KR20180098525A - Working car - Google Patents

Abstract

The work vehicle includes a traveling body C having the traveling device A, a traveling unit W for carrying out work on the packing, a steering unit U capable of steering the traveling device A, A main unit 62 for measuring inertia information, a generation unit for generating a target line for running the traveling vehicle C, and a position information generating unit 62 for generating position information and inertia information And a control unit for controlling the steering unit (U) so that the traveling vehicle (C) travels along the target line. The receiving device 63 and the main inertial measuring device 62 are disposed at different positions in the traveling carrier C.

Description

Working car

The present invention relates to a work vehicle such as an agricultural work vehicle (hereinafter, also referred to as a " agricultural worker ") and a construction work vehicle. The working vehicle includes, but is not limited to, a passenger type weaving machine, a passenger type straight machine, a tractor, a combine, and the like.

[1] A conventional working vehicle capable of automatic steering control of the traveling vehicle is disclosed, for example, in JP2001-161112A. This work vehicle includes a traveling vehicle having a traveling device ("front wheel", "rear wheel"), a working device ("traveling part device") for carrying out work on the package, a steering unit Power steering valve "," power steering cylinder "," automatic control valve ", etc.). The work vehicle includes a receiving device ("GPS receiver") that acquires position information by a satellite positioning system, a controller ("controller") that controls the steering unit so that the traveling gas runs straight on the basis of the acquired position information, (The name in parentheses is the name of a component in JP2001-161112A). The work vehicle controls the steering unit on the basis of only the positional information acquired from the receiving apparatus, and performs automatic steering control of the traveling vehicle.

US 7 346 452 B2 discloses a measuring unit in which a receiving device for obtaining positional information by a satellite positioning system and an inertial measuring device for measuring inertial information are integrated.

[2] Among the conventional passenger-type bower-elevating machines, there are a traveling vehicle having a riding-type running section, a traveling section connected to the rear section of the traveling vehicle so as to be able to move up and down, (For example, see JP2013-074841A), and a preliminary receiving apparatus provided in front of the handrail.

The passenger-type rearing unit includes a boarding operation unit, a lateral rail (corresponding to railings), and a preliminary loading unit (corresponding to a preliminary loading unit). The preliminary loading unit includes a preliminary loading unit Wherein the preliminary stacking unit of the front movable frame is deployed to the front side of the fixed frame and the preliminary stacking unit of the rear movable frame is extended to the front side of the fixed frame, It is possible to switch to the deployed state deployed to the rear side.

[3] It is preferable that the working vehicle includes position detecting means for detecting the position of the vehicle body and direction detecting means for detecting the direction of the vehicle body, and the vehicle body is configured to run along the target moving route based on the detected information have.

Conventionally, a vehicle body of a work vehicle is provided with a satellite positioning unit such as GPS (Global Positioning System) and an inertial navigation unit, which is an example of an azimuth detection unit. In a package to be a work subject, Steering control is performed so that the target movement path is set in advance and the position of the body detected by the satellite positioning system is the target position corresponding to the target movement path and the detection orientation is the target orientation corresponding to the target movement path , And the target azimuth is set to the azimuth corresponding to the always-intended target movement path (see, for example, JP2009-245002A).

In addition, when the vehicle body is subjected to steering control, the position information obtained by the satellite positioning unit alone can not know in which direction the vehicle body is proceeding. In addition, the measurement processing by the satellite positioning unit may take time, and in a case where the present invention is applied to a work vehicle in which a vehicle body is guided along a set path, steering control of a high-precision work vehicle is difficult with only the position information. Therefore, the current direction of the vehicle body is detected by the bearing detection means, and the steering control is performed based on the position information and the bearing information.

[4] Among the crowning machines, a crowning operation is performed by setting a traveling line using a positioning system using a satellite such as GPS. Among these agricultural machines, it is possible to switch between manual driving by manual steering and automatic driving by automatic steering along a set driving line set in parallel with the reference driving line, and switching between the manual driving and the automatic driving And a changeover switch is provided.

Conventionally, as this kind of thickener, there has been a weaving machine configured to automatically travel on a predetermined traveling line while measuring the position of the traveling vehicle using the positioning system, and to prepare a food in a predetermined range of food (see, for example, JP2008 -092818A).

In order to carry out the automatic running, the stationary period needs to set (here, referred to as teaching) a reference running line serving as a reference of the running line in advance.

As a specific example of the teaching, when the traveling vehicle runs on the package and reaches the position to be the starting point of the reference traveling line, the positional information of the traveling vehicle at that position is read by the positioning system And inputs it to the recording unit as a viewpoint position.

Subsequently, it is possible to record the end point position information of the reference travel line by running the travel gas to the position that is the end point of the reference travel line, and similarly, by operating the designation switch, The traveling line is set.

The setting running line to be an index for automatically running the running gas is set based on the reference running line and a plurality of parallel And each of these parallel line segments is set as the set running line.

The control unit for controlling the automatic running of the running vehicle is configured to automatically run the running vehicle to the end position along the set running line. Further, between the adjacent set running lines, the running vehicle is controlled to automatically turn (180 degrees). The control section is configured to repeat the automatic running along the set running line from the start point of the adjacent set running line.

[5] Among the packaging work vehicles, a traveling machine for traveling in a package while changing directions in a baggage area, a packaging work machine for carrying out work on the package, and a positioning unit for outputting positioning data indicating the position of the car have.

As an example of such a packaging work vehicle, a rice making machine for automatically traveling on a target route using position information measured by a GPS device is known from JP2008-092818A. In this bamboo plant, when the driver confirms that the model part work is performed while autonomously traveling on the straight-line target path, and the driver reaches the bogus area, which is also referred to as the canopy, the operator turns the turning direction The turning travel for changing the direction is automatically performed in the stagger region. When the direction is changed, the cooking operation is performed while autonomously traveling on the straight-line target path.

Japanese Patent Application Laid-Open No. 2001-161112 (JP2001-161112A) U.S. Patent No. 7346452 (US7346452B2) Japanese Patent Application Laid-Open No. 2013-074841 (JP2013-074841A) Japanese Patent Application Laid-Open No. 2009-245002 (JP2009-245002A) Japanese Patent Application Laid-Open No. 2008-092818 (JP2008-092818A)

[1] Problems to be solved in the background art [1] are as follows.

The positional information acquired from the receiving apparatus by the satellite positioning system sometimes deviates from the actual position. In such a case, in the work vehicle described in JP2001-161112A, the automatic steering control of the traveling vehicle is used, So that it is difficult to accurately perform the operation. Further, under circumstances where radio interference or the like is likely to occur, the amount of information of the positional information acquired by the receiving apparatus becomes insufficient, and it is difficult to perform automatic steering control of the traveling vehicle itself.

Therefore, as described in US7346452B2, a work unit described in JP2001-161112A is equipped with a measuring unit in which a receiving device for obtaining positional information by a satellite positioning system and an inertial measuring device for measuring inertia information are mounted, It has been investigated that the automatic steering control of the traveling vehicle is performed based on the position information acquired by the device and the inertia information measured by the inertia measuring device to further improve the accuracy of the work by the working device.

However, the receiving apparatus tends to exhibit a characteristic in which the accuracy of acquired positional information is enhanced by disposing the shielding unit at a place where the shaking motion is comparatively large, while there are few shielding members for shielding the radio waves from the surroundings. On the other hand, There is a tendency to exhibit characteristics in which the error of the inertia information becomes small. For this reason, if a measuring unit in which the receiving device and the inertial measuring device are integrated in one place of the traveling vehicle is disposed, there is a possibility that the characteristics of both the receiving device and the inertial measuring device can not be fully utilized.

In view of the above-mentioned circumstances, there is a demand for a working vehicle capable of accurately performing work by the working apparatus by using the automatic steering control of the traveling vehicle.

[2] [Background Art] Problems corresponding to [2] are as follows.

In the above-mentioned JP2013-074841A passenger-type transferring machine, there are provided a plurality of preliminary loading bays in the preliminary wreckage receiving apparatus, a first state in which a plurality of preliminary loading bands are arranged in the vertical direction of the vehicle body, The preliminary moisture collecting apparatus is switched to the first state by configuring the preliminary moisture collecting apparatus to be switchable in the second state in which the load balancers are arranged in the forward and backward directions of the running vehicle body to arrange the plurality of preliminary load balancing units The plurality of preliminary motors can be housed in the forward and rearward directions of the running vehicle body by housing the plurality of preliminary motorcycles in a plurality of upper and lower stages, .

When the first state and the second state of the preliminary moisture-collecting apparatus can be switched by employing the conventional technique, the longer the length of the upper end portion of the railing, which is the holding portion of the railing, is made longer, . That is, when the preliminary receiving apparatus is switched to the second state, it is necessary to prevent the first preliminary loading unit from reaching the railing from the rear.

Thus, there is a need for a passenger-type reverberation machine capable of increasing the length of the upper end portion of the railing in the longitudinal direction of the vehicle, without attaching the preliminary moisture-collecting device to the front of the vehicle body.

[3] Problems to be solved in the background art [3] are as follows.

In the above configuration of JP2009-245002A, since the target azimuth is set to the direction along the target movement route at all times in the steering control based on the detection information of the satellite positioning unit and the detection information of the azimuth detection means, There was a face.

That is, in the above-described conventional configuration, the control means operates the steering operation means so that the detection position of the vehicle body is located on the target movement route and the detection orientation is the orientation along the target movement route. In this case, for example, the vehicle body is displaced in the lateral direction from the target movement path, but when the position of the vehicle body is corrected from the running state in which the direction of the vehicle body is the same as the target direction, If the change is made, the direction of the vehicle body deviates from the target direction, and therefore unnecessary operation may be performed in order to cope with the deviation from the target direction. As a result, there is a fear that it takes time to return to the running state following the target movement route.

It is therefore desired that the vehicle body can be quickly returned to the running state along the target movement path when the vehicle body is displaced in the lateral direction from the target movement path and the direction of the vehicle body is equal to the target direction.

[4] Problems corresponding to the background art [4] are as follows.

According to the crowning machine such as JP2008-092818A having the above-described configuration, the setting of each set travel line is set in parallel with the reference travel line and at equal intervals. Therefore, regardless of the difference in the packaging condition in the route of the automatic travel (for example, the relief of the package or the simulated food portion in the adjacent food completion route), the traveling vehicle travels on the travel line at equal intervals And a simulated food is performed.

However, since the surface on which the traveling gas travels can not necessarily be flat, for example, in a portion where there are some undulations in the package and in a portion where the surface is uneven, some deviation occurs in the passage of the traveling gas , There is a possibility that a change in the eating conditions such as a simulated position or posture of the food is likely to occur.

In such a case, it may be preferable to cope with a situation in which the user performs the eating while traveling the course close to the adjacent set travel line side (or the separated course), for example, while observing the eating condition of the adjoining part complete route.

However, since the setting running line is set at an equal interval in parallel with the reference running line, in order to take a countermeasure as described above, the automatic changing is switched from the automatic running to the manual running by the changeover switch, It is necessary to continue the manual driving while changing the course. Therefore, the driver can not take his or her hands off the driving operation, and there is a fear that it becomes difficult to perform other operations on the traveling vehicle in parallel.

In addition, when the changeover switch is switched to the automatic running again, the running course is returned to the setting running line set originally, and even if the running line matches the running situation, it is not reflected in the running after that.

Therefore, there is a demand for a dewatering machine capable of setting a set running line to a free course and reducing the burden on the driver.

[5] Problems to be solved in the background art [5] are as follows.

In order to automatically perform precise position alignment in turning in the autonomous running in the one-degree-of-freedom when accurate alignment is required for the alignment of the adjacent working areas (running trajectory), such as a weeding machine, Steering control technology is required. However, in the case where such a direction switching travel is performed by automatic steering or manual steering, the timing for starting the direction switching travel, that is, recognizing accurately that the herringbone has reached the ditch area, Accurate positioning at the point of view is important, but it is a difficult driving operation for unskilled persons.

In view of such a situation, there is a demand for a packaging work vehicle in which it is appropriately recognized that at least the reaching of the runway area where the change of direction of the running vehicle is performed and the appropriate direction changing travel is performed.

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

The work vehicle of the present invention,

A traveling vehicle having a traveling device,

A work device for carrying out work on packaging,

A steering unit capable of steering the traveling device,

A reception device for acquiring position information by a satellite positioning system,

An inertia measuring device for measuring inertia information,

A generation unit that generates a target line for running the traveling vehicle;

And a control unit for controlling the steering unit such that the traveling vehicle runs along the target line based on the position information and the inertia information,

The receiving device and the inertial measuring device are disposed at different positions in the traveling vehicle.

According to the present invention, the receiving apparatus for obtaining the positional information by the satellite positioning system and the inertial measuring apparatus for measuring the inertial information are arranged at different positions in the traveling vehicle.

For this reason, for example, the receiving apparatus can be disposed at a position where the shaking motion is relatively large, thereby improving the accuracy of acquiring the position information of the receiving apparatus. In addition, the inertia measuring apparatus can be disposed at a position where the shaking motion is relatively small, An error of the inertia information measured by the apparatus can be reduced. In other words, both the accuracy of the position information acquired by the receiving apparatus and the accuracy of the inertia information measured by the inertia measuring apparatus are improved, and both of the characteristics of the receiving apparatus and inertial measuring apparatus can be saved.

This makes it possible to perform steering control of the steering unit by using highly precise positional information and inertia information, thereby accurately and automatically steering-controlling the traveling vehicle so that the traveling vehicle and the working device travel along the target line.

Therefore, according to the present invention, it is possible to accurately perform the work by the working device by using the automatic steering control of the traveling vehicle.

In the above arrangement, it is preferable that the inertial measurement apparatus is disposed at a position near the center of the longitudinal direction of the entire length of the traveling vehicle and the working device in the front-rear direction.

According to the present configuration, the portion near the center in the forward and backward direction of the entire length of the traveling vehicle and the working device in the front-rear direction is, for example, a portion of the yawing axis As shown in FIG. Arranging the inertial measurement device at such a position makes it possible to reduce the error of the inertial information measured by the inertial measurement device, and to accurately measure the inertial information.

In the above configuration, it is preferable that the inertial measurement device is provided on an installation member located in the vicinity of the rear axle of the traveling device.

According to this structure, the mounting member located in the vicinity of the rear axle of the traveling device is less likely to cause the swinging motion during traveling of the traveling vehicle. By providing the inertial measurement device on such a mounting member, the error of the inertial information measured by the inertial measurement device is reduced, and accurate measurement of the inertial information is facilitated.

In the above-described configuration, the working device is a packaging device capable of simulated food packaging,

A plurality of preliminary pedestals that can be loaded with a preliminary mother to be supplied to the mother board,

A pair of left and right pre-mother frames for supporting the preliminary pedestal,

And a connecting frame connected to the upper part of the left and right front frames,

It is suitable if the receiving apparatus is provided in the connection frame.

According to this configuration, since the receiving apparatus is provided in the connection frame provided at a somewhat high position connecting the left and right spare frames supporting the preliminary mounting rack, the reception apparatus is placed at a position where there are few shields for shielding the radio waves Can be deployed. This makes it difficult for the position information acquired by the receiving apparatus to be cut off. In addition, since the preliminary frame or the connecting frame is likely to cause a relatively large fluctuation during traveling, it is possible to improve the detection accuracy of the direction in the traveling direction of the traveling gas based on the positional information acquired by the receiving device, for example.

In the above configuration, the connection frame is vertically inverted with respect to the use state in which the receiving apparatus is located above the upper end of the preliminary mother frame and the use state, so that the receiving apparatus is arranged below the upper end of the preliminary parent frame It is preferable that the state can be changed to the stored state.

According to this configuration, since the receiving device is located at a position higher than the upper end of the preliminary frame, the receiving sensitivity of the radio wave when the receiving device is used can be improved. On the other hand, when the connecting frame is put in a retracted state, the receiving frame is located at a position lower than the upper end of the preliminary frame. For example, when the traveling frame is accommodated in a barn or the like, It is possible to avoid problems such as causing the receiving apparatus to hit the upper portion or the like.

In the above arrangement, it is preferable that the connection frame is rotatable around the left and right central axes along the left and right direction, and is supported on the left and right preliminary frames so as to be positionally fixed in the use state and the retracted state.

According to this configuration, since the connecting frame is rotatable around the left and right central axes, it becomes easy to change the state of the connecting frame to the using state using the receiving apparatus and the storing state for storing the receiving apparatus.

In the above configuration, it is preferable that the connection frame is detachable from the left and right pre-mi frames.

According to this configuration, since the connection frame is detachable, when the reception device is not used, the connection frame in the use state can be detached from the preliminary parent frame, and the connection frame can be stored in the preliminary parent frame have.

In the above configuration, the receiving device is provided with a connector portion for connecting the harness,

It is preferable that the connector portion extends laterally outward from the receiving device.

According to this configuration, since the connector section for connecting the harness in the receiving apparatus extends outward in the left-right direction from the receiving apparatus, compared with the case in which the connector section is extended forward from the receiving apparatus, for example, It becomes difficult to hit the connector portion of the receiving apparatus with an obstacle such as a branch.

In the above configuration, the receiving device is provided with a connector portion for connecting the harness,

And a guard member for protecting the connector portion is provided.

According to this configuration, the obstacle such as branches does not collide with the connector portion while the vehicle is running.

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

In the passenger-type sewing machine according to the present invention,

A running vehicle body having a running type of boarding type,

A drive unit connected to the rear portion of the traveling vehicle so as to be movable up and down,

A railing provided on the transverse side of the operating portion so as to extend upward from the vehicle body portion toward the upper direction,

And a preliminary moisture collecting device installed in front of the railing,

Wherein the preliminary receiver is provided with a plurality of preliminary load bands, and a first state in which a plurality of the preliminary load bands are arranged in a vertical direction of the vehicle body, and a second state in which a plurality of the preliminary load bands are arranged before and after Direction to a second state,

An empty space is provided below the upper end of the handrail,

In the second state of the preliminary moisture-collecting apparatus, the rear end side of the first preliminary stage from the rear of the plurality of preliminary stacking bases enters the empty space, and the upper end and the rear end side, Of the passengers.

According to this configuration, when the preliminary moisture collecting apparatus is switched to the second state, since the rear end side of the first preliminary pallet stands from the rear enters the empty space, even if the length of the upper end of the parapet in the fore- Even if the apparatus is attached close to the front of the vehicle body, even if it is attached to the front side of the vehicle body, even if the apparatus is not as close as in the case of the conventional structure, by entering into the empty space of the rear side of the first standby rack from the rear, It is possible to avoid the contact between the stand and the rail.

Therefore, the length of the upper end portion of the railing can be increased in the longitudinal direction of the vehicle without attaching the preliminary moisture-collecting apparatus to the front side of the vehicle body, or close to the front side of the vehicle body. The railing can be easily used while making it easy to steer the vehicle body by not projecting from the vehicle body for a long time forward.

In the present invention, the first preliminary stage is provided with a preliminary stage main body, a use posture protruding rearward from the preliminary stage base main body, and a holding posture which is stored inside the preliminary stage main body And the rear stage side of the first preliminary stage is formed by the extension stage stand of the use posture.

According to this configuration, when the preliminary moisture-collecting apparatus is switched to the second state, the stacking area of the extension rack can be widened, and the load area of the first preliminary loading unit from the rear can be widened, It becomes easy to put in the preliminary figure. In this way, it is possible to increase the load area of the preliminary load carrying section and to increase the length of the upper end portion of the rail in the longitudinal direction of the vehicle without attaching the preliminary load receiving device to the front side of the traveling vehicle body, have.

In the present invention, it is preferable that, in the second state of the preliminary moisture storage device, the rear end side portion of the first preliminary stage is inserted into the entrance of the operation portion.

According to this configuration, when the preliminary moisture-collecting apparatus is switched to the second state, the rear door can be closed or narrowed with a simple structure utilizing the rear end side of the first preliminary loading zone from behind as a closing member of the door .

In the present invention, the upper end portion of the handrail is provided with a fixed portion fixed to the body portion, a closed state in which the front end portion protrudes forward from the fixed portion and closes the entrance of the operation portion, And a movable portion capable of being switched to an open state, and is suitable if the empty space is provided below the movable portion in the closed state.

According to this configuration, the movable portion can be closed or narrowed by a simple structure in which the movable portion is used as a closing member of the elevating portion by making the movable portion closed.

In the present invention, it is preferable that the movable portion is supported by the fixed portion so as to be swingable over the closed state and the open state.

According to this configuration, the movable portion can be switched between the closed state and the open state by simply pivoting the movable portion.

In the present invention, it is preferable that, in the closed state of the movable portion, the front end side portion of the movable portion is supported by the support of the preliminary moisture-receiving device.

According to this configuration, the support of the preliminary moisture storage device is utilized as a member for supporting the front end side portion of the movable portion

It is possible to reliably hold the movable portion in the closed state with a simple structure.

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

In the characteristic configuration of the work vehicle according to the present invention,

A steering operation means capable of changing the traveling direction of the vehicle body,

A path setting unit that sets a target movement path that the vehicle body should travel,

Position detecting means for detecting a position of the vehicle body;

Direction detecting means for detecting a direction of the vehicle body;

Wherein the control unit controls the control unit so that the detection position of the vehicle body detected by the position detection unit is a position on the target movement path and the detection orientation of the vehicle body detected by the orientation detection unit is a target orientation in the target movement path. And control means for executing automatic steering control for operating the steering operation means,

Wherein,

When the detection position is shifted in the lateral direction from the target movement path and the detection orientation is equal to the target orientation, the target orientation is changed to a tilted target orientation tilted to the target movement path side, And the positional deviation correcting process is performed.

According to the present invention, when the automatic steering control is being executed, the detection position of the vehicle body detected by the position detection means is shifted in the lateral direction from the target movement path, but the detection of the vehicle body detected by the direction detection means When the azimuth is equal to the target azimuth in the target movement route (hereinafter referred to as the reference target azimuth), the steering operation means is operated by changing the target azimuth to the inclined target azimuth toward the target movement route side. That is, the control means operates the steering operation means such that the detection position of the vehicle body is located on the target movement path, and the detection orientation of the vehicle body is the inclination target direction.

When the vehicle body travels in a direction tilted toward the target movement path side in order to correct the positional deviation in the lateral direction, the vehicle body travels so as to attain a position along the reference target direction and to reduce the position deviation. That is, since the direction of the vehicle body does not deviate from the inclination target direction, unnecessary operation is not performed in order to cope with the deviation of the bearing.

As a result, when the vehicle body is displaced in the lateral direction from the target movement path and the direction of the vehicle body is equal to the reference target direction, unnecessary operations are reduced and the vehicle is returned to the running state along the target movement path as quickly as possible It becomes possible.

In the present invention, when executing the positional deviation correcting process, it is preferable that the inclination angle of the inclined target azimuth with respect to the target azimuth is set to be equal to or smaller than a set upper limit value.

According to this configuration, when the steering control is executed, since the target bearing does not change too much, there is little concern that the vehicle body will turn over suddenly and the posture becomes unstable.

In the present invention, vehicle speed detecting means for detecting the vehicle speed is provided,

It is preferable that, when executing the positional deviation correcting process, the control means makes the changing operation speed when the steering operation means changes the traveling direction as the vehicle speed becomes larger.

