JP7076494B2 - Work vehicle - Google Patents

Description

The present invention has a receiving unit that receives transmission information transmitted from a plurality of satellites, a position measuring unit that obtains the position of a vehicle body based on the transmission information received by the receiving unit, and the position measuring unit. The present invention relates to a work vehicle provided with a travel control unit that executes vehicle vehicle travel control based on vehicle body position information.

In this type of work vehicle, conventionally, it has been detected by a satellite positioning unit and a satellite positioning unit that determine the position of a vehicle body using a satellite positioning system such as GPS based on transmission information transmitted from a plurality of satellites. Some are equipped with a control device that controls the steering so that the position of the vehicle body becomes the target position corresponding to the target movement path, but the control device controls the reception status of transmission information from multiple satellites. No particular consideration was given to the control (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-23973

When determining the position of the vehicle body based on the transmission information transmitted from multiple satellites as described above, the multiple satellites to be received are not always in the proper positions with respect to the current position of the vehicle body. .. In other words, if the position of the vehicle body, that is, the geometrical arrangement of the satellites as seen from the receiving point of the transmission information, is scattered over a wide range from the receiving point, the positioning accuracy will improve, but if they are gathered in one direction. If this is the case, the positioning accuracy will deteriorate.

However, in the conventional configuration, when the steering control is performed by the control device, the reception status of the transmission information is not taken into consideration, so that the driver who is maneuvering the vehicle body has what kind of positioning accuracy is at that time. I can't judge if it is. As a result, the driver has the disadvantage of not being able to respond to fluctuations in positioning accuracy.

By the way, the satellite positioning unit as described above has a function of measuring DOP (Diltion Of Precision) (positioning accuracy deterioration coefficient) indicating the degree of deterioration of positioning accuracy determined by the arrangement state of satellites as described above. .. Therefore, it is conceivable to display the measured value of the DOP as it is on the display device, but this DOP value is unfamiliar to a general user who uses a work vehicle such as a driver and the content is difficult to understand. It is a thing.

Therefore, it has been desired that the user who uses the work vehicle can easily understand the current positioning accuracy.

The characteristic configuration of the work vehicle according to the present invention includes a receiving unit that receives transmission information transmitted from a plurality of satellites, a position measuring unit that obtains the position of the vehicle body based on the transmission information received by the receiving unit, and the above-mentioned. When the travel control unit that executes vehicle vehicle travel control based on the vehicle body position information obtained by the position measurement unit and its own position information based on the reception status of the transmission information from the plurality of satellites. It is equipped with a positioning accuracy calculation unit that obtains positioning accuracy as step display information and a display unit that displays the calculation result of the positioning accuracy calculation unit. It is configured to execute a route setting process for setting a target travel route based on the route traveled between the operation and the operation of the manually operated command tool at the end point position. However, an automatic traveling command tool that is arranged adjacent to the display unit and starts automatic traveling along a route parallel to the target traveling route is arranged on one of the left and right sides of the control tower provided with the steering handle. When the command tool is operated, the calculation result of the positioning accuracy calculation unit is displayed on the display unit while the set time elapses .
In the above configuration, it is preferable that the command tool has a start point operation tool and an end point operation tool, and the start point operation tool and the end point operation tool are arranged on one of the left and right sides of the control tower of the vehicle body driving unit. Is.
Further, in the above configuration, it is preferable that the automatic traveling command tool is provided on the lever operating tool that overlaps with the control tower in a plan view.
Further, in the above configuration, it is preferable that the command tool overlaps with the control tower in a plan view .

According to the present invention, the positioning accuracy calculation unit obtains the positioning accuracy when obtaining the position information of the vehicle body as the step display information based on the reception status of the transmission information from a plurality of satellites, and the display unit obtains the calculation result. indicate.

The stage display information is information that expresses the positioning accuracy by displaying the number of stages that can be visually identified by a driver or the like who drives a work vehicle. That is, what is displayed on this display unit is, for example, which of the preset number of preset stages the positioning accuracy corresponds to when visually observed by the driver or the like, in other words, the positioning accuracy. It is an easy-to-understand representation of what level is in the range from the maximum level to the minimum level.

Therefore, the user who uses the work vehicle can easily understand the current positioning accuracy by visually observing the display contents of the display unit, and can appropriately cope with the change in the positioning accuracy. It became possible to respond.

