KR20180087127A - Working vehicle - Google Patents

Abstract

The present invention relates to a working vehicle to repeat working driving and turning, capable of reducing stress of a driver. According to the present invention, the working vehicle comprises: a positioning unit to detect a position of a driving body (50); a working driving line acquisition unit to acquire working driving lines (L01, L02); a turning line acquisition unit to acquire a turning line (LL1) in contact with an end part of the working driving line (L01) and an end part of the next working driving line (L02); an automatically driving control unit performing automatic control to allow the driving body (50) to drive along the working driving lines (L01, L02); an automatic turning control unit performing automatic control to allow the driving body (50) to drive along the turning line (LL1); and a control unit to switch over a working mode to operate the automatic driving control unit and a turning mode to operate the automatic turning control unit.

Description

Working vehicle {WORKING VEHICLE}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a work car that performs work in packaging.

In the passenger type rearing machine which is an example of a work car that carries out a work in a package, as disclosed in Patent Document 1, in the packaging, while running straight from one side to the other side, , And the operation is performed such as the supply of fertilizer to the packaging by the fertilizer. Next, when the running vehicle reaches the other runway, the running of the work is stopped, the turn is made in the other runway, and the next work run is started from the other runway to one run. have.

Japanese Patent Application Laid-Open No. 2010-207119 (see Fig. 6)

As described above, there is room for improvement in that the burden on the driver who drives the work vehicle is reduced in the work vehicle in which the work traveling and turning are repeated.

An object of the present invention is to alleviate the burden on the driver in the above-described working vehicle.

The work vehicle of the present invention,

A positioning device for detecting the position of the traveling vehicle;

A work travel line acquisition unit for acquiring a work travel line to be traveled by the traveling vehicle;

A turning line acquiring unit for acquiring a turning line connecting an end of the working traveling line and an end of the next working traveling line,

An automatic travel control unit for automatically controlling the traveling vehicle so that the traveling vehicle runs along the working traveling line based on the position of the traveling vehicle;

And an automatic turning control unit for automatically controlling the traveling vehicle so that the traveling vehicle runs along the turning line based on the position of the traveling vehicle,

And a control unit for switching to a working mode in which the automatic driving control unit operates and a turning mode in which the automatic turning control unit operates.

According to the present invention, a work traveling line on which a traveling gas travels and a swirling line connecting an end of the work traveling line and an end of the next working traveling line are set by the working apparatus while performing work on the packaging.

Thereby, while the position of the traveling vehicle is detected by the positioning unit in the state of being switched to the working mode, the traveling vehicle automatically runs along the work traveling line, and work can be performed on the packaging by the working device .

In a state where the vehicle is in the turning mode, the traveling vehicle automatically runs along the turning line while the position of the traveling vehicle is detected by the positioning unit.

As described above, while the traveling gas is automatically traveling along the work traveling line and the turning line while switching to the working mode and switching to the turning mode, the work traveling and turning are repeated, but the burden on the driver is reduced It is possible to improve the workability.

In the case of a work vehicle that carries out a work in a package, the work travel is generally in a substantially straight state of a degree of straightening or gentle turning. On the other hand, the turn is often turned by a small turn radius, such as a 180 degree turn.

Thereby, in the automatic control of the traveling vehicle along the work traveling line and the automatic control of the traveling vehicle along the turning line, the control state of the automatic control of the traveling vehicle is significantly different, The control load is large when both the automatic control of the following running vehicle and the automatic control of the running vehicle along the turning line are performed.

According to the present invention, by providing the automatic travel control unit for automatically controlling the traveling gas along the work traveling line and the automatic turning control unit for automatically controlling the traveling gas along the swivel line, And the automatic turning control unit can be configured to be capable of appropriately performing automatic steering of the traveling vehicle along the turning line.

According to the present invention, by providing the automatic travel control section and the automatic turn control section as described above, the traveling vehicle travels along the work travel line and the turn line with high accuracy, and the running performance of the work vehicle can be improved.

In the present invention,

Wherein,

Wherein the traveling mode is switched to the turning mode by the transition from the working traveling line of the traveling vehicle to the swivel line based on the position of the traveling vehicle and by the transition from the swivel line of the traveling vehicle to the working traveling line Switching to the above operation mode is suitable.

According to the present invention, since the work traveling line and the turning line are recognized as the position data and the position of the traveling body is recognized as the positioning data, the positional relationship between the working traveling line and the turning line and the traveling body can be appropriately recognized.

Thus, it is possible to appropriately recognize the state in which the operation mode is to be switched to the turning mode, and to appropriately recognize the state in which the operation mode should be switched from the turning mode to the work mode, And switching to the turning mode is properly performed.

In the present invention,

And a steering operation member for performing a steering operation of the traveling vehicle is provided,

Wherein,

Switching to the turning mode by the transition of the traveling vehicle from the working traveling line to the turning line based on the position of the traveling vehicle and switching to the working mode by the transition to the straight forward position of the steering operating lever Suitable.

According to the present invention, since the work traveling line and the turning line are recognized as the position data and the position of the traveling body is recognized as the positioning data, the positional relationship between the working traveling line and the turning line and the traveling body can be appropriately recognized.

When the steering operating member is operated to the straight forward position, it can be determined that the traveling vehicle is in the running state, and when the steering operating member is operated to the turning position, it can be determined that the traveling vehicle is in the turning state.

Thereby, it is possible to appropriately recognize the state in which the operation mode should be switched to the turning mode according to the position of the traveling vehicle, and to appropriately recognize the state in which the steering mode should be switched from the turning mode to the working mode So that switching to the working mode and switching to the turning mode are appropriately performed.

In the present invention,

And a steering operation member for performing a steering operation of the traveling vehicle is provided,

Wherein,

When the operation mode is switched to the turning mode by the transition to the turning position of the steering operating member and the operation mode is switched to the working traveling line from the turning line of the traveling vehicle on the basis of the position of the traveling vehicle Suitable.

According to the present invention, since the work traveling line and the turning line are recognized as the position data and the position of the traveling body is recognized as the positioning data, the positional relationship between the working traveling line and the turning line and the traveling body can be appropriately recognized.

When the steering operating member is operated to the straight forward position, it can be determined that the traveling vehicle is in the running state, and when the steering operating member is operated to the turning position, it can be determined that the traveling vehicle is in the turning state.

Thereby, it is possible to appropriately recognize the state in which the operation mode is to be switched from the operation mode to the turning mode, and appropriately recognize the state in which the operation mode is to be switched from the turning mode to the operation mode, So that switching to the working mode and switching to the turning mode are appropriately performed.

In the present invention,

And a steering operation member for performing a steering operation of the traveling vehicle is provided,

Wherein,

It is preferable to switch to the turning mode by the transition to the turning position of the steering operating member and switch to the working mode by the transition to the straight running position of the steering operating member.

According to the present invention, since the work traveling line and the turning line are recognized as the position data and the position of the traveling body is recognized as the positioning data, the positional relationship between the working traveling line and the turning line and the traveling body can be appropriately recognized.

Thereby, it is possible to appropriately recognize the state in which the operation mode is to be switched from the operation mode to the turning mode, thereby properly recognizing the state in which the operation mode should be switched from the turning mode to the operation mode, And switching to the turning mode are appropriately performed.

In the present invention,

Right and left side clutches capable of transmitting and interrupting power to right and left traveling devices,

And a side clutch operating portion that operates both of the side clutches on the right side and the left side in the power transmitting state and the side clutch on the turning center side in the turning state in a cut-

Wherein,

Wherein the traveling mode is switched to the turning mode by the transition from the working traveling line of the traveling vehicle to the swivel line based on the position of the traveling vehicle and the transition to the power transmitting state of both the right side and the left side of the side clutch It is appropriate to switch to the above operation mode.

According to the present invention, since the work traveling line and the turning line are recognized as position data and the position of the traveling body is recognized as the positioning data, the positional relationship between the working traveling line and the turning line and the traveling body can be easily recognized.

[0003] In a working vehicle such as a passenger-type reverberator, a passenger-side rectifier and a combine, right and left side clutches capable of transmitting and interrupting power to and from the right and left traveling devices are provided, and both sides of the right and left side clutches There is a working vehicle which is operated in the power transmission state and in which the side clutch on the side of the turning center is turned to the cut-off state when turning. The side clutch on the side of the turning center is turned to the cut-off state and the traveling device on the side of the turning center is in the freely rotating state at the time of turning, thereby making it possible to suppress the state in which the traveling device on the turning center side is ruined.

When both side clutches of the right and left side clutches are operated in the power transmitting state in the above-described state, it can be determined that the traveling vehicle is in the work traveling state, and when the side clutch on the turning center side is operated in the blocking state, It can be determined that the vehicle is turning.

As a result, it is possible to appropriately recognize the state in which the operation mode is to be switched to the turning mode according to the position of the traveling vehicle, and the state in which the right side and the left side side clutch are to be switched from the turning mode to the working mode, So that switching to the operation mode and switching to the turning mode can be appropriately performed.

