand 10, vertical transfer amount of seedlings on the seedling loading stand 10, etc.

In a riding type direct seeding machine, the supply amount of rice seeds, etc.

In the riding type sower and the riding type direct seeding machine, the stopping depth when equipped with a planting device, the type and spray amount of the chemical when equipped with a chemical spraying device, and the fertilizer when equipped with the fertilization device 18 Type and supply quantity, etc.

In intermediate working machines, the type and spray amount of chemicals, the type and supply amount of supplementary fertilizer, etc.

In tractors, tillage depth by rotary tillage device, etc.

The present invention provides not only a riding-type rice planting machine equipped with a seedling planting device 5 as a working device at the rear of the body 11 so as to be capable of being raised and lowered, but also a seeding device as a working device being provided at the rear of the body 11 so as to be able to be raised and lowered. A riding-type direct seeding machine, a tractor equipped with a rotary tillage device as a work device at the rear of the body 11 and a chemical spray device as a work device that can be raised and lowered, and a reaping unit as a work device at the front of the body 11 that can be raised and lowered. It can also be applied to work vehicles that run while working on pavement, such as equipped combines.

1, 2: Travel device
11: Airframe
29: Positioning unit
51: Past route acquisition unit
52: Driving route acquisition unit
53: Driving path setting unit
55: automatic driving control unit
L01 to L07: Driving route
L11 to L19: Past driving path

Claims (6)

In packaging, a past path acquisition unit that acquires a past driving path traveled by a work vehicle in the past;
In the above-mentioned pavement, the traveling device of the work vehicle equipped with the working device of the seedling planting device or the seeding device follows the past traveling path based on the past traveling path and does not travel on ruts in the past traveling path. It is provided with a driving path setting unit that sets the driving path so that the
In the travel path setting unit, the limit at which the position of the travel path is changed in a direction perpendicular to the past travel path is the travel length of the work device. A positioning unit that detects the position of the aircraft,
In packaging, a travel path is set based on a past travel path that another work vehicle or the same work vehicle has traveled in the past, so that the travel device follows the past travel path and does not travel on ruts in the past travel path. Equipped with a driving route acquisition unit to acquire,
In the travel path acquisition unit, the limit at which the position of the travel path is changed in a direction perpendicular to the past travel path is the length of the row of the work device of the seedling planting device or seeding device supported on the body. The work vehicle according to claim 2, comprising an automatic travel control unit that automatically steers the body so that the body travels along the travel path based on the position of the body. delete delete delete

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