In the case of correcting the positional deviation, if the steering operation is performed quickly when the vehicle speed is high, the sudden posture changing operation may occur, and the vehicle body posture may become unstable. Thus, in this configuration, when the positional deviation is corrected, the speed of the change operation when the steering operation means changes the traveling direction becomes smaller as the vehicle speed becomes larger. As a result, the operation of changing the direction of the vehicle body is performed quickly, and there is little possibility that the body posture becomes unstable, and the positional deviation correction can be performed smoothly.

In the present invention, vehicle speed detecting means for detecting the vehicle speed is provided,

It is preferable that, when executing the positional deviation correcting process, the control means causes the inclination angle at which the target azimuth is inclined toward the target moving path side to be smaller as the vehicle speed increases.

In the case of correcting the positional deviation, if the steering operation is performed quickly when the vehicle speed is high, the sudden posture changing operation may occur, and the vehicle body posture may become unstable. Thus, in this configuration, the larger the vehicle speed, the smaller the inclination angle that tilts the target azimuth toward the target movement path side. As a result, the amount of direction change of the vehicle body is reduced, and there is little possibility that the vehicle body posture becomes unstable, and the position shift correction can be smoothly performed.

In the present invention, when executing the positional deviation correcting process, it is preferable that the control unit keep the inclined target direction as it is until the detection position reaches a position corresponding to the target movement path.

According to this configuration, in the positional deviation correcting process, once the target azimuth is changed to the inclined target azimuth, the inclined target azimuth is maintained until the vehicle body reaches a position corresponding to the target movement route. As a result, since the direction of the vehicle body moves to the position corresponding to the target movement path in the state of following the inclination target direction, it is possible to quickly correct the position displacement in a state in which unnecessary movement is small.

In the present invention, when the positional deviation correcting process is executed, the control means is suitable if the inclination of the inclined target azimuth with respect to the target azimuth becomes gentle as the detected position approaches the portion corresponding to the target movement route .

According to this configuration, in the positional deviation correcting process, first, the inclined target azimuth with respect to the reference target azimuth is first changed to the inclined target azimuth. However, as the vehicle body approaches the position corresponding to the target moving path, The inclination target direction is changed in a state in which the inclination target direction becomes gentle.

In the positional deviation correcting process, if the steering operation is performed in a state in which the inclination to the reference target direction is urgent, the vehicle body can be brought close to the position corresponding to the target movement route quickly. However, when the vehicle travels in a state in which the inclination to the reference target direction is urgent, when the direction of the vehicle body is returned to the direction along the target travel path after reaching the position corresponding to the target travel path, There is a disadvantage that takes time.

Thus, when performing the positional deviation correcting process, in the initial stage in which the amount of positional shift is large, the vehicle body can be brought close to the position corresponding to the target moving pathway quickly by changing the oblique target direction to a steep gradient. As the vehicle body approaches the position corresponding to the target movement route, the inclination to the reference target orientation is changed to the gentle target orientation that is gentle. As a result, when the position corresponding to the target movement path is reached, the angle deviation between the oblique target orientation and the orientation along the target movement path becomes small, so that the correction amount of correction is reduced, and the re-verification operation can be performed quickly.

Therefore, the vehicle body can be brought close to the position corresponding to the target travel path as quickly as possible, and the re-check operation for returning to the bearing along the target travel route can be performed in a short time without waste.

In the present invention, it is preferable that the portion corresponding to the target movement path has a region having a predetermined width in the lateral direction on both right and left sides of the position corresponding to the target movement path.

In the position shift correcting process, the position shift correcting process is executed until the position of the vehicle body reaches the position corresponding to the target travel path. After the position of the vehicle body reaches the position corresponding to the target travel path, There is a disadvantage that a delay occurs in the return operation and it takes time for the re-checking operation. Thus, in this configuration, since the portion corresponding to the target movement path has a predetermined width region, the orientation of the vehicle body is returned to the orientation along the target movement path just before the position of the vehicle body reaches the position corresponding to the target movement path And the re-verification operation can be performed in a state in which the response delay is small.

In the present invention, it is preferable that the vehicle body further includes: a straight-ahead running that performs an operation while traveling along the target travel route; and a turning travel which is turned toward a next-time target travel route parallel to the target travel route at an end position of the target travel route And alternately,

Wherein the control means controls the position of the vehicle body such that when the vehicle body is displaced toward the base work area and when the positional deviation correction processing is executed, Thereby setting the inclination target azimuth.

According to this configuration, the vehicle body travels so as to alternately repeat the straight traveling and the turning travel, and performs the work while traveling straight. When performing the position shift correction processing in a state where the vehicle body is displaced toward the base work area side, the inclination with respect to the target direction in the inclination target direction is made larger than the state in which the position shift is to the unworked area side.

Since the cropping seedlings have already been eaten in the working difference area and the working area for performing the work of planting the crop seedlings in the package accompanied with the running, it is necessary to avoid invasion of the vehicle body into the initial working area. Thus, when the vehicle body is displaced toward the base work area, it is possible to correct the position as quickly as possible by avoiding intrusion of the vehicle body into the base work area by steering operation in a largely inclined direction.

In the present invention, it is preferable that the vehicle body further includes: a straight-ahead running that performs an operation while traveling along the target travel route; and a turning travel which is turned toward a next-time target travel route parallel to the target travel route at an end position of the target travel route And alternately,

Wherein the control means controls the position of the vehicle body so that the vehicle body is inclined to the target movement path side more greatly than the state in which the vehicle body is displaced toward the base work region when the vehicle body is displaced toward the non- Thereby setting the inclination target azimuth.

According to this configuration, the vehicle body travels so as to alternately repeat the straight traveling and the turning travel, and performs the work while traveling straight. When performing the positional deviation correcting process in a state where the vehicle body is displaced toward the non-work area, the inclination relative to the reference target azimuth of the oblique target direction is made larger than the state where the position shift is made toward the base work area.

There is a working crop in the unworked area, and therefore it is necessary to avoid invasion of the vehicle body into the unworked area. Thus, when the vehicle body is displaced toward the non-work area, it is possible to correct the position as quickly as possible by avoiding intrusion of the vehicle body into the non-work area by steering in a largely inclined direction.

In the present invention, it is preferable that the vehicle body further includes: a straight-ahead running that performs an operation while traveling along the target travel route; and a turning travel which is turned toward a next-time target travel route parallel to the target travel route at an end position of the target travel route And alternately,

It is preferable that the control means does not execute the positional deviation correcting process until a predetermined discrimination condition is established immediately after the vehicle body starts the straight running after the turning operation.

Immediately after the straight running after turning and traveling, the running state may not be stable, and the vehicle body may be shifted sideways from the target traveling path. As a result, immediately after the start of the straight run, it can not be said that the vehicle body can immediately travel on the target travel route in a stable state.

Therefore, in this configuration, since the positional deviation correcting process is not executed until a predetermined discrimination condition is established immediately after the straight running operation is started, an unnecessary steering operation can be avoided. As the predetermined discrimination conditions, various conditions may be considered, such as, for example, that the set time elapses after turning, that the set distance travels, and that the bearing of the vehicle body approaches the predetermined bearing. In short, this is a condition for stabilizing the running state.

In the present invention,

A manual steering operating member for instructing a change in the traveling direction of the vehicle body based on a manual operation and a manual operation detecting means for detecting that manual operation has been performed on the manual steering operating member,

It is preferable that, when the manual operation is detected by the manual operation detection means, the control means reduces the operation force when the steering operation means is operated in the automatic steering control.

According to this configuration, the steering direction of the vehicle body can be changed by operating the steering operation means by manual operation. When the manual operation is detected by the manual operation detection means, the control means reduces the operation force when operating the steering operation means in the automatic steering control.

As a result, it is possible to operate the steering operation means by manual operation in preference to the automatic steering control. For example, when there is a possibility of contact with an obstacle, It is possible to avoid contact with the obstacle by the steering operation by the above-mentioned steering mechanism.

According to the present invention, when the manual operation is detected by the manual operation detection means, the control means reduces the operation force and reduces the operation force even if the manual operation by the manual operation detection means is not detected It is appropriate to maintain the state.

According to this configuration, once the manual operation is detected and the operation force of the steering operation means is reduced, the state is maintained even if the manual operation is not performed. Therefore, if the manual operation is repeatedly performed intermittently, So that the usability is good.

According to the present invention, when the manual operation is detected by the manual operation detection means, the control means reduces the operation force, and when the manual operation by the manual operation detection means is not detected, It is suitable to return to size.

According to this configuration, when the manual operation is detected and the operation force of the steering operation means is reduced and then the manual operation is not performed, the operation force of the steering operation means is restored to the original state. Thus, only one manual operation is performed, The automatic steering control is continuously performed, so that the usability is good.

In the present invention, there is provided a manual steering operating member for instructing a change in the traveling direction of the vehicle body based on a manual operation, and a manual operation detecting means for detecting that manual operation has been performed on the manual steering operating member,

The control means is suitable for stopping the automatic steering control when the change instruction by the manual steering operating member is continuously commanded for a set time or more.

According to this configuration, when a manual operation is performed over a long period of time longer than the set time, it is determined that there is an intention to continue steering operation by manual operation, and the automatic steering control is stopped. As a result, there is no operation in the direction opposite to the intention of the manual operator accompanied by the automatic steering control, and manual operation becomes easy.

In the present invention, there is provided a manual steering operating member for instructing a change in the traveling direction of the vehicle body based on a manual operation, and a manual operation detecting means for detecting that manual operation has been performed on the manual steering operating member,

Wherein the control means stops the automatic steering control when the manual operation is detected by the manual operation detecting means and controls the operation of the steering operation means so as to be in the running state corresponding to the change command by the manual- It is appropriate to execute the assist control.

According to this configuration, the steering direction of the vehicle body can be changed by operating the steering operation means by manual operation. When the manual operation is detected by the manual operation detecting means, the control means stops the automatic steering control and executes the assist control. That is, the steering operation means is operated so as to become the steering state corresponding to the change command by the manual steering operating member.

Therefore, when the steering operation by the manual operation is performed, the steering operation means is operated in the direction intended by the manual operation, so that the manual operation can be performed easily in a state in which the operation load is small.

In the present invention, it is preferable that the position detecting means is a satellite positioning unit which receives the radio wave from the satellite and detects the position of the vehicle body.

According to this configuration, the position of the vehicle body can be detected by receiving the radio wave from the satellite, for example, by a satellite positioning unit such as a GPS, and the absolute position on the earth can be measured. Therefore, the position of the work vehicle in the package can be detected with high accuracy.

[4] The solution to the problem [4] is as follows.

A feature of the present invention is to provide a traveling vehicle capable of switching between automatic traveling by manual steering and automatic traveling by automatic steering along a setting traveling line set in parallel with a reference traveling line, And a time point setting section for setting the plane position of the traveling vehicle at the time point when the switching from the manual traveling to the automatic traveling is performed by the changeover switch as the starting point of the setting traveling line It is on.

According to the present invention, the point of time can be set by the viewpoint setting section as the point of time of the setting travel line only by performing the switching operation from the manual travel to the automatic travel by the changeover switch, The set travel line can freely be set to a desired position.

Further, since the setting operation of the set running line is an operation of switching the change-over switch from the manual running to the automatic running, the driver becomes automatic running after the changeover operation of the changeover switch, and the burden on the driver can be reduced .

In the present invention, the change-over switch is provided in a speed-changing operation port for swinging along the longitudinal direction of the running vehicle, and the operating direction of the changing-over switch is suitably set along the left-right direction of the running vehicle .

According to this configuration, since the changeover switch is provided in the shift operating member, the changeover switch can be operated while the shift operating member is held in a handed state. Thus, It is possible to operate the changeover switch efficiently.

Further, since the operating direction (front-rear direction) of the shift operating element differs from the operating direction (lateral direction) of the change-over switch, it is easy to prevent the other erroneous operation when operating either the shift operating element or the changeover switch.

In the present invention, it is preferable to include a displacement switch for displacing the set travel line in parallel.

According to this configuration, even during the automatic running along the set running line, the set running line can be displaced in parallel by operating the displacement switch.

Therefore, while the driver is watching the package condition (for example, the undulation of the package or the simulated food portion in the path of the adjacent food part) during the automatic running, for example, the side close to the adjacent set travel line So that the setting travel line can be displaced in parallel by shifting the set travel line to the automatic stop position.

Therefore, it is possible to carry out the agriculture work well matched to the situation of the packaging.

In the present invention, it is preferable that the displacement switch be used as the instruction switch capable of inputting the plane position of the traveling vehicle into the recording section in the manual traveling when setting the reference traveling line.

According to this configuration, since the instruction switch used for setting the reference travel line can also be used as the displacement switch, the number of switches is reduced, and for example, the switch panel can be easily configured.

In the present invention, it is preferable that the displacement switch includes a displacement switch for a right displacement which displaces the set travel line to the right side and a displacement switch for a displacement for the left which displaces the set travel line to the left, at different positions Do.

According to this configuration, since the right displacement switch and the left displacement switch are provided and are provided at different positions, it is difficult to erroneously operate, and the traveling vehicle can be accurately displaced in an intended direction .

In the present invention, it is preferable that the right displacement switch is provided on the right side with respect to the front of the traveling vehicle, as compared with the displacement switch for the left displacement.

According to this configuration, since the displacement switch for the right displacement is disposed on the right side and the displacement switch for displacement for the left side is disposed on the left side in the relative positional relationship between the displacement switch for the right displacement and the displacement switch for the left displacement, The direction in which the displacement is made coincides with the arrangement in the left and right direction of the corresponding displacement switch, thereby making it easier to prevent erroneous operation.

As a result, the displacement operation of the set running line can be performed more accurately.

It is preferable in the present invention to include an operation canceling unit which does not reflect an initial predetermined number of operations during the operation of the displacement switch in the displacement control of the set travel line.

According to this configuration, even if the switch is in contact with the displacement switch by mistake, for example, if the number of operations is within a predetermined number of times set by the operation canceling section, it is not reflected in the displacement control of the set travel line, Can be prevented.

Therefore, more accurate running control can be performed in accordance with the operation intention of the driver.

Incidentally, when the number of operations of the displacement switch exceeds a predetermined number set by the operation canceling unit, the displacement operation in the intended direction is reflected, and the set running line can be displaced in the indicated direction.

In the present invention, when the displacement switch is operated, if the operation canceling unit does not reflect the operation of the displacement switch to the displacement control of the set travel line until the set time elapses from the operation of the displacement switch Suitable.

According to this configuration, for example, even when the displacement switch is to be operated only once, and the mistakenly turned on operation is continuously performed a plurality of times, the elapsed time from the first operation is set in the operation canceling section The second and subsequent operations are not reflected in the displacement control of the set travel line, so that malfunctioning can be prevented.

Therefore, more accurate running control can be performed in accordance with the operation intention of the driver.

Incidentally, if the operation elapsed time of the displacement switch exceeds the predetermined time set by the operation canceling section, the next switch operation is reflected in the displacement control, and the set running line can be displaced in the indicated direction.

In the present invention, when the displacement switch is operated, the operation of the displacement switch is switched to the set travel state until the traveling vehicle reaches an error area of a predetermined width set around the set travel line after displacement It is preferable to include an operation canceling portion which is not reflected in the displacement control of the line.

According to this configuration, even when the displacement switch is continuously turned on for a plurality of times, for example, when the traveling gas is automatically traveling toward the target setting traveling line set by the first operation, The operation of the displacement switch is not reflected to the displacement control by the operation canceling unit until it reaches the error area of the predetermined width set around the center of the vehicle, so that it is possible to prevent a malfunction or sudden change of the route.

Therefore, more accurate running control can be performed in accordance with the operation intention of the driver.

[5] The solution to the problem [5] is as follows.

A packaging work vehicle according to the present invention includes a traveling vehicle for traveling in a package while changing directions in a baggage area, a packaging work device for performing work on the package, a positioning unit for outputting positioning data indicating the position of the vehicle, An automatic steering unit that automatically steers the traveling vehicle, and a duning detection module that detects that the traveling vehicle has reached the dunnage area based on the vehicle position, Respectively.

According to this configuration, since the positioning data indicating the position of the vehicle is obtained from the positioning unit using the Global Navigation Satellite System (GNSS) or Global Positioning System (GPS), if the position of the rung area is set in advance, , And the buoy detecting module can detect the buoy detecting module and transmit it to the control system of the driver or automatic steering. As a result, it is possible to stably and accurately detect the arrival of the running vehicle in the runway area, which is performed by the driver with visual confirmation, thereby reducing the burden on the driver.

One of the methods for presetting the location of the baggage area is to equip the map data of the package including the baggage area and to set the baggage area in the map data. By matching the packaged map based on the map data with the position of the car obtained from the positioning unit, the position in the package of the packaged work vehicle that travels is calculated in real time. Therefore, it is possible to notify the control system of the automatic steering or the driver when the traveling gas reaches the ditch area. Therefore, in one of the preferred embodiments of the present invention, a package map storage unit for storing the map data of the package is provided, and the baggage detection module performs map matching using the map position data and the map data, It is detected that the gas has reached the above-mentioned dead zone region.

In the actual packaging work by the packaging work vehicle, traveling in a non-work area (working area: generally an area other than the open position of the package) in which work is performed on the packaging, The behavior of the vehicle is different. The behavior of the vehicle includes the behavior of the traveling gas and the behavior of the packaging operation apparatus. Particularly, by detecting the vehicle behavior occurring at the time of entering from the non-bunk zone area to the bunk area and the vehicle behavior occurring at the time of entering the non-bunk area from the bunk area, And the boundary points of the non-boundary regions are obtained. In a typical package, the interval between adjacent boundary points becomes almost equal to the interval of the running locus in the traveling operation, that is, the working width, so that it is possible to estimate the next boundary point from the boundary point obtained at the beginning. Therefore, in one of the preferred embodiments of the present invention, there is provided a vehicle behavior recording unit for recording the behavior of the traveling vehicle or the packing operation apparatus or both thereof as the vehicle behavior in relation to the position of the traveling vehicle, The module detects that the traveling vehicle has reached the floor area on the basis of the vehicle behavior.

Vehicle behavior that occurs when entering from a bog runway area to a runway area, vehicle behavior that occurs when entering a vehicle behavior that occurs when entering a runway area from a runway area, and entry into a runway area from a runway area The vehicle behavior that occurs at the time of the operation differs depending on the type of the packaging work vehicle and the work contents. In the work of vegetable work or sowing work by the plowing period, tillage work by the tractor, cutting by the combine harvesting work, there are two common vehicle behaviors: work start and stop work of the paving work apparatus, The shift to the working position, and the start and stop of the changeover travel of the traveling vehicle. Therefore, in one of the preferred embodiments of the present invention, the vehicle behavior recording section records the operation start and the operation stop of the packaging operation apparatus as the vehicle behavior. In another embodiment, the vehicle behavior recording section records, as the vehicle behavior, the transition to the work position and the transition to the non-work position of the packing work apparatus. In another embodiment, the vehicle behavior recording section records the start and stop of the direction switching travel of the traveling vehicle as the vehicle behavior. Of course, these embodiments may be arbitrarily combined and applied.

In addition, the boundary points between the non-boundary region and the boundary region may be artificially determined. Therefore, in one of the embodiments of the present invention, there is provided a traveling mode switching operation section that is artificially operated at the time of transition between traveling (traveling in a rowing road running mode) of the baggage area and traveling (traveling in a non- And the vehicle behavior recording section records the operation of the traveling mode switching operation means as the vehicle behavior.

As described above, once the boundary between the non-roadside region and the roadside region is determined based on the vehicle behavior, it is possible to estimate the boundary between the non-roadside region and the roadside region thereafter, In one aspect, the slug detecting module has a slug estimator for estimating arrival timing of the running vehicle to the slug area next time from the vehicle behavior in the adjacent previous work traveling path. This makes it possible to estimate the approach state to the rung area during running of the non-run area, and to perform appropriate and necessary control before or after reaching the run area.

For example, when an access notification command for notifying access to the floor area is output before the reaching timing estimated by the flooring estimating unit, the driver can perform an operation or confirmation to be performed in the flooring area with margin have. An embodiment may also be adopted in which a deceleration command for decelerating the traveling vehicle before the arrival timing estimated by the dead space estimation unit is output in order to avoid a problem associated with an unexpected approach to the traveling area of the traveling vehicle . In addition, in response to the arrival timing estimated by the run-length estimating section and the embodiment in which the vehicle stop command for stopping the running vehicle is output when traveling by a predetermined distance from the arrival timing estimated by the run-length estimating section, It is also possible to adopt an embodiment in which a vehicle stop command for stopping the vehicle is outputted.

A completely different steering is carried out in the running in the non-bunch area and in the running in the bunch area in which the turning is performed. For this reason, how to carry out the two different traveling by automatic steering or manual steering also depends on the kind of the packaging work vehicle, the kind of the packaging work, the skill of the driver, and the like. Therefore, in one preferred embodiment of the present invention, there is provided a steering mode management unit for managing an in-wheel steering mode in which an artificial steering by the artificial steering unit is performed and an automatic steering mode in which an automatic steering operation is performed by the automatic steering unit . In this configuration, if an appropriate algorithm is built in advance, automatic steering and artificial steering can be appropriately allocated according to the driving situation and the surrounding situation.

For example, when it is technically burdensome to automatically perform the steering of the turning steering, the steering mode management unit selects the in-steering mode in the toe-width region and selects the automatic steering mode other than the toe- Can be adopted.

In addition, when the automatic steering and the induction steering are flexibly applied, an embodiment in which the automatic steering mode and the steering mode switching operation means for artificially selecting the artificial steering mode are provided.

In a positioning unit using radio waves from a satellite such as GNSS or GPS, when positioning is impossible due to deterioration of the reception state, positioning data can not be obtained. Therefore, in a preferred embodiment of the present invention, the traveling distance calculating section for calculating the traveling distance based on the number of rotations of the wheel is provided, and when the positioning unit is inoperable, the traveling distance calculating section And detects that the traveling vehicle has reached the stowage area on the basis of the traveling distance calculated by the traveling distance calculating unit. Thus, even when the positioning unit is temporarily disabled, it is detected that the traveling gas has reached the floor area. At that time, when it is detected that the travel distance calculating section has reached the runout area by the operation failure of the positioning unit, the traveling vehicle may be stopped at that point.

In particular, when the vehicle travels with automatic steering, it is difficult for the control system of the automatic steering to travel while grasping various situations of the vehicle. One of the important vehicle situations in running on the package is the attitude of the traveling gas. The attitude of the traveling gas is substantially determined by the inclination with respect to the ground of the traveling gas. Particularly, a pitching angle or a rolling angle which is equal to or larger than a predetermined value adversely affects running. Therefore, in one of the preferred embodiments of the present invention, an attitude determination unit that determines the attitude of the traveling vehicle is provided, and when the attitude deviates from a predetermined condition, a braking command for decelerating or stopping the traveling vehicle Or a deceleration command is included).

Other features and advantageous effects to be exhibited in the future will be apparent from the following description with reference to the accompanying drawings.

