JP2021151271A - Travel implement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling work machine capable of setting a target moving route so as to be accurately adjacent to a traveling locus of a traveling machine. SOLUTION: A traveling machine C traveling in a field, a working device W for performing work on the field, and a route for setting a target movement route LM for working traveling in which the traveling machine C travels while performing work by the working device W. A setting unit and a traveling locus acquisition means for acquiring a traveling locus FP when the traveling aircraft C is traveling are provided, and the route setting unit sets a target movement route along the traveling locus FP. .. [Selection diagram] FIG. 9

Description

The present invention includes a traveling machine that travels in a field, a work device that performs work on the field, and a route setting unit that sets a target movement route for work travel in which the traveling machine travels while performing work by the work device. Regarding the provided traveling work machine.

For example, in Patent Document 1, a traveling machine (“traveling vehicle body C” in the document), a work device for performing work on a field (“seedling planting device W” in the document), and a target movement in which the traveling machine should travel in work travel. A work vehicle provided with a route setting unit (reference numeral "68" in the literature) for setting a route is disclosed. The route setting unit is configured to set a teaching route corresponding to a target route to be automatically steered by the teaching run, and to set a plurality of target movement routes parallel to the teaching route.

Japanese Unexamined Patent Publication No. 2017-123804

In Patent Document 1, each target movement path is set based on the teaching path by the artificial operation, and the teaching path is set as a linear path connecting two points between the start point position of the artificial operation and the end point position of the artificial operation. Will be done. However, in the setting of the target movement route in Patent Document 1, the traveling locus of the traveling aircraft is not taken into consideration. Therefore, even if the actual travel locus is meandering, if a linear target movement route is set as the target movement route in the subsequent process, the seedlings already planted in the existing work area will be generated in the actual work operation thereafter. There is a risk of being trampled or creating an unworked area between the traveling loci before and after the ridge turn.

In view of the above-mentioned circumstances, an object of the present invention is to provide a traveling work machine capable of setting a target moving route so as to be accurately adjacent to a traveling locus of the traveling machine.

The traveling work machine of the present invention
A traveling machine that runs in the field and
A work device that works on the field and
A route setting unit for setting a target movement route for work traveling in which the traveling machine travels while performing work by the working device, and a route setting unit.
A traveling locus acquisition means for acquiring a traveling locus when the traveling aircraft is traveling is provided.
It is a traveling work machine that repeats traveling along a target movement route and turning toward traveling along the next target movement route.
Reversing the orientation of the own machine, which is the direction of the traveling machine, ascending operation of the working device, ascending operation of the ground leveling rotor provided on the traveling machine, raising operation of the ground leveling float provided on the traveling machine, raising operation of the traveling machine. The turning of the traveling machine is determined by at least one of the disengagement of the side clutch, the interruption of the power to the working device, and the arrival at the starting point position of the straight running of the traveling machine.
When the turning of the traveling machine is determined, the route setting unit sets the next target moving route along the traveling locus during or after the turning of the traveling machine.

Further, the traveling work machine of the present invention is
A traveling machine that runs in the field and
A work device that works on the field and
A route setting unit for setting a target movement route for work traveling in which the traveling machine travels while performing work by the working device, and a route setting unit.
A traveling locus acquisition means for acquiring a traveling locus when the traveling aircraft is traveling is provided.
The route setting unit is characterized in that the target movement route is set along the traveling locus.

According to the present invention, the traveling locus of the traveling aircraft can be acquired by the traveling locus acquisition means, and the traveling locus of the traveling aircraft is taken into consideration in setting the target movement route.
Therefore, for example, even when the traveling locus is curved, the route setting unit can set a target moving route along the curved traveling locus as a target moving route in the subsequent process. As a result, when the work travels along the target movement path of the post-process, the already planted seedlings in the existing work area may be trampled, or a non-work area may occur between the travel loci before and after the ridge turning. The risk of doing so is reduced. As a result, a traveling work machine capable of setting the target movement route so as to be accurately adjacent to the traveling locus of the traveling machine is realized.

The meaning that the target movement route is set along the travel locus is not limited to the meaning that the target travel route is a route that completely matches the travel locus. For example, it may mean that the target movement route is a route that approximates the travel locus, or that the locus of the result of travel based on the target travel route is set to approximate the travel locus. You may.

In this configuration
The target movement route is set corresponding to a first region of the travel locus, which is a location where the traveling aircraft travels in a state of coincidence or substantially matching with a preset movement route. A second route set corresponding to a second region of the route and the traveling locus, which is a location where the traveling aircraft has traveled in a state of being displaced in the left-right direction of the preset movement route. And composed of
It is preferable that the second path is set in a state where the second region is displaced with respect to the first path on the side displaced with respect to the preset movement path.

According to this configuration, the traveling locus is divided into a first region and a second region, the target movement route is composed of a plurality of routes, and further, the second route corresponds to the misalignment of the traveling locus in the second region. Set. Therefore, for example, it is possible to divide the route setting pattern between the first route and the second route, and the actual misalignment of the traveling aircraft is compared with the configuration in which the target movement route is composed of a single route. A traveling work machine that can travel flexibly is realized.

It should be noted that the preset movement route may be a past target movement route that was a target when the traveling aircraft was traveled, or a desired travel route in the artificial operation of the traveling work machine. It may be a traveling locus as a result of traveling by human operation of the working machine.

In this configuration
It is preferable that the amount of misalignment between the first path and the second path is smaller than the amount of misalignment between the preset movement path and the second region.

If the amount of misalignment between the first route and the second route is the same as the amount of misalignment in the previous travel locus, the travel of the traveling aircraft based on the first route and the second route is also the same as the previous travel locus. Or, there is a risk that the traveling aircraft will meander more than the previous traveling trajectory and the traveling aircraft will become unstable. With this configuration, the amount of misalignment between the first route and the second route is small, so the trajectory as a result of the traveling aircraft traveling based on the first and second routes is straighter than the previous traveling trajectory. It becomes a typical trajectory. As a result, the traveling of the traveling machine becomes stable.

In this configuration
With the target movement route set over a plurality of
It is preferable that the amount of misalignment between the first path and the second path is configured to be smaller as the subsequent process is performed.

With this configuration, the target movement route converges to a linear route in the later process, and the traveling of the traveling aircraft based on the first route and the second route becomes more stable in the later process.

In this configuration
It is preferable that the first path and the second path are formed in a straight line.

According to this configuration, since the target movement route is composed of a plurality of linear routes, the setting of the target movement route is simplified, and the traveling aircraft can easily travel along the target movement route.

In this configuration
It is preferable that the target movement path is composed of an approximate curve based on the travel locus.

With this configuration, even if the traveling locus is curved, it is possible to set a target movement route adjacent to the traveling locus corresponding to the curved traveling locus, and the traveling aircraft traces the traveling locus. You can drive like this.

In this configuration
A position detecting means for detecting positioning data indicating the position of the traveling aircraft based on the positioning signal of the navigation satellite is provided.
It is preferable that the traveling locus acquisition means is configured to acquire the traveling locus based on the positioning data.

With this configuration, it is possible to construct a traveling locus acquisition means by using the positioning data of the position detecting means.

In this configuration
An inertial measurement unit capable of measuring the acceleration and angular acceleration of the traveling machine is provided.
It is preferable that the traveling locus acquisition means is configured to acquire the traveling locus based on the acceleration, the angular acceleration, or both.

With this configuration, it is possible to construct a traveling locus acquisition means by using the acceleration or angular acceleration of the inertial measurement unit, that is, the amount of inertia.

It is an overall side view of a rice transplanter. It is an overall plan view of a rice transplanter. It is a front view of a rice transplanter. It is a figure which shows the steering steering unit. It is a block diagram which shows the control structure. It is explanatory drawing of the plan view of the whole field surface which shows the operation of the automatic steering control. It is explanatory drawing which shows the automatic steering control using an inertial measurement unit. It is explanatory drawing which shows the setting of the basic target movement route. It is explanatory drawing which shows the setting of the target movement path in consideration of a traveling locus. It is explanatory drawing which shows the correction of the positional deviation in automatic steering control. It is explanatory drawing which shows the setting of the target movement path in consideration of a traveling locus. It is explanatory drawing which shows the setting of the target movement path in consideration of a traveling locus. It is explanatory drawing which shows the setting of the target movement route over a plurality of target movement routes. It is explanatory drawing which shows the display part. It is explanatory drawing which shows another embodiment of setting of a target movement route. It is explanatory drawing which shows another embodiment of setting of a target movement route. It is explanatory drawing which shows another embodiment of setting of a target movement route. It is explanatory drawing which shows another embodiment of setting of a target movement route.