In the present invention,

Right and left side clutches capable of transmitting and interrupting power to right and left traveling devices,

And a side clutch operating portion that operates both of the side clutches on the right side and the left side in the power transmitting state and the side clutch on the turning center side in the turning state in a cut-

Wherein,

Wherein the switching means is switched to the turning mode by transitioning to the cut-off state of the side clutch on the side of the turning center, and based on the position of the running vehicle, Mode.

According to the present invention, since the work traveling line and the turning line are recognized as position data and the position of the traveling body is recognized as the positioning data, the positional relationship between the working traveling line and the turning line and the traveling body can be easily recognized.

[0003] In a working vehicle such as a passenger-type reverberator, a passenger-side rectifier and a combine, right and left side clutches capable of transmitting and interrupting power to and from the right and left traveling devices are provided, and both sides of the right and left side clutches There is a working vehicle which is operated in the power transmission state and in which the side clutch on the side of the turning center is turned to the cut-off state when turning. The side clutch on the side of the turning center is turned to the cut-off state and the traveling device on the side of the turning center is in the freely rotating state at the time of turning, thereby making it possible to suppress the state in which the traveling device on the turning center side is ruined.

When both side clutches of the right and left side clutches are operated in the power transmitting state in the above-described state, it can be determined that the traveling vehicle is in the work traveling state, and when the side clutch on the turning center side is operated in the blocking state, It can be determined that the vehicle is turning.

Thus, it is possible to appropriately recognize the state in which the operation mode should be switched to the turning mode by the side clutches on the right and left sides, and appropriately change the state in which the operation mode should be switched from the turning mode to the work mode, So that switching to the operation mode and switching to the turning mode can be appropriately performed.

In the present invention,

Right and left side clutches capable of transmitting and interrupting power to right and left traveling devices,

And a side clutch operating portion that operates both of the side clutches on the right side and the left side in the power transmitting state and the side clutch on the turning center side in the turning state in a cut-

Wherein,

It is suitable to switch to the turning mode by transitioning to the cut-off state of the side clutch at the turning center side and to switch to the working mode by the transition to the power transmitting state of both the right clutch and the left clutch.

[0003] In a working vehicle such as a passenger-type reverberator, a passenger-side rectifier and a combine, right and left side clutches capable of transmitting and interrupting power to and from the right and left traveling devices are provided, and both sides of the right and left side clutches There is a working vehicle which is operated in the power transmission state and in which the side clutch on the side of the turning center is turned to the cut-off state when turning. The side clutch on the side of the turning center is turned to the cut-off state and the traveling device on the side of the turning center is in the freely rotating state at the time of turning, thereby making it possible to suppress the state in which the traveling device on the turning center side is ruined.

When both side clutches of the right and left side clutches are operated in the power transmitting state in the above-described state, it can be determined that the traveling vehicle is in the work traveling state, and when the side clutch on the turning center side is operated in the blocking state, It can be determined that the vehicle is turning.

Thus, according to the present invention, it is possible to appropriately recognize the state in which the operation mode should be switched to the turning mode by the side clutches on the right side and the left side, and properly recognize the state in which the operation mode should be switched from the turning mode So that switching to the working mode and switching to the turning mode are appropriately performed.

In the present invention,

Wherein,

When switching to the operation mode, it is preferable that the operation device is in an operation state in which operation is performed on the package, and when the operation mode is switched to the rotation mode, the operation device is in a non-operation state in which no operation is performed on the package.

According to the present invention, when the vehicle is turned into the turning mode, the working device is automatically operated to the non-working state. When the working device is switched to the working mode, the working device is automatically operated to the working state, .

As a working vehicle for carrying out work in packaging, there are a passenger-type rapier, a passenger-type straightener, a combine, and a tractor.

The working condition of the working apparatus in the passenger type rapper and passenger type shear wave machine is such that the formwork unit (corresponding to the working unit) and the direct wave unit (corresponding to the working unit) Can be considered to be in an activated state. The non-working state of the working device may be considered to be a state in which the model device and the direct-wave device are lifted from the package (or in a state of being lowered to the package) in a state in which the model device and the direct-

In the combine, the working state of the working device may be considered to be a state in which the pre-loading portion (corresponding to the working device) is lowered to the packaging and the cut-off portion is operated. The non-working state of the working apparatus may be considered to be a state in which the cut-off portion is raised from the package in a state in which the cut-off portion is operated (or in a stopped state).

In the tractor, the working state of the working apparatus may be considered to be a state in which the rotary tiller apparatus (corresponding to the working apparatus) has been lowered to the package and the rotary tiller apparatus has been operated. The non-working state of the working apparatus may be considered to be a state in which the rotary tiller apparatus is in the stopped state (or in the operated state), and the rotary tiller apparatus is raised from the package.

Fig. 1 is an overall side view of a passive type rice miller.
2 is an overall plan view of the passive type reed unit.
3 is a schematic plan view showing a steering operation system of a front wheel, and a power transmission system to front and rear wheels.
Fig. 4 is a diagram showing a linkage state between the control unit and each unit. Fig.
5 is a plan view showing a setting state of the work traveling line and the turning line.
6 is a plan view showing the setting state of the work traveling line and the turning line.
7 is a plan view showing a setting state of a work traveling line and a turning line.
8 is a plan view showing a traveling state along a work traveling line and a turning line of the traveling vehicle.
9 is a plan view showing a running state along a work traveling line and a turning line of the traveling vehicle.
10 is a plan view showing a traveling state along a work traveling line and a turning line of the traveling vehicle.
11 is a plan view showing the traveling state of the traveling vehicle during the turning work traveling.
12 is a plan view showing a setting state of a work traveling line and a turning line different from the state shown in Fig.
13 is a plan view showing a transition state from the work travel line to the swivel line and a transition state from the swivel line to the work travel line of the traveling vehicle.
FIG. 14 is a plan view showing a traveling state along a turning line of a traveling vehicle in a first alternative embodiment of the invention; FIG.
15 is a plan view showing a running state along a turning line of a traveling vehicle according to a second embodiment of the invention;
16 is a plan view showing a traveling state along a work traveling line and a turning line of the traveling vehicle in a fourth embodiment of the invention;
17 is a plan view showing a traveling state along a work traveling line and a swiveling line of a traveling vehicle in a fifth alternative embodiment of the invention;

In the embodiment of the present invention, a passenger type weaving machine of a six-plate type, which is an example of a work machine for performing a cooking operation in a package (non-machine), is shown.

The front-rear direction and the left-right direction in the embodiment of the present invention are described as follows unless otherwise specified. The traveling direction of the traveling side of the traveling vehicle 50 is "forward" and the traveling direction of the traveling side is "rearward". The direction corresponding to the right side is the " right side " and the direction corresponding to the left side is the " left side "

(Total configuration of passenger type rice milling machine)

As shown in Figs. 1 and 2, the passenger type buncher is provided on the rear portion of the running vehicle 50 provided with the right and left front wheels 1, right and left rear wheels 2 (corresponding to the traveling apparatus) A link mechanism 3 and a hydraulic cylinder 4 for moving the link mechanism 3 up and down and a shaping unit 5 (corresponding to the working unit) is supported on the rear portion of the link mechanism 3 .

As shown in Figs. 1 and 2, the food processor 5 includes a food-feeding transmission case 6 arranged at a predetermined interval in the left-right direction, a right and left side portion of the rear portion of the food- A pair of food arms 8 provided at both ends of the rotary case 7, a float 9, and a mother board 10, which are supported by the rotary case 7,

As shown in Figs. 1 and 4, the right and left markers 19 are provided on the right and left side portions of the molding device 5, and an operating posture (see Fig. 1) (See Fig. 4) spaced upward. The right and left markers 19 are provided with an arm portion 19a supported by the shaping device 5 so as to be vertically pivotable and a rotary body 19b supported so as to freely rotate on the tip portion of the arm portion 19a And an electric motor 21 for operating the right and left markers 19 in an operating posture and a storage posture.

(Power transmission system to front and rear wheels)

The power of the engine 31 provided in the front portion of the traveling vehicle 50 is transmitted to the hydrostatic stepless transmission 33 and the mission case 34 through the transmission belt 32, (Not shown) inside the transmission case 34 through a transmission shaft (not shown) inside the front differential gear mechanism (not shown) and the front axle case 35 , To the right and left front wheels 1, respectively.

The power of the auxiliary transmission is transmitted to the transmission shaft 36, the input shaft 38 of the rear axle case 37, the bevel gear 38a fixed to the input shaft 38, A bevel gear 39a meshed with the bevel gear 39a and a transmission shaft 39 to which the bevel gear 39a is fixed and the right and left side clutches 40 to the right and left rear wheels 2, respectively.