Fig. 1 is a view showing a first embodiment (hereinafter, the same applies to Fig. 8), and is a side view showing a rice plant as an example of a work vehicle.
Fig. 2 is a top view showing a rice plant.
Fig. 3 is a front view showing a rice-growing season.
4 is a schematic diagram schematically showing the steering unit.
5 is a block diagram showing a control configuration relating to automatic steering control.
6 is an explanatory diagram viewed from the top to explain the operation of the automatic steering control.
Fig. 7 is an explanatory diagram viewed from the top to explain generation of a target line and the like.
8 is a side view showing another embodiment.
Fig. 9 is a view showing a second embodiment of the present invention (hereinafter the same as Fig. 22), and is a left side view showing the whole of a passenger-type reverberation machine in the lower stage preliminary receiver device in the second state.
10 is a left side view showing the whole of a passenger-type reverberation machine in a first state of the preliminary water receiving apparatus at the lower stage.
Fig. 11 is a plan view showing the entire passenger-type reverberation machine in the second state in the lower stage preliminary receiver. Fig.
12 is a front view of the running vehicle.
13 is a left side view showing the rear portion of the preliminary moisture collecting apparatus in the lower left of the second state.
14 is a front view showing the rear guard.
15 is a perspective view showing the rear guard.
16 is a perspective view showing an upper end side portion of the mother board.
17 is a longitudinal sectional view showing the partition plate.
Fig. 18 is a left side view showing a handrail provided with the second embodiment. Fig.
Fig. 19 is a left side view showing a handrail provided with the third embodiment. Fig.
20 is a left side view showing a rear guard having a first alternative embodiment.
21 is a front view showing a rear guard having a second alternative embodiment.
22 is a front view showing a rear guard having a third alternative embodiment;
Fig. 23 is a view showing the third embodiment (this is the same as in Fig. 32), and is an overall side view of a rice cooker as an example of a work vehicle.
Fig. 24 is a whole plan view of a rice miller.
25 is a front view of a rice miller.
26 is a view showing the steering unit.
27 is a block diagram showing a control configuration.
Fig. 28 is an explanatory view seen from a plane in the entire rice field explaining the operation of the automatic steering control. Fig.
Fig. 29 is an explanatory view seen from a plane view of a rice cooker for explaining the operation of the automatic steering control. Fig.
FIG. 30 is an explanatory view seen from a plane view of the rice cooker for explaining the operation of the automatic steering control.
Fig. 31 is an explanatory view seen from the plane of a rice-cooker for explaining the operation of the automatic steering control. Fig.
Fig. 32 is an explanatory view in plan view of a rice milling machine for explaining the operation of the automatic steering control. Fig.
Fig. 33 is a view showing a fourth embodiment (this is the same as in Fig. 42), and is a side view showing a rice-growing machine as an example of an agricultural machine or agricultural machine.
Fig. 34 is a top view showing a rice miller.
35 is a schematic diagram schematically showing the steering unit.
36 is a block diagram showing a control configuration relating to automatic steering control.
37 is a top view showing the periphery of the meter panel.
Fig. 38 is an explanatory diagram viewed from the upper surface for explaining generation of a running line and the like.
Fig. 39 is an explanatory diagram viewed from the upper surface for explaining the parallel displacement operation of the set running line. Fig.
40 is a flowchart of the parallel displacement control of the set running line.
41 is a block diagram showing a control configuration relating to automatic steering control according to another embodiment.
Fig. 42 is an explanatory diagram viewed from the upper side for explaining the parallel displacement operation of the set running line of another embodiment. Fig.
Fig. 43 is a schematic diagram for explaining the basic principle of vehicle control adopted in the packaging operation vehicle (Fig. 49).
44 is a schematic diagram for explaining the basic principle of vehicle control employed in the packaging operation vehicle.
45 is a side view of a rice miller, which is one embodiment of the packaging work vehicle.
46 is a plan view of a rice miller, which is one embodiment of the packaging work vehicle.
Fig. 47 is a schematic diagram showing a fishing system of the herbaceous period; Fig.
Fig. 48 is a functional block diagram showing the function related to the travel control of the herbivore;
49 is an explanatory view showing an example of recorded vehicle behavior.

[First Embodiment]

As shown in Figs. 1 to 3, a passenger-type rearing machine (an example of a " work car "), which is a working oiler of a farming work vehicle, includes a traveling vehicle C having a traveling device A, And a work device for performing work. The working device of the pasturing machine is a food processing device (W) capable of simulated food packaging. The arrow F shown in Fig. 2 indicates the front of the traveling body C, the arrow B indicates the rear of the traveling body C, the arrow L indicates the left side of the traveling body C, (C).

As shown in Fig. 1, the traveling device A is provided with a pair of left and right front wheels 10 and a pair of left and right rear wheels 11. The traveling base C is provided with a steering unit U capable of steering the left and right front wheels 10 of the traveling device A. [

As shown in Figs. 1 to 3, a retractable bonnet 12 is provided on the front portion of the running vehicle C. In the bonnet 12, an engine 13 is provided. A center mascot 14 of a bar shape for confirming the index line LN (see Fig. 6) is provided at the tip end position of the bonnet 12. As shown in Figs. 1 and 3, the traveling base body C is provided with a frame-shaped base frame 15 extending in the front-rear direction. On the front portion of the base frame 15, a support frame 16 stands upright.

[Regarding the molding unit]

As shown in Fig. 1, the molding apparatus W is connected to the rear end of the traveling base C via a link mechanism 21 which is operated to move up and down by the expansion and contraction operation of the lifting cylinder 20 constituted by the hydraulic cylinder And is vertically connected.

As shown in Figs. 1 and 2, the drive unit W includes four transmission cases 22, a rotary case 23 rotatably supported on the left side portion and the right side portion of the rear portion of each transmission case 22, A pair of rotary type food arms 24 provided at both ends of each rotary case 23, a plurality of stop floats 25 for stopping the rice paddy of the package, 26 and the like. In other words, the molding apparatus W is composed of an eight-compartment type.

The drive unit W thus configured rotatably drives each rotary case 23 by the power transmitted from the transmission case 22 while driving the forehead support 26 to reciprocate right and left in a reciprocating manner, Are taken out from the bottom of the stand 26 alternately by the food arms 24 and fed into the rice paddy of the package.

[For preliminary loading platform]

1 to 3, on the right and left sides of the bonnet 12 in the running vehicle C, a plurality of (for example, four (One example of the " preliminary loading zone ") of the preliminary preliminary loading table 28, one rail preliminary loading table 29 (one example of the " preliminary loading table " Stacking table ") is provided. A left and a right pair of preliminary frames 30 (a pair of left and right frames) 30 for supporting the respective normal preliminary stage 28 and the rail-like preliminary stage 29 are provided on left and right sides of the bonnet 12 of the running vehicle C. [ And a connection frame 31 which is connected to the left and right pre-mother frames 30 over the upper part thereof. The connecting frame 31 is U-shaped when viewed from the front. The left and right ends of the connecting frame 31 are respectively connected to the upper portions of the left and right preliminary frames 30 through the connecting brackets 32.

[About marker device]

As shown in Fig. 1, markers 33 for forming index lines LN (see Figs. 6 and 7) are provided on the paddy field of the packaging, respectively, on the left and right sides of the cart W have. The marker devices 33 on the left and right respectively have an operating posture in which the ground line LN is formed on the rice paddy bottom of the package in accordance with the traveling of the traveling gas C by grounding on the paddy field of the package, And is structured so as to be operable in a spaced storage position.

As shown in Fig. 1, the left and right marker devices 33 are each provided with a marker arm 34 which is supported by the frame W so as to be vertically swingable, And a rotating body 35 having a plurality of convex portions in a circumferential direction supported by the rotating body 35. Further, a marker electric motor (not shown) for operating the left and right marker devices 33 in the working posture and the storage posture is provided. Each marker device 33 is placed in the operative posture so that the rotating body 35 rolls on the ground due to steering of the traveling carrier C and the index line LN (See FIG.

[About the operating section]

As shown in Figs. 1 to 3, at the central portion of the running vehicle C, there is provided an operation section 40 in which various driving operations are performed. The operation section 40 is provided with a steering wheel 43 which is constituted by a driver's seat 41 capable of being seated, a steering column 42, a manual steering operation steering wheel of the front wheel 10, And a main speed-change lever 44, an operation lever 45, and the like that can change the speed of travel. The driving seat (41) is provided at the center of the traveling base (C). A steering wheel 43, a main speed change lever 44, an operation lever 45, and the like are operably provided on the steering column 42. A boarding step 46 is provided at the feet of the operation section 40. At the left and right outer positions of the boarding step 46, auxiliary steps 47 are provided. On both right and left sides of the bonnet 12, an elevating step 48 is provided as a raising and lowering passageway leading to the boarding step 46 without a step. Left and right preliminary frames 30 are disposed on the lateral outer side of the elevating step 48. [

[For operation lever]

The operation lever 45 shown in Figs. 2 and 3 is provided on the right side of the lower side of the steering handle 43. Fig. Although not shown in detail, the operation lever 45 is configured to be operable in a crosswise direction from a neutral position to an upwardly upward position, a downwardly downward position, a rearward right marker position, and a front leftward marker position, And pressurized.

When the operation lever 45 is operated to the raised position, the food part clutch (not shown) is operated to the cut-off state to raise the food processor W and the left and right marker devices 33 Is manipulated in the posture. When the operation lever 45 is operated to the lowered position, the food part clutch (not shown) is operated to the cut-off state, and the left and right marker devices 33 are operated in the retracted position, When the center stationary float 25 is grounded to the rice paddy floor of the package, the feed unit W is grounded to the rice paddy floor of the package and is in a stopped state.

When the operation lever 45 is operated to the right marker position, the marker device 33 on the right side is changed from the retracted position to the operative position. When the operation lever 45 is operated to the left marker position, the marker device 33 on the left side is changed from the retracted position to the operative position.

A push operation type automatic steering switch 50 (see FIG. 5) is provided on the steering column 42 of the operation section 40. The automatic steering switch 50 is configured to be capable of performing an on / off switching operation of the automatic steering of the steering unit (U). 5) for registering the teaching direction TA (see Fig. 6) used for the automatic steering control of the steering unit U is provided in the main speed change lever 44 . The registration switch 52 is provided with a push operation type first registration button 52A and a push operation type second registration button 52B.

[About Steering Unit]

4, the steering unit U is provided with the above-described steering handle 43, a steering operation shaft 54 connected to the steering handle 43 in conjunction with rotation of the steering operation shaft 54, A pivoting arm 55 that pivots, a linking mechanism 56 that is connected to the pitman arm 55 in a linking manner, a steering motor 58, a gear that connects the steering motor 58 to the steering operation shaft 54 A mechanism 57 and the like.

The steering operation shaft 54 is connected to the left and right front wheels 10 through the pitman arm 55 and the left and right coupling mechanisms 56, respectively. The amount of rotation of the steering operation shaft 54 is detected by a steering angle sensor 60 (see Fig. 5) formed of a rotary encoder provided at the lower end of the steering operation shaft 54. [

When the steering unit U is manually steered, an assist force is applied to the steering force for operating the steering handle 43 by the driver in accordance with the operation of the steering handle 43 by the steering motor 58, The steering angle of the front wheel 10 is changed by rotating the steering wheel 54. On the other hand, when the steering unit U is to be automatically steered, the steering motor 58 is driven to rotate the steering operation shaft 54 by the driving force of the steering motor 58, So as to change the steering angle.

[Regarding the measuring unit having the receiving device and the inertial measuring device]

1 to 3 and 5, the running vehicle C is provided with a receiving device 63 for obtaining positional information by a satellite positioning system and a receiving device 63 for mainly obtaining information on the inclination (pitch angle, A measurement unit 61 having a inertial measurement device 64 capable of detecting a roll angle and a main inertial measurement device 62 measuring inertial information (equivalent to an inertial measurement device) are provided.

Each of the main inertial measurement device 62 and the inertial measurement device 64 is constituted by an IMU (Inertial Measurement Unit).

The measuring unit 61 having the receiving device 63 and the inertial measuring device 64 and the main inertial measuring device 62 are disposed at different positions in the traveling base C. [ The measuring unit 61 having the receiving device 63 and the inertial measuring device 64 and the main inertial measuring device 62 are disposed on the left and right center lines CL of the traveling base C .

A GPS (Global Positioning System) is a typical example of the above-described Global Navigation Satellite System (GNSS). The GPS can be realized by using a plurality of GPS satellites or a receiving station 63 which is equipped with a tracking station and a controlling station for GPS satellite or a positioning target (traveling vehicle C) (63) is measured. The receiving device 63 is used for obtaining the positional information of the traveling vehicle C by the satellite positioning system.

1 to 3, the measuring unit 61 having the receiving device 63 is provided on the connecting frame 31 through a plate-like supporting plate 65. [ The measuring unit 61 having the receiving device 63 is disposed at the front position of the running vehicle C (in particular, the front side of the front wheel 10). Therefore, when the traveling vehicle C changes its traveling direction, the amount of displacement of the traveling vehicle C in the lateral direction is larger than that in the rearward position of the traveling vehicle C, It is possible to detect a change in the magnetic position (NM) of the traveling base body (C) acquired by the sensor (63) with high sensitivity.

3 and 4, the connection frame 31 includes a use state S1 in which the measurement unit 61 having the reception device 63 is located above the upper end of the preliminary parent frame 30, The receiving device 63 is vertically reversed with respect to the frame S1 to change the state to the retracted state S2 in which the receiving device 63 is located below the upper end of the preliminary parent frame 30. [ The connection frame 31 is rotatable about the left and right axis X along the left and right directions and is also rotatably supported by the connecting bracket 32 in the respective states of the use state S1 and the retracted state S2 And is supported by the left and right spare frames 30 so as to be positionally fixed.

The receiving device 63 is supported by the connection frame 31 and the preliminary frame 30 at a high position by setting the connection frame 31 in the use state S1 as shown in Figures 1, The receiving device 63 is easily swung due to the warping of the preliminary parent frame 30 and the connecting frame 31 along with the running of the running vehicle C. Thus, It is possible to accurately detect the magnetic position NM and the magnetic azimuth NA of the running vehicle C based on the positional information that is obtained by the calculation. Since the receiving device 63 is located at the highest position in the traveling body C by setting the connecting frame 31 in the use state S1, the reception sensitivity of the radio wave of the receiving device 63 And it becomes difficult for the receiving device 63 to generate a radio wave trouble.

As shown in Figs. 2 and 3, the receiving unit 63 of the measuring unit 61 is provided with a connector 67 for connecting the harness 66 thereto. The connector 67 extends outward in the lateral direction from the receiving device 63 of the measuring unit 61. The harness 66 is laid along the connecting frame 31 and the preliminary frame 30. Further, a guard member 68 for protecting the connector portion 67 is provided. The guard member 68 is provided on the support plate 65. The guard member 68 is adapted to protect the front side of the connector portion 67.

As shown in Fig. 1, the main inertial measuring device 62 is disposed at a position near the center of the longitudinal direction of the entire length of the traveling body C and the table W in the longitudinal direction. The main inertial measuring device 62 is arranged in the vicinity of the turning center of the traveling gas C in the traveling direction (the axis center of the yaw axis of the traveling gas C).

Specifically, a rear axle frame 73 (corresponding to a "mounting member") for rotatably supporting a rear axle 72 for transmitting a driving force to the rear wheels 11 is provided at the rear portion of the running vehicle C Respectively. The rear axle frame 73 is a rigid member located in the vicinity of the rear axle 72 of the traveling device A. [ The main inertial measurement device 62 is provided on this rear axle frame 73.

1 and 2, the main inertial measuring device 62 is located in the vicinity of the molding apparatus W. As shown in Fig. The main inertial measuring device 62 is located on the rear side of the driver's seat 41.

5, the main inertial measuring device 62 mainly includes a gyro sensor 70 capable of detecting the angular velocity of the yaw angle of the traveling base C (the turning angle of the traveling base C) And an acceleration sensor 71 capable of detecting accelerations in orthogonal three-axis directions are provided. In other words, the inertia information measured by the main inertial measuring device 62 includes orientation change information detected by the gyro sensor 70 and position change information detected by the acceleration sensor 71. [ Since the main inertial measuring device 62 is disposed in the vicinity of the turning center in the traveling direction of the traveling body C as described above, the accumulated error of the azimuth change information generated in the gyro sensor 70 is suppressed to be small And the detection accuracy of the position change information by the acceleration sensor 71 is high.

[Regarding control configuration]

As shown in Fig. 5, the running vehicle C is provided with a control device 75 for controlling the automatic steering of the steering unit U. As shown in Fig. The control unit 75 is provided with an information storage unit 76, a teaching memory unit 77, a turning detection unit 78, a start determination unit 79, an information correction unit 80, a traveling vehicle C A state detecting unit 82 for detecting the position of the traveling vehicle C on the basis of the position information and the inertia information so as to cause the traveling vehicle C to travel along the target line LM And a control unit 83 for controlling the steering unit U are provided.

The gyro sensor 70, the acceleration sensor 71, the steering angle sensor 60, and the steering angle sensor 60 in the main inertial measurement device 62 are connected to the control device 75. The reception device 63, the inertial measurement device 64, The automatic steering switch 50, the registration switch 52, and the like.

The information storage unit 76 is configured to store the positional information acquired from the receiving device 63 every time.

The teaching memory 77 is configured to calculate the teaching direction TA based on the operation of the registration switch 52 by using the positional information of the two points in the positional information stored in the information storage 76 have.

The turning detection unit 78 detects the turning of the traveling vehicle C and the turning of the traveling vehicle C based on the steering angle information of the steering operation shaft 54 of the steering unit U input from the steering angle sensor 60 And to detect termination.

The start determination portion 79 is configured to determine whether or not to start the automatic steering control of the traveling vehicle C.

The information correcting unit 80 corrects the accumulated error of the information detected by the gyro sensor 70 among the inertia information measured by the main inertia measuring device 62 every time the automatic steering control of the running vehicle C is started, The correction processing is performed on the basis of the positional information acquired by the reception device 63 and the information measured by the inertia measurement device 64. [

The generating unit 81 is configured to generate the target line LM based on the teaching direction TA and the magnetic position NM and the magnetic azimuth NA at the start of the automatic steering control of the traveling base C .

The state detecting section 82 detects the positional deviation between the magnetic position Cm of the traveling body C and the target line LM during the automatic steering control of the traveling body C, (Deviation angle) between the magnetic orientation NA and the teaching direction TA.

The control unit 83 is configured to control the driving of the steering motor 58 of the steering unit U based on the information input from the state detection unit 82. [

[About automatic steering control]

As an example, a description will be given of a case where simulated food processing is performed in the case of receiving a quadrangle as viewed from the upper surface.

6, first, the traveling base C is positioned at a first position Q1 of a bundle in the package, and the first registration button 52A (see Fig. 5) of the registration switch 52 is moved . The traveling base C is caused to travel straightly along the straight line of the side wall side from the first position Q1 in a state in which the float device W is raised and the stop float 25 is grounded The second registration button 52B (see FIG. 5) of the registration switch 52 is operated. The first position Q1 is obtained from the positional information acquired by the receiving device 63 at the first position Q1 and the positional information acquired by the receiving device 63 at the second position Q2, And the second position (Q2) are generated.

Next, as shown in Fig. 6, the traveling base body C is manually turned by the operation of the steering handle 43. Fig. When the start of turning of the traveling body C is detected by the steering angle sensor 60, the mode unit W, the stop float 25 and the marker unit 33 are automatically lifted from the paddy field of the package. The turning end position Q3 of the traveling body C is detected on the basis of the detection result of the steering angle sensor 60 when the turning of the traveling body C is ended.

Until the predetermined time elapses after the turning end position Q3 of the traveling base C is detected and until the deviation angle between the magnetic orientation NA and the teaching direction TA becomes within the predetermined range, A dead zone which does not accept the operation input of the operation unit 50 is set. That is, while the state of the traveling body C is in the dead zone, the automatic steering control is not started even if the automatic steering switch 50 is operated. The driver manually steers the steering unit U such that the index line LN coincides with the end of the line of sight of the front end of the center mascot 14 while the traveling gas C is in the dead zone, (C) can be aligned.

When the operation input of the automatic steering switch 50 is received and the automatic steering switch 50 is operated when the state of the traveling body C is out of the dead band, And the magnetic azimuth NM and the magnetic azimuth NA of the traveling base body C based on the positional information of the traveling base body C are stored. A linear target line LM parallel to the teaching direction TA is formed from a position spaced a predetermined distance in the direction of the magnetic azimuth NA of the traveling base C from the position where the receiving device 63 is installed. Is generated. At the same time, the information measured by the main inertial measuring device 62 is information indicating the positional information of the magnetic position NM obtained by the receiving device 63 and the positional information of the magnetic position NM obtained by the receiving device 63 Based on the position information and the position information of the immediately preceding position.

6, the indicator line LN formed by the marker device 33 slightly deviates from the target line LM due to the circumstances of the situation. Actually, however, the driver's line of sight is in line with the center line of the center mascot 14 Manual alignment is performed so that the leading edge and the index line LN coincide with each other, so that the target line LM is generated so as to substantially coincide with the index line LN.

At the same time, automatic steering control of the traveling vehicle C based on the main inertial measuring device 62 is started. That is, in the automatic steering control, the main inertia measuring device 62 is mainly used, and the receiving device 63 is used for the correction of the main inertial measuring device 62. More specifically, the magnetic position (NM) and the magnetic azimuth (NA) based on the positional information acquired by the receiving device 63 at the control start position (Q4) Based on position change information obtained by integrating the azimuth change information obtained by integrating the angular velocity measured by the acceleration sensor 70 and the acceleration measured by the acceleration sensor 71 of the main inertial measurement device 62, The current magnetic position NM and the magnetic orientation NA are obtained. The steering unit U is automatically steered so that the current magnetic position NM and the natural direction NA coincide with the target line LM and the teaching direction TA and the automatic steering control of the traveling vehicle C Is performed.

(Deviation distance) between the magnetic position NM and the target line LM without an angular deviation (deviation angle) between the magnetic orientation NA and the teaching direction TA during the automatic steering control of the traveling base C, The steering unit U is not steering-controlled.

(Deviation angle) between the magnetic azimuth NA and the teaching direction TA during the automatic steering control of the traveling base C and the deviation of the distance between the magnetic position NM and the target line LM The steering unit U is steering-controlled in such a direction as to eliminate the angular deviation (deviation angle) between the magnetic azimuth NA and the teaching direction TA.

(Deviation angle) between the magnetic azimuth NA and the teaching direction TA during the automatic steering control of the traveling base C and the deviation of the distance between the magnetic position NM and the target line LM The steering unit U is steering-controlled in such a direction as to eliminate the angular deviation (deviation angle) between the magnetic azimuth NA and the teaching direction TA.

(Deviation angle) between the magnetic orientation NA and the target line LM during the automatic steering control of the traveling base C and the deviation (deviation angle) between the magnetic orientation NA and the target line LM The steering unit U is steering-controlled in such a direction as to eliminate the distance deviation (deviation distance) between the magnetic position NM and the target line LM.

As a result, the traveling vehicle C runs accurately along the target line LM.