[Basic configuration of traveling work machine]
Embodiments of the present invention will be described with reference to the drawings. Here, a passenger-type rice transplanter will be described as an example of the traveling work machine of the present invention. As shown in FIG. 2, in the present embodiment, the arrow F is the front side of the traveling body C, the arrow B is the rear side of the traveling body C, and the arrow L is the left side of the traveling body C. The arrow R is on the right side of the traveling aircraft C.

As shown in FIGS. 1 to 3, the passenger-type rice transplanter can plant seedlings in a field and a traveling machine C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11. A seedling planting device W as a working device is provided. The pair of left and right steering wheels 10 are provided on the front side of the traveling machine C so that the direction of the traveling machine C can be changed and operated, and the pair of left and right rear wheels 11 are provided on the rear side of the running body C. Has been done. The seedling planting device W is vertically connected to the rear end of the traveling machine body C via a link mechanism 21 that moves up and down by expanding and contracting the lifting hydraulic cylinder 20.

An openable and closable bonnet 12 is provided at the front portion of the traveling machine body C. At the tip position of the bonnet 12, a rod-shaped center mascot 14 is provided as a guide for traveling along an index line (not shown) drawn on the field by the marker device 33. The traveling machine body C is provided with a body frame 15 extending in the front-rear direction, and a support support column frame 16 is erected at the front portion of the body frame 15.

An engine 13 is provided in the bonnet 12. Although not described in detail, the power of the engine 13 is transmitted to the steering wheels 10 and the rear wheels 11 via an HST (hydrostatic continuously variable transmission) (not shown) provided in the body, and the power after shifting is electric. It is transmitted to the seedling planting device W via a motor-driven planting clutch (not shown).

As shown in FIGS. 1 and 2, the seedling planting device W has four transmission cases 22, eight rotating cases 23, a ground leveling float 25, a seedling stand 26, and a marker device 33. And are provided. The rotary case 23 is rotatably supported on the left side portion and the right side portion of the rear portion of each transmission case 22, respectively. A pair of rotary planting arms 24 are provided at both ends of each of the rotating cases 23. The ground leveling float 25 is for leveling the rice field surface of the field, and is provided in a plurality of seedling planting devices W. A mat-shaped seedling for planting is placed on the seedling stand 26. The marker device 33 is provided on the left and right sides of the seedling planting device W, and forms an index line (not shown) on the field surface of the field.

The seedling planting device W rotationally drives each rotary case 23 by the power transmitted from the transmission case 22 while driving the seedling stand 26 back and forth laterally, and planting each from the lower part of the seedling stand 26. Seedlings are alternately taken out by the arm 24 and planted on the surface of the field. The seedling planting device W is configured in an eight-row planting type in which seedlings are planted by a planting arm 24 provided in eight rotating cases 23. The seedling planting device W may be a four-row planting type, a six-row planting type, a seven-row planting type, or a ten-row planting type.

Although not described in detail, the marker device 33 is configured to be switchable between an operating posture and a retracted posture. In the state of the working posture, the marker device 33 touches the field surface of the field as the traveling machine C travels, and forms an index line (not shown) on the field surface corresponding to the next work process. In the retracted position, the marker device 33 moves upward from the field surface of the field. The attitude of the marker device 33 is switched by an electric motor (not shown).

As shown in FIGS. 1 to 3, a plurality of (for example, four) normal spare seedling stands 28 and spare seedling stands 29 are provided on the left and right sides of the bonnet 12 in the traveling machine C. There is. Normally, the spare seedling stand 28 is configured so that spare seedlings for replenishing the seedling planting device W can be placed. The spare seedling stand 29 is configured as a rail type on which spare seedlings for replenishing the seedling planting device W can be placed. On the left and right sides of the bonnet 12 in the traveling machine C, a pair of left and right spare seedling frames 30 are provided as tall frame members that support each of the normal spare seedling stands 28 and the spare seedling stands 29, and the left and right spare seedlings are provided. The upper parts of the frames 30 are connected to each other by the connecting frame 31.

As shown in FIGS. 1 to 3, a driving unit 40 for performing various driving operations is provided in the central portion of the traveling machine body C. The driver unit 40 is provided with a driver's seat 41, a steering handle 43, a main speed change lever 44, and an operation lever 45. The driver's seat 41 is provided in the central portion of the traveling machine body C and is configured so that the driver can sit down. The steering handle 43 is configured so that the steering wheel 10 can be steered by an artificial operation. The main speed change lever 44 is configured so that a forward / backward forward switching operation and a traveling speed changing operation can be performed. That is, when the main speed change lever 44 is operated, the angle of the swash plate in HST (not shown) is changed, and the power of the engine 13 is changed steplessly. The operation lever 45 switches the raising and lowering operation of the seedling planting device W and the switching between the left and right marker devices 33. The steering handle 43, the main speed change lever 44, the operation lever 45, and the like are provided on the upper part of the control tower 42 located on the front side of the driver's seat 41. A boarding step 46 is provided at the foot portion of the driving unit 40.
The boarding step 46 extends to both the left and right sides of the bonnet 12.

When the operating lever 45 is operated to the ascending position, the planting clutch (not shown) is disengaged to cut off the transmission to the seedling planting device W, and the lifting hydraulic cylinder 20 is operated to raise the seedling planting device W. , The left and right marker devices 33 (see FIG. 1) are operated in the retracted posture. When the operating lever 45 is operated to the lowered position, the seedling planting device W is lowered to touch the surface of the rice field and is in a stopped state. When the operating lever 45 is operated to the right marker position in this lowered state, the right marker device 33 changes from the retracted posture to the working posture. When the operating lever 45 is operated to the left marker position, the left marker device 33 changes from the retracted posture to the working posture.

When starting the rice planting work, the driver operates the operation lever 45 to lower the seedling planting device W and starts transmission to the seedling planting device W to start the rice planting work. Then, when the rice planting work is stopped, the operation lever 45 is operated to raise the seedling planting device W and block the transmission to the seedling planting device W.

The operation panel 47 above the control tower 42 of the driving unit 40 is provided with a display unit 48 capable of displaying various information using a liquid crystal display. The display unit 48 may be a touch panel type liquid crystal display. Further, a push-operated start point setting switch 49A is provided on the right side of the display unit 48, and a push-operated end point setting switch 49B is provided on the left side of the display unit 48. The functions of the start point setting switch 49A and the end point setting switch 49B will be described later.

The grip portion of the main shift lever 44 is provided with a push-operated automatic steering switch 50. The automatic steering switch 50 is provided in the automatic return type, and commands on / off switching of the automatic steering control each time a push operation is performed. The automatic steering switch 50 is arranged at a position where the grip portion of the main speed change lever 44 can be pushed by, for example, the thumb while being gripped by the hand.

As shown in FIG. 4, the traveling machine body C is provided with a steering steering unit U as a steering operating means capable of steering and steering the left and right steering wheels 10. The steering steering unit U includes a steering operation shaft 54, a pitman arm 55, left and right connecting mechanisms 56 interlocked with the pitman arm 55, a steering motor 58, and a gear mechanism 57. .. The steering operation shaft 54 is interlocked with the steering handle 43 via the clutch 53. The pitman arm 55 is configured to swing with the rotation of the steering operation shaft 54. The gear mechanism 57 is configured to interlock and connect the steering motor 58 to the steering operation shaft 54.

The steering operation shaft 54 is interlocked and connected to the left and right steering wheels 10 via the pitman arm 55 and the left and right connecting mechanisms 56, respectively. A steering angle sensor 60 made of a rotary encoder is provided at the lower end of the steering operating shaft 54, and the amount of rotation of the steering operating shaft 54 is detected by the steering angle sensor 60. A torque sensor 61 for detecting the torque applied to the steering handle 43 is provided in the middle of the steering operation shaft 54.