In the present invention, a steering operation means capable of changing the direction of the vehicle body is provided.
The travel control unit
As the vehicle body running control, the target is based on the route traveled from the operation of the manually operated start point command tool at the start point position to the operation of the manually operated end point command tool at the end point position. It is configured to execute a route setting process for setting a travel route and an automatic steering process for operating the steering operation means so that the vehicle body follows the target travel route based on the position information of the vehicle body.
It is preferable that the display unit displays the calculation result when the start point command tool is operated and when the end point command tool is operated.

According to this configuration, the driver operates the start point command tool with the vehicle body positioned at the start position of the travel path, and the driver operates the end point command tool with the vehicle body positioned at the end point position of the target travel route. When the operation is performed, a route to be traveled between the operation of the start point command tool and the operation of the end point command tool is required. Then, based on this route, a target traveling route to be traveled by the vehicle body, such as a traveling route parallel to the traveling route, is set. Then, in the automatic steering process, the travel control unit operates the steering operation means so that the vehicle body follows the target travel path based on the position information of the vehicle body obtained by the position measurement unit.

When the start point command tool is operated and the end point command tool is operated to set the target travel route, the calculation result of the positioning accuracy calculated by the positioning accuracy calculation unit is displayed on the display unit. ..

In this way, when the vehicle body position that is the reference of the target travel route is obtained, the calculation result of the positioning accuracy is displayed, so that the driver operates the start point command tool and the end point command tool according to the display contents at that time. You can take measures such as executing it again.

In the present invention, the start point command tool and the end point command tool are arranged on the left and right sides of the vehicle body driving unit.
When the traveling control unit is executing the automatic steering process, it is preferable that the start point command tool and the end point command tool also serve as a steering operation tool for fine adjustment to the operation of the steering operation means. be.

According to this configuration, when the traveling control unit is executing the automatic steering process, when either the start point command tool or the end point command tool is operated, the side corresponding to the installation position in the right direction or the left direction. It is possible to operate the steering operation means so as to change the direction of the vehicle body slightly. For example, if the start point command tool is installed on the right side and the end point command tool is installed on the left side, when the start point command tool is operated while the automatic steering process is being executed, the vehicle body is turned to the right. When the end point command tool is operated, the vehicle body is turned to the left.

Therefore, while it is possible to perform both the position designation operation for setting the target travel route and the fine adjustment operation in the steering control, the number of operating tools is suppressed to a small number to simplify the configuration. be able to.

In the present invention, the vehicle body driving unit is provided with a driver's seat and an operation panel located on the front side of the driver's seat.
It is preferable that the start point command tool and the end point command tool are provided on the operation panel in a state of being distributed to the left and right sides.

According to this configuration, the operation panel is located on the front side of the driver's seat, and the start point command tool and the end point command tool are provided on the operation panel in a state of being distributed to the left and right sides. As a result, for example, the driver seated in the driver's seat operates the start point command tool and the end point command tool with less operation error, as compared with the configuration in which the start point command tool and the end point command tool are arranged in the front-rear direction of the aircraft. It will be easy to do.
In particular, when the automatic steering process is being executed, if the start point command tool and the end point command tool also serve as the steering operation tool for fine adjustment, there is little possibility that the steering direction is mistaken.

In the present invention, a manually operated display command tool for commanding on / off of the operation of the display unit is provided.
It is preferable that the display unit displays the calculation result based on the input command of the display command tool.

According to this configuration, when the input command operation of the display command tool is performed, the calculation result of the positioning accuracy calculated by the positioning accuracy calculation unit is displayed on the display unit.

In this way, since the calculation result of the positioning accuracy is displayed at the timing required by the driver, the driver can take an appropriate response according to the positioning accuracy at that time according to the display content.

In the present invention, the positioning accuracy calculation unit obtains the positioning accuracy as the step display information based on the number of the satellites that receive the transmission information and the DOP value determined by the arrangement state of the plurality of satellites. Is suitable.

According to this configuration, the positioning accuracy is improved when the number of satellites receiving the transmission information is large, and deteriorates when the number of satellites is small. Further, if the geometrical arrangement of a plurality of satellites as seen from the receiving point of the transmission information is scattered in a wide range as seen from the receiving point, the positioning accuracy will be improved, but if they are gathered in one direction, the positioning accuracy will be improved. Positioning accuracy deteriorates.