Since the position information acquired by the reception device 63 is not essential during the automatic steering control of the traveling vehicle C as described above, for example, during the automatic steering control of the traveling vehicle C, It is possible to continue the automatic steering control of the traveling vehicle C based on the inertia information measured by the main inertia measuring device 62 even when the radio wave interference occurs, Can be accurately performed along the line LM.

When the running vehicle C approaches the runway, the driver operates the automatic steering switch 50 to stop the automatic steering control of the running vehicle C and switch to manual steering. Then, a turning operation is similarly performed in the ladle, and the same operation is repeated to perform simulated food packaging. Thereby, the driver does not have to perform the manual operation of the steering wheel 43 during the simulated part to be packed by the molded article W, and the simulated food work can be performed more accurately and more simply.

[About setting of self position]

7, the receiving device 63 is disposed in the front portion of the traveling base C, but the magnetic position NM serving as a reference of data processing is the actual position of the receiving device 63 But is set at a position near the main inertial measurement device 62. [ The setting of the magnetic position NM as a reference of the data processing is carried out based on the distance to the position at which the receiving device 63 is set to the magnetic position NM and the distance to the position to be the magnetic position NM and based on the receiving device 63 and the main inertial measuring device 62 And is calculated based on the calculated magnetic azimuth (NA). Since it is the molding apparatus W which is intended to travel along the target line LM accurately, by setting the magnetic position NM in the vicinity of the molding apparatus W as described above, The automatic steering control of the traveling vehicle C can be performed so as to run accurately along the line LM.

[Relation between preliminary frame, ordinary preliminary preliminary preliminary preliminary preliminary preliminary preliminary preliminary preliminary preload]

3, the left and right spare frames 30 are each provided with a fixing portion 85 fixed to the supporting frame 16 and a fixing portion 85 extending upward from the fixing portion 85, Is provided with an inclined portion 86 and a vertical portion 87 extending upward from the inclined portion 86. [ That is, the vertical portion 87 of the preliminary mother frame 30 is offset by a predetermined distance D in the left and right inner sides with respect to the fixed portion 85 of the support frame 16 and the preliminary mother frame 30.

As shown in Figs. 1 to 3, the plurality of the preliminary preform racks 28 are arranged in the longitudinal direction 87 of the preform frame 30, And is supported on the preliminary parent frame 30 so as to be swingable about the longitudinal axis Y of inclination. Normally, the preliminary stage 28 is configured such that the posture can be changed by the lateral posture E1 and the vertical posture E2.

As shown in Figs. 1 to 3, when the normal preliminary stage 28 is placed in the horizontal posture E1, the loading surface of the preliminary preliminary stage 28 is generally in a horizontal state. On the other hand, when the normal preliminary stage 28 is moved from the horizontal posture E1 to the vertical posture E2, each of the normal preliminary stage 28 is oscillated about the longitudinal axis Y to form a longitudinal direction. This makes the normal preliminary stage 28 of the vertical posture E2 compact in the lateral direction biased toward the vertical portion 87 side of the preliminary mother frame 30.

The rail type preliminary table 29 shown in Figs. 1 to 3 is provided with a front table 88, a central table 89, and a rear table 90. The center stacking table 89 is fixed to the support frame 16 through a pair of support brackets 91. [ The front mounting table 88 is connected to the front end of the center stacking table 89 so as to be swingable about the front horizontal axis P1 along the left and right direction. The rear mounting table 90 is connected to the rear end of the center stacking table 89 so as to be swingable about the rear horizontal axis P2 along the left and right direction. As shown in Fig. 1, the rail-type preliminary loading table 29 is configured to be capable of changing the state to the unfolded state F1 and the folded state F2. When the rail type preliminary table 29 is in the unfolded state F1, the front table 88 is deployed toward the front side of the central table 89 with the central table 89 as the center, And the rear loading table 90 is deployed to the rear side of the stand 89. That is, when the rail type preliminary table 29 is in the unfolded state F1, the front table 88, the central table 89, and the rear table 90 are arranged in a back-and-forth order .

1, when the rail-type preliminary mounting table 29 is changed from the unfolded state F1 to the folded state F2, the front lateral abutment P1 located at the front end of the central mounting table 89 The front loading table 88 is pivoted around the center stacking table 89 so that the front loading table 88 is folded and positioned on the upper side of the central loading table 89 and the rear lateral shafts P2 to place the rear stacking table 90 on the upper side of the central stacking table 89. Then, Thereby, the rail-type preliminary loading table 29 can be brought into a compact folded state F2 in the front-rear direction.

As shown in Fig. 1, a plurality of the preliminary preform racks 28 are arranged in a vertical array, and the rail preliminary preform racks 29 are arranged below the lowermost conventional preliminary stage 28 .

1 to 3, the vertical portion 87 of the preliminary frame 30 is fixed to the fixing frame 85 of the support frame 16 and the preliminary frame 30, The vertical posture E2 in a compact state in the left and right direction shifted toward the vertical portion 87 side of the preliminary parent frame 30 by a plurality of the preliminary preform frames 28 is offset inward by a predetermined distance D, It is possible to offset the rail type preliminary stage 29 from the preliminary stage frame 30 or the ordinary preliminary stage 28 without interfering with the rail type preliminary stage 29. [ To the folded state (F2). Since the plurality of the preliminary preform racks 28 are offset from each other in the left and right inward directions, it is possible to offset the left and right outer sides of the traveling preform racks 29, Can be made small in the left-right width.

[Other embodiments of the first embodiment]

Hereinafter, another embodiment of the first embodiment will be described. Each of the other embodiments described below may be applied to the above-described embodiment in combination with each other as long as no contradiction occurs. The scope of the present invention is not limited to the contents of these embodiments.

(1) In the above embodiment, mainly, the automatic steering control of the traveling vehicle C is performed based on the inertia information measured by the main inertia measuring device 62, and the inertia measured by the main inertia measuring device 62 The information is corrected based on the positional information acquired by the receiving device 63, but the present invention is not limited to this. For example, mainly, the automatic steering control of the traveling vehicle C is performed based on the positional information acquired by the receiving device 63, and the positional information acquired by the receiving device 63 is transmitted to the main inertial measuring device ( 62 based on the inertia information measured by the inertia sensor.

(2) In the above embodiment, the connecting frame 31 is rotatable around the left and right axis X along the left and right directions, and is positionally fixed in the use state S1 and the retracted state S2. It is exemplified that it is supported on the preliminary parent frame 30, but the present invention is not limited to this. For example, it may be detachable with respect to the left and right spare frames 30. In this case, the connection frame 31 in the use state S1 is detached from the preliminary parent frame 30, is vertically inverted, and is installed again on the preliminary parent frame 30, S2).

(3) In the above embodiment, it is exemplified that the receiving apparatus 63 is fixed at a certain position, but the present invention is not limited to this. For example, as shown in Fig. 8, on the rail member 100 which is fixed to the preliminary frame 30 and extends along the front-rear direction of the traveling base C, The receiving apparatus 63 may be arranged. This allows the receiving apparatus 63 to move between two points on the rail member 100 so that the magnetic azimuth NA of the traveling base C and the direction Based on the position information of the two points acquired by the position information acquiring unit.

(4) In the above embodiment, it is exemplified that only one receiving apparatus 63 is provided, but the present invention is not limited to this. For example, two or more receiving apparatuses 63 may be provided. Thus, even when the running vehicle C is stopped, the running vehicle C can be controlled based on the positional information acquired by one receiving device 63 and the positional information acquired by the other receiving device 63, It is possible to obtain the magnetic orientation (NA)

(5) In the above embodiment, the connector portion 67 extends outward in the lateral direction from the side portion of the receiving device 63, but the present invention is not limited to this. For example, the connector portion 67 extends upward from the upper surface portion of the receiving device 63, extends downward from the lower surface of the receiving device 63, or extends from the front surface portion of the receiving device 63 Or may extend rearward from the rear surface portion of the receiving device 63. [ In this case, it is preferable that a guard member 68 for protecting the connector portion 67 be provided at a position of the connector portion 67 as well.

(6) In the above embodiment, the guard member 68 is provided on the support plate 65, but the present invention is not limited to this. For example, the guard member 68 may be provided in the receiving apparatus 63 itself.

(7) In the above embodiment, it is exemplified that the working device is provided with the molding device W, but the present invention is not limited to this. For example, as a working device, a fertilizer device, a medicine spraying device, and the like may be provided in addition to the molding device W.

(8) In addition to the above-mentioned passenger-type reverberation machine having a configuration unit as a working apparatus, the present invention can also be applied to, for example, a passenger- Or a construction work vehicle having a bucket or the like as a work device, and the like.

[Second Embodiment]

The second embodiment will be described below. In the following description, the first to third embodiments of the second embodiment will be referred to as "first embodiment", "second embodiment" and "third embodiment", respectively.

[Example 1]

Fig. 9 is a left side view showing the whole of the passenger type rice elevator having the preliminary moisture receiving apparatus 150 at the lower stage in the second state. Fig. 11 is a plan view showing the entire passenger-type bower for the premiere receiving apparatus 150 at the lower stage in the second state. The direction of [F] in Figs. 9 and 11 is referred to as the direction of [front side] and the direction of [B] of the running vehicle body 104 to the direction of the running vehicle body 104 The left direction of the vehicle body 104 and the direction of [R] are defined as the [right side] of the vehicle body 104. [

As shown in Figs. 9 and 11, a vehicle body 104 having a pair of left and right front wheels 102 and a pair of right and left rear wheels 103 is provided below the vehicle body frame 101 have. A driving portion 106 having an engine 105 is provided in the front portion of the vehicle body 104. [ The running vehicle body 104 is driven by the driving force transmitted from the engine 105 to the transmission device 107 so that the front wheel 102 is driven and the mission 107 and the rotary shaft 108 The rear wheel 103 is often driven by a driving force transmitted to the rear wheel drive case 109 through the rear wheel 103. [ On the rear side of the vehicle body 104, a ride-type operation unit 111 having a driver's seat 110 is provided. The traveling vehicle body 104 is of a passenger type so as to ride on the operation section 111 and steer it.

A rear portion of the vehicle body 104 is connected to a configuration unit 120 through a link mechanism 112. [ The link mechanism 112 is supported on the body frame 101 so as to be swingable up and down. The link mechanism 112 is pivoted by the hydraulic cylinder 113 so that the descent operation state in which the ground float 121 is grounded on the packaging surface S and the descent operation state in which the ground float 121 Is raised and lowered over a rising non-working state in which it is raised higher than the packaging surface (S).

9 and 11, the planetary gear unit 120 includes eight planar gear mechanisms 122 arranged in the width direction of the running vehicle body 104 and one planetary gear unit 123 . As shown in Fig. 11, the mother board 123 is provided with eight mother boards 123a for stacking the mother board in a widthwise direction of the running vehicle body 104. In Fig. The fore load unit 123 is reciprocally transported in the transverse direction of the running vehicle body 104 in a state interlocked with the fore and aft movement of the model unit 122. The fore load unit 123 is provided with the fore load unit 123a, .

The passenger-type bower stopper machine performs a scooter operation in which the running vehicle body 104 is run in a state in which the driving-type driving apparatus 120 is lowered to a descending operation state so that the driving-type vehicle 120 can perform a feeding operation.

As shown in Figs. 9 and 11, a receiving device 114 is provided in the front portion of the running vehicle body 104. Fig. The supporting frame 115 of the receiving device 114 is connected to the supporting posts 141 of the left and right preliminary receiving devices 140 and 150 as described later, as shown in Figs. 9, 11 and 12. The receiving device 114 acquires the positional information of the running vehicle 104 by the satellite positioning system and inputs the acquired positional information to the automatic steering control device (not shown) of the running vehicle body 104. [

As shown in Figs. 16 and 17, an extended tray 124 extends from each tray 123a of the tray 123 to extend. A pair of left and right partitioning plates 125 are installed on both lateral ends of the mother board 123 in a standing manner. The left and right partitioning plates 125 at both transverse ends of the mother board 123 correspond to the mother board 123a at the farthest lateral end of the mother board 123 and correspond to the mother board 123a And is provided over the extended tray 124. The left and right partition plates 125 extend from the partition wall portion 123b positioned on the lateral side of the motherboard portion 123a toward the upper side of the mother board 123 and extend from the partition wall portion 123b And protrudes upward from the base 124.

Even when the mother board 123 is being conveyed in the lateral direction, when the mother board 123a on the lateral end of the mother board 123 is loaded with the mat mother board, (123a). In other words, it is possible to avoid spreading the mat shape out of the transverse side end portion of the transverse side end portion 123a in the lateral direction for the lateral transport of the transfixed table 123. In this embodiment, the partition plate 125 is provided only on the fore-and-aft portion 123a on the transverse side end, but it may be provided on all of the forehead portion 123a.

9 and 11, a working step 116 is provided on both lateral sides of the driver's seat 110 and rearward of the driver's seat 110 in the running vehicle body 104 . Handrail 130 is provided on both lateral sides of the operation section 111. [ The left and right side rails 130 stand upright from the elevating step frame as the body part of the running body 104 and the work step frame as the body part of the running body 104. The upper end portion 131 of the left hand side and the right hand side handrail 130 is a portion on the rear side of the elevation opening 111a of the operation portion 111 and is located at a position above the transverse edge portion of the work step 116 have. 9, 11, 14, and 15, a rear guard 117 extending in the lateral direction of the vehicle body 104 is provided behind the driver's seat 110. As shown in Fig. The rear guard 117 is disposed above the rear edge portion of the work step 116. The rear guard 117 is connected to the left side handrail 130 and the right side handrail 130. The left and right handrail 130 can be used when riding in the operation unit 111, falling from the operation unit 111, and when it is located in the work step 116. The rear guard 117 can be used as a railing when it is located in the work step 116. In this embodiment, the fertilizer tank and the fertilizer feeding mechanism of the fertilizer device are not provided behind the driving seat 110, but a fertilizer tank and a fertilizer feeding mechanism may be provided.

As shown in Figs. 9 and 15, a hollow space 200 is formed below the upper end 131 of the left and right handrail 130. The empty space 200 is provided by bending the railing 130 to form a molded tube member.

As shown in Figs. 9, 11, and 12, two pairs of upper and lower stages preliminary receiver units 140 and 150 are provided on both lateral sides of the running vehicle body 104. As shown in Fig. The left and right two-stage preliminary receiver units 140 and 150 are installed in front of the left hand rail 130. And the upper and lower two stages of preliminary bath receiving apparatuses 140 and 150 on the right side are provided in front of the right side handrail 130. [

As shown in Figs. 9 and 12, the preliminary receiving apparatus 140 at the upper left corner is provided with four preliminary loading bosses 142 in the upper and lower stages. The four-stage preliminary stacking table 142 is supported by a pair of post 141 on the front and rear sides. The front support 141 is provided to stand up from the engine support frame of the vehicle body 104 in the upper direction. The post 141 of the rear portion stands up from the elevating step frame of the traveling vehicle body 104 in the upward direction.

The preliminary moisture storage device 140 on the upper right side has the same configuration as the preliminary moisture storage device 140 on the upper left side. The four preliminary mats, which are supplied to the main body unit 120, are arranged in the up-and-down direction of the main body of the vehicle 104 on the left- Can be accommodated.

As shown in Figs. 9, 10, and 11, three preliminary stacking bobbins 151, 152, and 153 are provided in the preliminary shearing apparatus 150 at the lower left. The three preliminary stacking tables 151, 152 and 153 are provided with stacker frames 151a, 152a and 153a and preliminary stacker table bodies 151b, 152b and 153b. The preliminary stage main bodies 151b, 152b, and 153b are held in a fixed state on the stage frames 151a, 152a, and 153a. The two preliminary racks 152, 153 of the three preliminary racks 151, 152, 153 are provided with extension racks 152c, 153c. The extension racks 152c and 153c are slidably supported by the preliminary stage main bodies 152b and 153b and the stacker frames 152a and 153a.

The preliminary stage 151 among the three preliminary stage 151, 152 and 153 is fixed to the front and rear stems 141 by the stage frame 151a so that the stage 151 faces upward And is fixed to the front and rear supports 141. Hereinafter, this preliminary stage 151 is referred to as a fixed preliminary stage 151.

In the preliminary stage 152 among the three preliminary stage 151, 152 and 153, one end of the stage frame 152a is connected to the front end side of the stage frame 151a of the fixed preliminary stage 151 And is rotatably supported by a connecting shaft 154. The preliminary mount table 152 can be pivoted about the fixed preliminary stage 151 with the axis 154a extending in the transverse direction of the vehicle body of the connection shaft 154 as the swing center. Hereinafter, the preliminary stage 152 is referred to as the movable preliminary stage 152 at the front. The mounting posture of the movable preliminary stage 152 at the front can be adjusted by pivoting the movable preliminary stage 152 in front of the fixed preliminary stage 151 as shown in Figs. 9 and 11, the loading posture in which the loading surface of the front movable preliminary table 152 is downwardly overlapped with the stacking surface of the fixed preliminary table 151, And is switched to a use posture in which the mother carrying surface is upward.

In the preliminary stage 153 among the three preliminary stage 151, 152 and 153, the end of the stage frame 153a on the opposite side of the side on which the extension stage 153c is located is fixed to the fixed preliminary stage 153a, And is rotatably supported on a rear end side of the loading frame 151a of the loading frame 151 via a connecting shaft 155. [ The preliminary stage 153 can swing relative to the fixed preliminary stage 151 with the axis 155a extending in the transverse direction of the running vehicle body of the connecting shaft 155 as the swing center. Hereinafter, the preliminary stage 153 is referred to as a movable preliminary stage 153 at the rear. The mounting posture of the movable preliminary loading table 153 is shifted to a position above the fixed preliminary table 151 as shown in Figs. 10 and 12 by pivoting the movable preliminary loading table 153 on the rear side, A storage position in which the front side of the movable preliminary loading table 152 is sequentially stacked on top of one another and the loading side of the rear movable preliminary loading table 153 is downward, It is possible to switch to the operating posture in which the rear surface of the movable preliminary pedestal 153 protrudes from the fixed preliminary pedestal 151 to the rear side of the traveling vehicle body as shown in the drawing and the rear surface of the movable preliminary pedestal 153 is upward.

9 and 11, the mounting posture of the extension stacking table 153c can be adjusted by sliding the extension stacking table 153c in the use posture of the movable mounting table 153 on the rear side, The operating posture protruding rearward from the movable preliminary pedestal 153 along the forward and backward directions of the movable preliminary pedestal 153 on the rear side and the use posture projected inwardly of the movable preliminary pedestal 153 It is possible to switch to the storage position.

As shown in Figs. 10 and 12, the preliminary shearing apparatus 150 on the lower left side is configured by switching the front movable preliminary stage 152 and the rear movable preliminary stage 153 to the retracted position The fixed preliminary pedestal 151, the front movable preliminary pedestal 152 and the rear movable preliminary pedestal 153 are arranged in the up-and-down direction of the running vehicle body 104 to be in a first state .

9 and 11, the preliminary shearing apparatus 150 on the lower left side is configured by switching the front movable preliminary table 152 and the rear movable preliminary table 153 to the use position The fixed preliminary stage 151, the front movable preliminary stage 152 and the rear movable preliminary stage 153 are arranged in the longitudinal direction of the traveling body 104, 151), and a second state in which the movable movable preliminary stage 152 and the movable movable preliminary stage 153 on the front side can be loaded with a mat shape.

As shown in Figs. 11 and 12, the preamplifier receiving apparatus 150 at the lower right end has the same configuration as the preamplifier receiving apparatus 150 at the lower left end. The lower left preliminary receiving apparatus 150 and the lower right preliminary receiving apparatus 150 are switched to the second state so that the preliminary receiving apparatus 150 at the lower left and the preliminary receiving apparatus 150 at the lower right, The three sets of preliminary mats, which are supplied to the molding apparatus 120, in the front-rear direction of the vehicle body 104,

9, 11, and 13, the preliminary moisture collecting apparatus 150 in the left lower end and the preliminary moisture receiving apparatus 150 in the lower right end are placed in the second state The extended stacking table 153c and the rear portion of the standby rack main body 151b of the movable standby rack 153 in the rear side can be moved rearward The rear end side portion 153r of the movable preliminary stage 153 (the first preliminary loading stage from the rear) of the movable stage 153 is formed into a hollow space 200, The side portion 153r and the upper end portion 131 overlap. Further, the rear end side portion 153r enters the elevation opening 111a. The rear end side portion 153r can be used as a closing member to close the elevation opening 111a.

As shown in Figs. 9 and 12, in the preliminary transfusing device 140 at the upper left and the preliminary transfusing device 140 at the upper right side, And an inner end thereof is rotatably connected to the front and rear struts 141 via a connecting shaft (not shown). The preliminary stage 142 of the upper and lower stages of the upper and lower stages has a shaft center Y extending in the front-rear direction of the running body of the connecting shaft as a swing center, And is supported so as to be swingable over the lifting use posture in one state and the upwardly retracting posture in the elevated state such as the preliminary table 142 on the upper left side shown in Fig. The front and rear support pillars 141 are formed in a bent state in which the upper portion supporting the upper preliminary moisture storage device 140 is located on the transversely inner side of the running vehicle body than the lower portion supporting the lower preliminary moisture storage device 150 . That is, when the front movable preload rack 152 and the rear movable preload rack 153 are pivoted in the collapsed position and the used posture, the preliminary rack rest 142 is switched to the upstacking posture The movable preliminary stage 152 and the movable stage 153 of the rear movable preliminary stage 153 are moved so that the front movable preliminary stage 152 and the rear movable preliminary stage 153 do not come in contact with each other, It is possible to move backward in the transverse direction of the vehicle.

[Example 2]

Fig. 18 is a left side view showing a portion where a handrail 130 of a passenger-type sewing machine having a second embodiment is disposed. The upper end 131 of the railing 130 has the fixed portion 131a and the movable portion 131b.

The fixed portion 131a is fixed to the body portion of the running vehicle body 104. [ And a support portion 132 is provided at a rear portion of the fixing portion 131a. And the rear end of the movable portion 131b is rotatably connected to the support portion 132 via the connection shaft 133. [ The movable portion 131b is provided with a shaft 133a extending in the transverse direction of the vehicle body of the connecting shaft 133 as a center of swing and is used as a downwardly protruding portion extending forward from the fixed portion 131a as indicated by a solid line in Fig. As shown by the two-dot chain line in Fig. 18, in a state of being housed in the rear portion of the fixing portion 131a.

The movable portion 131b is brought into the closed state in which the front end side portion 131f enters the entrance opening 111a and closes the entrance opening 111a to the front end side portion 131f. The front end portion 131f of the movable portion 131b is protruded forward from the fixed portion 131a and the front end portion 131f of the movable portion 131b is in a state of being lowered, . The portion of the movable portion 131b located on the side of the free end side of the connecting shaft 133 is received and supported by the supporting portion 134 when the movable portion 131b is in the lowering use state and the movable portion 131b is in the lowering use state . When the movable portion 131b is in the upwardly retracted state, the movable portion 131b is located on the rear side of the elevation opening 111a and is in the open state for opening the elevation opening 111a.

The movable portion 131b is released from the closing of the elevation opening 111a by switching the movable portion 131b to the ascending containment state so as to ride on the operation portion 111 while using the fixed portion 131a as a rail, 111). The moving part 131b is switched to the lowering use state other than when the moving part 131b is lowered from the operating part 111 or is lowered from the operating part 111. The moving part 131b is used as a closing member to close the elevating part 111a .