For example, when the steering motor 58 is rotating the steering operation shaft 54 in a predetermined direction and the steering handle 43 is artificially operated in a direction opposite to the rotation direction, the torque sensor 61 is notified. It is possible to detect that. Further, if the steering handle 43 is artificially operated in an arbitrary direction while the steering motor 58 is stopped, the torque sensor 61 can detect that fact. When such an artificial operation is performed, the steering motor 58 can be operated based on the artificial operation in preference to the automatic steering control.

The clutch 53 is provided between the steering operation shaft 54 and the steering wheel 43, and when the clutch 53 is disengaged, power is not transmitted between the steering handle 43 and the steering operation shaft 54. The clutch 53 is configured to be disengaged during automatic steering control, for example, and the rotation of the steering operation shaft 54 due to the operation of the steering motor 58 is not transmitted to the steering handle 43 during automatic steering control. You may.

When the steering steering unit U is automatically steered, the steering motor 58 is driven to rotate the steering operation shaft 54 by the driving force of the steering motor 58, and the steering angle of the steering wheel 10 is adjusted. It is designed to change. When the automatic steering is not performed, the steering steering unit U can be rotated by the artificial operation of the steering handle 43.

[Configuration of automatic steering control]
Next, a configuration for performing automatic steering control will be described.
As an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from satellites and detects the position of the aircraft, the traveling aircraft C uses GPS (Global Positioning System), which is a well-known technology. , A satellite positioning unit 70 (position detecting means) for determining the position of the aircraft is provided. In the present embodiment, the satellite positioning unit 70 uses DGPS (Differential GPS: relative positioning system), but RTK-GPS (Real).
It is also possible to use Time Kinematic GPS (interference positioning method).

Specifically, as a position detecting means, the satellite positioning unit 70 is provided on a target (traveling machine C) for positioning. The satellite positioning unit 70 has a receiving device 72 with an antenna 71 that receives radio waves transmitted from a plurality of GPS satellites orbiting the earth. The position of the receiving device 72, that is, the satellite positioning unit 70 is positioned based on the information of the radio wave received from the navigation satellite.

As shown in FIGS. 1 to 3, the satellite positioning unit 70 is attached to the connecting frame 31 via a plate-shaped support plate 73 in a state of being located at the front portion of the traveling machine body C. As shown in FIGS. 1 and 3, the receiving device 72 is supported at a high position by the connecting frame 31 and the spare seedling frame 30. As a result, there is little possibility that reception failure will occur in the receiving device 72, and the reception sensitivity of radio waves in the receiving device 72 can be increased.

In addition to the satellite positioning unit 70, the traveling body C is provided with an inertial measurement unit 74 having, for example, an IMU (Inertial Measurement Unit) 74A as an inertia measuring means capable of measuring the acceleration and the angular acceleration of the traveling body C. The inertial measurement unit 74 may have a configuration having a gyro sensor or an acceleration sensor instead of the IMU 74A. Although not shown, the inertial measurement unit 74 is provided, for example, at a lower position on the rear side of the driver's seat 41 and at a lower position in the center of the traveling machine body C in the lateral width direction. Based on the amount of inertia of the traveling machine body C by the inertial measurement unit 74, for example, the directional change angle ΔNA (see FIG. 7) of the machine body can be calculated by integrating the angular acceleration. Although not described in detail, the inertial measurement unit 74 can measure the angular velocity of the turning angle of the traveling machine body C, the left-right tilt angle of the traveling machine body C, the angular velocity of the front-rear tilt angle of the traveling machine body C, and the like.

As shown in FIG. 5, the traveling machine body C is provided with the control device 75. The control device 75 is configured to be switchable between an automatic steering mode in which automatic steering control is executed and a manual steering mode in which automatic steering control is not executed.

The control device 75 includes a satellite positioning unit 70, an inertial measurement unit 74, an automatic steering switch 50, a start point setting switch 49A, an end point setting switch 49B, a steering angle sensor 60, a torque sensor 61, a vehicle speed sensor 62, and an obstacle detection unit 63. Information such as (ridge detection unit) is input. The vehicle speed sensor 62 is configured to detect the vehicle speed based on, for example, the rotational speed of the transmission shaft in the transmission mechanism with respect to the rear wheel 11. The obstacle detection unit 63 is provided on the front portion and the left and right side portions of the traveling machine body C, and may be, for example, a light wave distance measuring type distance sensor or an image sensor, and may be used at the ridge of the field or in the field. It is configured to be able to detect steel towers and the like. When an obstacle is detected by the obstacle detection unit 63, an alarm is notified to the driver by, for example, a buzzer or an alarm unit 64 which is a voice guidance. Further, the control device 75 is connected to the notification unit 59 (notification means), and the notification unit 59 is configured to notify, for example, the vehicle speed, the engine speed, the reception sensitivity state of the satellite positioning unit 70, and the like. The notification unit 59 may be configured to be displayed on the display unit 48, or may be configured to change the blinking pattern of the LED illumination provided in the center mascot 14. Further, the alarm unit 64 may be configured to display an alarm on the display unit 48 via the notification unit 59. In this case, for example, an alarm for ridge detection is displayed on the display unit 48. Further, the alarm unit 64 may be configured as a part of the notification unit 59. The time notified by the notification unit 59 may be configured to be arbitrarily set and adjusted.

The control device 75 includes a route setting unit 76, a direction calculation unit 77, a travel locus acquisition unit 78 as a travel locus acquisition means, a control unit 79, and a steering control unit 80. The route setting unit 76 sets the target movement route LM (see FIG. 6) to be traveled by the traveling aircraft C. Details of the direction calculation unit 77 and the traveling locus acquisition unit 78 will be described later. The control unit 79 sets the target movement route of the traveling aircraft C based on the position information of the traveling aircraft C measured by the satellite positioning unit 70 and the orientation information of the traveling aircraft C measured by the inertial measurement unit 74. The operation amount is calculated and output so as to travel along the LM. The steering control unit 80 controls the steering motor 58 based on the amount of operation. Specifically, the control device 75 includes a microcomputer, and a traveling locus acquisition unit 78, a route setting unit 76, a direction calculation unit 77, a control unit 79, and a steering control unit 80 are configured by a control program. ing.

Further, the control device 75, for example, displays positioning data measured by the satellite positioning unit 70, an inertial amount detected by the inertial measurement unit 74, and a vehicle speed detected by the vehicle speed sensor 62 in a RAM (Random) (not shown). It may be configured to be stored in the Access Memory) over time.

A setting switch 49 for setting the target movement path LM used for automatic steering control by the teaching process is provided. The setting switch 49 includes a start point setting switch 49A for setting the start point position Ts and an end point setting switch 49B for setting the end point position Tf. As described above, the start point setting switch 49A is provided on the right side of the display unit 48, and the end point setting switch 49B is provided on the left side of the display unit 48.

By the teaching process based on the operation of the start point setting switch 49A and the end point setting switch 49B, the teaching route corresponding to the target route to be automatically steered is set by the route setting unit 76.

The directional calculation unit 77 calculates the detected azimuth of the traveling aircraft C, that is, its own directional NA, based on the amount of inertia detected by the inertial measurement unit 74. Then, the directional calculation unit 77 calculates the angular deviation between the target directional LA and the own directional NA in the target movement path LM, that is, the directional deviation. Then, when the control device 75 is set to the automatic steering mode, the control unit 79 calculates and outputs an operation amount for controlling the steering motor 58 so that the angle deviation becomes small.

The traveling locus acquisition unit 78 of the traveling aircraft C is based on the positioning data measured by the satellite positioning unit 70, the own directional NA calculated by the directional calculation unit 77, and the vehicle speed detected by the vehicle speed sensor 62. The position, that is, the position NM of the own machine is calculated. The own machine position NM is stored in a RAM (not shown) over time, and the traveling locus acquisition unit 78 calculates the traveling locus FP based on the set of the own machine position NMs.

The steering control unit 80 executes the automatic steering control based on the amount of operation output by the control unit 79 during the automatic steering control of the traveling machine body C. That is, the steering motor 58 is operated so that the own machine position NM calculated by the traveling locus acquisition unit 78 becomes a position on the target movement path LM.