Therefore, the positioning accuracy calculation unit obtains the positioning accuracy as stepwise display information based on the number of satellites that receive transmission information and the measured value of DOP (Diltion Of Precision) determined by the arrangement state of a plurality of satellites. Therefore, the positioning accuracy can be appropriately obtained according to the actual reception situation at that time.

In the present invention, it is preferable that the positioning accuracy calculation unit has five stages as the number of stages for setting the stage display information.

According to this configuration, the positioning accuracy calculation unit obtains the positioning accuracy as five-step display information, so that the positioning accuracy corresponds to any number of the five steps when the driver visually determines. It is only necessary to determine whether or not, and it is easy to intuitively and easily determine how accurate the positioning is.

In the present invention, the receiving portion has an acting posture in which a tall frame member erected from the vehicle body is located at a position higher than the upper end portion of the frame member and a position lower than the upper end portion of the frame member. It is preferable that it is supported so that the posture can be changed over the stowed posture located in.

According to this configuration, if the receiving unit is switched to the working posture, it is located at a position higher than the tall frame member, so that radio waves from the satellite can be appropriately received. However, when the work vehicle is transported by placing it on the loading platform of a truck, for example, if the receiving unit is left set at such a high position, the vehicle height becomes too high and the vehicle is stored in the barn. There is a risk that the receiving unit may come into contact with the vehicle and be damaged when passing under an elevated vehicle. Therefore, according to this configuration, by changing the posture to a retracted posture located at a position lower than the upper end of the frame member, the vehicle height is suppressed to a low level and contact with other objects as described above is avoided. Can be done.

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 unit. It is a block diagram which shows the control composition. It is explanatory drawing of the plan view of the whole field surface explaining the operation of the automatic steering control. It is a top view of the display part of the display state of the positioning accuracy. It is a top view of the display part of the display state of the positioning accuracy. It is a flowchart of a control operation. It is a flowchart of a control operation. It is a flowchart of a control operation.

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 work vehicle of the present invention.

As shown in FIGS. 1 to 3, the passenger-type rice transplanter includes a traveling vehicle body C having a pair of left and right front wheels 10 that can be changed in direction as a traveling device and a pair of left and right rear wheels 11 that are fixed in orientation. , A seedling planting device W as a working device capable of planting seedlings in a field is provided. The seedling planting device W is movably connected to the rear end of the traveling vehicle body C via a link mechanism 21 that moves up and down by the expansion and contraction operation of the lifting hydraulic cylinder 20.

The arrow F shown in FIG. 2 indicates the front side of the traveling vehicle body C, the arrow B indicates the rear side of the traveling vehicle body C, the arrow L indicates the left side of the traveling vehicle body C, and the arrow R indicates the right side of the traveling vehicle body C. ..

As shown in FIGS. 1 to 3, an openable bonnet 12 is provided at the front portion of the traveling vehicle body C. At the tip position of the bonnet 12, a rod-shaped center mascot 14 as a guide for traveling along the index line LN (see FIG. 6) drawn in the field is provided. The traveling vehicle body C is provided with an airframe frame 15 extending in the front-rear direction, and a support strut frame 16 is erected at the front portion of the airframe frame 15.

The engine 13 is provided in the bonnet 12. Although not described in detail, the power of the engine 13 is transmitted to the front wheels 10 and the rear wheels 11 via the transmission provided in the vehicle body, and the power after the shift is transmitted via an electric motor-driven planted clutch (not shown). Is transmitted to the seedling planting device W.

As shown in FIGS. 1 and 2, the seedling planting device W has four transmission cases 22 and a total of eight rotation cases rotatably supported on the left and right sides of the rear part of each transmission case 22. 23, a pair of rotary planting arms 24 provided at both ends of each rotating case 23, a plurality of leveling floats 25 for leveling the field surface of the field, and a seedling stand 26 on which mat-shaped seedlings for planting are placed. , A marker device 33 for forming an index line LN (see FIG. 6) on the field surface of the field is provided.