As shown in Figs. 1, 2 and 4, a shift lever 45 is provided on the left side of the steering handle 20, and the continuously-variable shifting device 33 is operated by the shift lever 45. Fig. The stepless speed change device 33 can be steplessly operated from the neutral position N to the forward side F and the reverse side R by the shift lever 45. [

The steering member 41 is swingably supported around the longitudinal axis P2 of the lower portion of the transmission case 34 as shown in Fig. 3 and the driver's seat 13, as shown in Figs. 1 and 2, And a steering handle 20 is provided on the front side of the steering wheel. The steering member 41 is pivoted by the steering handle 20 and the tie rod 42 is connected to the steering member 41 and the front wheel 1 on the right and left sides. The right and left front wheels 1 can be steered from the straight position A1 to the right and left steering limits A3 by operating the steering wheel 20. [

As shown in Fig. 3, the right and left side clutches 40 are friction multi-plate type, and are pressed in a power transmission state by a spring (not shown). The right and left operating shafts 43 (corresponding to the side clutch operating portions) that operate the right and left side clutches 40 against the spring to the cut-off state are supported downwardly on the rear axle case 37, Right and left operating rods 44 (corresponding to the side clutch operating portions) are connected to the left and right operating shafts 41 and the right and left operating shafts 43, respectively. Elongated holes 44a are provided at the connecting portions of the right and left operating rods 44 to the right and left operating shafts 43. [

3, when the right and left front wheels 1 are steered in the range of the straight position A1 and the right and left set angles A2, By the inflation of the hole 44a, the right and left side clutches 40 are operated in the power transmitting state. Thereby, in a state in which power is transmitted to the right and left front wheels 1, right and left rear wheels 2 (power transmission states of the right and left side clutches 40), the traveling vehicle 50 advances Backward).

When the right and left front wheels 1 are steered to the right steering limit A3 by exceeding the right set angle A2 as shown in Fig. 3, the long holes 44a of the right operating rod 44 The operating rod 44 on the right side is pulled and the side clutch 40 on the right side is operated to the shutoff state by the right operating shaft 43. [

Thereby, power is transmitted to the right and left front wheels 1 and left rear wheels 2 (turning outer side) (power transmission state of the left side clutch 40), and the right rear wheel 2 (The cut-off state of the right side clutch 40) rotates freely, the traveling vehicle 50 turns to the right.

As shown in Fig. 3, when the front wheel 1 on the right side and the left side are steered to the left steering limit A3 side by exceeding the left set angle A2, the long holes 44a of the left operating rod 44 , The left operating rod 44 is pulled out and the left side operating clutch 43 is operated to the left side clutch 40. As a result,

Thereby, power is transmitted to the right and left front wheels 1 and right rear wheels 2 (turning outer side) (power transmission state of the right side clutch 40), and the left rear wheel 2 (Left side of the side clutch 40) is free to rotate, the traveling vehicle 50 turns to the left.

As shown in Fig. 3, when the right and left front wheels 1 are steered to the straight line position A1 side beyond the right side (left side) steering angle limit A3 side to the right side (left side) , The right side (left side) clutch 40 operated in the cutoff state is operated to the power transmitting state, and the right and left side clutches 40 are returned to the state in which the side clutch 40 is operated to the power transmitting state.

(Power transmission system to the model unit)

1 and 4, in the transmission case 34, the power branched off right before the auxiliary transmission is transmitted to the planetary gear unit 5 through the food part clutch 26 and the PTO shaft 25 And is provided with an electric motor 28 for operating the food part clutch 26 to transmit and cut off.

1 and 2, when the food part clutch 26 is operated in the power transmitting state, as the bread table 10 is reciprocatingly reciprocated in the lateral direction, And the food arms 8 take out the seedlings from the lower portion of the mother tray 10 and feed them to the packaging. When the food section clutch 26 is operated to the cutoff state, the tray 10 and the rotary case 7 are stopped.

(Automatic elevation control of the module)

4, the rear portion of the center float 9 is supported so as to be vertically swingable about the horizontal axis P1 of the flow control unit 5, A height sensor 22 of a potentiometer type for detecting the height of the height sensor 9 is provided and the detection value of the height sensor 22 is inputted to the control device 23. [ The float 9 at the center follows the ground in accordance with the progress of the traveling vehicle 50. The detection value of the height sensor 22 causes the float 9 in the center of the package 5 Can be detected.

A control valve 24 for operating the hydraulic cylinder 4 to supply hydraulic oil to the hydraulic cylinder 4 is provided in the control device 23 as the software by the lift control portion 57 . When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, and the hydraulic cylinder 4 is contracted to raise the hydraulic system unit 5. When the control valve 24 is operated to the lowered position, the hydraulic oil is discharged from the hydraulic cylinder 4 and the hydraulic cylinder 4 is operated to extend, and the hydraulic system unit 5 descends.

4, in the operating state of the automatic lifting and lowering control, on the basis of the height from the package to the main body unit 5, the lifting operation unit 57 The control valve 24 is operated to extend and retract the hydraulic cylinder 4, and the molding unit 5 automatically ascends and descends. Thereby, the depth of the simulated food portion is maintained at the set depth.

As shown in Fig. 4, the clutch control section 58 and the marker control section 59 are provided in the control device 23 as software. The electric motor 28 is operated by the clutch operating portion 58 and the food clutch 26 is operated in the transmitting and disconnecting state as described later and the electric motor 21 is operated by the marker operating portion 59 , The right and left marker 19 are operated in the acting and storage positions.

(Configuration of detection of the position of the traveling gas and the direction of the traveling gas)

1 and 2, right and left support frames 16 are provided on the right side portion and the left side portion of the front portion of the traveling base 50. The support frame 16 is provided with a preliminary mounting table 15, Is supported. A support frame 17 is connected over the upper portions of the right and left support frames 16.

1 and 2, in the support frame 17, a measuring device 30 (corresponding to a positioning part) is provided at a position located in the left-right center CL of the traveling base 50 as viewed in plan view Is installed. The measuring apparatus 30 is provided with a receiving device (not shown) for acquiring position information by the satellite positioning system and an inertial measuring device (not shown) for detecting the inclination (pitch angle, roll angle) of the traveling gas 50 And the measuring device 30 outputs positioning data indicating the position of the traveling base 50. [

As shown in Figs. 1 and 2, an inertia measuring device 48 for measuring inertia information is disposed at a portion of the rear axle case 37 located at the left-right center CL of the traveling base 50 as seen in plan view Is installed. The inertia measurement of the inertial measurement device 48 and the measurement device 30 is constituted by an IMU (Inertial Measurement Unit).

A GPS (Global Positioning System) is a representative example of the above-described Global Navigation Satellite System (GNSS). The GPS includes a plurality of GPS satellites orbiting around the earth, a control station for tracking and controlling the GPS satellites, and a receiving device included in the positioning target (traveling vehicle 50) The position of the receiving apparatus of the mobile terminal 100 is measured.

The inertial measurement device 48 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the traveling vehicle 50 (the turning angle of the traveling base 50) And an acceleration sensor (not shown). The inertia information measured by the inertial measurement device 48 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor.

The position of the traveling base 50 and the orientation of the traveling base 50 are detected by the measuring device 30 and the inertia measuring device 48. [

(Configuration relating to automatic running of traveling vehicle)

As shown in Figs. 1, 2, and 4, the operation position of the shift lever 45 is input to the control device 23. Fig. A center mascot 14 is provided at a position of the left and right center CL of the traveling base 50 in a plan view in front of the traveling base 50. [ A shift motor 53 is provided which is provided with a steering motor 51 for operating the steering wheel 20 (the steering member 41) and operates the shift lever 45. [

As shown in Fig. 4, a Wi-Fi unit 47 corresponding to a smartphone 46 (portable information terminal) carried by the driver is provided in the traveling base 50. [ The smart phone 46 and the Wi-Fi unit 47 communicate with each other according to the Wi-Fi standard, and the Wi-Fi unit 47 and the control device 23 are connected by CAN. The smart phone 46 and the external computer 49 can communicate with each other by wireless data communication over the Internet.

4, an obstacle position obtaining section 52, an automatic decelerating section 54, a work traveling line obtaining section 55, a turning line obtaining section 56, a control section 60, a work traveling line setting section 61, an automatic running control section 62, a turning line setting section 63, an automatic turning control section 64, and a display control section 65 are provided in the control device 23 as software.

A push button type operating portion 18 for artificially operating the automatic traveling control portion 62 and the automatic turning control portion 64 in the operating state and the stopped state is provided on the side of the shift lever 45, And an operation signal of the operation section 18 is inputted to the control device 23. [ On the front side of the steering wheel 20, a display device 27 constituted by a liquid crystal display or the like is provided.

(Acquisition of location data of the mura line)

As shown in Fig. 5, for example, in the package having the blanks B1, B2, B3 and B4, the positional data of the blanket lines B11, B21, B31 and B41 of the blanks B1 to B4, The position data of the exit B23 of the vehicle is obtained in advance by any one or a plurality of methods shown in the following (1) to (5) and stored in the computer 49, for example.

(1) The measuring device 30 shown in Figs. 1 and 2 is removed from the traveling base 50, and an operator carrying the measuring device 30 makes a walk along the ladder lines B11 to B41, As positional data of the baggage lines B11 to B41 and position data of the exit B23 of the package.

(2) By moving the passenger-type reverberator (the state in which the measuring device 30 is installed) shown in Figs. 1 and 2 along the trapezoidal lines B11 to B41, Positional data indicating the position is obtained as the position data of the baggage lines B11 to B41 and the position data of the outlet B23 of the package.