[Target movement route]
In paddy fields, the rice transplanter alternately repeats a work run involving rice planting work along a straight line planting route and a ridge turning run to move to the next line planting route near the ridge.
FIG. 6 shows a plurality of target movement paths LM parallel to each other along the teaching path. In the present embodiment, the respective target movement routes LM (1) to LM (6) are set by the route setting unit 76 in the following procedure.

First, the driver positions the traveling machine C at the start point position Ts at the ridge in the field, and operates the start point setting switch 49A. At this time, the control device 75 is set to the manual steering mode. Then, while the driver manually controls, the traveling machine C is driven from the start point position Ts along the linear shape of the ridge on the side side, moved to the end point position Tf near the ridge on the opposite side, and then the end point is set. Operate switch 49B. As a result, the teaching process is executed. That is, the start point position Ts and the end point position Tf are obtained from the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the start point position Ts and the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the end point position Tf. A teaching route connecting with is set. The direction along the teaching path is set as the reference target direction LA. The position coordinates at the end point position Tf may be calculated based not only on the positioning data by the satellite positioning unit 70 but also on the traveling locus of the teaching traveling calculated by the traveling locus acquisition unit 78. Further, the traveling of the traveling machine C over the start point position Ts and the ending point position Tf may be a work traveling involving rice planting work or a non-working state traveling.

After the setting of the teaching route is completed, the ridge turning traveling for moving to the row planting route adjacent to the teaching route is performed, and in the present embodiment, the traveling machine C moves to the starting point position Ls (1). The ridge turning run may be performed by the driver manually operating the steering handle 43, or may be performed by automatic turning control. At this time, the control unit 79 can determine that the traveling aircraft C has been turned by reversing the orientation NA of the aircraft. The reversal of the own directional NA can be detected by the satellite positioning unit 70 or the inertial measurement unit 74.

The turning of the traveling machine C may be determined by the operation of various devices in addition to the reversal of the own directional NA. As the operation of various devices, for example, the seedling planting device W, the ground leveling rotor (not shown), the ground leveling float 25, etc. are raised, the side clutch (not shown) is disengaged, or the seedling planting device is used. It may be the interruption of transmission to W. Further, the arrival at the start point position Ls (1) of the traveling machine C may be determined by the satellite positioning unit 70.

After the setting of the teaching route is completed, the target movement route LM (1) is set by the route setting unit 76 at an arbitrary timing. The target movement path LM (1) may be set when the setting of the teaching path is completed, may be set during the turning of the traveling machine C, or may be set after the turning of the traveling machine C. Further, the target movement path LM (1) may be configured to be set by operating the setting switch 49, the automatic steering switch 50, or the like, or may be automatically set.

After it is determined that the turning of the traveling machine body C is completed, the manual steering mode of the control device 75 continues, and the straight running by human operation is continued. During this time, the control device 75 confirms the determination conditions such as the directional deviation of the own aircraft azimuth NA calculated by the directional calculation unit 77, the direction of the steering wheel 10, the steering angle of the steering handle 43, and the like, and switches to the automatic steering mode. Determine if it is in a switchable state. Then, the control device 75 permits the operation of the automatic steering switch 50 as long as it can be switched to the automatic steering mode. At this time, the notification unit 59 notifies whether or not the control device 75 is in a state where it can be switched to the automatic steering mode.

When the driver operates the automatic steering switch 50 while the operation of the automatic steering switch 50 is permitted, the route setting unit 76 sets the target movement path LM (1), and the control device 75 sets the manual steering mode. Is switched to the automatic steering mode. Then, automatic steering control along the target movement path LM (1) is started. The target movement path LM (1) is a target movement path LM that is set along the direction of the target direction LA in a state adjacent to the teaching path, and the traveling machine C first performs a work run after the teaching process. After turning the traveling machine C, the driver operates the operation lever 45 to lower the seedling planting device W to execute the rice planting operation, but the control device 75 changes from the manual steering mode to the automatic steering mode. When switched, the seedling planting device W may be lowered to start the rice planting operation.

In the automatic steering control, the obstacle detection unit 63 detects the ridge near the end point position Lf (1) on the opposite side of the start point position Ls (1) of the target movement path LM (1). Continue until determined. When the obstacle detection unit 63 determines that the distance between the traveling machine C and the ridge is within a preset range, the alarm unit 64 notifies the driver. At this time, the alarm by the alarm unit 64 may be a voice such as a buzzer, may be lighting or blinking of the LED lighting provided in the center mascot 14, or may be displayed on the display unit 48. There may be. Then, the obstacle detection unit 63 continues to detect the ridge for a preset time, so that the detection of the ridge is determined, and the control device 75 is switched to the manual steering mode for automatic steering control. Is released.

When the traveling machine C reaches the end point position Lf (1) of the target movement path LM (1), the driver operates the steering handle 43 toward the unworked area side of the target movement path LM (1) to turn the ridge. After traveling, the traveling machine C moves to the starting point position Ls (2) of the next work traveling. Before the traveling machine C turns, the driver can operate the operation lever 45 to raise the seedling planting device W, but the operation of the steering handle 43 cuts off the transmission to the seedling planting device W. The seedling planting device W may be raised. Then, it is determined that the traveling machine body C has been turned.

After the work run on the target movement path LM (1) is completed, the target movement path LM (2) is set by the route setting unit 76 at an arbitrary timing. The target movement path LM (2) may be set at the time of determining the ridge by the obstacle detection unit 63, may be set during the turning of the traveling machine C, or may be set after the turning of the traveling machine C. Is also good. Further, the target movement path LM (2) may be configured to be set by operating the setting switch 49, the automatic steering switch 50, or the like, or may be automatically set. After the target movement path LM (2) is set adjacent to the unworked area side of the target movement path LM (1), automatic steering control is started along the target movement path LM (2), and the traveling aircraft C works and runs.

After the traveling aircraft C reaches the end point position Lf (2) of the target movement path LM (2), the ridges are in the order of the target movement path LM (3), LM (4), LM (5), LM (6). The setting of the target movement path LM after the turning run and the work run are repeated. That is, each target movement path LM is set one by one.

[Means for acquiring travel locus]
In the passenger-type rice transplanter of the present embodiment, in order to maintain the planting interval of seedlings appropriately, the error range of the own machine position NM is required to be within a range of, for example, 10 cm. In a configuration in which RTK-GPS is used as the satellite positioning unit 70, since the error of RTK-GPS is generally within several centimeters, it is possible to acquire an accurate traveling locus. However, in a configuration in which DGPS is used as the satellite positioning unit 70, an error of DGPS may generally reach a range of several meters, so that it may not be possible to acquire an accurate traveling locus. Therefore, in a configuration in which DGPS is used as the satellite positioning unit 70, a traveling locus acquisition means by the inertial measurement unit 74 is used.

While the automatic steering control is performed, as shown in FIG. 7, the relative directional change angle ΔNA is determined over time by the directional calculation unit 77 based on the amount of inertia detected by the inertial measurement unit 74. It is measured. The directional calculation unit 77 calculates the directional NA of the aircraft from the point where the automatic steering control is started by integrating the directional change angle ΔNA over time. The traveling locus acquisition unit 78 calculates the own aircraft position NM based on the vehicle speed detected by the vehicle speed sensor 62 and the own aircraft direction NA. As a result, the travel locus FP of the traveling aircraft C is calculated over time by the traveling locus acquisition unit 78 based on the set of the own machine position NMs.

The directional calculation unit 77 calculates the directional deviation between the own directional NA and the target directional LA. The control unit 79 outputs an operation amount so that the own directional NA matches the target azimuth LA, and the steering control unit 80 operates the steering motor 58 based on the operation amount. As a result, the traveling machine C travels accurately along the target movement path LM. The driver is in a state of not operating the steering wheel 43.