The seedling planting device W drives each rotary case 23 to rotate by the power transmitted from the transmission case 22 while driving the seedling stand 26 to and from the left and right, 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. Although not described in detail, the marker device 33 is provided on the left and right sides of the seedling planting device W, and is provided on the left and right sides of the seedling planting device W. It is freely configured to have an action posture that forms an LN and a storage posture that is away from the field surface in the field. The posture 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 seedlings on which the spare seedlings for supplying the seedling planting device W can be placed are placed on the left and right sides of the bonnet 12 in the traveling vehicle body C. A stand 28 and one rail-type spare seedling stand 29 on which a spare seedling for replenishing the seedling planting device W can be placed are provided. On the left and right sides of the bonnet 12 in the traveling vehicle body C, a pair of left and right spare seedling frames 30 as tall frame members for supporting each normal spare seedling stand 28 and a rail type spare seedling stand 29 are provided, and left and right. The upper parts of the spare seedling frame 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 vehicle body C. The driver unit 40 includes a driver's seat 41 in which the driver can be seated, a steering handle 43 for manual steering operation of the front wheels 10, and a main speed change lever 44 capable of forward / backward switching operation and traveling speed change operation. , An operation lever 45 for raising and lowering the seedling planting device W and switching between the left and right marker devices 33 and the like are provided. The driver's seat 41 is provided in the central portion of the traveling vehicle body C. The steering handle 43, the main shift 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 of the driving unit 40. The boarding step 46 extends to both the left and right sides of the bonnet 12.

As shown in FIGS. 1 to 3, the operating lever 45 is provided on the lower right side of the steering handle 43. Although the details are not shown, the operation lever 45 is configured to be movable in the cross direction from the neutral position to the ascending position, the descending position, the right marker position, and the left marker position, respectively, and is urged to the neutral position.

When the operation lever 45 is operated to the ascending position, the planting clutch is disengaged to cut off the transmission to the seedling planting device W, the hydraulic cylinder 20 is operated to raise the seedling planting device W, and the left and right marker devices 33 are used. (See FIG. 1) is operated to the retracted posture. When the operation lever 45 is operated to the descending position, the seedling planting device W descends and touches the ground surface to stop. When the operation 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 operation 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 seedling 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 seedling planting work. Then, when the seedling 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 at the top of 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. Further, a push-operated first setting switch 49 (an example of a start point operating tool) is provided on the right side of the display unit 48, and a push-operated second setting switch 50 (end point operation) is provided on the left side of the display unit 48. An example of the ingredients) is provided. The functions of the first setting switch 49 and the second setting switch 50 will be described later, but the first setting switch 49 and the second setting switch 50 are provided with lighting lamps 49a and 50a inside, and the lighting lamps 49a and 50a are provided. It is possible to display the operation mode depending on the operation status.

The grip portion of the main shift lever 44 is provided with a push-operated automatic on / off switch 51. The automatic on / off switch 51 is provided in the automatic return type, and commands on / off switching of the automatic steering control each time the push operation is performed. The automatic on / off switch 51 is arranged at a position where the grip portion of the main shift lever 44 can be pressed by, for example, the thumb while being gripped by the hand.

As shown in FIG. 4, the traveling vehicle body C is provided with a steering unit U capable of steering the left and right front wheels 10. The steering unit U has a steering operation shaft 54 interlocked with the steering handle 43, a pitman arm 55 that swings with the rotation of the steering operation shaft 54, and a left-right connecting mechanism interlocked with the pitman arm 55. 56, a steering motor 58 as a steering operation means, a gear mechanism 57 for interlocking and connecting the steering motor 58 to the steering operation shaft 54, and the like are provided.

The steering operation shaft 54 is interlocked and connected to the left and right front 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 operation shaft 54, and the amount of rotation of the steering operation 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, the steering operation shaft 54 is manually operated in the direction opposite to the rotation direction, or the steering motor 58 is stopped. Occasionally, when the steering handle 43 is operated so as to be manually operated in any direction, the torque sensor 61 can detect that. When such a manual operation is performed, the steering motor 58 can be operated based on the manual operation in preference to the automatic steering control.

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

Next, a configuration for performing automatic steering control will be described.
As an example of a satellite positioning system (GNSS: Global Navigation Sitelite System) that receives radio waves from satellites and detects the position of the vehicle body on the traveling vehicle body C, GPS (Global Positioning System), which is a well-known technology, is used. , A satellite positioning unit 62 for determining the position of the vehicle body is provided.