In this case, the measuring device 30 is provided at a portion located at the left and right center CL of the traveling base 50, and the outer ends of the traveling base 50 (the balancing device 5) Of the transverse width of the traveling base 50 (the transverse bulkhead 5) from the positioning data indicating the position of the traveling base 50 by the measuring device 30, So that the position of the outer side is the position data of the baggage lines B11 to B41 and the position data of the outlet B23 of the package.

(3) In the case where the same passenger-type transfer machine (or other passenger-type reaper or a passenger-type planter provided with the measuring device 30) performs the packing operation in the past and the position of the traveling vehicle 50, The positioning data is used as the position data of the baggage lines B11 to B41 and the position data of the exit B23 of the package. In this case, the correction described in (2) of the preceding paragraph is performed.

(4) Various kinds of work vehicles such as a combine or tractor equipped with the measuring device 30 have obtained positioning data indicating the position of the work vehicle traveling in the past (or presently) , This positioning data is used as positional data of the baggage lines B11 to B41 and position data of the outlet B23 of the package.

(5) If there is a commercially available storage medium on which the positional data of the boring lines B11 to B41 and the position data of the outlet B23 of the package are recorded, this storage medium is used.

(Setting of work traveling line and turning line) (first)

5, when the passenger type buncher arrives in the vicinity of the package (position K1 of the traveling vehicle 50), the position data of the baggage lines B11 to B41 and the position data of the exit B23 of the package are transmitted to the computer (49) to the smartphone (46). The position data of the baggage lines B11 to B41 and the position data of the exit B23 of the package are transmitted from the smartphone 46 to the Wi-Fi unit 47, 23).

The state shown in Fig. 5 is a state in which the passenger type buncher is located at the entrance B22 of the package. In this case, even if the passenger type buncher is not located at the entrance B22 of the package, when the passenger-type buncher arrives in the vicinity of the package other than the entrance B22 of the package, the position data of the toll road lines B11 to B41, Is transmitted from the computer 49 to the smartphone 46. The location data of the exit B23 is transmitted from the computer 49 to the smartphone 46. [

Thereby, the oblique lines B11 to B41 are acquired and stored in the obstacle position acquisition section 52 as the position data of the bumps B1 to B4 (obstacle positions), and the exit B23 of the package is stored in the position data And is acquired and stored in the obstacle position acquiring unit 52. [

In this case, the Wi-Fi unit 47 that wirelessly communicates with the smartphone 46 is not provided in the traveling vehicle 50, but the location data of the toll road lines B11 to B41 and the location data of the exit B23 of the package May be directly sent from the computer 49 to the control device 23 and acquired and stored in the obstacle position acquisition section 52. [

Based on the positional data of the baggage lines B11 to B41 and the position data of the exit B23 of the package by the work travel line setting unit 61 and the turning line setting unit 63, (Second setting of the turning line), and as shown in Figs. 5, 6, and 7, the setting of the work traveling lines L01 to L07 and the turning lines LL1 to LL6 is performed. The package is assumed to be a rectangular package in which the quadrangle lines B11 and B21 are parallel and the quadrangle lines B31 and B41 are parallel.

In this case, as shown in Fig. 11, in the turning work LD1 to LD4 described later, when the last turning work LD4 is finished, the direction of the traveling body 50 is not changed, The work traveling lines L01 to L07 and the turning lines LL1 to LL6 are set so as to be able to go out from the outlet B23 of the package.

(Setting of work traveling line and turning line) (second)

As shown in Fig. 5, at the position on the center side of the package by the lateral width of the traveling base 50 (the breadth feeding unit 5) from the bottom lining lines B11 and B21 along the bottom lining lines B11 and B21, (LA1, LA2) are set. The weft lines LB1 and LB2 are set along the trapezoidal lines B31 and B41 at positions on the center side of the package from the trapezoidal lines B31 and B41 by the width of the running vehicle 50 do.

6, the work traveling line setting section 61 sets a plurality of work traveling lines L in parallel with the dam lines LB1 and LB2 with the dam lines LA1 and LA2, And is set across the dam lines LA1 and LA2 with a predetermined interval W1 (the width of the traveling vehicle 50) (the width of the traveling device 5)) parallel to each other.

The work traveling lines L01, L02, L03, L04, L05, L06 and L07 are set as shown in Fig. 7 and the direction of the work traveling lines L01 to L07 L07)) is set.

C2, C3, C4, C5, C6, and C7 as shown in FIG. 7, the start end portions (one end portions) of the work travel lines L01 to L07 become the work start positions C1, C2, C3, C4, The work end positions D1, D2, D3, D4, D5, D6, and D7 of the work traveling lines L01 to L07 become the end positions (other end portions) The work start position at which the work is first started becomes the position K2.

As shown in Fig. 7, the circling line LL1, which is circular in plan view, is set in the package so as to connect the work end position D1 and the work start position C2. Similarly, the work end position D2, the work start position C3, the work end position D3, the work start position C4, the work end position D4, the work start position C5, The turning lines LL2, LL3, LL4, LL5, and LL6 which are circular in plan view are set so as to connect the work start position C6, the work end position D6, and the work start position C7.

Thereby, the travel gas 50 is guided by the work start positions C1 to C7 and the work end positions D1 to D7, the work travel lines L01 to L07, the swivel lines LL1 to LL6, Is displayed on the display device 27 (see Fig. 4) by the display control unit 65

If the driver judges that there is no problem with respect to the work traveling lines L01 to L07 and the turning lines LL1 to LL6 displayed on the display device 27, the driver presses the approval button (not shown). The position data of the work traveling lines L01 to L07, the work start positions C1 to C7 and the work end positions D1 to D7 are acquired and stored in the work traveling line obtaining section 55 as position data . At the same time, the turning lines LL1 to LL6 are acquired and stored in the turning line obtaining section 56 as position data.

As shown in Fig. 12, when one entrance and exit port B24 is present in the package, when the final turning work LD4 is completed in later-described turning work runs LD1 to LD4, The work traveling lines L01 to L07 and the turning lines LL1 to LL6 are set so that the passenger type buncher can exit the entrance B24 of the package without changing the direction. The work start position at which the work is first started becomes the position K10.

(Traveling of the traveling vehicle along the work traveling line and the turning line) (first)

7, in the state where the work start positions C1 to C7 and the work end positions D1 to D7, the work traveling lines L01 to L07, and the turning lines LL1 to LL6 are set, The following operation is performed by the automatic-travel control section 62. [0060]

8, when the driver operates the operating unit 18 while the traveling base 50 is at the position K1, the position of the traveling base 50 by the measuring device 30 and the position of the traveling base 50 The shift motor 53 (shift lever 45) and the steering motor 51 (steering wheel 20) are operated by the inertia information by the steering angle sensor 48 and the steering angle sensor 48.

Thereby, as shown in Fig. 8, the traveling base 50 oscillates at the position K1, travels along the path LC1, and stops at the position K2 as the work start position to start the work for the first time.

8, when the driver operates the operating portion 18 while the traveling base 50 is positioned at the position K2, the control valve 24 is operated by the elevating operating portion 57 And the food clutch 26 (electric motor 28) is operated by the clutch operating unit 58 and the right and left marker 19 (electric motor 21) is operated by the marker operating unit 59 , The display control unit 65 operates the display device 27. [

The position of the traveling vehicle 50 by the measuring device 30 and the inertia information by the inertia measuring device 48 are calculated as described later (traveling of the traveling vehicle along the working traveling line and the turning line) The shift lever 45 (the speed change motor 53) and the steering wheel 20 are controlled by the control section 60, the automatic drive control section 62, the automatic turn control section 64 and the automatic deceleration section 54, (Steering motor 51) is operated.

The automatic travel control unit 62 operates the shift lever 45 (the speed change motor 53) to the predetermined shift position so that the traveling vehicle 50 travels along the work traveling lines L01 to L07 The steering wheel 20 (steering motor 51) is operated so that the position of the steering wheel 30 is located on the work traveling lines L01 to L07.

The automatic turning control unit 64 operates the shift lever 45 (the speed change motor 53) to a predetermined low speed position so that the traveling base 50 travels along the turning lines LL1 to LL6 30 are located in the turning lines LL1 to LL6), and the steering wheel 20 (steering motor 51) is operated.

A turning mode in which the automatic turning control section 62 is activated (the automatic turning control section 64 is stopped) and the automatic turning control section 64 is operated (the automatic driving control section 62 is stopped) is set. The control unit 60 switches to the operation mode and switches to the turning mode.

The operating mode of the traveling vehicle 50 is relatively fast and the steering operation of the front wheel 1 is performed in a relatively small range near the straight position A1 and the steering operation speed of the front wheel 1 is relatively low State is assumed.

The automatic drive control section 62 is provided with a control function suitable for the above-described state in operating the shift lever 45 (the shift motor 53) and the steering wheel 20 (steering motor 51) .

In the turning mode, the running speed of the running vehicle 50 is relatively low, and the steering operation of the front wheel 1 is performed in a large range over the steering limit A3 on the right and left sides, and the steering operation speed of the front wheel 1 is A relatively high-speed state is assumed.

The automatic turning control unit 64 is provided with a control function suitable for the above-described state in operating the shift lever 45 (the speed change motor 53) and the steering wheel 20 (steering motor 51) .