As described above, the error of DGPS may reach a range of several meters, but when positioning between two points is performed by DGPS in a short time of, for example, about 10 seconds, the relative position between the two points is relative. It is known that the error is extremely small. Utilizing this characteristic, the absolute azimuth calculated based on the positioning data between the two points becomes more accurate as the distance between the two points increases. Therefore, in the configuration in which DGPS is used as the satellite positioning unit 70, the direction calculation unit 77 calculates the absolute direction from the positioning data between two points positioned by the satellite positioning unit 70, and based on the inertial measurement unit 74, the direction calculation unit 77 calculates the absolute direction. It is configured to perform the calibration process of the own aircraft orientation NA so that the orientation error does not occur in the aircraft orientation NA. That is, even if the measurement of the directional change angle ΔNA by the inertial measurement unit 74 includes an error, the accumulation of the error due to the integration of ΔNA is eliminated, and the acquisition of the traveling locus FP and the automatic steering control are performed. It will be accurate.

[Setting basic target movement route]
FIG. 8 shows the target movement route LM2 for the post-process in a state adjacent to the traveled target movement route LM1. The travel locus FP in FIG. 8 is a travel locus in which the traveling aircraft C travels in a state of substantially matching the traveled target travel route LM1 as a preset travel route. The target movement route LM2 for the post-process is set as a target movement route in which the traveling machine C performs a work traveling next to the already traveled target movement route LM1. From this, when the traveled target movement path LM1 in FIG. 8 corresponds to the target movement path LM (1) in FIG. 6, the post-process target movement path LM2 in FIG. 8 is the target movement path LM (2) in FIG. ) Corresponds to. Further, when the traveled target movement path LM1 in FIG. 8 corresponds to the target movement path LM (2) in FIG. 6, the post-process target movement path LM2 in FIG. 8 becomes the target movement path LM (3) in FIG. Equivalent to. The same applies to the traveled target movement route LM1 and the post-process target movement route LM2 in FIGS. 9 to 13, which will be described later.

The traveled target movement route LM1 as a preset movement route may be the teaching route described above. In this case, the target movement path LM2 for the post-process of FIG. 8 corresponds to the target movement path LM (1) of FIG.

Basically, the target movement path LM2 for the post-process is set at a distance P of a preset set distance P from the traveled target movement path LM1 based on the positioning data of the satellite positioning unit 70.
Here, the set distance P is a distance corresponding to the work width in which the seedling planting device W performs the rice planting work.

However, when DGPS is used as the satellite positioning unit 70, the position coordinates NM3 of the own machine position NM based on the positioning data deviate from the actual traveled target movement path LM1 due to the above-mentioned DGPS position error. Can be considered. That is, even when the automatic steering control is performed while the traveling aircraft C actually follows the already traveled target movement path LM1 with high accuracy, the position coordinates NM3 based on the positioning data of the satellite positioning unit 70 have an absolute error. including.
Therefore, as shown in FIG. 8, there is a possibility that the position coordinate NM3 is displaced by a deviation d1 with respect to the traveled target movement path LM1. From this, when the target movement path LM2 for the post-process is actually set based only on the position coordinates NM3, the already planted seedlings in the existing work area may be trampled or between the traveling loci before and after the ridge turning. There is a risk that a non-working area may occur.

In the present embodiment, the distance between the target movement path LM2 for the post-process and the traveled target movement path LM1 is based on the actual position deviation of the traveling machine C whose automatic steering control is performed along the traveled target movement path LM1. The distance is calculated. As described above, when positioning between two points by DGPS is performed in a short period of time, it is known that the relative error of the position between the two points is extremely small. Utilizing this characteristic, when setting the target movement path LM2 for the post-process, based on the positioning data positioned immediately before the ridge turn, the position is separated from the own machine position NM by a relative distance for the post-process. The route setting unit 76 is configured to set the target movement route LM2. That is, the target movement path LM2 for the post-process is set at a position separated by a set distance P from the own machine position NM calculated based on the positioning data of the satellite positioning unit 70.

In the automatic steering control along the traveled target movement path LM1, when the traveling aircraft C works and travels in a state of being displaced by a deviation d1 from the traveled target movement path LM1 to the unworked area side, it is shown in FIG. The alternate long and short dash line is the actual travel locus FP of the traveling aircraft C. The travel locus FP is calculated by the travel locus acquisition unit 78.

Immediately before the ridge turning run, the position coordinates NM3 of the own machine position NM are positioned as positioning data by the satellite positioning unit 70. After the position coordinates NM3 are positioned and before the automatic travel control is started, the ridge turning travel is performed, and the target movement route LM2 for the post-process is set at an arbitrary timing. Since the normal ridge turning run is completed in about a few seconds, the relative between the position coordinates determined by the satellite positioning unit 70 immediately after the completion of the ridge turning running and the position coordinates NM3 immediately before the ridge turning running. Error is small. The position coordinate NM3 may be an average of a plurality of positioning data measured by the satellite positioning unit 70 in the vicinity of the end point position Lf.

Originally, the target movement path LM2 for the post-process is set at a position separated from the traveled target movement path LM1 by a set distance P, that is, at a position indicated by a broken line lm shown in FIG. On the other hand, in the present embodiment, the target movement path LM2 for the post-process is translated from the broken line lm by the deviation d1 to the unworked region side in accordance with the deviation d1 of the traveling machine body C.

Further, when the actual traveling locus FP of the traveling body C is displaced by a deviation d1 from the traveled target movement path LM1 to the already-worked area side, the post-process target movement path LM2 is the traveled target movement path LM1. It is set in a state where it is translated from the set distance P with respect to the work area side by the deviation d1.

As a result, even if the positioning data measured by the satellite positioning unit 70 contains an error, it can be set at a position separated from the position coordinate NM3 by a set distance P. Depending on the configuration in which the target movement path LM2 for the post-process is set at a position separated by the working width of the seedling planting device W, the already planted seedlings in the existing work area may be trampled or the traveling locus before and after the ridge turning. The possibility that a non-working area is generated between them is prevented.

[Setting a target movement route in consideration of the traveling locus]
The traveling machine C does not always work along the target movement path LM. For example, as shown in FIG. 9, even when a linear traveled target travel route LM1 is preset as the travel route, due to slippage of the traveling aircraft C, avoidance of obstacles in the field, etc., The traveling machine C may meander. That is, as shown in the meandering locus fp of FIG. 9, the actual traveling locus FP of the traveling aircraft C is displaced in the left-right direction of the traveled target movement path LM1. In such a case, if the target movement path LM2 for the post-process is set without considering the meandering locus fp, the following inconvenience occurs. That is, when the target movement path LM2 for the post-process is set as it is in a straight line at a position separated by the set distance P from the position coordinate NM3 near the end point position Lf to the unworked area side, the meandering locus fp has already been used. The work area overlaps with the work width when the work runs along the target movement path LM2 for the post-process. Then, when the traveling machine C travels along the target movement path LM2 for the post-process, there is a risk that the seedlings already planted in the working area will be trampled. In order to avoid this inconvenience, the target movement path LM2 for the post-process is composed of a combination of a plurality of paths.

The configuration of the target movement path LM2 for the post-process will be described with reference to FIG. The positional deviation of the traveling machine C with respect to the traveled target travel path LM1 is determined by the route setting unit 76 based on the travel locus FP. Specifically, a threshold value of deviation d2 is provided on both the left and right sides along the traveled target movement path LM1. The first region A1 is a portion of the travel locus FP on the side where the traveled target movement path LM1 is located rather than the deviation d2. Further, the second region A2 is a portion of the travel locus FP that is opposite to the side on which the traveled target movement path LM1 is located, with respect to the deviation d2.

In the present embodiment, the target movement path LM2 for the post-process is composed of a linear first path lm1 and a linear second path lm2. When the automatic steering control is performed along the traveled target movement route LM1 without any trouble, the travel locus FP converges within the range of the first region A1, and the travel locus FP coincides with or is abbreviated as the traveled target movement route LM1. It is determined that they match. Then, the first path lm1 is set corresponding to the first region A1. The value of the deviation d2 is, for example, a value of 10 centimeters or less.

Of the traveling locus FP, the portion located in the second region A2 is shown in FIG. 9 as the meandering locus fp. From this, the second path lm2 is set corresponding to the second region A2 based on the meandering locus fp of the second region A2. In FIG. 9, the meandering locus fp of the second region A2 is in a state of being displaced from the traveled target movement path LM1 to the unworked region side. Therefore, the second path lm2 is set in a state where the position is shifted to the unworked area side with respect to the first path lm1.