[Example 3]

Fig. 19 is a left side view showing a portion where a handrail 130 of a passenger-type sewing machine having a third embodiment is disposed. The upper end 131 of the railing 130 is provided with a fixed portion 131a and a movable portion 131b.

And a support portion 134 is provided on the support 141 on the rear side of the preliminary moisture storage device 150. [ The front end side portion 131f of the movable portion 131b is received and supported by the support portion 134 so that the front end portion 131f of the movable portion 131b is received in and supported by the support 141 on the rear side when the movable portion 131b is switched to the open state.

[Another embodiment of the second embodiment]

(1) Fig. 20 is a left side view showing a rear guard 117 having a first alternative embodiment. 20, the rear guard 117 provided with the first alternative embodiment has the front guard 131c on the left side and the front and rear legs 131c of the side railing 130 on the right side, And is supported by the leg portion 131c.

(2) Fig. 21 is a front view showing a rear guard 117 having a second alternative embodiment. 21, the rear guard 117 provided with the second alternative embodiment has an upper rear guard 117u also serving as a rear railing, a rear guard 117n at the middle end, and a rear guard (117d).

(3) Fig. 22 is a front view showing a rear guard 117 having a third alternative embodiment. 22, the rear guard 117 having the third alternative embodiment has an upper rear guard 117u, which also serves as a rear railing, a rear guard 117d at the lower end, a pair of left and right side guards 117a, And a plate 118 is provided. The left and right side guard plates 118 are connected to the upper rear guard 117u and the lower rear guard 117d at positions located behind both lateral sides of the driver's seat 110. [

(4) In the above-described embodiment, the three preliminary loading bins 151, 152, and 153 are provided in the preliminary wreck receiving apparatus 150, but the present invention is not limited to three, and two or four It may be carried out by installing more than one preliminary loading rack.

(5) In the above-described embodiment, the movable preliminary stage 152 and the movable preliminary stage 153 on the front side are switched to the stowed position and the used position by swinging. However, The movable preliminary stage 152 and the rear movable preliminary stage 153 are replaced with the fixed preliminary stage 151 and the stanchion 141 so that the preliminary stage 151, 152 and 153 may be arranged in a state in which they are arranged in the vertical direction of the vehicle body and in a state in which they are arranged in the longitudinal direction of the vehicle body. Further, a plurality of preliminary racks are supported by a link mechanism pivotably supported on the racks 141, and a plurality of preliminary racks are arranged in the up-and-down direction of the vehicle body by the rocking operation of the link mechanism, And a state in which they are switched to a state of being arranged in the front-rear direction may be adopted.

(6) In the above-described embodiment, the example in which the preliminary loading bins 151, 152, and 153 are stored is set as the first state of the preliminary moisture-collecting apparatus 150, but a plurality of preliminary loading bids The state in which the traveling vehicle is vertically arranged in a state in which the preliminary simulation load can be accommodated may be configured to be the first state of the preliminary microwave receiving apparatus 150. [

(7) In the above-described embodiment, the extended movable table 153c is provided on the movable movable table 153 on the rear side. However, instead of the extended table 153c, The rear end side of the preliminary stage main body 151b of the stage 153 may enter the empty space 200. [

(8) In the above-described embodiment, the upper stage preliminary receiver apparatus 140 is provided. However, the upper stage preliminary receiver apparatus 140 is not provided, and the first stage and the second stage Only the preliminary moisture collecting apparatus 150 may be installed.

(9) The present invention is not limited to the passenger-type reefer machine to which the feeder unit 120 capable of feeding eight feeders is connected, but may be a feeder unit that performs a feeder unit of less than eight feeders, such as four feeder, six feeder, It can be applied to passenger-type reverberation machines that have more than 8 trillion tanks capable of feeding food. The present invention can also be applied to a passenger-type reverberation machine equipped with a fertilizer tank provided behind the driver's seat 110 and a fertilizer having a fertilizer feeding device.

[Third embodiment]

The third embodiment will be described below. Herein, an example of a working car is explained by taking as an example a passerby type of a passenger car.

As shown in Figs. 23 to 25, the passenger-type reverberation machine includes a pair of left and right front wheels 210 capable of changing direction as a traveling device, and a pair of right and left rear wheels 211 fixed in a direction, (300), and a shaping apparatus (W) as a working apparatus capable of simulating the packaging. The drive unit W is vertically connected to the rear end of the vehicle body 300 through a link mechanism 221 that is operated to move up and down by the expansion and contraction operation of the lifting hydraulic cylinder 220. [

In this embodiment, the arrow F shown in FIG. 24 corresponds to the front side of the running body 300, the arrow B indicates the rear side of the running body 300, the arrow L indicates the left side of the running body 300, And the right side of the vehicle body of the vehicle body 300 is shown.

As shown in Figs. 23 to 25, a retractable bonnet 212 is provided at a front portion of the running vehicle body 300. As shown in Fig. In the bonnet 212, an engine 213 is provided. At the leading end position of the bonnet 212, a bar-shaped center mascot 214 serving as a reference for traveling along an indicator line LN (see Fig. 28) drawn on a package is provided. The traveling vehicle body 300 is provided with a frame-shaped base frame 215 extending in the front-rear direction. A support frame 216 is installed on the front portion of the base frame 215.

23 and 24, the drive unit W is provided with four transmission cases 222, a total of eight rotations supported rotatably on the left and right sides of the rear portion of each transmission case 222, A pair of rotary type food arms 224 provided at both ends of each rotary case 223, a plurality of stop floats 225 for stopping the rice paddy of the package, And a marker device 233 for forming an indicator line LN (see Fig. 28) on the paddy field of the package.

The rotary unit 223 thus configured is rotationally driven by the power transmitted from the transmission case 222 while driving the fore-and-aft table 226 to reciprocate in the horizontal direction, Are taken out from the lower portion of the stand 226 alternately by the food arms 224 and are placed on the rice paddy bottom of the package. Therefore, the molding apparatus W is constituted by an eight-bowl type unit which is molded by the food arm 224 provided in the eight rotary cases 223. Although not described in detail, the marker device 233 is provided on the right and left sides of the molding apparatus W and is grounded on the paddy floor of the packaging to correspond to the next working stroke in association with the running of the driving vehicle 300 And is constructed so as to be operable in an operating posture for forming an indicator line (LN) on the floor of the rice paddy and a storage posture spaced upward from the rice paddy bottom of the package. The posture change of the marker device 233 is performed by an electric motor (not shown).

23 to 25, on the right and left sides of the bonnet 212 in the running vehicle 300, a plurality of (for example, four And a single rail preliminary stacking table 229 capable of stacking preliminary stacks for supply to the stacking units W are provided. Left and right pair of preliminary frames 230 for supporting the respective preliminary preliminary pedestal 228 and the rail preliminary pedestal 229 are provided on left and right sides of the bonnet 212 of the vehicle body 300 And the upper portions of the left and right spare frames 230 are connected to each other by a connection frame 231. [

As shown in Figs. 23 to 25, at the central portion of the vehicle body 300, there is provided an operation portion 240 in which various driving operations are performed. The operating section 240 is provided with a steering handle 243 as a manual steering operating member constituted by a manual steering operation steering wheel of the driver seat 241, a steering column 242, A main speed change lever 244, an operation lever 245, and the like that are capable of changing forward and rearward travel and changing the traveling speed. The driver's seat 241 is provided at the center of the vehicle body 300. A steering wheel 243, a main speed change lever 244, an operation lever 245, and the like are operably provided on the steering column 242. A boarding step 246 is provided at the feet of the operation unit 240. At the left and right outer positions of the boarding step 246, an auxiliary step 247 is provided. The boarding step 246 extends to both the left and right sides of the bonnet 212.

As shown in Figs. 23 to 25, the operation lever 245 is provided on the right side of the lower side of the steering handle 243. Although not shown in detail, the operation lever 245 is configured to be movable in the crosswise direction from the neutral position to the up position, the down position, the right marker position, and the left marker position, respectively, and is pressed to the neutral position .

When the operation lever 245 is operated to the raised position, the electric power to the drive unit is cut off, the drive unit W is raised, and the left and right marker devices 233 (see Fig. 23) . When the operation lever 245 is operated to the lowered position, the apparatus W is lowered and is grounded to the bottom of the rice field. When the operation lever 245 is operated to the right marker position in the lowered state, the marker device 233 on the right side is changed from the retracted position to the operative position. When the operation lever 245 is operated to the left marker position, the marker device 233 on the left side is changed from the retracted position to the operative position.

The driver operates the operation lever 245 to lower the model unit W and starts driving the model unit W to start the model unit work. Then, when stopping the operation of the molding part, the operation lever 245 is operated to raise the molding part W and the electric power to the molding part W is cut off.

A display device 248 capable of displaying various information using a liquid crystal display is provided in the upper portion of the control tower 242 of the operation unit 240. A time point setting switch 249A used for automatic steering control described later is located on the right side of the display device 248 and an end point setting switch 249B is located on the left side of the display device 248. [

At the grip portion of the main speed change lever 244, a push operation type automatic steering switch 250 is provided. The automatic steering switch 250 is provided as an automatic return type, and instructs to switch the on / off state of the automatic steering control each time it is pressed. The automatic steering switch 250 is disposed at a position where it can be pushed by, for example, a thumb while gripping the grip portion of the main speed change lever 244 by hand.

26, the traveling vehicle 300 is provided with a steering unit U capable of steering the left and right front wheels 210. As shown in Fig. The steering unit U is provided with a steering operation shaft 254 linked to the steering handle 243, a pitman arm 255 swinging with the rotation of the steering operation shaft 254, A gear mechanism 257 for interlocking and connecting the steering motor 258 to the steering operation shaft 254, and the like.

The steering operation shaft 254 is connected to the left and right front wheels 210 through the pitman arm 255 and the left and right coupling mechanisms 256 respectively. A steering angle sensor 260 comprising a rotary encoder is provided at the lower end of the steering operation shaft 254 and the steering angle sensor 260 detects the amount of rotation of the steering operation shaft 254. A torque sensor 261 serving as manual operation detecting means for detecting a torque applied to the steering handle 243 is provided in the middle of the steering operation shaft 254. [ For example, when the steering wheel 253 is rotated in a predetermined direction, when the steering wheel 243 is manually operated in a direction opposite to the rotational direction thereof, the torque sensor 261 detects the steering wheel 263 .

When the steering unit U is to be automatically steered, the steering motor 258 is driven to rotate the steering operation shaft 254 by the driving force of the steering motor 258 so that the steering angle of the front wheel 210 . Accordingly, the steering motor 258 corresponds to the steering operation means. When the automatic steering is not performed, the steering unit U can be rotated by manual operation of the steering wheel 243. [

Next, a configuration for performing automatic steering control will be described.

As an example of a Global Navigation Satellite System (GNSS) that detects the position of a vehicle body by receiving a radio wave from a satellite, a position of the vehicle body is detected using a GPS (Global Positioning System) The position detecting means is provided.

Specifically, as the position detecting means, a position measuring unit 264 having a receiving device 263 provided with an antenna 262 for receiving radio waves emitted from a plurality of GPS satellites orbiting the earth, (Traveling vehicle 300) that performs positioning, and can measure the position of the receiving device 263, that is, the position measuring unit 264, based on the information of the received radio wave.

23 to 25, the position measuring unit 264 is installed on the connecting frame 231 through the plate-like supporting plate 265 in a state of being positioned in the front portion of the running vehicle 300 have. 25, the connection frame 231 has a use state S1 in which the position measuring unit 264 is positioned above the upper end of the preliminary frame 230, and a use state S1 in which the position measurement unit 264 is positioned above the upper end of the preliminary mother frame 230, So that the state of the receiving apparatus 263 can be changed to the containing state S2 in which the receiving apparatus 263 is located below the upper end of the preliminary parent frame 230. [ The connection frame 231 is rotatable around the left and right central axes X along the gas transverse direction and in the respective states of the use state S1 and the retracted state S2 And is supported by the left and right pre-woven frames 230 so as to be positionally fixed.

23 and 25, when the connection frame 231 is in the use state S1, the reception device 263 is moved to the high position by the connection frame 231 and the spare frame 230 . It is possible to increase the reception sensitivity of the radio wave of the receiving device 263 because there is less possibility of occurrence of radio wave trouble in the receiving device 263. [

An inertial measurement unit 266 having a gyro sensor 266A or the like is provided as a direction detection means for detecting the orientation of the vehicle body 300 in addition to the position measurement unit 264 in the vehicle body 300. [ Although not shown, the inertial measurement unit 266 is disposed, for example, at a lower position on the rear side of the driver's seat 241 and at a lower position in the transverse direction center of the vehicle body 300. [ The inertial measurement unit 266 is capable of detecting the turning angle angular velocity of the running vehicle 300 and integrating the angular velocity to obtain the azimuth angle of the vehicle body. Therefore, the measurement information measured by the inertia measurement unit 266 includes the azimuth information of the vehicle body 300. The inertial measurement unit 266 can measure the angular velocity of the running vehicle 300 and the angle of inclination of the running vehicle 300 in addition to the turning angle angular velocity of the running vehicle 300. [

27, the vehicle body 300 is provided with a control device 267 for controlling the steering motor 258. As shown in Fig. The control device 267 has a route setting section 268 for setting a target travel route to be traveled by the traveling vehicle 300, position information of the traveling vehicle 300 measured by the position measuring unit 264, And a steering control unit 269 that controls the steering motor 258 so that the traveling vehicle 300 travels along the target movement path based on the bearing information of the running vehicle 300 measured by the measuring unit 266 . Specifically, the control device 267 includes a microcomputer, and the route setting section 268 and the steering control section 269 are constituted by control programs.

As shown in Fig. 27, a setting switch 249 for setting the target movement path used for the automatic steering control by the teaching process is provided. The setting switch 249 has a viewpoint setting switch 249A for setting a viewpoint position and an endpoint setting switch 249B for setting an endpoint position. As described above, the viewpoint setting switch 249A is connected to the display device 248 And the end point setting switch 249B is provided on the left side of the display device 248. [

27, a position measuring unit 264, an inertial measuring unit 266, an automatic steering switch 250, a viewpoint setting switch 249A, an endpoint setting switch 249B, A steering angle sensor 260, a torque sensor 261, a vehicle speed sensor 270, and the like. Although not described in detail, the vehicle speed sensor 270 detects the vehicle speed by the rotational speed of the electric shafts in the transmission mechanism for the rear wheels 211, for example.

The path setting unit 268 sets the teaching path corresponding to the target path to be automatically steered by the teaching process based on the operation of the viewpoint setting switch 249A and the end point setting switch 249B, , When the automatic mode is instructed at the beginning of the teaching path, a target movement path (LK) parallel to the teaching path at that position is set.

The steering control unit 269 determines whether the detected position (magnetic position) NM of the running vehicle 300 detected by the position measuring unit 264 is a position on the target moving path LK And the steering motor 258 is operated so that the detected bearing (magnetic bearing) of the running vehicle 300 detected by the inertia measuring unit 266 becomes the target bearing in the target moving path LK, . That is, during the automatic steering control of the running vehicle 300, the positional deviation NM in the lateral direction between the magnetic position NM of the running vehicle 300 and the target moving path LK (see FIG. 29, P) "and the angular deviation between the magnetic azimuth (NA) and the target azimuth (TD) of the running vehicle 300 are calculated and the steering motor 258 is controlled so that the deviation thereof becomes small.

The steering control section performs the steering control when the magnetic position NM is shifted in the lateral direction from the target movement path LK and the magnetic bearing NA is equal to the target bearing TD, The positional deviation correcting process for changing the target azimuth that is the target to the inclined target azimuth KA that is inclined toward the target movement path side and operating the steering motor 258 is executed.

When the position shift correction processing is executed, if the magnetic position NM is largely separated from the position corresponding to the target movement path LK, the inclination of the inclination target direction KA with respect to the target direction TD is set to the opposite side , The inclination of the inclination target direction KA with respect to the target direction becomes gentler as the magnetic position NM approaches the portion corresponding to the target movement path LK. When the vehicle speed is low, the steering control unit 269 sets the inclination to the target direction TD of the inclined target direction KA to the opposite side and sets the inclination to the target direction TD of the inclined target direction KA ) In the direction perpendicular to the longitudinal direction.

However, even if the inclination angle? With respect to the target bearing of the inclination target direction KA has an upper limit and the vehicle speed is extremely low or the position shift amount? P is increased, the inclination angle? Is set to a value equal to or smaller than the upper limit of the setting. If the inclination angle? Is excessively large, there is a possibility that the running vehicle 300 will turn rapidly and the running state becomes unstable. (In the following description, this inclination angle? Is also referred to as "set inclination angle?").

The steering control unit 269 reduces the speed of the steering operation when the steering motor 258 changes its traveling direction as the vehicle speed increases, when performing the positional deviation correcting process. Therefore, if the vehicle speed is low, the changing operation speed is set to be slightly larger, and the changing operation speed is made smaller as the vehicle speed is larger.

Next, the operation of the control device 267 in the case of carrying out the simulated food part work in a rectangular water receptacle will be described.

As shown in Fig. 28, the rice paddy machine has a rectilinear running in which it runs along the target movement route LK and performs the step operation in the power reception, and the target movement route LK at the end position of the target movement route LK, And a turning traveling turning toward the next target traveling path LK in parallel with the turning target traveling path LK. As a rule, the steering control unit 269 executes the automatic steering control during straight-ahead running, and does not execute the automatic steering control for traveling other than the straight-ahead running.

First, the traveling vehicle body 300 is positioned at the viewpoint position R1 of the baggage in the package, and the viewpoint setting switch 249A is operated. At this time, the controller 267 is set to the automatic-off mode. Then, while the driver manually controls, the vehicle body 300 runs straight in a non-working state along the straight line shape of the side sloping side from the viewpoint position R1 and moves to the end point position R2 near the sloping side on the opposite side The end point setting switch 249B is operated. Thereby, the teaching process is executed. That is, from the position information obtained by the receiving device 263 at the viewpoint position R1 and the position information obtained by the receiving device 263 at the end point position R2, the viewpoint position R1 and the end point position (R2) are set. The direction along the teaching path is set as a reference target direction TD (hereinafter also referred to as a teaching direction TD).

Next, the driver manipulates the steering wheel 243 manually to turn the vehicle body 300. [ At this time, the controller 267 can determine that the vehicle body 300 has been turned by turning the magnetic orientation (NA).

When the steering control unit 269 determines that the turning operation has been performed, the steering control unit 269 controls the steering control unit 269 in a control-holding state . The predetermined discrimination condition is that a predetermined time has elapsed after the turning of the vehicle body 300 is completed and that the angle of deviation between the magnetic bearing NA and the teaching bearing TD is within a predetermined range. The automatic steering control is not started even if the automatic steering switch 250 is operated. At this time, the driver can manually align the traveling vehicle 300 so that the index line LN formed on the bottom of the rice field is aligned with the end of the line of sight of the front end of the center mascot 214.

27, the operation input of the automatic steering switch 250 is received. Therefore, when the driver operates the automatic steering switch 250, the mode is switched to the automatic on mode, The control unit 269 starts automatic steering control from that point. At this time, the driver operates the operation lever 245 to lower the model unit W to execute the model part operation.

When the automatic steering control is started, information on the magnetic position NM is obtained by the position measuring unit 264, and the magnetic bearing (NA) is obtained by the inertia measuring unit 266. [ 29, the magnetic position NM as a reference of data processing is set at a position near the inertial measurement unit 266, not at the actual mounting position of the position measurement unit 264 . And the steering motor 258 is operated so that the current magnetic position NM and the magnetic orientation NA coincide with the target movement path LK and the teaching orientation TD. As a result, the traveling vehicle 300 can accurately travel along the target movement path LK. The driver has left the steering wheel 243. However, the vehicle speed is controlled manually.

When the steering control section 269 is running straight ahead while executing the automatic steering control, the detected magnetic position is shifted in the lateral direction from the target movement path and the detection orientation is the teaching direction TD, , The steering control unit 269 changes the target azimuth to the inclination target direction KA inclined by the set inclination angle? From the teaching direction TD to the target movement path side to perform the positional deviation correction Processing is executed.

More specifically, as shown in Fig. 30, in the positional deviation correcting process, as the target azimuth at the time of automatic steering control, the target azimuth is changed from the teaching azimuth TD to the target azimuth angle? To the photograph inclination target azimuth (KA) and executes the automatic steering control. Therefore, when this positional deviation correcting process is being executed, since the vehicle runs in the oblique direction in a state in which the azimuth deviation is small, the positional deviation AP can be quickly reduced.

At this time, as the magnetic position NM is spaced from the position corresponding to the target movement path LK, the set inclination angle alpha is set to the opposite side and the magnetic position NM is set to the position corresponding to the target movement path LK The more the set inclination angle? Further, when the vehicle speed is low, the set inclination angle? Is set to the opposite side, and the set inclination angle is made gentler as the vehicle speed is higher. However, the upper limit value is set to the set inclination angle [alpha], and the set inclination angle [alpha] never exceeds the set upper limit value even when the vehicle speed is low or the positional deviation is large.

Incidentally, the portion corresponding to the above-described target movement path LK has a predetermined width in the lateral direction on both sides of the position corresponding to the target movement path LK. That is, a control dead zone for the position deviation is set, and when the position deviation is not 0 and enters the dead zone, the position deviation correcting process ends. That is, the target azimuth is set not in the inclined target azimuth but in the direction along the original teaching azimuth TD.

The magnitude of the inclination with respect to the target bearing of the inclination target direction KA varies depending on the magnitude of the position shift amount AP of the driving vehicle 300 and the magnitude of the vehicle speed, The positional shift amount? P of the vehicle, and the vehicle speed can be determined in advance by experiment and set as map data, or can be determined by an arithmetic expression or the like. When the vehicle speed is constant, the set inclination angle? Decreases as the positional displacement amount? P becomes smaller, in other words, as the magnetic position NM of the vehicle body 300 approaches the portion corresponding to the target movement path LK .

31, when executing the positional shift correction processing in a state in which the running body 300 is displaced toward the base work area Z1 while performing the automatic steering control, The setting inclination angle? Is set to be slightly larger than the state in which the vehicle body 300 is displaced toward the non-working area Z2 as shown in Fig. That is, if the vehicle body 300 is displaced toward the base work area Z1, the positional deviation correcting process is performed by setting the setting inclination angle? That is inclined from the teaching direction TD to be slightly larger. That is, since the root is already planted in the base work area Z1, the position is corrected toward the target movement route LK so as to prevent the running vehicle 300 from being stepped on.

The steering control unit 269 controls the steering wheel 243 manually by the driver based on the detection information of the torque sensor 261 in response to the operation of the steering motor 258 when the automatic steering control is being executed In other words, when the change instruction is issued by the steering wheel 243, the operation force at the time of operating the steering motor 258 in the automatic steering control is reduced to such an extent that manual operation is permitted.

When the operation of the steering wheel 243 by manual operation is detected and the operation force of the steering motor 258 is reduced in this way, even after the manual operation is not performed after that, the operation force of the steering motor 258 is reduced State. This state is maintained until the automatic steering switch 250 is operated to switch to the auto-off mode and then to switch to the auto-on mode again.