(Running of the traveling vehicle along the working and turning lines) (second)

As shown in Fig. 8, when the driver operates the operating unit 18 while the traveling base 50 is at the position K2, the mode is switched to the working mode.

Thereby, the shift lever 45 (the speed change motor 53) is operated to the predetermined shift position to oscillate the traveling body 50, and the steering wheel 20 (steering motor 51) 50 is running along the work traveling line L01 and the running of the traveling vehicle 50 is started is displayed on the display device 27. [

In this case, the feeder device 5 is lowered from the position just before the feeder device 5 (the food arm 8) reaches the work start position C1, (The cut-off clutch 26 is in the cut-off state), the right marker 19 is operated to the operative posture (the left marker 19 is in the retracted position). It is displayed on the display device 27 that the module device 5 has been lowered to the package and that the right marker 19 has been operated to the operating posture.

As shown in Figs. 8 to 9, when the food processor 5 (food arm 8) reaches the work start position C1, the food clutch 26 is operated to the power transmission state, The simulated food portion is started from the cooking zone C1. The display of the simulated food portion is displayed on the display device 27.

9, the running vehicle 50 travels along the work traveling line L01, and the simulated portion is performed. The markers 19 on the right side are used to execute a simulation corresponding to the work traveling line L02 An indicator is formed at the position of the package (see position K3 of the traveling vehicle 50).

9, when the food processor unit 5 (food arm 8) reaches the work end position D1, the food section clutch 26 is operated to the cutoff state (stop of the simulated food) The automatic elevation control of the food processing unit 5 is stopped, and the molding unit 5 is raised from the package, and the marker 19 on the right side is operated in the retracted position.

In parallel with this, the transition from the working mode to the turning mode is performed by the transition of the traveling vehicle 50 from the working traveling line L01 to the swivel line LL1, and the traveling vehicle 50 is swung from the swivel line LL1 (See position K4 of the traveling base 50).

The display device 27 displays that the simulated food part is stopped and the molding unit 5 is raised, the right marker 19 is operated in the retracted position, and the turning in the right direction is started.

As shown in Fig. 9, from the position just before the traveling base 50 reaches the work starting position C2 in the swivel line LL1 (see the position K4 of the traveling base 50) 5 is lowered to the package and the automatic lifting and lowering control of the lifting device 5 is put into the operating state (the cut-off clutch 26 is in the closed state), the left marker 19 is operated to the working posture And the marker 19 is a storage position). It is displayed on the display device 27 that the module device 5 has been lowered to the package and that the marker 19 on the left side has been operated to the operating posture.

9 to 10, when the food processor 5 (food arm 8) reaches the work start position C2, the food clutch 26 is operated in the power transmitting state, And the shift lever 45 (the speed change motor 53) is operated to a predetermined shift position. The display of the simulated food portion is displayed on the display device 27.

In parallel with this, the transition from the turning mode to the working mode is carried out by the transition from the turning line LL1 of the running vehicle 50 to the working running line L02, and the running vehicle 50 is moved to the working traveling line The markers 19 on the left side form an indicator at the position of the package corresponding to the work traveling line L03 (refer to the position K5 of the traveling body 50) by the markers 19 on the left side, .

The work start positions C1 to C7 and the work end positions D1 to D7, the work traveling lines L01 to L07, the swivel lines LL1 to LL6 And the position of the traveling vehicle 50 detected by the measuring device 30 is displayed on the display device 27. In the display device 27, when the traveling vehicle 50 is traveling on the working traveling line L01 , L02 and the turning line LL1.

As described above, when the traveling vehicle 50 travels along the working traveling line L02, in the traveling state along the working traveling line L01 of the preceding traveling vehicle 50, the marker 19 on the right side, An indicator is formed at the position of the package corresponding to the working traveling line L02 (see position K3 of the traveling base 50 in Fig. 9).

Thus, the driver can visually observe the display device 27, and at the same time, by observing the center mascot 14 and the index of the position of the package corresponding to the above-mentioned work traveling line L02, ) Runs along the work traveling line L02.

9 and 10, the traveling line 50 (L01 to L07) of the traveling vehicle 50 in the working mode, and the traveling line 50 of the traveling vehicle 50 in the traveling and turning mode LL1 to LL6).

In this case, the center mascot 14 and the markers 19 on the right and left sides are abolished to form an index of the position of the packaging corresponding to the work traveling lines L02 to L07 by the right and left markers 19 It may be prevented. In this configuration, the driver confirms that the traveling vehicle 50 travels along the work traveling lines (L02 to L07) by visually observing the display device (27).

(Running of the running vehicle along the duragona line and the dam line)

11, when the traveling vehicle 50 reaches the work end position D7 from the work traveling line L07 and ends the traveling along the work traveling lines L01 to L07, Stops at the work end position D7.

11, when the driver operates the operating unit 18 while the traveling base 50 is stopped at the working end position D7, the position of the traveling base 50 by the measuring device 30 The shift lever 45 (the speed change motor 53) and the steering wheel 20 (the steering motor 51) are operated by the inertia information by the inertia measuring device 48, And the traveling gas 50 is corrected and moved forward and backward so that the traveling base 50 stops at the position K6.

Thereafter, in the state where the traveling base 50 is located at the position K6, the driver operates the operating unit 18 to start the turning operation.

11, when the driver operates the operating unit 18 in the state where the traveling base 50 is located at the position K6, the model unit 5 is lowered to the package and the model unit 5 is lowered, The right and left markers 19 are held in the storage position without being operated in the operating posture. The display device 27 displays that the molding device 5 has been lowered to the packaging.

11, the shift lever 45 (the speed change motor 53) is operated to the predetermined shift position by the operation mode so that the traveling base 50 oscillates, and the steering wheel 20 is operated, (The steering motor 51) is operated so that the traveling vehicle 50 travels along the silo line B41 and the dam line LB2. Simultaneously with the oscillation of the traveling base 50, the eating-part clutch 26 is operated in the power transmitting state and the simulated food portion is started from the position K6. The display of the simulated food portion is displayed on the display device 27.

As a result, as shown in Fig. 11, the running vehicle 50 travels along the runway line B41 and the dike line LB2, and simulated cooking is performed (turning work LD1).

11, when the turning work LD1 is completed and the front portion of the traveling body 50 reaches the stagger line B21, the food portion clutch 26 is operated to the cut-off state (the stop of the simulated food portion The automatic lifting control of the drive unit 5 is stopped and the drive unit 5 is lifted up from the package and the shift lever 45 is operated to the neutral position N, 50 stops.

Next, when the driver operates the operating portion 18, the direction of the traveling base 50 is corrected and the forward / backward direction is performed by the turning mode, and the traveling base 50 stops at the position K7.

11, when the driver operates the operating unit 18 in a state where the traveling base 50 is located at the position K7, as in the above-described turning work LD1, The right and left marker 19 is not operated in the operating posture but is held in the retracted posture (i.e., in the closed state of the eating clutch 26) . The display device 27 displays that the molding device 5 has been lowered to the packaging.

Thereafter, the shift lever 45 (the speed change motor 53) is operated to the predetermined shift position by the operation mode, the traveling body 50 oscillates, and the steering wheel 20 (steering motor 51) So that the traveling vehicle 50 travels along the bunk line B21 and the dam line LA2 so that the traveling vehicle 50 oscillates and the eating-wheel clutch 26 is operated in the power transmitting state, Simulated food is started from position K7. The display of the simulated food portion is displayed on the display device 27.

As a result, as shown in Fig. 11, the running vehicle 50 travels along the runway line B21 and the dam line LA2, and simulated cooking is performed (turning work LD2).

Thereafter, as shown in Fig. 11, in the work mode, the turning work LD3 is carried out along the sloping line B31 and the dam line LB1 from the position K8, similarly to the above-described turning work LD1 and LD2. And the turning work LD4 are carried out along the sloping line B11 and the dam line LA1 from the position K9. When the turning work LD4 is finished, the traveling gas 50 exits from the package. Thus, the simulated food portion of one package is terminated.

In this case, the work traveling lines L01 to L07 and the turning lines LL1 to LL6 are set as described in the above (setting of the work traveling line and the turning line) (first) (second). Thus, when the final turning work LD4 is completed, the exit B23 of the package is positioned in front of the traveling vehicle 50, and the traveling vehicle 50 is moved from the last turning work LD4, The passenger type buncher can exit the exit B23 of the package without changing the direction of the cargo.

11, the running vehicle 50 finishes running along the work traveling lines L01 to L07 in the present invention (running of the running vehicle along the runway line and the dam line) D7), the traveling vehicle 50 does not stop at the work ending position D7, but travels in the traveling and turning work runs LD1 to LD4 along the following route LC2, traveling at the positions K6 to K9 The direction of the base body 50 is corrected and the operation of the drive unit 5 (the clutch unit 26) is automatically and continuously performed so that the running vehicle 50 is stopped at the front position of the package B23 You can.

(Details of the transition from the working traveling line to the turning line of the traveling vehicle)

In the case where the traveling vehicle 50 transitions from the work traveling lines L01 to L06 to the swivel lines LL1 to LL6 in the above described (running of the traveling vehicle along the work traveling line and the swivel line) The appendix operates as described below.