In the present embodiment, the target movement path LM2 for the post-process is set based on the position coordinate NM3, and the position coordinate NM3 is a position within the range of the first region A1. Therefore, the traveling locus acquisition unit 78 calculates the misalignment width Δp1 between the location where the position coordinates NM3 are positioned and the location where the position coordinates NM3 are most displaced in the meandering locus fp. Further, in the traveling locus FP, the traveling distance R1 that is displaced to the second region A2 is also calculated by the traveling locus acquisition unit 78. The mileage R1 is a length in the direction along the traveled target movement path LM1, and does not mean the actual meandering length of the meandering locus fp.

The second route lm2 is a route parallel to the traveled target movement route LM1 and is set in a state of being separated from the meandering locus fp at the position shifted to the unworked area side by a set distance P. Will be done. The path length of the second path lm2 is set to a length corresponding to the mileage R1 of the meandering locus fp. Further, the path length of the second path lm2 may be set longer in the front-rear direction than the mileage R1.

The first route lm1 and the second route lm2 are discontinuous routes. In the present embodiment, the second path lm2 is displaced by the misalignment width Δp2 in parallel with the first path lm1 and on the side away from the traveling locus FP. That is, when the automatic steering control over the first path lm1 and the second path lm2 is performed, the target path is switched from the first path lm1 to the second path lm2.
From this, after the traveling machine C travels along the first path lm1, the traveling machine C is displaced laterally with respect to the second path lm2. In this case, the following misalignment correction process is executed by the control unit 79.

As shown in FIG. 10, first, when the target route is switched from the first route lm1 to the second route lm2, the position coordinates NM4 of the own aircraft position NM at the switching timing are the satellite positioning unit 70. Positioned by. As described above, when positioning between two points is performed by DGPS in a short time of, for example, about 10 seconds, the relative error of the position between the two points is extremely small. Control to move the traveling aircraft C as quickly as possible to a location where the position coordinate NM4 is laterally displaced by a displacement width Δp2, that is, a location where the second path lm2 is located, by utilizing such characteristics of DGPS. Is done.

As shown in FIG. 10, when the traveling aircraft C travels in a state where the own aircraft position NM is displaced laterally from the second path lm2 by the displacement width Δp2, the control unit 79 sets the target direction LA. Is changed to an orientation tilted by the set tilt angle α1. That is, the control unit 79 changes the target directional LA to a directional tilted by the set tilt angle α1 on the side where the second path lm2 is located as the target directional LA for automatic steering control, and executes the automatic steering control. do.

At this time, the farther the own machine position NM is from the place corresponding to the second path lm2, the larger the set inclination angle α1 is set, and the closer the own machine position NM is to the place corresponding to the second path lm2. The set tilt angle α1 is set loosely. Further, if the vehicle speed is low, the set inclination angle α1 is set to the large side, and the higher the vehicle speed is, the looser the set inclination angle α1 is set. However, an upper limit value is set for the set inclination angle α1, and the set inclination angle α1 does not exceed the set upper limit value no matter how low the vehicle speed is or the position shift is large. This prevents the traveling machine C from making a sharp turn and making the traveling state unstable.

When the own directional NA reaches the target azimuth LA tilted by the set tilt angle α1, the target directional LA is changed to the directional tilted by the tilt angle α2, which is looser than the set tilt angle α1. In this way, the traveling aircraft C travels in the oblique direction in a state where the directional deviation with respect to the second route lm2 gradually decreases, so that the traveling aircraft C quickly approaches the second route lm2.

The portion corresponding to the second path lm2 described above has a region having a predetermined width in the lateral direction on both the left and right sides of the position corresponding to the second path lm2. That is, a control dead zone for the position deviation is set, and when the position deviation falls within the range of the control dead zone, the target direction LA does not incline and is set in the direction along the original second path lm2.

With the above configuration, the traveling machine C is guided to the second path lm2. Further, when the target route is switched from the second route lm2 to the first route lm1, the above-mentioned misalignment correction process is executed. As a result, the work running along the target movement path LM2 for the post-process is performed so as to bypass the already working area due to the meandering locus fp, and the possibility that the already planted seedlings in the already working area will be trampled is avoided.

If the first route lm1 and the second route lm2 are set apart from the traveling locus FP by the set distance P, the seedlings already planted in the work area by the traveling locus FP and the target movement route LM2 for the post-process are along. The distance between the seedlings that have already been planted and the seedlings that have been planted in the rice field tends to be evenly spaced. However, when the work travel is performed along the first route lm1 and the second route lm2 set apart by the set distance P, the travel locus based on the work travel also meanders. Further, when the degree of the meandering becomes larger than that of the traveling locus FP, the traveling locus based on the target movement path LM2 for the post-process of the post-process may also meander significantly, which is not preferable for automatic steering control. In order to avoid this inconvenience, the post-process target movement path LM2 set based on the meandering travel locus FP is set to return to a linear path.

When all of the traveling locus FP converges within the range of the first region A1, the first path lm1 is set at a position separated from the position coordinate NM3 of the own machine position NM by a set distance P. However, as shown in FIG. 9, when the meandering locus fp located on the unworked area side of the traveled target movement route LM1 is included in the travel locus FP, the first route lm1 is set from the position coordinates NM3. The position is set to a position further separated by the correction interval p from the position separated by the distance P. In other words, the misalignment width Δp2 between the first path lm1 and the second path lm2 is a correction interval more than the misalignment width Δp1 between the position where the position coordinate NM3 is positioned and the position where the position coordinate NM3 is most displaced in the meandering locus fp. It becomes smaller by p. The correction interval p is such that the interval between the working width of the seedling planting device W in the traveling locus FP and the working width of the seedling planting device W when the work traveling is performed along the first path lm1 is not too large. It is set as an appropriate interval of.

That is, in response to the meandering locus fp being displaced from the traveled target movement path LM1 to the unworked area side, the first path lm1 is further separated from the already worked area side. Set. As a result, when the work travel is performed over the first route lm1 and the second route lm2, the travel locus of the work travel becomes more linear than the travel locus FP.

As shown in FIG. 11, when the meandering locus fp meanders toward the work area side of the traveled target movement path LM1, the recessed shape in which seedlings are not planted in the work area based on the travel locus FP. A blank area A3 is generated. In this case, even if the traveling machine C travels along the first path lm1 of the target moving path LM2 for the post-process, there is no possibility that the already planted seedlings in the traveling locus FP will be trampled. Therefore, the first path lm1 is set at a position separated from the position coordinate NM3 by a set distance P. The second path lm2 is set so as to be displaced from the first path lm1 to the work area side in accordance with the meandering locus fp. That is, the second route lm2 is set so as to fill the blank area A3 between the traveling locus FP and the target movement route LM2 for the post-process.

In FIG. 11, the distance between the meandering locus fp, which is most displaced toward the work area side, and the second path lm2 is set to a distance obtained by adding the correction distance p to the set distance P.
In other words, the misalignment width Δp2 between the first path lm1 and the second path lm2 is a correction interval more than the misalignment width Δp1 between the position where the position coordinate NM3 is positioned and the position where the position coordinate NM3 is most displaced in the meandering locus fp. It becomes smaller by p. As a result, when the work travel is performed over the first route lm1 and the second route lm2, the travel locus of the work travel becomes more linear than the travel locus FP while the blank area A3 is filled with seedlings. ..

As shown in FIG. 12, when the traveling locus FP has a plurality of meandering loci fp (1) to fp (3), the post-process target movement path LM2 has a plurality of second paths lm2. In FIG. 12, the second route lm2 (1) and lm2 (3) are located on the unworked area side of the traveled target movement route LM1, and the second route lm2 (2) is already located on the traveled target movement route LM1. Located on the work area side. Of the plurality of meandering loci fp (1) to fp (3), the meandering locus fp (1) is displaced to the most unworked area side. Therefore, the second path lm2 (1) is set at a position of the meandering locus fp (1) that is most displaced toward the unworked area side and is separated from the unworked area side by a set distance P. .. Further, the first path lm1 is set at a position further separated by a correction interval pa from a position separated by a set distance P from the position coordinate NM3. The misalignment width Δp1 is the misalignment width between the location where the position coordinate NM3 is positioned and the location where the position coordinate NM3 is most displaced in the meandering locus fp (1). Further, the misalignment width Δp1 may be the misalignment width between the most misaligned portion in the meandering locus fp (1) and the traveled target movement path LM1. In other words, the positional deviation width Δp2 between the first path lm1 (1) and the second path lm2 is the positional deviation between the position where the position coordinate NM3 is positioned and the position where the position coordinate NM3 is most displaced in the meandering locus fp (1). The correction interval pa is smaller than the width Δp1.