However, when the change command by the steering wheel is continuously continuously extended over a set time (for example, from several tens seconds to several tens of seconds), the automatic steering control is stopped to switch to the automatic off mode. By giving priority to manual control in this manner, for example, it is possible to avoid collision with an obstacle, or to correct the trajectory when control is not appropriately performed. The return to the automatic on mode can be performed by pressing the automatic steering switch.

When the running body 300 reaches the end position R4 (see Fig. 28) of the straight running route, the driver operates the automatic steering switch 250 to switch the steering control unit 269 to the automatic off mode. At this time, the operation lever 245 is operated to shut off the electric power to the step-up device W, thereby raising the step-up device W. Thereafter, the driver manually operates the steering wheel 243 to turn the vehicle body 300 toward the next straight-ahead running path. Thereafter, similarly to the previous straight traveling route, the automatic steering control is started when the automatic steering switch 250 is operated after the discrimination condition is established after the turning. The running vehicle 300 runs straight ahead while executing the automatic steering control. Then, the turning travel and the straight running as described above are repeated.

When the automatic-off mode is set, the steering control unit 269 executes the assist control for operating the steering motor 258 so as to be in the running state corresponding to the change command by the steering wheel 243. [ In this assistance control, when the steering control section 269 detects that the steering wheel 243 has been operated and the operating direction thereof based on the detection information of the torque sensor 261 and the steering angle sensor 260, And the steering motor 258 is operated in the same direction as the steering direction. When the manual operation is stopped, the operation of the steering motor 258 is also stopped.

[Another embodiment of the third embodiment]

(1) In the above embodiment, when the steering control section 269 performs the positional deviation correcting process, if the magnetic position NM is largely separated from the position corresponding to the target movement path LK, the inclination target direction KA The inclination of the inclination target direction KA with respect to the target direction is set to be gentle as the closer the position of the magnetic position NM is to the position corresponding to the target movement path LK However, instead of this configuration, it may be configured as follows.

That is, when the steering control unit executes the positional deviation correcting process, the oblique target bearing may be maintained as it is until the magnetic position (detected position) NM reaches a position corresponding to the target moving path LK. The portion corresponding to the target movement path LK has a region (dead zone) of a predetermined width in the lateral direction on both left and right sides of the position corresponding to the target movement path. That is, when the magnetic position (detection position) NM reaches the end of the dead zone set for the position corresponding to the target movement path, the position shift correction processing is terminated. Thereby, the delay of the control is small, and the direction of the vehicle body can be corrected to the direction along the target movement path.

(2) In the above embodiment, when the steering control unit 269 is executing the automatic steering control and the change instruction by the steering wheel 243 is issued, the steering control unit 269 performs the automatic steering control The operation force at the time of operating the steering motor 258 is reduced in this embodiment. However, instead of this configuration, the following structure may be adopted.

That is, when the steering control unit 269 is executing the automatic steering control, when the change instruction by the steering wheel 243 is issued, the automatic steering control is immediately stopped, and after that, An assist force for operating the steering wheel 243 by the steering motor 258 is applied to the operating force for operating the steering wheel 254 so that the steering operation shaft 254 is rotated to change the steering angle of the front wheel 210 Control may be executed.

(3) In the above embodiment, in the state where the running vehicle is displaced toward the base work zone Z1, the steering control unit shifts the running vehicle body toward the unworking zone Z2 side The setting inclination angle? Is set to a large value in comparison with the state in which it is set. However, instead of this configuration, it may be configured as follows.

That is, when performing the positional shift correction processing in a state in which the running body 300 is displaced toward the unworking area Z2 side, the steering control unit 269 determines whether or not the running body 300 is in the initial working area Z1 side The set inclination angle? May be set to a larger value than the positional deviation.

This configuration can be suitably used as long as it is a work car, for example, a combine or the like, which carries out a task of taking a crop placed along with a running.

(4) In the above-described embodiment, the discrimination condition for permitting the position shift correcting process after the running vehicle has made the turning travel is that a certain time has elapsed after the turning of the running vehicle 300 is completed, The deviation angle between the NA and the teaching orientation TD is within a predetermined range. However, instead of this configuration, the following conditions may be used as the discrimination conditions. However, the present invention is not limited to this. That is, it may be any one capable of determining that the direction of the vehicle body is stable.

(4-1) After the turn has been completed, make the set distance.

(4-2) The set time has elapsed after the turn has been completed.

(4-3) The deviation angle between the magnetic orientation (NA) and the teaching orientation (TD) should be within a predetermined range.

(4-4) Both of (4-1) and (4-3) above should be satisfied.

(4-5) All of (4-1), (4-2) and (4-3) above should be satisfied.

(5) In the above embodiment, it is exemplified that the working device is provided with the molding device W, but the present invention is not limited to this. For example, as a working device, a fertilizer device, a medicine spraying device, and the like may be provided in addition to the molding device W.

(6) In the above embodiment, GPS is used as the satellite positioning unit as the position detection unit, but it may be another type of satellite positioning unit such as Galileo. Instead of the satellite positioning unit, for example, another measurement system having an optical measuring device for measuring the position of the vehicle body by projecting a laser beam to the ground side may be used.

(7) In the present invention, in addition to the above-mentioned passenger-type reverberation machine provided with a configuration unit as a working apparatus, there is a configuration in which, for example, a passenger- Or a construction work vehicle having a bucket or the like as a work device, and the like.

[Fourth Embodiment]

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

33 and Fig. 34, in a passenger-type rearing machine (an example of a cultivating machine or an agricultural machine), which is an embroidery worker in a cultivating machine or a cultivating machine, a traveling vehicle C having a traveling device A, And a work device for carrying out work on packaging. The working device of the pasturing machine is a food processing device (W) capable of simulated food packaging. The arrow Hf shown in Fig. 34 indicates that the traveling body C is "before", the arrow Hb indicates the rear of the traveling body C, the arrow Hl indicates the left side of the traveling body C, Right " of the gas (C).

As shown in Fig. 38, a positioning system constituted by GNSS (Global Navigation Satellite Systems) or IMU (Inertial Measurement Unit) is mounted in the pasture stage. The reference traveling line KL , It is possible to acquire and store the position information of the start point and the end point in the positioning system and set the setting running line SL in parallel with the reference running line KL. Further, after the set running line SL is set, the running vehicle C is configured to perform automatic running (corresponding to automatic running by automatic steering) along the set running line SL.

It is also possible for the driver to switch to manual traveling (corresponding to manual traveling by manual steering) by operating the steering wheel 343.

As an example of the running of the running vehicle C, manual running (teaching) is first performed to set the reference running line KL, and after teaching is completed, There is shown an example of a method of generating a set running line SL by switching to automatic running in a state of being turned by running to perform a food run. At the end point of the set travel line SL, the food is temporarily stopped and the automatic traveling is switched from the manual steering to the manual steering, and then the next set travel line SL is generated and the automatic traveling is started And repeat the cycle.

39, during the automatic traveling along the set running line SL, the position of the set running line SL itself is displaced in parallel with the predetermined running line SL, Function. In this function, when the boundary of the eclipse finished area E adjacent to the driving position shows a displacement shape as shown in the figure, the driver can change the traveling course (G) And it is possible to prevent overlapping or discontinuity of the food region.

33 and 34, the traveling device A includes a pair of left and right front wheels 310 and a pair of left and right rear wheels 311. The traveling base C is provided with a steering unit U capable of steering the left and right front wheels 310 of the traveling device A. [

A retractable bonnet 312 is provided at the front portion of the running vehicle C. In the bonnet 312, an engine 313 is provided. At the front end position of the bonnet 312, a bar-shaped center mascot 314 is provided. The center mascot 314 is used as a reference for checking the position of the traveling vehicle C with respect to the ground line drawn on the rice paddy bottom of the package by the marker device 333 described later, It is possible to judge that the position of the traveling vehicle C is correct if the index line is located on the extension line of the sight line when the center mascot 314 is viewed.

The position check of the running vehicle C using the center mascot 314 can be performed not only during automatic running but also during manual running. Particularly, it is effective when turning at the end point position of the set running line SL in the state of switching to the manual running to achieve the direction change and aligning the position at the time of the next set running line SL.

The traveling base C is provided with a frame-shaped base frame 315 extending in the longitudinal direction. On the front portion of the base frame 315, a supporting strut frame 316 is installed upright.

[Regarding the molding unit]

33, the molding apparatus W is connected to the rear end of the traveling base C through a link mechanism 321 that is operated to move up and down by the expansion and contraction operation of the lifting cylinder 320 constituted by the hydraulic cylinder And is vertically connected.

33 and 34, four drive cases 322, a rotary case 323 rotatably supported on the left and right sides of the rear portion of each transmission case 322, A pair of rotary type food arms 324 provided at both ends of each rotary case 323, a plurality of stop floats 325 for stopping the rice paddy of the package, 326 and the like. In the present embodiment, the molding apparatus W is composed of an eight-armed type, but may be a plurality of arrays other than eight.

The drive unit 323 thus configured rotatably drives each of the rotary cases 323 by the power transmitted from the transmission case 322 while driving the fore-and-aft mount table 326 to reciprocate in the lateral direction, Are taken out from the lower portion of the stand 326 alternately by the food arms 324 and are placed on the rice paddy bottom of the package.

[For preliminary loading platform]

33 and 34, on the right and left sides of the bonnet 312 of the running vehicle C are mounted a plurality of preliminary pedestals 328 capable of loading a preliminary motor for supplying to the motor W, Respectively. A left and a right pair of preliminary frames 330 for supporting the respective preliminary pedestals 328 and a pair of right and left preliminary frames 330 for supporting the left preliminary frame 330 are provided on left and right sides of the bonnet 312 of the running vehicle C. [ And a connection frame 331 connected to the upper part. The connection frame 331 is U-shaped when viewed from the front. The left and right end portions of the connection frame 331 are respectively connected to the upper portions of the left and right spare frames 330 through the connection bracket 332. [

[About marker device]

As shown in Fig. 33, marker devices 333 for forming ground lines are provided on the bottoms of the pavements on the left and right sides of the frame W, respectively.

The left and right marker devices 333 are each provided with a marker arm 334 which is supported by the table W so as to be pivotable up and down and a plurality of A rotating body 335 having a convex body is provided. Further, there is provided a marker electric motor (not shown) for operating the left and right marker devices 333 in the working posture and the storage posture.

By operating the marker device 333 in the operating posture, the rotating body 335 can be brought into contact with the bottom of the rice paddle to record the locus, and the locus thereof becomes the index line.

[About the operating section]

As shown in Figs. 33 and 34, at the center of the traveling base C, there is provided an operation section 340 in which various driving operations are performed. The driver 340 is provided with a driver's seat 341 on which the driver can sit, a steering column 342, a steering handle 343 composed of a manual steering operation steering wheel of the front wheel 310, A main speed change lever 344 (corresponding to a shift operating section) capable of changing the running speed, and an operating lever 345 for operating the running section W, and the like.

At the feet of the operation unit 340, a boarding step 346 is provided. At the left and right outer positions of the boarding step 346, an auxiliary step 347 is provided. At the left and right sides of the bonnet 312, an ascending / descending step 348 as an ascending / descending path leading to the boarding step 346 without steps is provided. Left and right preliminary frames 330 are disposed on the lateral outer side of the elevation step 348. [

The steering column 342 is provided with a steering wheel 343, a main speed change lever 344, an operation lever 345, a meter panel 349, and the like.

[For Main Transmission Lever]

The main speed change lever 344 shown in Figs. 33, 34, and 37 is provided on the left side of the steering handle 343.

It is possible to perform forward shifting operation by swinging forward from the neutral position, and reverse shifting operation can be performed by swinging backward from the neutral position.

The grip portion 344A provided at the upper end of the main speed change lever 344 is provided with a push operation type automatic steering switch 350 (an example of the changeover switch) for performing on / off switching operation of the automatic steering of the steering unit U, (See FIG. 37).

The automatic steering switch 350 is disposed at a position where the grip portion 344A is held by the left hand and can be pushed with the thumb of the left hand, for example, and the manual steering and the automatic steering are alternately switched .

That is, the operating direction of the automatic steering switch 350 is set so as to follow the left-right direction of the traveling base C and is a direction different from the operating direction of the main shift lever 344 (forward and backward directions) Moreover, since the automatic steering switch 350 can be operated while holding the grip portion 344A, it is unnecessary to take the trouble again, and the efficiency of the steering switching operation can be improved.

[About meter panel kind]

34 and 37, a meter panel 349 is disposed in front of the steering handle 343 at the rear end position of the bonnet 312. As shown in Fig. The meter panel 349 is provided with a liquid crystal display portion 349A having a backlight at the right and left central portions. A pair of instruction buttons 352 (corresponding to an instruction switch) for setting the start and end points of the reference travel line KL are provided on both left and right sides of the liquid crystal display part 349A.

In addition, a plurality of display lamps are provided around the liquid crystal display part 349A so as to be able to display job information.

In addition to the display of the hour meter, the automatic food part clutch state, the remaining amount of fuel, the water temperature of the cooling water, etc., the liquid crystal display part 349A also displays " A manual steering during automatic running, a detection situation of the end point of a bogie, a grounding situation of the drive unit, and a "response method" for the contents of these notices are displayed.

Further, as the plurality of display lamps, there are provided an oil-deficient lamp, a charge lamp, a paint-less lamp, a food-portion display lamp, a duo-clutch lamp, and a marker lamp.

The instruction button 352 pushes the instruction button 352 for manual teaching (when the automatic steering switch 350 is switched to manual steering and travels) for teaching, The start point and the end point of the running line KL can be set.

In this embodiment, the right instruction button 352A on the right side among the pair of instruction buttons 352 is configured to designate the time point of the reference travel line KL, and the left instruction button 352B on the left side, And is configured to indicate the end point of the reference travel line KL.

The instruction button 352 is used as a setting operation means for the reference travel line KL as described above and also includes a displacement switch 352 for displacing the set travel line SL in parallel during automatic travel, (359).

Therefore, when the instruction button 352 functions as the displacement switch 359 (during automatic running), the right instruction button 352A is operated to move the set travel line SL to the right side And functions as a displacement switch 359A and the left instruction button 352B functions as a left displacement switch 359B which displaces the set travel line SL to the left with respect to the advancing direction.

The parallel displacement of the set running line SL is controlled by the line displacing section 382 to be described later and the running body C is controlled by the new set running line SL which is displaced in parallel by the line displacing section 382 The traveling route is automatically changed and traveled (refer to FIG. 39).

The parallel displacement control of the set running line SL is carried out as shown in the flowchart shown in Fig.

That is, when the displacement switch 359 is pressed (# 02) while the traveling base body C is automatically traveling on the set traveling line SL (# 01) by the ON operation of the automatic steering switch 350, The set running line SL is displaced in parallel to the predetermined amount b (see Fig. 39) (# 03).

This parallel displacement control is continued until the automatic steering switch 350 is turned off (# 04).

[About Steering Unit]

35, the steering unit U is provided with the above-described steering handle 343, a steering operation shaft 354 linked to the steering handle 343, and a steering shaft A right and left link mechanism 356 connected to the pitman arm 355 in a pivotal arm 355 swinging therebetween, a steering motor 358, a gear 358 for interlocking and connecting a steering motor 358 to the steering operation shaft 354, A mechanism 357, and the like.

The steering operation shaft 354 is connected to the left and right front wheels 310 via the pitman arm 355 and the left and right coupling mechanisms 356 respectively. The amount of rotation of the steering operation shaft 354 is detected by the steering angle sensor 360 (see Fig. 36) formed by a rotary encoder provided at the lower end of the steering operation shaft 354. [

When the steering unit U is manually steered, an assist force is applied to the operating force for operating the steering handle 343 in accordance with the operation of the steering handle 343 by the steering motor 358, The steering angle of the front wheel 310 is changed by rotating the steering wheel 354. On the other hand, when the steering unit U is to be automatically steered, the steering motor 358 is driven to rotate the steering operation shaft 354 by the driving force of the steering motor 358, So as to change the steering angle.

[Regarding the measuring unit having the receiving device and the inertial measuring device]

33, 34, and 36, the running vehicle C is provided with a receiving device 363 for obtaining positional information by the satellite positioning system and a tilt (pitch angle, roll angle) of the running vehicle C, A measurement unit 361 having a inertial measurement unit 364 capable of detecting the inertia measurement unit 362 and a main inertial measurement unit 362 measuring inertial information (equivalent to an inertial measurement unit).

Each of the main inertial measuring device 362 and the inertial measuring device 364 is constituted by an IMU (Inertial Measurement Unit).

The measuring unit 361 and the main inertial measuring device 362 are disposed at different positions in the traveling base C and on the left and right center lines CL in the traveling base C. [

In the above-described Global Navigation Satellite System (GNSS), GPS (Global Positioning System) is a representative example. The GPS can be implemented by using a plurality of GPS satellites or a receiving station 363 provided in a control station that performs tracking and control of the GPS satellites or an object (traveling vehicle C) (363). The receiving device 363 is used for obtaining the positional information of the traveling vehicle C by the satellite positioning system.

33 and 34, the measurement unit 361 is provided on the connection frame 331 via a plate-like support plate 365. [ The main inertial measuring device 362 is disposed at a position near the center of the longitudinal direction of the entire length of the traveling body C and the table W in the longitudinal direction.

[Regarding control configuration]

37, the running vehicle C is provided with a control device 375 for controlling the automatic steering of the steering unit U. The control unit 375 is provided with an information storage unit 376 (corresponding to a recording unit), a teaching storage unit 377, a turning detection unit 78, a start determination unit 79, an information correction unit 380 A line setting section 381 for generating a setting running line SL for running the running vehicle C, a line displacing section 382 for setting the setting running line SL to be parallel and displaced, And a control unit 384 for controlling the steering unit U such that the running vehicle C runs along the set running line SL based on the position information and the inertia information.

The gyro sensor 370, the acceleration sensor 371, the steering angle sensor 360 (which is provided in the main inertial measurement device 362), the acceleration sensor 371, and the steering angle sensor 360 ), An automatic steering switch 350, an instruction button 352, a displacement switch 359, and the like.

The information storage unit 376 is configured to store the location information acquired from the reception device 363 every time.

The teaching memory unit 377 uses the positional information of the viewpoint K1 and the end point K2 in the positional information stored in the information storage unit 376 based on the operation of the instruction button 352, And is configured to calculate the running line KL.

The turning detection unit 378 detects the turning of the traveling vehicle C and the turning of the traveling vehicle C based on the steering angle information of the steering operation shaft 354 of the steering unit U input from the steering angle sensor 360. [ And to detect termination.

The start determination portion 379 is configured to determine whether or not to start automatic steering control of the traveling vehicle C. [

The information correcting unit 380 corrects the accumulated error of the information detected by the gyro sensor 370 among the inertia information measured by the main inertia measuring device 362 every time the automatic steering control of the running vehicle C is started, The correction processing is performed based on the positional information acquired by the reception device 363 and the information measured by the inertial measurement device 364. [

The viewpoint setting section 381 is configured to generate the set travel line SL based on the reference travel line KL and the magnetic position and the self-orientation at the start of the automatic steering control of the traveling vehicle C .

The line displacing section 382 is configured such that the set travel line SL is displaced to the right side (or left side) by a predetermined amount b by the operation of the right displacement switch 359A (or the left displacement switch 359B) .

The state detection unit 383 detects the positional deviation of the traveling vehicle C from the self-position of the traveling vehicle C and the set traveling line SL (deviation distance) during the automatic steering control of the traveling vehicle C, (Misalignment angle) between the set running line SL and the set running line SL.

The control unit 384 is configured to control the driving of the steering motor 358 of the steering unit U based on the information input from the state detection unit 383. [

A specific example of running of a rice-making machine of the present embodiment will be described.

[1] As shown in Fig. 38, manual traveling for teaching is started.

This manual running can be started by swinging the main speed change lever 344 forward from the neutral position, and travels along a straight line along the bogie from the outer periphery of the package near the bogie. The positional information of the traveling vehicle C at that time is acquired by the positioning system while the right instruction button 352A is pressed while the vehicle is traveling and the position information of the view point K1 of the reference traveling line KL is obtained as information of the information storage unit 376 ).

The position information of the traveling vehicle C at that time is acquired by the positioning system by pressing the left direction button 352B after continuing the manual driving and the position information of the end point K2 of the reference traveling line KL Is recorded in the information storage unit 376 as shown in FIG.

As a result, the reference travel line KL is set as a straight line connecting the time point K1 and the end point K2 by the teaching memory unit 377. [

[2] After the straight running in the reference traveling line KL, the steering wheel 343 is turned to change the direction of the traveling vehicle C, and a manual running to the starting position of the adjacent set running line SL .

At this time, while the reference running line KL is running, the marker device 333 aligns the running vehicle C to a predetermined position by using the green indicator line on the bottom of the paddy field and the aforementioned center mascot 314 .

[3] The traveling body C is automatically run while the food is being fed.

The start of the automatic traveling is performed by swinging the main speed change lever 344 forward and pressing the automatic steering switch 350. When the automatic steering switch 350 is depressed, the position setting unit 381 obtains the positional information of the running vehicle C at that time in the positioning system and the position information of the starting point S0 of the set running line SL Is recorded in the information storage unit 376, and furthermore, the set running line SL which is parallel with the reference running line KL is generated through the time S0.

The control unit 375 controls the steering unit U in the misalignment correction direction on the basis of the misalignment information of the running vehicle C input from the state detecting unit 383, So that the running vehicle C is controlled to run on the set running line SL.

[4] The automatic running in the set running line SL is canceled.

When reaching the end position of the set running line SL, automatic running is released by depressing the automatic steering switch 350. In this state, the steering wheel 343 is pivotally operated to change the direction of the traveling body C, and manual steering is performed up to the starting position of the next set running line SL.

Thereafter, the steering of the food in the set running line SL by the automatic running and the direction switching by the manual running are alternately repeated.

When the set travel line SL itself is to be displaced in parallel during the running of the set travel line SL, by pressing the displacement switch 359 on the side to be displaced, .

According to the second preferred embodiment of the present invention, only the switching operation from the manual traveling to the automatic running is performed by the automatic steering switch (an example of the changeover switch) 50 to change the point to the starting point S0 of the set running line SL. So that the driver can freely set the set travel line SL to a desired position while watching the situation of the package. Therefore, various operations on the traveling vehicle C can be efficiently performed, and the burden on the driver can be reduced.

Further, while the set travel line SL is set to travel automatically once, the set travel line SL can be easily displaced in parallel by simply operating the displacement switch 359, A farming operation can be carried out.

Further, since the displacement switch 359 aligns the arrangement of the switches and the displacement operation direction, erroneous operation can be prevented, and good handling property can be obtained.

[Another embodiment of the fourth embodiment]

<1> The cultivating machine is not limited to a rice paddy machine of the type described in the above embodiment, but may be a rice paddy machine of other types or a farming machine other than a rice paddy machine.

(2) The changeover switch (automatic steering switch 350) is not limited to the automatic steering switch having the structure described in the foregoing embodiment. For example, instead of the pushing operation type, May be provided.