As shown in Fig. 13, the operation state of each part will be described by taking as an example the transition from the working traveling line L01 of the traveling vehicle 50 to the swivel line LL1.

The position of the running vehicle 50 (the measuring device 30) detected by the measuring device 30 and the position of the running vehicle 50 detected by the measuring device 30 in the state in which the running vehicle 50 is traveling along the working traveling line L01 The positional data of the baggage line B11 is recognized and the distance from the position of the traveling base 50 (the measuring device 30) to the baggage line B11 is detected.

When the position of the traveling base 50 (measuring device 30) approaches the trapezoidal line B11 beyond the position of the first set distance E1 from the trapezoidal line B11, switching from the working mode to the turning mode And the automatic deceleration section 54 starts to operate the shift lever 45 (the speed change motor 53) from the predetermined shift position to the low speed side and the running speed of the traveling vehicle 50 starts to decelerate .

The traveling vehicle 50 travels along the work traveling line L01 in the turning mode and as the position of the traveling vehicle 50 (the measuring device 30) approaches the suspender line B11, The automatic deceleration section 54 operates the shift lever 45 (the speed change motor 53) to the low speed side so that the traveling speed of the traveling vehicle 50 is greatly reduced.

When the position of the running vehicle 50 (the measuring device 30) is recognized, the length from the measuring device 30 to the shaping unit 5 (the eating arm 8) and the direction of the traveling base 50 The position of the food processor 5 (food arm 8) can be recognized by correcting the position of the traveling base 50 (the measuring device 30).

As a result, when the position of the table 5 (the food arm 8) reaches the work end position D1, the operation of the shift lever 45 (the speed change motor 53) to the low speed side is completed, The steering wheel 20 (the steering motor 51) is controlled so that the shift lever 45 (the speed change motor 53) is maintained at the predetermined low speed position and the traveling base 50 travels (turns) along the turning line LL1. Is operated.

In this case, the right and left front wheels 1 are steered to the right steering limit A3 side by exceeding the right set angle A2 so that the right side clutch 40 is operated into the cut-off state, The traveling vehicle 50 travels (turns) along the turn line LL1 in a state in which power is transmitted to the front wheel 1 on the left side and the rear wheel 2 on the left side and the rear wheel 2 on the right side freely rotates (See the above-mentioned power transmission system for front and rear wheels)).

At the same time, when the position of the food processor 5 (food arm 8) reaches the work end position D1, the food clutch 26 is operated to the cutoff state (stop of the simulated food) The automatic lifting control of the lifting device 5 is stopped and the lifting device 5 is lifted from the package and the right marker 19 is operated in the retracted position Equivalent to operation).

As described above, even if the position of the molding unit 5 (the food arm 8) reaches the work end position D1 and the steering wheel 20 (steering motor 51) is operated, It is assumed that the traveling vehicle 50 keeps approaching the silt line B11 without changing the direction by the slip of the front wheel 1 or the like.

In this case, the position of the traveling base 50 (the measuring device 30) exceeds the position of the second set distance E2 (the distance smaller than the first predetermined distance E1) from the bottom row B11, When the line B11 is approached, the shift lever 45 (the speed change motor 53) is operated to the neutral position N, and the traveling base 50 is stopped.

When the position of the traveling vehicle 50 (the measuring device 30) is recognized, based on the length from the measuring device 30 to the front end of the traveling vehicle 50 and the direction of the traveling vehicle 50, The position of the front end portion of the traveling vehicle 50 can be recognized by correcting the position of the traveling body 50 (the measuring device 30). The second set distance E2 is set such that the position of the front end of the traveling vehicle 50 is shifted to the trailing edge line B11 when the traveling vehicle 50 continues to approach the trapezoidal line B11 without changing the direction, Is set to a distance that does not reach.

(Details of transition from the turning line of the traveling vehicle to the work traveling line)

In the case where the traveling vehicle 50 transitions from the turning lines LL1 to LL6 to the working traveling lines L02 to L07 in the above-described traveling of the traveling vehicle along the work traveling line and the turning line, The appendix operates as described below.

As shown in Fig. 13, the operation state of each part will be described by taking the transition from the turning line LL1 of the traveling vehicle 50 to the working traveling line L02 as an example.

The position of the molding unit 5 (the food arm 8) is set at the work starting position C2 (the turning position) in the state in which the traveling base 50 is traveling (turning) along the turning line LL1 by the turning mode, The automatic lifting and lowering control of the lifting device 5 is brought into an operating state (the lifting and lowering of the food portion clutch 26 is stopped) The marker 19 on the left side is operated in the operating posture (the marker 19 on the right side is in the retracted position).

When the molding unit 5 (the food arm 8) reaches the position K13, the operation mode is switched from the turning mode. The front wheels 1 on the right and left sides exceed the set angle A2 on the right side and are steered to the linear position A1 side and the right side clutch 40 is operated in the power transmitting state, 1, the power is transmitted to the right and left rear wheels 2, and the traveling base 50 is in a substantially straight state. As a result, the traveling vehicle 50 travels (turns) along the turning line LL1 in the working mode.

When the food processor 5 (food arm 8) reaches the work start position C2, the food portion clutch 26 is operated to the power transmitting state and the simulated food portion is started from the work start position C2 Corresponding to the operation of the molding unit 5 in the working state).

At the same time, the shift lever 45 (the speed change motor 53) starts to be operated from the predetermined low speed position to the high speed side, and the running speed of the running vehicle 50 starts to increase, and the shift lever 45 The motor 53 is returned to the predetermined shift position on the work traveling line L01.

(Another embodiment of the invention)

In the above-described embodiment, the swivel lines LL1 to LL6 shown in Figs. 7 to 13 are circular in plan view, but are formed in the swivel line LL1 To LL6 may be set.

The turning line LL1 will be described as an example.

As shown in Fig. 14, when the front end portion of the traveling base 50 reaches the sloping line B11 on the working traveling line L01, the food portion clutch 26 is operated to the blocking state And the shift lever 45 is operated to the neutral position N and the traveling vehicle 50 is stopped. In this state, the molding apparatus 5 (the food arm 8) is located at the work end position D1.

As shown in Fig. 14, after the traveling base 50 is stopped, the revolving line LL1 is changed to the reverse portion LL11, the forward portion LL12, the swivel portion LL13, the forward portion LL14, The portion LL15 and the advancing portion LL16 are performed so that the molding unit 5 (the food arm 8) is located at the work start position C2.

(Second Other Embodiment of the Invention)

In the above-described embodiment, the turning lines LL1 to LL6 shown in Figs. 7 to 12 are circular in plan view, To LL6 may be set.

The turning line LL1 will be described as an example.

As shown in Fig. 15, when the front end portion of the traveling base 50 reaches a position slightly ahead of the sloping line B11 in the working traveling line L01, the food portion clutch 26 is operated to the blocking state The shift lever 45 is operated to the neutral position N and the traveling vehicle 50 is stopped. In this state, the molding apparatus 5 (the food arm 8) is located at the work end position D1.

15, after the traveling base 50 is stopped, the revolving portion LL17, the advancing portion LL18, and the turning portion LL19 are performed on the revolving line LL1, (The food arm 8) is located at the work start position C2.

(Third Different Embodiment of the Invention)

In the above-described first embodiment of the present invention (second embodiment of the invention) (second embodiment of the invention), the following configuration may be employed.

A plurality of work traveling lines L (L01 to L07) are connected to the dike lines LA1 and LA2 (quadruple lines B11 and B12) between the one dike line LB1 and the dike line LB2 on the opposite side shown in Fig. B21) and the predetermined gap W1 (the transverse width of the traveling vehicle 50 (the width of the traveling device 5)) so as to be parallel to each other is set across the dike lines LB1 and LB2.

(Another Embodiment of the Invention (Second Embodiment of the Invention) (Second Embodiment of the Invention), a work traveling line L01 (third embodiment of the present invention) To L07 and the turning lines LL1 to LL6 are connected to a tractor (an example of a work car) (not shown) having a rotary tiller (corresponding to a working device) (not shown) (Not shown).

(Fourth Alternative Embodiment of the Invention)

The work traveling lines L01 to L07 and the swivel lines LL1 to LL6 may be set as shown in Fig. 16 in a combine (not shown) for taking a crop of the package.

As shown in Fig. 16, in the packaging, the running vehicle 50 is caused to run parallel to the running tracks B11 to B41 in parallel so that the crops of the bunches B1 to B4 (the turning work runs LD1 To LD4) are previously recorded in advance. Thus, the outer peripheral lines LE1, LE2, LE3, and LE4 indicating outer circumferential portions of the crops remaining in the package are generated based on the position data of the baggage lines B11 to B41.

As shown in Fig. 16, next, the driver designates the work start position at which the cutting operation is first started in the display device 27. Fig. 16, for example, when the position K11 is designated as the work start position, the work start positions C1 to C9 are calculated based on the position data of the outer peripheral lines LE1 to LE4 and the lateral width of the traveling base 50, And the work end positions D1 to D9 are set. The work travel lines L01 to L09 are set based on the work start positions C1 to C9 and the work end positions D1 to D9 and the direction of the work travel lines L01 to L09 (See arrows of lines L01 to L09) are set.