Further, in FIG. 12, the distance between the meandering locus fp (2) that is most displaced toward the work area side and the second path lm2 (2) is added to the set distance P by the correction distance pb. Set to distance. The misalignment width Δp3 is the misalignment width between the location where the position coordinate NM3 is positioned and the location where the position coordinate NM3 is most displaced in the meandering locus fp (2). Further, the misalignment width Δp3 may be the misalignment width between the most misaligned portion in the meandering locus fp (2) and the traveled target movement path LM1. In other words, the misalignment width Δp4 between the first path lm1 and the second path lm2 (2) is the misalignment between the position where the position coordinate NM3 is positioned and the position where the position coordinate NM3 is most misaligned in the meandering locus fp (2). The correction interval pb is smaller than the width Δp3.

Further, in FIG. 12, the separation distance between the meandering locus fp (3) that is most displaced toward the unworked region side and the second path lm2 (3) may be the set distance P. It may be a distance obtained by adding an arbitrary correction interval to the set distance P. The misalignment width Δp5 is the misalignment width between the location where the position coordinate NM3 is positioned and the location where the position coordinate NM3 is most displaced in the meandering locus fp (3). Further, the misalignment width Δp5 may be the misalignment width between the most misaligned portion in the meandering locus fp (3) and the traveled target movement path LM1. That is, the misalignment width Δp6 between the first path lm1 and the second path lm2 (3) is the misalignment width between the position where the position coordinate NM3 is positioned and the position where the position coordinate NM3 is most displaced in the meandering locus fp (3). It may be smaller than Δp5. As a result, when the work travel is performed over the first route lm1 and the second route lm2, the travel locus of the work travel becomes more linear than the travel locus FP. The correction interval pa and the correction interval pb may be the same value or may be different values.

With the above configuration, the degree of meandering of the traveling locus after the automatic steering control is performed along the target movement path LM2 for the post-process is automatically steered control along the traveled target movement path LM1. It becomes smaller than the degree of meandering of the later traveling locus FP. That is, the traveling locus after the automatic steering control is performed along the target movement path LM2 for the post-process is larger than the traveling locus FP after the automatic steering control is performed along the traveled target movement path LM1. It becomes a straight running trajectory. Therefore, as shown in FIG. 13, the target movement paths LM2 (1) to LM2 (5) for the post-process are formed into a linear path each time the work running process is repeated. That is, a plurality of target movement paths LM2 (1) to LM2 (5) for the post-process are set while repeating the work run in the field and the turning run at the ridge, so that the target move path LM2 for the post-process becomes the target move path LM2 for the post-process. , The misalignment width Δp2 between the first path lm1 and the second path lm2 becomes smaller. As a result, even if the traveling locus FP meanders due to, for example, slipping of the traveling machine C or avoidance of obstacles in the field, the target movement path LM2 for the post-process set thereafter is gradually linear. It is modified into a path and finally converges into a single straight line.

[Display]
As shown in FIG. 14, the state of the aircraft is displayed on the screen of the display unit 48 via the notification unit 59. The display unit 48 is divided into a plurality of display areas such as a work information area 100, a position shift information area 101, and a vehicle speed information area 102. The work information area 100 displays the work date and time, the work record, and the like on the upper left end of the display unit 48. The misalignment information area 101 displays the amount of misalignment of the traveling aircraft C (own aircraft position NM) with respect to the target movement path LM in the center on the upper side. The vehicle speed information area 102 displays the vehicle speed at the upper right end. A large area other than the upper side of the display unit 48 is a position information area 104, and the position information area 104 indicates the position of the traveling machine C in the field. The small area at the left end of the position information area 104 is the steering state information area 103, and the steering state information area 103 displays the state of the automatic steering mode or the manual steering mode of the control device 75. A touch panel operation type software button group 120 is arranged at the right end of the position information area 104. A physical button group 121 is arranged on the right side of the display unit 48.

In the position information area 104, the working state of the field around the traveling aircraft C, the target movement route LM, and the aircraft symbol SY indicating the own aircraft position NM are displayed. Of the target movement paths LM, the target movement path LM during work travel is drawn with a thick solid line for easy understanding. Further, when the target movement route LM is composed of the first route lm1 and the second route lm2, the first route lm1 and the second route lm2 are displayed. Furthermore, the areas where rice planting has already been completed are displayed by stippling each planted seedling. As a result, the existing work area and the unworked area are visually clearly distinguished. When the traveling machine C meanders and the work is performed, the degree of meandering is visualized by the pointillized planted seedlings. In addition to the pointillism, the display of the planted seedling trace may be a line indicating a linear planting strip.

Although not explicitly shown in FIG. 14, the traveling locus FP of the traveling aircraft C can be displayed on the display unit 48. By comparing the travel locus FP with the target movement path LM, the accuracy of the automatic steering control can be checked. The traveling locus FP is displayed on the display unit 48 based on the positioning data by the satellite positioning unit 70. Further, the aircraft symbol SY is indicated by an arrow shape, and the sharp direction indicates the traveling direction, that is, the own aircraft direction NA. In order to make it easier to visually understand the directional deviation between the own directional NA and the target directional LA, the pointer 110 extending in the traveling direction from the center of the aircraft symbol SY and the directional scale 111 indicating the angle range of the direction are provided. It is overwritten. The digital value of the orientation shift can also be displayed. The driver can visually recognize the positional deviation and the orientation deviation of the traveling aircraft C with respect to the target movement path LM through the display unit 48.

When the target movement path LM2 for the post-process is set based on the work travel in the traveled target movement path LM1, as shown in FIG. 14, the misalignment information area 101 is set with respect to the target movement path LM2 for the post-process. The amount of misalignment of the traveling machine C is displayed. The timing at which the misalignment amount is displayed may be during the ridge turning run from the traveled target movement path LM1 to the post-process target movement path LM2, or after the completion of the ridge turning travel. Is also good. Further, when the target route is switched from the first route lm1 to the second route lm2, the position deviation amount displayed in the position deviation information area 101 is based on the position deviation amount with respect to the first route lm1 with respect to the second route lm2. It can be switched to the amount of misalignment.

[Another Embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and the following, typical alternative embodiments of the present invention will be exemplified.

[1] In the above-described embodiment, each target movement route LM is set one by one, but the present invention is not limited to the above-described embodiment. For example, a plurality of target movement paths LM2 for post-processes shown in FIG. 13 may be set at the same time. In FIG. 13, some of the target movement paths LM2 (1) to LM2 (5) for the post-process are set at equal intervals set in advance based on the travel locus FP on the unworked area side of the traveled target movement path LM1. It is set in each. The target movement path LM2 for the post-process may be configured by, for example, two or three preset numbers, or once until the target movement path LM2 for the post-process becomes one linear path. The configuration may be set to.

[2] The second path lm2 shown in FIG. 12 is not limited to the above-described embodiment. It may be provided. In FIG. 15, a plurality of second paths lm2 are provided stepwise between the first path lm1 and the second path lm2 (1), and the first path lm1 and the second path lm2 (1) are stepped. Is set. Further, a plurality of second paths lm2 are provided stepwise between the second path lm2 (1) and the second path lm2 (2), and the second path lm2 (2) and the second path lm2 (3) are provided. A plurality of second paths lm2 are provided in a staircase pattern between the two. With this configuration, when the automatic steering control is performed over the first path lm1 and the second path lm2 (1), the work traveling along the meandering locus fp becomes possible. Further, as illustrated in the second path lm2 between the first path lm1 and the second path lm2 (3), the second path lm2 provided stepwise according to the degree of misalignment of the traveling locus FP. The number may increase or decrease. Further, each second path lm2 does not necessarily have to have a linear shape, and for example, each second path lm2 may have an approximate curve.