Therefore, the operation direction of the changeover switch (automatic steering switch 350) is not limited to the direction along the left and right direction of the traveling base C.

Further, the installation position of the changeover switch may be provided at a place other than the shift operation opening, or may be combined with another function switch.

It is collectively called "changeover switch" including them.

The instruction switch is not limited to the instruction button 352 described in the foregoing embodiment. For example, the switch structure may be a structure having a swinging operation type or a rotation operation type structure instead of the push operation type It is acceptable.

The right instruction button 352A and the left instruction button 352B are not limited to being disposed so as to correspond to the left and right direction of the traveling body C and may be arranged in the back and forth direction, .

Further, the present invention is not limited to providing two switches as the indicating switches. For example, one switch may be used to designate the point of time K1 and the end point K2 of the reference running line KL.

The indicating switch may be used as a switch different from the displacement switch 359, or may be configured as a single switch.

It is collectively called "instruction switch" including them.

<4> The displacement switch 359 is not limited to the displacement switch described in the foregoing embodiment. For example, the displacement switch may be of a swing type or a rotary type, do.

The displacement switch 359 may be used as a switch other than the indication switch, or it may be configured as a single switch.

The displacement switch 359 is not limited to the two switches. For example, the displacement switch 359 may be configured so as to indicate the displacement direction of the set travel line SL with one switch.

And a displacement switch 359 including them.

The steering control accompanying the operation of the displacement switch 359 may be applied to a specific condition in order to prevent excessive parallel displacement due to, for example, As shown in the figure, the control device 375 may be provided with an operation cancellation section 385 that does not reflect the operation of the displacement switch 359 to the displacement control.

As the mode in which the operation canceling section 385 cancels the operation of the displacement switch 359, the following can be given.

For example, during the operation of the displacement switch 359, the initial predetermined number of operations are not reflected in the displacement control of the set travel line SL.

In this embodiment, when the set travel line SL is displaced by the predetermined amount b by the first operation of the displacement switch 359, the displacement (the displacement amount) is shifted by a predetermined amount (for example, four times) The displacement of the set running line SL becomes equal to the predetermined amount b of one set so that excessive parallel displacement can be prevented.

The operation of the displacement switch 359 is switched to the displacement control of the set travel line SL until the set time has elapsed from the operation of the displacement switch 359 Do not reflect.

In this embodiment, for example, if the set time is set to 5 seconds, even if the displacement switch 359 is operated a few times for 5 seconds from the first operation, the displacement of the set travel line SL Quot; b &quot;, so that an excessive parallel displacement can be prevented.

42, when the displacement switch 359 is operated, the travel gas C is supplied to the error area of the predetermined width SB set around the set travel line SL after displacement, The operation of the displacement switch 359 is not reflected in the displacement control of the set travel line SL until the displacement of the set travel line SL is reached.

In this embodiment, for example, when the predetermined amount b is set to 10 cm and the predetermined width SB is set to 6 cm (one side 3 cm), the displacement of the traveling vehicle C (B-SB / 2) = 10-3 = 7 cm in the parallel displacement direction during the course of changing the running course G, SL are canceled, so that excessive parallel displacement can be prevented.

The position information of the traveling vehicle C acquired by the positioning system is the plane position information of the measuring unit 361. The position information of the traveling vehicle C obtained by the positioning system is the plane position information of the measuring unit 361, The end point K2 and the starting point S0 of the set running line SL are not necessarily limited to the plane position of the measuring unit 361 in the running vehicle C. [ For example, the front end position (or the rear end position) of the traveling body C and the position (or the rear end position) of the traveling body C are spaced apart from the center of gravity of the traveling body C by a predetermined distance forward For example, the position of the driver's gaze passing through the center mascot 314 and the position at the front where the rice paddy intersects).

(7) In addition to the above-mentioned passenger-type reverberation machine having a configuration unit as a working apparatus, the present invention may also be applied to a passenger-handling type transporter including a seeding apparatus as a working apparatus, And a combine or the like having a tentative part as a working device.

[Fifth Embodiment]

Before explaining a specific embodiment of the packaging work vehicle according to the present invention, the basic principle of vehicle control employed in the packaging work vehicle will be described with reference to Fig.

In Fig. 43, as a packaging work vehicle, a rearing machine, a planter, a tractor, and a combine are assumed. A paving work apparatus, wherein the rice planting unit is provided with a food processing unit, the seeding machine has a seeding machine, the tractor has a tilling machine, and the combine has a cutting machine. These packaging working apparatuses are connected to each traveling vehicle so as to be able to ascend and descend between the working position and the non-working position.

In this pavement working vehicle (hereinafter, simply referred to as a vehicle), in FIG. 43, a package in which the upper and lower sides are parallel boundaries is bound by a reciprocating line Continue driving while repeating the above driving. In the vicinity of the upper slab, an upper slab area is set, and in the vicinity of the lower slab, a lower slab area is set. The vehicle performs a direction change travel in the runway area and performs a straight line work travel in the other wrapping areas.

The vehicle is equipped with a positioning unit that outputs positioning data indicating the position of the vehicle. Furthermore, an automatic steering unit for automatically steering the traveling vehicle is provided as well as an artificial steering unit for steering the traveling vehicle on the basis of an artificial operation. The positioning data output from the positioning unit is based on the position of the antenna. In this case, the position of the vehicle is subjected to correction processing such that the position of the vehicle is not the position of the antenna, but is an appropriate position of the vehicle, .

An example of wrapping in this wrapping is shown below.

First, a vehicle that has passed through the lower side of the lower portion of the package enters the package, and at the point A1, the packaging operation device is lowered to the working position by the operation of the driver, and the work traveling on the straight line starts. The descent of the packaging work apparatus is recorded as the vehicle behavior indicating the start of the work together with the positioning data indicating the position of the point A1. When the vehicle reaches the direction switching area at the point B1 via the straight line work traveling, the packing operation device is moved up to the non-work position by the operation of the driver, and the vehicle shifts to the direction switching traveling at 180 degrees. The rise of the packaging work apparatus is recorded as positioning data indicating the position of the point B1 as a vehicle behavior indicating a work stop.

At the point A2, when the direction switching travel in the runway area is completed, the packing work device is lowered to the working position to start the work traveling on the straight line (return). The descent of the packaging work apparatus is also recorded together with the positioning data indicating the position of the point A2 as the vehicle behavior indicating the start of the work. In addition, the position of the point A2 can be estimated at the position of the point B1 in consideration of the running distance of the reciprocating work, which corresponds to the working width (the width of the food part or the tillage width). Therefore, when the vehicle approaches the estimated point A2 during the direction switching travel in the runway area, it is possible to notify the driver of the fact that the vehicle is approaching the estimated point A2 and to urge the driver to lower the packing work unit to the working position. Further, when the vehicle reaches the estimated point A2, it is also possible to automatically lower the paver to the working position. The position at which the vehicle again starts a straight running (return) is set as the final point A2.

The point B2 that is the end point of the straight running work (ear), that is, the point at which the vehicle reaches the runway area again, can be estimated from the position of the point A1. Therefore, when the vehicle approaches the point B2, it is possible to notify the driver that the packing operation apparatus is raised to the non-operation position and the preparation for the direction switching travel is performed before reaching the baggage area. Further, when the vehicle reaches the estimated point B2, it is also possible to automatically raise the paver to the non-working position. When the vehicle reaches the runway area, it automatically or manually shifts to the turnaround run in the runway area. When the direction switching travel is completed, the work traveling (returning) on the straight line starts again from the point A3.

In this manner, the work traveling and the direction switching travel are repeated while passing through the point B3, the point A4, the point B4, the point A5 .... Then, by setting the point A1, the point B2, the point A3, ... can be estimated from the point A1 in consideration of the round trip travel distance. However, when estimating the point A3, it is possible to estimate from the point A1, but it is also possible to estimate the point A3 from the point B2 since the point B2 as the position actually moved from the working travel to the direction switching travel is detected. In particular, when the actual buoyancy region is not linearly extended but is diagonally or stepwise extended, it is possible to accurately detect the boundary point of such buoyancy region by estimating it from a newly set point on the way.

For example, as shown in Fig. 44, when the floor area has a step, it is necessary to extend the work running on a straight line more straightly than the point B4 where the work travel on the straight line is estimated. When the straight running of the work is performed by automatic steering, the automatic steering is canceled and the running of the work on the straight line is continued until the position suitable for the direction change travel (manual setting point B4) by manual steering. When the point B4 is newly set, the next point A5 is estimated from the point B4.

The points A1, A2, ... which are the starting points of the work travel can be automatically set based on the specific vehicle behavior. Suitable specific vehicle behaviors include, for example, an operation start command for the packaging operation apparatus, detection of a change in the position of the packaging operation apparatus to the operation position, connection detection of the electric clutch for the packaging operation apparatus, and the like. Further, the state of the operation opening operated by the driver may be used as a specific vehicle behavior. Likewise, the points B1, B2, ..., which are the end points of the work travel (start points of the direction change travel), can also be set automatically based on the specific vehicle behavior. Suitable examples of such specific vehicle behavior include, for example, a stop command for the packaging operation device, detection of the shift to the non-operation position of the packaging operation device, release detection of the electric clutch for the packaging operation device, and the like. Further, the state of the operation opening operated by the driver may be used as a specific vehicle behavior.

If the first work travel route defined by the points A1 and B1 is taken as the reference work travel route, the following target work route for automatic steering can be calculated based on this reference work travel route. Since the work travel is generally a straight travel, it is easier to steer than the direction change travel. Therefore, it is preferable to perform the work travel by automatic steering and the direction change travel by control. When the packaging shape is a simple rectangle, when the point A1 and the point B1 are set, the transition timing between the subsequent work travel and the direction switching travel, that is, the arrival timing to the runway area and the departure timing from the runway area, . &Lt; / RTI &gt;

When the vehicle enters the runway area from the straight running work (return road), if the vehicle does not perform the direction change travel for some reason, the vehicle will be burnt down on the road. In order to avoid such a problem, it is important to estimate and record the points B2, B3, B4, ... which are the end points of the straight running work (ear). The position of the sub-vehicle can be calculated by the positioning unit, so that the position of the sub-vehicle position and the position of the end point of the work running (return road) (entry point into the sub-runway area) can always be compared. Thus, it is possible to perform vehicle deceleration, notification of warning, stop of the vehicle, and the like immediately before the vehicle enters the runway area and after the vehicle enters the runway area.

In the above example, the point A1 and the point B1 are set in the first work travel, and a point (a point of departure from the arrival point and the rung area) of the vehicle between the work travel and the direction change travel thereafter, A2, A3 ..., B2, B3 ... are estimated from points A1 and B1. In the case where the vehicle has the packaged map storage unit storing the map data of the package, it is possible to detect that the vehicle has reached the baggage area or has departed from the baggage area by performing map matching using the map data. The setting of such point A1 and point B1 and the estimation from point A1 and point B1 of the other point are unnecessary.

Next, one of the concrete embodiments of the packaging work vehicle according to the present invention will be described using the drawings. Fig. 45 is a side view of the passenger type rapier, which is an example of a packaging work vehicle, and Fig. 46 is a plan view. The rearing station includes a traveling base (C) and a packaging work device for carrying out work on the packaging. Here, the packaging operation device is a packaging device W capable of simulated food packaging. The arrow F shown in Fig. 46 indicates that the running vehicle C is "before", the arrow B is the rear of the running vehicle C, the arrow L is the left of the running vehicle C, (C).

45, the traveling apparatus is provided with a pair of left and right front wheels 410 and a pair of left and right rear wheels 411. [ The traveling base C is provided with a steering unit U1 capable of steering the left and right front wheels 410 in the traveling apparatus.

As shown in Figs. 45 and 46, a retractable bonnet 412 is provided at the front portion of the running vehicle C. In the bonnet 412, an engine 413 is provided. The traveling base C is provided with a frame-like base frame 415 extending in the front-rear direction. On the front portion of the base frame 415, a supporting strut frame 416 is installed upright.

45, the drive unit W is connected to the rear end of the traveling vehicle C via a link mechanism 421 that is operated to move up and down by the expansion and contraction operation of the lifting cylinder 420 constituted by the hydraulic cylinder, Respectively. The rotary unit 423 includes four transmission cases 422, a rotary case 423 rotatably supported on a left side portion and a right side portion of the rear portion of each transmission case 422, A plurality of floats 425 for stopping the paddy field of the pavement, a tray 426 on which the mats for eating are placed, and the like. In other words, the molding apparatus W is composed of an eight-compartment type.

On the right and left sides of the bonnet 412 in the running vehicle C are provided a plurality of (for example, four) normal preliminary loading tables 428 for loading a preliminary table for supplying to the table W, There is provided a rail-type preliminary stacking table 429 capable of stacking preliminary images for supply to the image forming apparatus W. A pair of left and right preliminary frames 430 (left and right) for supporting the respective preliminary preliminary pedestal 428 and the rail preliminary pedestal 429 are provided on left and right sides of the bonnet 412 in the traveling base C, And a connection frame 431 connected to the upper portions of the left and right spare frames 430. The connecting frame 431 is U-shaped when viewed from the front. The left and right ends of the connection frame 431 are respectively connected to the upper portions of the left and right preliminary frames 430 through the connection brackets 432.

At the center of the traveling base C, there is provided an operation section 440 for performing various driving operations. The operation section 440 is provided with a driver's seat 441 in which the driver can sit, a steering column 442, a steering handle 443 configured by a manual steering operation steering wheel of the front wheel 410, And a main speed change lever 444, an operation lever 445, and the like capable of changing the running speed. The driver's seat 441 is provided at the center of the traveling vehicle C. A steering handle 443 and a main speed change lever 444 are operably provided on the steering column 442. At the feet of the operation section 440, a boarding step 446 is provided.

An operation lever 445 is provided on the right side of the lower side of the steering handle 443. When the operation lever 445 is operated to the up position, the food part clutch (not shown), which is one type of the work clutch, is operated to the cut-off state, and the food processor W rises. When the operation lever 445 is operated to the down position, the food part clutch (not shown) is operated to the cut-off state, and the food processor W descends. When the float 425 at the center is grounded to the bottom of the pavement, the pillar W is grounded to the plow floor of the pavement.

As shown in Fig. 47, the steering unit U1 is provided with the above-described steering handle 443, a steering operation shaft 454 linked to the steering handle 443, A right and left link mechanism 456 linked to the pitemen arm 455, a steering motor 458, a gear for connecting the steering motor 458 to the steering operation shaft 454, A mechanism 457, and the like.

The steering unit U1 is operable in the automatic steering mode and in the inward steering mode. In the in-steer steering mode, the driver applies an auxiliary force corresponding to the operation of the steering handle 443 by the steering motor 458 to the operating force for operating the steering handle 443, thereby rotating the steering operation shaft 454, The steering angle of the front wheel 410 is changed. On the other hand, in the automatic steering mode, the steering motor 458 is automatically controlled, and the steering operation shaft 454 is rotated by the driving force of the steering motor 458 to change the steering angle of the front wheel 410. In this embodiment, the steering handle 443 and the steering motor 458 function as constituent elements of the artificial steering portion that steers the traveling body C by artificial steering. The automatic steering control function for automatically steering the running vehicle C is constructed in a control device 408 (refer to FIG. 48) described later, and based on a control command from the control device 408, the steering motor 458 Is driven. The operation displacement of the steering handle 443 is not directly transmitted to the steering operation shaft 454 but the operation displacement of the steering handle 443 is detected by the sensor and the steering motor 458 is operated based on the detected value. When the so-called by-wire system is employed, the control device 408 is also provided with a control function of the artificial steering.

The traveling base C is provided with a positioning unit 461 and the magnetic position of the traveling base C is obtained from the positioning data from the positioning unit 461. [ The positioning unit 461 includes a satellite navigation module configured as a GNSS module and an inertial navigation module configured as a module including a gyro acceleration sensor and a self-orientation sensor. The satellite navigation module is connected to a satellite antenna for receiving GPS signals and GNSS signals. At least this satellite antenna is provided in the connection frame 431 in a place where radio wave reception sensitivity becomes good, in this embodiment. The satellite navigation module and the inertial navigation module may be installed at different locations.

In Fig. 48, a control device 408 equipped at this transplanting period is shown. In Fig. 48, a functional section related to steering is mainly shown among the functional sections built in the control device 408. Fig. This control device 408 employs the basic principle relating to the automatic steering and the artificial steering described with reference to Figs. 43 and 44. Fig. The control device 408 is connected to the positioning unit 461, the vehicle state detecting sensor group 409, the contact detector 490, the traveling mode switching operation member 465, the steering mode switching operation And is connected to a sphere 466. The control device 408 is also connected to the notification device 407, the vehicle traveling device group 471, and the work equipment group 472 through the output signal processing unit 408b. The traveling mode switching operation member 465 and the steering mode switching operation member 466 are constituted by switches or buttons.

The vehicle condition detection sensor group 409 is composed of various sensors and switches provided for detecting the operation and posture of the traveling vehicle C and the operation and posture of the molding unit W as a packaging operation unit. The contact detector 490, which is well known per se, has a structure for detecting the contact between an engraving machine and an obstacle, although it is not shown in Figs. 45 and 46. When the contact detector 490 detects the contact between the herbicide and the obstacle, the herbicide stops urgently. The steering mode switching operation member 466 is a switch for selecting any one of the automatic steering mode for traveling by automatic steering and the artificial steering mode for traveling by artificial steering. For example, by operating the steering mode switching operation member 466 while driving with automatic steering, the steering mode switching operation member 466 is switched to the driving with the inward steering, .

The traveling mode switching operation member 465 is a teaching switch for teaching the control device 408 the boundary between the runway area and the non-runway area. In this embodiment, Respectively. The driver depresses the A button when the vehicle transits from the direction change travel to the work travel, and the B button is pressed when the vehicle shifts from the work travel to the redirection travel.

The notification device 407 includes various information to be notified to the driver, such as a ramp and a buzzer, for example, access to the runway area and deviation from the target driving route in the automatic steering travel, from the control device 408 And outputs it visually or audibly based on the command. If the notification device 407 includes a flat panel display or the like, it is also possible to provide character information.

The vehicle traveling equipment group 471 includes various operation devices and control equipment mounted on the traveling vehicle C for traveling and includes, for example, a steering motor 458 or the like constituting the steering unit U1 An operating device, a control device for adjusting the engine speed, a transmission operating device such as a clutch or a shifter, and a brake operating device. The work traveling equipment group is provided with a lifting cylinder 420 for lifting and lowering the work W mounted as a packaging work apparatus and an operation of a food part clutch or the like functioning as a work clutch of the work W The device is included.

The control device 408 includes a dunnage detection module 481, an automatic steering section 482, a vehicle behavior recording section 483, a steering mode management section 484, a travel path calculation section 485, a travel distance calculation section 486, An attitude determination section 487, and the like are actually constructed by a computer program.

The borrowing detecting module 481 includes a point A1 for transitioning from running to running in the rung area, which is the running route reference point set in the first running of the work, and a point A1 for shifting from the running to the turning in the rung area And the sub-vehicle position obtained from the positioning data of the positioning unit 461, whether or not the traveling vehicle C has reached the floor area. As described with reference to FIGS. 43 and 44, the point A1 is detected by the descent position (work position) of the model unit (work unit) W and the point B1 is detected by the elevation of the model unit W (Non-working position), and records them in the vehicle behavior recording section 483 as the vehicle behavior. The traveling path (generally a straight line) between the point A1 and the point B1 is the reference work traveling path. Even if the automatic steering or the in-wheel steering is performed, the reference work traveling path is moved in parallel by the reciprocating working distance, Path is obtained. That is, the points B2, A3, B4, A5 ... And points A2, B3, B4, A4, B5 ... Is estimated. This estimation algorithm is built in the slug estimation unit 810. [ The estimation method of the point indicating the boundary of the baggage area differs depending on the shape of the package, and therefore, a configuration capable of selecting an appropriate estimation algorithm for each shape of the package is preferable. By comparing the respective positions and the position of the own vehicle, the distance until the running vehicle C traveling on the work reaches the stowage area is detected, and the controller 408, for example, approaches the stowage area by a predetermined distance , An arrival notice when reaching the rung area, a deceleration of the running vehicle C, and a stop of the running vehicle C can be output.

The traveling path calculating section 485 calculates traveling path data that is required to automatically perform the following work traveling from the reference work traveling route. The automatic steering unit 482 calculates the deviation of the traveling path data and the vehicle position calculated by the traveling path calculating unit 485, generates an automatic steering command, and outputs it to the steering unit U1.

The steering mode management unit 484 manages the in-position steering mode which is the running by the in-wheel steering and the automatic steering mode which is the running by the automatic steering. For example, it is possible to select the in-situ steering mode in the floor area, and to select the automatic steering mode other than the floor area (generally, a straight-line running work). It is also possible to forcibly select the induction steering mode and the automatic steering mode by the switching command from the steering mode switching operation member 466. [ Further, when the steering wheel 443 is operated, it is also possible to forcibly change the mode from the automatic steering mode to the inward steering mode.

The vehicle behavior recording section 483 receives the vehicle behavior record group 481 and the operation apparatus group 472 via the output signal processing section 408b and various sensor detection signals input through the input signal processing section 408a, Based on the control signal output to the control unit 472, the vehicle behavior relating to the state of the vehicle, specifically, the start and end of the work travel. At this time, each vehicle behavior is recorded together with the vehicle position acquired when the vehicle behavior has occurred.

Fig. 49 shows an example of vehicle behavior recorded in time series by the vehicle behavior recording section 483 in the case of running in a simplified package as shown in Fig. In this example, the recording items of the vehicle behavior recording section 483 include the recording NO, the behavior time, the vehicle position, and the behavior contents. The behavior time is the time (time stamp) at which the behavior of the behavior time visual is detected. The vehicle position is the position of the vehicle when the vehicle behavior is detected. The contents of the behavior are used to identify the detected vehicle behavior. Here, the contents of the operation of the traveling mode switching operation member 465 (A denotes operation of the A button, B denotes operation of the B button) The position of the float 425, the state of the food clutch (work clutch), the state of the steering (the steering from the straight ahead to the turning or turning from the turning to the straight). In FIG. 49, the vehicle position of each vehicle behavior is the same, but the position of the vehicle is different because the timing of the elevation of the model unit W and the steering timing of the turn running are different. Here, Is recorded by making a correction to replace the reference position of a specific vehicle.