16, when the work start positions C1 to C9 and the work end positions D1 to D9 are set, based on the position data of the chamot lines B11 to B41 (outer peripheral lines LE1 to LE4) , The turn line LL1 is set over the work start positions C1 to C9 and the work end positions D1 to D9.

As shown in Fig. 16, the swivel line LL1 extending over the work end position D1 and the work start position C2 will be described as a representative example. In the swivel line LL1, The turning part LL21 and the advancing part LL22 in the backward movement are performed and are located at the work start position C2.

(Fifth alternative embodiment of the invention)

The work traveling lines L01 to L07 and the swivel lines LL1 to LL6 may be set as shown in Fig. 17 in a combine (not shown) for taking a crop of the package.

17, the traveling vehicle 50 is run parallel to the rungs B11 to B41 in the packaging, and the rungs of the rungs B1 to B4 (the turning work runs LD1 to LD4 in Fig. 11) LD4) are preliminarily plotted. Thus, the outer peripheral lines LE1, LE2, LE3, and LE4 indicating outer circumferential portions of the crops remaining in the package are generated based on the position data of the baggage lines B11 to B41.

As shown in Fig. 17, next, the driver designates the work start position at which the cutting operation is to be started first on the display device 27. Fig. For example, when the position K12 is designated as the work start position, the work start positions C1 to C7 are set based on the position data of the outer peripheral lines LE1 to LE4 and the lateral width of the traveling base 50, The positions D1 to D7 are set. The work travel lines L01 to L07 are set based on the work start positions C1 to C7 and the work end positions D1 to D7 and the direction of the work travel lines L01 to L07 (See arrows of lines L01 to L07) are set.

17, when the work start positions C1 to C7 and the work end positions D1 to D7 are set, based on the position data of the chamot lines B11 to B41 (outer peripheral lines LE1 to LE4) , The turn lines LL1 to LL6 are set over the work start positions C1 to C7 and the work end positions D1 to D7.

(Sixth embodiment of the invention)

A steering manipulator (a steering motor, a steering wheel, a steering member, or the like) (not shown) for steering the front wheel 1 is provided in a passenger- Respectively.

In the combine having the crawler traveling apparatus (corresponding to the traveling apparatus) (not shown) on the right and left sides, the driving speed difference is given to the right and left crawler traveling apparatuses, (Such as a control valve, a steering wheel or a steering lever for imparting a driving speed difference) (not shown) for performing a steering operation.

Thereby, the shift from the operation mode to the turning mode is performed by shifting the steering operation port to the turning position, and the switching from the turning mode to the operation mode may be performed by shifting the steering operation port to the straight-ahead position.

The traveling gas 50 is shifted from the work traveling lines L01 to L07 to the swivel lines LL1 to LL6 on the basis of the position of the traveling vehicle 50 to change over from the working mode to the turning mode, The shift from the turning mode to the work mode may be performed by shifting the sphere to the straight-ahead position.

The switching of the operation mode from the operation mode to the turning mode is carried out by shifting the steering operation port to the turning position so that the traveling vehicle 50 moves from the turning lines LL1 to LL6 to the working traveling line L01 to L07), the switching from the turning mode to the working mode may be performed.

(Seventh alternative form of the invention)

In the combine, in addition to right and left side clutches (not shown) capable of transmitting and interrupting power to the right and left crawler traveling apparatuses, right and left side crawler traveling apparatuses are provided with right and left side brakes ) May be provided.

In the case where the tractor is provided with right and left side brakes (not shown) capable of braking the right and left rear wheels without a side clutch capable of transmitting and blocking power to right and left rear wheels (not shown) .

As a result, the side clutch on the side of the turning center shifts to the cut-off state, whereby the operation mode is switched to the turning mode and the side clutch on the side of the turning center operated in the cut-off state is operated to the power transmitting state, The switching from the turning mode to the working mode may be performed.

The traveling gas 50 is shifted from the work traveling lines L01 to L07 to the swivel lines LL1 to LL6 on the basis of the position of the traveling vehicle 50 to switch from the working mode to the turning mode, The side clutch on the side of the turning center operated by the left side clutch is operated in the power transmitting state and the side clutches on both the right side and the left side are shifted to the power transmitting state.

The switching from the operation mode to the turning mode is performed and the traveling vehicle 50 is operated from the turning lines LL1 to LL6 on the basis of the position of the traveling vehicle 50 The transition from the turning mode to the working mode may be performed by shifting to the traveling lines L01 to L07.

The side brakes on the side of the turning center shift to the braking state so that the operation mode is switched to the turning mode and the side brakes on the side of the turning center operated in the braking state are operated to the disengaged state, The transition from the turning mode to the work mode may be performed by shifting the brake to the released state.

The traveling vehicle 50 is shifted from the work traveling lines L01 to L07 to the swivel lines LL1 to LL6 on the basis of the position of the traveling vehicle 50 to switch from the working mode to the turning mode, The side brakes on the side of the turning center which has been operated by the operator can be operated in the released state and the side brakes on both the right side and the left side are shifted to the released state to switch from the turning mode to the working mode.

The side brakes on the turning center side are shifted to the braking state so that the operation mode is switched to the turning mode and the traveling vehicle 50 is operated from the turning lines LL1 to LL6 on the basis of the position of the traveling vehicle 50 The transition from the turning mode to the working mode may be performed by shifting to the traveling lines L01 to L07.

(Eighth embodiment of the invention)

When one of the following items (8-1) to (8-6) is established, or when a plurality of items (8-1) to (8-6) are established, May be performed.

(8-1) Transition from the work traveling lines L01 to L07 (L01 to L09) of the traveling base 50 to the swivel lines LL1 to LL6 based on the position of the traveling vehicle 50.

(8-2) The direction of the traveling base 50 is greatly changed from the orientation of the traveling gas 50 in the working traveling lines L01 to L07 (L01 to L09) before entering the swivel lines LL1 to LL6 For example, more than 90 degrees).

(8-3) Transition to steering wheel turning position.

(8-4) Transition to the cut-off state of the side clutch on the turning center side.

(8-5) Transition to the braking state of the side brakes on the turning center side.

(8-6) A distance sensor (not shown) for detecting the distance from the traveling base 50 to the blanks B1 to B4 using light, ultrasonic waves, Transition to a value smaller than a predetermined distance.

(Ninth different form of the invention)

When one of the following items (9-1) to (9-7) is established, or when a plurality of items (9-1) to (9-7) are established, May be performed.

(9-1) Transition from the turning lines LL1 to LL6 of the traveling vehicle 50 based on the position of the traveling vehicle 50 to the working traveling lines L01 to L07 (L01 to L09).

(9-2) When the orientation of the traveling gas 50 greatly changes from the orientation of the traveling gas 50 in the swivel lines LL1 to LL6 before entering the working traveling lines L01 to L07 (L01 to L09) For example, more than 90 degrees).

(9-3) Transition to steering position of steering actuator.

(9-4) Transition to the power transmitting state of both the right clutch and the left clutch by operating the side clutch on the side of the turning center operated in the cut-off state to the power transmitting state.

(9-5) Transition to both the right and left side braking release states by operating the side brakes on the side of the turning center operated in the braking state to the released state.

(9-6) A traveling distance sensor (not shown) for detecting the running distance of the traveling base 50 by the number of revolutions of the front wheel 1, the rear wheel 2 and the crawler traveling device is provided, (Or the running distance after the traveling vehicle 50 enters the turning lines LL1 to LL6) becomes larger than a predetermined distance.

(Not shown) for detecting elapsed time (or elapsed time since the traveling vehicle 50 enters the turning lines LL1 to LL6) after switching to the turning mode (9-7) To a state in which the detection time of the alarm is larger than the predetermined time.

(Tenth Embodiment of the Invention)

When one item of (9-1) to (9-5) or a plurality of items of (9-1) to (9-5) is established in the preceding (ninth embodiment of the invention) When switching from the turning mode to the operation mode is performed, when the state shown in the following (10-1) to (10-4) is reached, it is determined that there is an abnormality in the traveling vehicle 50 and the abnormality is notified to the driver , And an abnormality detecting function for automatically stopping the traveling vehicle (50).

(10-1) A traveling distance sensor of the above-mentioned item (9-6) is provided, and after the traveling mode (or after the traveling vehicle 50 enters the turning lines LL1 to LL6) A state in which switching from the turnaround mode to the operation mode is not performed even if the vehicle travels by a predetermined distance.

(10-2) A traveling distance sensor of the above-mentioned item (9-6) is provided and after the traveling mode is switched to the turning mode (or after the traveling vehicle 50 enters the turning lines LL1 to LL6) Is switched from the turning mode to the work mode even though the vehicle is not traveling a predetermined distance.

(10-3) When the predetermined time has elapsed since the timer in the previous item (9-7) is provided and the mode is switched to the turning mode (or the traveling vehicle 50 enters the turning lines LL1 to LL6) A state in which switching from mode to operation mode is not performed.