[3] The target movement path LM2 for the post-process exemplified in the above-described embodiment is composed of the first path lm1 and the second path lm2 formed as a linear path, but is limited to the above-described embodiment. Not done. For example, the target movement path LM2 for the post-process may be a path having an approximate curve based on the travel locus FP. As shown in FIG. 16, the target movement path LM2 for the post-process is formed in a curved shape, and the target movement path LM2 for the post-process is more linear than the traveling locus FP through a known waveform filtering or the like. It may be configured to be a route. Of the meandering locus fp, the meandering locus fp (1) is displaced most to the unworked area side. Therefore, the distance between the most displaced portion of the meandering locus fp (1) and the portion of the target movement path LM2 for the post-process corresponding to the meandering locus fp (1) is the distance of the set distance P. As described above, the target movement path LM2 for the post-process is separated from the traveling locus FP toward the unworked area side. As a result, any part of the target movement path LM2 for the post-process is separated from the travel locus FP to the unworked area side by a set distance P or more, and is along the existing work area by the travel locus FP and the target movement path LM2 for the post-process. There is no overlap with the work width when working. As a result, rice planting work can be performed without a gap in the existing work area by the traveling locus FP along the target movement path LM2 for the post-process. This configuration is remarkably useful when RTK-GPS is used as the satellite positioning unit 70.

[4] In the above-described embodiment, the case where the traveling locus FP is not displaced at the end point position Lf of the traveled target movement path LM1 is illustrated, but the present invention is not limited to the above-described embodiment. For example, as shown in FIG. 17, the travel locus FP does not converge to the first region A1 at the end point position Lf of the traveled target movement path LM1, but shifts to the second region A2 on the unworked region side. There may be cases. In such a case, the traveling locus acquisition unit 78 calculates the misalignment width Δp1a between the location where the position coordinates NM3 are positioned and the location where the position coordinates NM3 are most displaced in the meandering locus fp. Further, the position deviation width Δp1b between the position where the position coordinate NM3 is positioned and the traveled target movement path LM1 is calculated by the traveling locus acquisition unit 78. That is, the sum of the misalignment width Δp1a and the misalignment width Δp1b is the misalignment width Δp1 between the portion that is most misaligned in the meandering locus fp and the traveled target movement path LM1.

The second path lm2 is set at a position further separated by a misalignment width Δp1a from a position separated by a set distance P from the position coordinate NM3. That is, the second path lm2 is set in a state of being separated from the meandering locus fp, which is most displaced toward the unworked region side, by a set distance P toward the unworked region side. Further, the first path lm1 is set on the work area side of the second path lm2 corresponding to the path converging on the first region A1 in the traveling locus FP, and the first path lm1 and the second path lm2 are set. The misalignment width Δp2 with and is set smaller than the misalignment width Δp1 by the correction interval p.

As shown in FIG. 18, the travel locus FP may not converge to the first region A1 at the end point position Lf of the traveled target movement path LM1 and may be displaced to the second region A2 on the work region side. Conceivable. In such a case, the traveling locus acquisition unit 78 calculates the misalignment width Δp1a between the location where the position coordinates NM3 are positioned and the location where the position coordinates NM3 are most displaced in the meandering locus fp. Further, the position deviation width Δp1b between the position where the position coordinate NM3 is positioned and the traveled target movement path LM1 is calculated by the traveling locus acquisition unit 78. In FIG. 18, since the position where the position coordinate NM3 is positioned and the position where the position coordinate NM3 is most displaced in the meandering locus fp overlap, the position deviation width Δp1a becomes a substantially zero value. That is, the sum of the misalignment width Δp1a and the misalignment width Δp1b is the misalignment width Δp1 between the portion that is most misaligned in the meandering locus fp and the traveled target movement path LM1. The first route lm1 is set at a position in the travel locus FP that is separated from the traveled target movement route LM1 by a set distance P, corresponding to the route that converges on the first region A1. In other words, the first path lm1 is set at a position further separated by a misalignment width Δp1b from a position separated by a set distance P from the position coordinate NM3. The second path lm2 is set so as to be displaced from the first path lm1 to the work area side in accordance with the meandering locus fp. The distance between the meandering locus fp, which is most displaced toward the work area side, and the second path lm2 is set to a distance obtained by adding the correction distance p to the set distance P.

[5] In the above-described embodiment, the target movement route LM is configured to be set in one complete field, but is not limited to the above-mentioned embodiment. For example, the target movement route LM may be configured to be set over a plurality of fields. In this case, the teaching route and the actual travel locus FP for the target movement route LM may be stored as a reference route and used for setting the target movement route LM in another field. The reference route may be stored in a storage unit of a microcomputer provided in the traveling machine C, or may be stored in a storage unit of an external terminal. When the reference route is stored in the storage unit of the external terminal, the traveling machine C is provided with a communication device capable of communicating with the external terminal via WAN (Wide Area Network) or the like, and the reference route is the external terminal. It may be configured to be read from the storage unit to the microcomputer of the traveling machine C. A plurality of reference routes may be stored in a storage unit provided in an external terminal or a microcomputer of the traveling machine C. With this configuration, the target movement route LM can be set without teaching running by simply reading the reference route corresponding to each field.

[6] In addition to the rice transplanter described above, the present invention can be applied to other direct sowing work machines including direct sowing machines and the like. Further, the present invention can be applied not only to a direct seeding work machine but also to an agricultural work machine such as a tractor or a combine.

The present invention is applicable to a traveling work machine in which work traveling is performed along a target movement route of a field.

70: Satellite positioning unit 74: Inertial measurement unit 76: Route setting unit 78: Travel locus acquisition unit C: Travel aircraft W: Seedling planting device FP: Travel locus LM: Target movement route A1: First region A2: Second region lm1: 1st route lm2: 2nd route

Claims (8)

A traveling machine that runs in the field and
A work device that works on the field and
A route setting unit for setting a target movement route for work traveling in which the traveling machine travels while performing work by the working device, and a route setting unit.
A traveling locus acquisition means for acquiring a traveling locus when the traveling aircraft is traveling is provided.
It is a traveling work machine that repeats traveling along a target movement route and turning toward traveling along the next target movement route.
Reversing the orientation of the own machine, which is the direction of the traveling machine, ascending operation of the working device, ascending operation of the ground leveling rotor provided on the traveling machine, raising operation of the ground leveling float provided on the traveling machine, raising operation of the traveling machine. The turning of the traveling machine is determined by at least one of the disengagement of the side clutch, the interruption of the power to the working device, and the arrival at the starting point position of the straight running of the traveling machine.
When the turning of the traveling machine is determined, the route setting unit sets the next target moving route along the traveling locus during or after the turning of the traveling machine. Obstacle detection units are provided on the front and both sides of the traveling machine.
The target movement route is set corresponding to a first region of the travel locus, which is a location where the traveling aircraft travels in a state of coincidence or substantially matching with a preset movement route. Of the route and the traveling locus, at a location where the traveling aircraft travels in a state of being displaced in the left-right direction of the preset movement route because an obstacle is detected by the obstacle detecting unit. The traveling work machine according to claim 1, further comprising a second route set corresponding to a certain second region. Equipped with an alarm unit
The traveling work machine according to claim 2, wherein when an obstacle is detected by the obstacle detection unit, an alarm is notified. Equipped with a display
The traveling work machine according to claim 3, wherein the alarm unit displays the alarm on the display unit. The traveling work vehicle according to claim 3 or 4, wherein the alarm unit notifies the alarm by a blinking pattern of a lighting unit provided in the center mascot. Any of claims 2 to 5, wherein the amount of misalignment between the first path and the second path is smaller than the amount of misalignment between the preset movement path and the second region. The traveling work machine according to item 1. With the target movement route set over a plurality of
The traveling work machine according to any one of claims 2 to 6, wherein the amount of misalignment between the first path and the second path becomes smaller toward a later process. The traveling work machine according to any one of claims 2 to 7, wherein the first path and the second path are formed in a straight line.

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