As can be understood from Figs. 43 and 49, various states of the running vehicle C and the working unit W as the working apparatus, in particular, the operation start and the work end are read from the record of the vehicle behavior recording unit 483 . As the first process of the planting work by this rearing period, the vehicle enters from the bed to the bedrock area, and at the timing when it exits the bedrock area, the recording number &quot; 0001 &quot; The content of the recording NO "0001" is the record of the point A1 in FIG. 43, and includes the behavior time, the position of the vehicle, and the content of the behavior at that time. As the behavior, the traveling operation mode is "A", the mode unit position is "falling position", the float position is "ground", and the clutch state is "connection". Actually, the timings at which the contents of these behaviors are detected differ slightly, but here they are at the same timing. That is, at the timing at which the recording number &quot; 0001 &quot; is recorded, the driver performs the setting for running the job together with the pressing of the A button of the traveling mode switching operation port 465. [

Thereafter, the work is run on a straight line, and the recording number &quot; 0002 &quot; is recorded at the timing of reaching the rung area. The contents of the recording number &quot; 0002 &quot; is the recording of the point B1 in Fig. 43, and includes the behavior time, the vehicle position, and the behavior contents at that time. The traveling operation mode is "B", the mode unit position is "up position", the float position is "off", the clutch state is "released", and the steering is "turning from straight ahead". That is, at the timing at which the recording number &quot; 0002 &quot; is recorded, the driver sets the direction switching travel with the pushing of the B button of the traveling mode switching operation member 465. [ The positions of the point A1 and the point B1 are recorded by the operation of the A button and the B button of the traveling mode switching operation member 465. [ The line connecting the point A1 and the point B1 can be used as a reference work traveling route for estimating the traveling route of the following work traveling. Therefore, operations other than the point A1 and the point B1 are unnecessary for the traveling mode switching operation member 465. [

Quot; 0003 &quot; is recorded at the timing of ending the turnaround run in the runway area and leaving the runway area and performing the work run. The content of record NO &quot; 0003 &quot; is the record of the point A2 in Fig. 43, and includes the behavior time, the position of the vehicle, and the content of the behavior at that time. The position of the point A2 is estimated from the point B1 by the slug count estimating unit 810 using the reciprocating travel interval if the packing is the package as shown in Fig. Therefore, when the sub-vehicle position acquired from the positioning unit 461 is approached or coincided with the estimated point B1, the setting of the work travel can be automatically performed. Alternatively, it may be notified that the vehicle is approaching the point B1, and the driver may be urged to set the work travel. Likewise, the position of point B2 is also estimated from point A1. Therefore, when the sub-vehicle position acquired from the positioning unit 461 is approached or coincided with the estimated point B2, the setting of the direction switching travel can be automatically performed. Alternatively, it is notified that the vehicle is approaching the point B2 and the driver can be urged to set the direction change travel.

From the above description, it is possible to judge from the timing reached at the floor area or the timing coming from the floor area from the position change of the floor unit W and the float 425, the switching operation of the work clutch and the steering angle change, The traveling mode switching operation member 465 as a teaching operating member for recognizing the boundary of the area is not essential. The boundaries of the roadside region can be determined by one or a combination of the above vehicle behaviors. For example, in the case of using the characteristic of the molding apparatus W that descends to the packaging surface at the start of the operation and ascends from the packaging surface at the end of the operation, A state signal indicating a rising operation from the lowering attitude to the lowering attitude of the molding apparatus W is determined based on the state signal indicating the lowering operation, , It is possible to determine a transition point from the working area (non-lean area) of the vehicle to the lean area.

The control device 408 can be equipped with an algorithm for outputting various commands for executing various operations based on the determination result of the slug detection module 481 regarding arrival of the vehicle to the rung area. Some of them are listed below.

(1) Deceleration of the vehicle and stopping of the engine are performed when the vehicle behavior is not executed even when the recorded vehicle behavior reaches a point where the vehicle behavior is expected to be executed.

(2) The position and time at which each vehicle behavior to be recorded in the running in the package occurs can be limited to a specific range. From this, the vehicle behavior outside the specific range is excluded from the recording target, thereby improving the recording accuracy.

(3) If it is detected that the vehicle has entered the runway area, automatic steering is prohibited.

(4) When the steering behavior such as the steering angle, the turning radius, and the like when the vehicle is in the runway area is different from the direction switching running, the recording to the vehicle behavior recording section 483 is stopped. For example, when the turning radius is large, it is considered that the vehicle is not a normal work traveling, such as a departure traveling from a package, not a direction changing traveling.

(5) When an inappropriate vehicle speed is detected at the time of occurrence of a specific vehicle behavior, the vehicle is forcibly stopped.

The travel distance calculating section 486 calculates the travel distance from the detection signal from the sensor (one of the vehicle state detecting sensor groups 409) that detects the rotational speed of the rear wheel 411 or the rotational speed of the electric motor 411 to the rear wheel 411 The traveling distance of the traveling vehicle C is calculated. At that time, considering the slip rate estimated from the state of the package, the mileage can be calculated more accurately. In the case of the positioning unit 461 for calculating the position of the car based on the radio wave signal from the satellite, if the reception sensitivity of the radio wave signal is deteriorated by some reason, the positioning data can not be outputted. This travel distance calculating section 486 is used as the recovery. For example, when the positioning data from the positioning unit 461 is not input, the slug detection module 481 determines that the traveling vehicle C is in the moon area As shown in Fig.

The attitude determination section 487 determines the attitude of the traveling airframe C based on the detection signal from the inclination sensor (one of the vehicle condition detection sensor groups 409) that detects the inclination angle (the rolling angle and the pitching angle) Is compared with a predetermined slope threshold value. In this embodiment, when the posture of the running vehicle deviates from a predetermined condition, the posture judging section 487 gives a braking instruction to the braking device, which is one of the vehicle traveling equipment groups 471, to decelerate or stop the traveling vehicle do.

Specific control operations based on the determination result of the posture determination section 487 are listed below.

(1) When the detected inclination angle exceeds the inclination threshold, notification, deceleration, and stop are executed.

(2) When the detected inclination angle frequently exceeds the inclination threshold, automatic steering is prohibited.

(3) Notify, decelerate, and stop when the detected inclination angle exceeds the slope threshold value for the allowable time. The allowable time is determined depending on the vehicle speed and the packaging depth. Further, when the packaging depth exceeds the predetermined value, the stopping of the vehicle is prohibited in order to avoid disconnection of the vehicle body.

(4) The change in the acceleration of the inclination is calculated. In the event of a sudden change in inclination, automatic steering is prohibited even under the inclination threshold.

[Other Embodiment of the Fifth Embodiment]

(1) In the above-described embodiment, the point A1 and the point B1, which are the boundary points between the running track running direction and the non-running track running area, are the operations of the A button and the B button of the running mode switching operation section, Branches A2, A3 ... And the points B2, B3, ... are estimated from the points A1 and B1 and confirmed based on the vehicle behavior. In order to simplify the control, the vehicle behavior is not used but the points A2, A3 ... And the points B2, B3, ... are estimated from the point A1 and the point B1, and when a position different from the estimated position is assumed to be a formal point, the A button or the B button of the traveling mode switching operation section is operated again, The point may be determined.

(2) Each functional unit in the functional block diagram shown in FIG. 48 is mainly divided for explaining purpose. In practice, each functional unit in Fig. 48 can be divided into other functional units or integrated into a plurality of functional units. The independent functional units are connected by a vehicle-mounted LAN or the like.

(3) The behavior of the vehicle recorded in the vehicle behavior recording section 483 may be such that, in the pasturing period, the posture of the marker, etc., may be introduced. In addition, the vehicle behavior performed at the boundary between the runway area and the non-runway area is subject to vehicle behavior to be recorded in the vehicle behavior recording section 483. [

(4) In addition to the above-mentioned passenger-type reverberation machine having a configuration unit as a working device, the present invention may also be applied to a passenger-handling machine, such as a passenger- Or a construction work vehicle having a bucket or the like as a working device, and the like.

[First Embodiment]
28: Normally preliminary loading base (preliminary loading base)
29: Rail type reserve rack (preload rack)
30: Preliminary frame
31: Connection frame
62: Main inertial measuring device (inertial measuring device)
63: Receiver
66: Harness
67:
68: Guard member
72: rear axle
73: rear axle frame (mounting member)
81:
83:
A: Driving device
C: running gas
U: Steering unit
W: Model unit (work unit)
S1: Usage status
S2: Storage state
LM: Target line
X: right and left central axis
[Second embodiment]
111:
111a:
120: Modular device
130: Handrail
131:
131a:
131b:
131f:
150:
151: Preliminary loading unit
152:
153:
153b:
153c: extension stack
153r: rear end side
200: empty space
[Third embodiment]
243: Manual steering operation handle (steering handle)
258: steering manipulation means (steering motor)
261: Manual operation detecting means (torque sensor)
264: Position detecting means (position measuring unit)
266: azimuth detection means (inertial measurement unit)
268: Path setting means (path setting section)
269: Control means (steering control section)
270: vehicle speed detecting means (vehicle speed sensor)
300:
KA: inclined target bearing
LK: Target movement path
NA: detection orientation (magnetic orientation)
NM: Detected position (magnetic position)
TD: Target bearing (teaching orientation)
Z1: Working area
Z2: unworked area
alpha: inclination angle (set inclination angle)
[Fourth Embodiment]
344: Main speed change lever (shift operating part)
350: Automatic steering switch (switch)
352: instruction button (indicating switch)
359: Displacement switch
359A: Right displacement switch
359B: Left displacement switch
376: Information storage unit (recording unit)
381:
385: Operation cancel section
C: running gas
KL: Standard travel line
S0: Time of setting running line
SL: Setting travel line
SB: predetermined width
[Fifth Embodiment]
407: Notification device
408: Control device
408a: input signal processing section
408b: output signal processor
409: Vehicle condition detection sensor group
425: Float
426:
443: steering wheel
444: Main shift lever
445: Operation lever
461: Positioning unit
465: Switching mode of travel mode
466: Steering mode switching operation opening
471: Vehicle driving machine group
472: Work machine device group
481: Duo detection module
482: Automatic steering section
483: Vehicle behavior record section
484: Steering mode manager
485:
486: mileage calculation unit
487:
490: contact detector
810:
U1: Steering unit
W: Model unit (Packing unit)

Claims (57)

A traveling vehicle having a traveling device,
A work device for carrying out work on packaging,
A steering unit capable of steering the traveling device,
A reception device for acquiring position information by a satellite positioning system,
An inertia measuring device for measuring inertia information,
A generation unit that generates a target line for running the traveling vehicle;
And a control unit for controlling the steering unit such that the traveling vehicle runs along the target line based on the position information and the inertia information,
Wherein the receiving device and the inertial measuring device are disposed at different positions in the traveling vehicle. The method according to claim 1,
Wherein the inertia measuring device is disposed at a position near the center of the longitudinal direction of the entire length of the traveling vehicle and the working device in the longitudinal direction. 3. The method of claim 2,
Wherein the inertia measurement device is provided on an installation member located in the vicinity of a rear axle of the traveling device. 4. The method according to any one of claims 1 to 3,
Wherein the working device is a model part device capable of simulating the package,
A plurality of preliminary pedestals that can be loaded with a preliminary mother to be supplied to the mother board,
A pair of left and right pre-mother frames for supporting the preliminary pedestal,
And a connecting frame connected to the upper part of the left and right front frames,
Wherein the receiving device is installed in the connection frame. 5. The method of claim 4,
Wherein the connection frame is vertically inverted with respect to the use state in which the reception apparatus is located above the upper end of the preliminary mother frame and the reception state in which the reception apparatus is located below the upper end of the preliminary mother frame, To be able to change state. 6. The method of claim 5,
Wherein the connection frame is supported on the left and right pre-frames so as to be rotatable about right and left axis centers along the left and right direction and to be positionally fixed in the use state and the retracted state. 6. The method of claim 5,
Wherein the connection frame is detachable with respect to the left and right front frames. 8. The method according to any one of claims 1 to 7,
The receiving device is provided with a connector portion for connecting the harness,
Wherein the connector portion extends laterally outward from the receiving device. 9. The method according to any one of claims 1 to 8,
The receiving device is provided with a connector portion for connecting the harness,
And a guard member for protecting the connector portion. A running vehicle body having a running type of boarding type,
A drive unit connected to the rear portion of the traveling vehicle so as to be movable up and down,
A railing provided on the transverse side of the operating portion so as to extend upward from the vehicle body portion toward the upper direction,
And a preliminary moisture collecting device installed in front of the railing,
Wherein the preliminary receiver is provided with a plurality of preliminary load bands, and a first state in which a plurality of the preliminary load bands are arranged in a vertical direction of the vehicle body, and a second state in which a plurality of the preliminary load bands are arranged before and after Direction to a second state,
An empty space is provided below the upper end of the handrail,
In the second state of the preliminary moisture-collecting apparatus, the rear end side of the first preliminary stage from the rear of the plurality of preliminary stacking bases enters the empty space, and the upper end and the rear end side, A passenger-type rice miller. 11. The method of claim 10,
The first preliminary stage is provided with a preliminary stage main body, a use posture projecting rearward from the preliminary stage base main body, and a stowage posture stored inside the preliminary stage main body And an extension stack supported on the preliminary stage main body,
And the rear end side of the first preliminary rack is formed by the extension rack of the use posture. The method according to claim 10 or 11,
Wherein the rear end side portion of the first preliminary stage is inserted into the entrance of the operation section in the second state of the preliminary phase receiving apparatus. 13. The method according to any one of claims 10 to 12,
Wherein the upper end portion of the railing is provided with a fixed portion fixed to the body portion and a fixed portion extending forward from the fixed portion so that the front end portion closes the elevator opening of the operation portion, And a movable portion,
And the empty space is provided below the movable portion in the closed state. 14. The method of claim 13,
Wherein the movable portion is supported by the fixed portion so as to be swingable over the closed state and the open state. The method according to claim 13 or 14,
Wherein a front end side portion of the movable portion is supported by a post of the preliminary moisture-receiving device in the closed state of the movable portion. A steering operation means capable of changing the traveling direction of the vehicle body,
A path setting unit that sets a target movement path that the vehicle body should travel,
Position detecting means for detecting a position of the vehicle body;
Direction detecting means for detecting a direction of the vehicle body;
Wherein the control unit controls the control unit so that the detection position of the vehicle body detected by the position detection unit is a position on the target movement path and the detection orientation of the vehicle body detected by the orientation detection unit is a target orientation in the target movement path. And control means for executing automatic steering control for operating the steering operation means,
Wherein,
When the detection position is shifted in the lateral direction from the target movement path and the detection orientation is equal to the target orientation, the target orientation is changed to a tilted target orientation tilted to the target movement path side, And executes the positional deviation correcting process to be operated. 17. The method of claim 16,
Wherein,
And sets the inclination angle of the inclined target azimuth with respect to the target azimuth to be equal to or smaller than a set upper limit value when executing the positional deviation correcting process. 18. The method according to claim 16 or 17,
Vehicle speed detecting means for detecting the vehicle speed is provided,
Wherein,
Wherein when performing the positional shift correction processing, the steering operation means changes the traveling direction at a smaller speed when the vehicle speed is higher. 19. The method according to any one of claims 16 to 18,
Vehicle speed detecting means for detecting the vehicle speed is provided,
Wherein,
Wherein when the positional deviation correcting process is executed, the inclination angle at which the target azimuth is inclined toward the target moving path side is smaller as the vehicle speed is larger. 20. The method according to any one of claims 16 to 19,
Wherein,
And when the positional deviation correcting process is executed, maintains the tilt target direction until the detection position reaches a position corresponding to the target movement route. 20. The method according to any one of claims 16 to 19,
Wherein,
Wherein when performing the positional deviation correcting process, the inclination of the inclined target direction with respect to the target direction becomes gentler as the detected position approaches a position corresponding to the target movement path. 22. The method according to claim 20 or 21,
Wherein a portion corresponding to the target movement path has an area of a predetermined width in the lateral direction on both left and right sides of a position corresponding to the target movement path. 23. The method according to any one of claims 16 to 22,
The vehicle body alternately repeats the straight running running for traveling along the target travel route and the turning travel turning toward the next target travel route in parallel with the target travel route at the end position of the target travel route To run,
Wherein,
When the vehicle body is displaced toward the base work area, when the positional deviation correcting process is performed, the vehicle body is inclined to the target travel path side more significantly than the state where the vehicle body is displaced toward the un- Set up a work car. 23. The method according to any one of claims 16 to 22,
The vehicle body alternately repeats the straight running running for traveling along the target travel route and the turning travel turning toward the next target travel route in parallel with the target travel route at the end position of the target travel route To run,
Wherein,
When the vehicle body is displaced toward the non-work area, when the positional deviation correcting process is performed, the vehicle body is inclined to the target travel path side more greatly than the state where the vehicle body is displaced toward the base work area, Set up a work car. 25. The method according to any one of claims 16 to 24,
The vehicle body alternately repeats the straight running running for traveling along the target travel route and the turning travel turning toward the next target travel route in parallel with the target travel route at the end position of the target travel route To run,
Wherein,
Immediately after the vehicle starts the straight running after the turning of the vehicle body, does not execute the positional deviation correcting process until a predetermined discrimination condition is established. 26. The method according to any one of claims 16 to 25,
A manual steering operation tool for instructing a change in the traveling direction of the vehicle body based on manual operation,
Manual operation detecting means for detecting that manual operation has been performed on the manual steering operation opening,
Wherein,
And when the manual operation is detected by the manual operation detection means, the operation force when operating the steering operation means in the automatic steering control is reduced. 27. The method of claim 26,
Wherein,
Wherein when the manual operation is detected by the manual operation detection means, the operation force is reduced and the operation force is reduced even if the manual operation by the manual operation detection means is not detected. 27. The method of claim 26,
Wherein,
Wherein the operation force is reduced when the manual operation is detected by the manual operation detection means and when the manual operation by the manual operation detection means is not detected, the operation force is returned to the original size. 29. The method according to any one of claims 16 to 28,
A manual steering operation tool for instructing a change in the traveling direction of the vehicle body based on manual operation,
Manual operation detecting means for detecting that manual operation has been performed on the manual steering operation opening,
Wherein,
And stops the automatic steering control if a change command by the manual-steer-type manipulation dial is continuously commanded for a set time or longer. 26. The method according to any one of claims 16 to 25,
A manual steering operation tool for instructing a change in the traveling direction of the vehicle body based on manual operation,
Manual operation detecting means for detecting that manual operation has been performed on the manual steering operation opening,
Wherein,
And when the manual operation is detected by the manual operation detection means, the automatic steering control is stopped and the assist control for operating the steering operation means such that the steering state corresponding to the change command by the manual steering operation opening is made is executed Working car. 31. The method according to any one of claims 16 to 30,
Wherein the position detection means is a satellite positioning unit that receives a radio wave from the satellite and detects the position of the vehicle body. A traveling vehicle capable of switching between automatic traveling by manual steering and automatic traveling by automatic steering along a setting traveling line set in parallel with a reference traveling line,
A changeover switch capable of switching between the manual running and the automatic running,
And a point setting unit that sets the plane position of the traveling vehicle at the time point when the switching from the manual driving to the automatic driving is performed by the changeover switch as the starting point of the setting running line. 33. The method of claim 32,
Wherein the changeover switch is provided in a shift operating section that swings along the longitudinal direction of the traveling body and the operating direction of the changeover switch is set along the left and right direction of the traveling body. 34. The method according to claim 32 or 33,
And a displacement switch for displacing the set travel line in parallel. 35. The method of claim 34,
Wherein the displacement switch is also used as an instruction switch capable of inputting the plane position of the traveling vehicle into the recording section in the manual traveling when the reference traveling line is set. 35. The method according to claim 34 or 35,
Wherein the displacement switch has a displacement switch for a right displacement which displaces the set travel line to the right side and a displacement switch for a displacement for the left which displaces the set travel line to a left side at different positions. 37. The method of claim 36,
Wherein the displacement switch for the right displacement is provided on the right side with respect to the front of the traveling vehicle than the displacement switch for the left displacement. 37. The method according to any one of claims 34 to 37,
And an operation canceling unit which does not reflect an initial predetermined number of operations during the operation of the displacement switch to the displacement control of the set travel line. 37. The method according to any one of claims 34 to 37,
And an operation canceling section which does not reflect the operation of the displacement switch to the displacement control of the set travel line until the set time elapses from the operation of the displacement switch when the displacement switch is operated. 37. The method according to any one of claims 34 to 37,
When the displacement switch is operated, the operation of the displacement switch is controlled to the displacement control of the set travel line until the traveling vehicle reaches an error area of a predetermined width set around the set travel line after displacement And an operation canceling section which does not reflect the operation canceling section. A running vehicle that travels in the package while changing directions in the runway area,
A packaging operation device that performs an operation on the packaging;
A positioning unit for outputting positioning data indicating a position of the vehicle,
An induction steering unit for steering the traveling vehicle based on an artificial operation,
An automatic steering unit for automatically steering the traveling vehicle;
And a slug detection module for detecting that the traveling vehicle has reached the slat area on the basis of the vehicle position. 42. The method of claim 41,
And a package map storage unit for storing map data of the package, wherein the baggage detecting module detects map data of the traveling gas reaching the baggage area by map matching using the self-vehicle position and the map data, Working vehicle. 42. The method of claim 41,
A vehicle behavior recording section for recording the behavior of the traveling vehicle or the packaging operation apparatus or both of them in association with the position of the traveling vehicle as a vehicle behavior,
Wherein the buoy detection module detects that the traveling vehicle has reached the buoy area on the basis of the vehicle behavior. 44. The method of claim 43,
Wherein the vehicle behavior recording section records the operation start and the operation stop of the packaging operation apparatus as the vehicle behavior. 45. The method of claim 43 or 44,
Wherein the vehicle behavior recording section records, as the vehicle behavior, the transition to the work position and the transition to the non-work position of the packing work device. A method according to any one of claims 43 to 45,
Wherein the vehicle behavior recording section records the start and stop of the direction switching travel of the traveling vehicle as the vehicle behavior. 46. The method according to any one of claims 43 to 46,
And a traveling mode switching operation port which is manipulated when shifting between traveling of the baggage area and traveling other than the baggage area,
And the vehicle behavior recording section records the operation of the traveling mode switching operation means as the vehicle behavior. A method as claimed in any one of claims 43 to 47,
Wherein the slug detection module has a slug estimator for estimating the arrival timing of the traveling vehicle to the slug area next to the vehicle behavior in the previous previous work traveling path. 49. The method of claim 48,
And an access notification command for notifying access to the baggage area before arrival timing estimated by the baggage count estimating section is outputted. 50. The method of claim 48 or 49,
Wherein a deceleration command for decelerating the traveling vehicle is output before an arrival timing estimated by the dead-end estimating unit. 51. The method according to any one of claims 48 to 50,
And a vehicle stop command for stopping the traveling vehicle is outputted when the vehicle travels a predetermined distance from the arrival timing estimated by the baggage count estimating unit. 51. The method according to any one of claims 48 to 50,
And a vehicle stop command for stopping the traveling vehicle is output in response to the arrival timing estimated by the baggage count estimating unit. 52. The method according to any one of claims 41 to 52,
And a steering mode management unit for managing an in-steering mode in which an artificial steering by the artificial steering unit is performed and an automatic steering mode in which an automatic steering operation by the automatic steering unit is performed. 54. The method of claim 53,
Wherein the steering mode management unit selects an artificial steering mode in the floor area and selects an automatic steering mode except for the floor area. 54. The method of claim 53 or 54,
And a steering mode switching operation means for artificially selecting the automatic steering mode and the artificial steering mode. The method according to any one of claims 41 to 55,
A travel distance calculating unit for calculating a travel distance based on the number of rotations of the wheel,
Wherein when the positioning unit is inoperable, the slug detection module detects that the traveling vehicle has reached the floor area based on the travel distance calculated by the travel distance calculation unit. 57. The method according to any one of claims 41 to 56,
And a braking command for decelerating or stopping the traveling vehicle is outputted when the attitude is out of a predetermined condition.

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