(10-4) Even if the predetermined time has not elapsed since the timer of the above (9-7) is provided and the mode is switched to the turning mode (or after the traveling vehicle 50 enters the turning lines LL1 to LL6) A state in which the transition from the turning mode to the working mode is performed.

(11th alternative embodiment of the invention)

Assume that an arbitrary position is set as a specific position (corresponding to the position of the traveling vehicle 50) in the entire work vehicle including the working device. The position of the front end of the traveling base 50, the position of the driving seat 13, the positions other than the positions, and the like are determined based on the position of the table 5 (the food arm 8) have.

When the specific position of the work vehicle reaches the position indicated by the following (11-1), (11-2), and (11-3) The switching from the mode to the turning mode may be performed.

(11-1) Position returned from the work end positions D1 to D7 to the slightly work traveling lines L01 to L07 (L01 to L09).

(11-2) Job end positions D1 to D7 (D1 to D9).

(11-3) A position slightly shifted from the work end positions D1 to D7 (D1 to D9) into the turning lines LL1 to LL6.

In this case, after entering the turning lines LL1 to LL6 from the work ending positions D1 to D7 (D1 to D9), the traveling vehicle 50 travels along the turning lines LL1 to LL6 in the working mode )do.

When the specific position of the work vehicle reaches the position indicated by the following (11-4), (11-5), and (11-6) in the case where the shift from the turning mode to the work mode is performed, Mode may be performed.

(11-4) Position returned from the work start positions (C1 to C7 (C1 to C9)) slightly to the turn lines (LL1 to LL6).

(11-5) Job start positions (C1 to C7 (C1 to C9)).

(11-6) A position slightly entered from the work start positions (C1 to C7 (C1 to C9)) into the work traveling lines (L01 to L07 (L01 to L09)).

In this case, after entering the work traveling lines (L01 to L07 (L01 to L09)) from the work start positions (C1 to C7 (C1 to C9)), the traveling vehicle (50) L07 (L01 to L09).

(12th alternative embodiment of the invention)

The work traveling line setting section 61 and the turning line setting section 63 may not be provided in the control device 23. [

In this case, the work traveling line setting unit 61 and the turning line setting unit 63 may be used as software, for example, in a computer or the like (for example, the computer 49 shown in Fig. 4 or the like) provided separately from the traveling base 50 Respectively.

Thereby, the work traveling lines L01 to L07 (L01 to L09) and the turning lines LL1 to LL6 set by the work traveling line setting unit 61 and the turning line setting unit 63 are transmitted from the above- Is acquired and stored in the work traveling line acquiring section 55 and the turning line acquiring section 56 via the telephone 46 or the control device 23 or via the storage medium.

The shift lever 45 (the speed change motor 53) and the steering wheel 20 (the steering motor 51) are not operated by the automatic travel control section 62 in the work mode but the shift lever 45 The traveling speed of the traveling vehicle 50 may be arbitrarily set and the steering wheel 20 (steering motor 51) may be operated by the automatic traveling control unit 62. [

The shift lever 45 (the speed change motor 53) and the steering wheel 20 (the steering motor 51) are not operated by the automatic turning control unit 64 in the turning mode but the driver operates the shift lever 45 May be manually operated to arbitrarily set the traveling speed of the traveling vehicle 50 so that the steering wheel 20 (steering motor 51) is operated by the automatic turning control unit 64. [

(Thirteenth different embodiment of the invention)

In a state in which the traveling base 50 is running along the work traveling lines L01 to L07 (L01 to L09) and the traveling base 50 is traveling (turning) along the swivel lines LL1 to LL6 , It is determined that there is an abnormality in the traveling vehicle 50 and the abnormality is notified to the driver and abnormality detection is performed so as to automatically stop the traveling vehicle 50. In the following cases (13-1) to (13-5) Function may be provided.

(13-1) A state in which the position of the traveling base 50 is largely separated from the work traveling lines L01 to L07 (L01 to L09) and the swivel lines LL1 to LL6.

(13-2) A state in which the orientation of the traveling base 50 is largely separated from the direction of the work traveling lines L01 to L07 (L01 to L09) and the direction of the swivel lines LL1 to LL6.

(13-3) An abnormal state of operation of the steering wheel 20 (steering motor 51).

An abnormality in the manipulation of the steering wheel 20 (steering motor 51) is not limited to the state in which the manipulation speed of the steering wheel 20 (steering motor 51) is excessively high or excessively low, The steering wheel 20 (steering motor 51) is operated in the vicinity of the straight-ahead position A1 even when the steering wheel 50 has to be turned.

(13-4) A state in which the right side or left side clutch is operated to the cut-off state in a state in which the traveling base 50 travels along the work traveling lines (L01 to L07 (L01 to L09)).

(13-5) A state in which the right or left side brake is operated to the braking state in a state in which the traveling vehicle 50 travels along the work traveling lines L01 to L07 (L01 to L09).

The present invention can be applied not only to a passenger type weaving machine having a stepping device 5 (corresponding to a working device) capable of elevating at the rear portion of the traveling vehicle 50, but also to a rear part of the traveling vehicle 50 A tractor having a rotary tillage device (corresponding to a working device) or a medicine spraying device (corresponding to a working device) capable of raising and lowering on the rear portion of the traveling base 50, The present invention can be applied to a work vehicle that travels while performing work on a package, such as a combine having a preload portion (corresponding to a work device) vertically movable on the front portion of the traveling base 50. [

2: Driving device
5: Working device
30:
40: Side clutch
43, 44: side clutch operating portion
50: traveling gas
55: work traveling line obtaining section
56: turning line acquisition section
60:
62: Automatic traveling control unit
64: Automatic turning control section
L01 to L09: work traveling line
LL1 to LL6:

Claims (9)

A positioning device for detecting the position of the traveling vehicle;
A work travel line acquisition unit for acquiring a work travel line to be traveled by the traveling vehicle;
A turning line acquiring unit for acquiring a turning line connecting an end of the working traveling line and an end of the next working traveling line,
An automatic travel control unit for automatically controlling the traveling vehicle so that the traveling vehicle runs along the working traveling line based on the position of the traveling vehicle;
And an automatic turning control unit for automatically controlling the traveling vehicle so that the traveling vehicle runs along the turning line based on the position of the traveling vehicle,
And a control unit for switching to a working mode in which the automatic traveling control unit is operated and a turning mode in which the automatic turning control unit is operated. The method according to claim 1,
Wherein,
Wherein the traveling mode is switched to the turning mode by the transition from the working traveling line of the traveling vehicle to the swivel line based on the position of the traveling vehicle and by the transition from the swivel line of the traveling vehicle to the working traveling line And switches to the operation mode. The method according to claim 1,
And a steering operation member for performing a steering operation of the traveling vehicle is provided,
Wherein,
Switching to the turning mode by the transition of the traveling vehicle from the working traveling line to the turning line based on the position of the traveling vehicle and switching to the working mode by the transition to the straight- , Work car. The method according to claim 1,
And a steering operation member for performing a steering operation of the traveling vehicle is provided,
Wherein,
Wherein the turning mode is switched to the turning mode by the transition to the turning position of the steering operating member and the operation mode is switched to the working mode by the transition from the turning line to the working traveling line of the traveling vehicle on the basis of the position of the traveling vehicle , Work car. The method according to claim 1,
And a steering operation member for performing a steering operation of the traveling vehicle is provided,
Wherein,
Wherein the steering mode is switched to the turning mode by the transition to the turning position of the steering operating member and the operation mode is switched by the transition to the straight running position of the steering operating member. The method according to claim 1,
Right and left side clutches capable of transmitting and interrupting power to right and left traveling devices,
And a side clutch operating portion that operates both of the side clutches on the right side and the left side in the power transmitting state and the side clutch on the turning center side in the turning state in a cut-
Wherein,
Wherein the traveling mode is switched to the turning mode by the transition from the working traveling line of the traveling vehicle to the swivel line based on the position of the traveling vehicle and the transition to the power transmitting state of both the right side and the left side of the side clutch To the work mode. The method according to claim 1,
Right and left side clutches capable of transmitting and interrupting power to right and left traveling devices,
And a side clutch operating portion that operates both of the side clutches on the right side and the left side in the power transmitting state and the side clutch on the turning center side in the turning state in a cut-
Wherein,
Wherein the switching means is switched to the turning mode by transitioning to the cut-off state of the side clutch on the side of the turning center, and based on the position of the running vehicle, Switch to mode, work car. The method according to claim 1,
Right and left side clutches capable of transmitting and interrupting power to right and left traveling devices,
And a side clutch operating portion that operates both of the side clutches on the right side and the left side in the power transmitting state and the side clutch on the turning center side in the turning state in a cut-
Wherein,
The side clutch is switched to the turning mode by the transition to the cut-off state of the side clutch on the side of the turning center, and the mode is switched to the working mode by the transition to the power transmitting state of both the right clutch and the left clutch. 9. The method according to any one of claims 1 to 8,
Wherein,
Wherein when the work mode is switched to the work mode, the work device is set to a work state in which work is performed on the package, and when the work mode is switched to the turn mode, the work device is placed in a non-work state in which no work is performed on the package.

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