As shown in FIG. 5, the satellite positioning unit 62 is composed of a receiving unit 63 with an antenna for receiving transmission information transmitted by radio waves from a plurality of GPS satellites orbiting the earth, and a plurality of GPS satellites receiving the satellite positioning unit 62. It is equipped with a position measuring unit 64 that measures the position of the vehicle body based on the transmission information of the above.

As shown in FIGS. 1 to 3, the receiving unit 63 is attached to the connecting frame 31 via the plate-shaped support plate 65 in a state of being located at the front portion of the traveling vehicle body C. The connecting frame 31 is supported by the left and right spare seedling frames 30 so as to be rotatable around the horizontal axis X along the lateral direction of the machine body via the connecting bracket 32.

Then, the receiving unit 63 is upside down with respect to the working posture S1 located above the upper end portion of the preliminary seedling frame 30, and the receiving unit 63 is located below the upper end portion of the preliminary seedling frame 30. It is supported so that the posture can be switched between the storage posture S2 and the storage posture S2. That is, the connecting frame 31 is rotatable around the horizontal axis X along the lateral direction of the machine body, and corresponds to a position corresponding to the state in which the receiving unit 63 is in the working posture S1 and a state corresponding to the state in which the receiving unit 63 is in the retracted posture S2. It is supported by the left and right spare seedling frames 30 so that the position can be fixed at the position.

As shown in FIGS. 1 and 3, by fixing the connecting frame 31 at a position corresponding to the working posture S1, the receiving unit 63 is supported at a high position by the connecting frame 31 and the spare seedling frame 30. It becomes a thing. There is little possibility that radio wave interference will occur in the receiving unit 63, and the reception sensitivity of the radio wave in the receiving unit 63 can be increased.

In addition to the satellite positioning unit 62, the traveling vehicle body C is provided with an inertial measurement unit 66 having a gyro sensor 66A or the like as an orientation detecting means for detecting the orientation of the traveling vehicle body C. Although not shown, the inertial measurement unit 66 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 vehicle body C in the lateral width direction. The inertial measurement unit 66 can detect the angular velocity of the turning angle of the traveling vehicle body C, and can obtain the directional change angle of the vehicle body by integrating the angular velocity.

As shown in FIG. 5, the traveling vehicle body C is provided with a control device 67 that controls the steering motor 58 and the display unit 48. The control device 67 sets the target movement route to be traveled by the traveling vehicle body C, and also sets the position information of the traveling vehicle body C measured by the satellite positioning unit 62 and the traveling vehicle body C measured by the inertial measurement unit 66. Based on the direction information, the travel control unit 68 that controls the steering motor 58 so that the traveling vehicle body C travels along the target movement route, and the reception status of the transmission information from the plurality of GPS satellites. It is provided with a positioning accuracy calculation unit 69 that obtains positioning accuracy when obtaining its own position information as step display information of a set number of stages. The stage display information displays the positioning accuracy by displaying the number of stages that can be visually identified. Specifically, the positioning accuracy is displayed in a 5-step display. The control device 67 includes a microcomputer, and a traveling control unit 68 and a positioning accuracy calculation unit 69 are configured by a control program.

As shown in FIG. 5, in order to set the target movement route used for automatic steering control by the teaching process, there are a first setting switch 49 for setting the start point position and a second setting switch 50 for setting the end point position. As described above, the first setting switch 49 is provided on the right side of the display unit 48, and the second setting switch 50 is provided on the left side of the display unit 48.

As shown in FIG. 5, the control device 67 includes a satellite positioning unit 62, an inertial measurement unit 66, an automatic on / off switch 51, a first setting switch 49, a second setting switch 50, an steering angle sensor 60, and a torque sensor 61. Information such as is entered.

The control device 67 sets the teaching route corresponding to the target route to be automatically steered by the teaching process based on the operation of the first setting switch 49 and the second setting switch 50, and at the time of actual work, the start end of the route. When the automatic mode is commanded by the unit, the target movement path LM parallel to the teaching path at that position is set.

When the automatic entry mode is set, the control device 67 sets the detection position (own machine position) NM of the traveling vehicle body C detected by the satellite positioning unit 62 to a position on the target movement path LM. Further, the automatic steering process for operating the steering motor 58 is executed so that the detection direction (own machine direction) of the traveling vehicle body C detected by the inertial measurement unit 66 becomes the target direction in the target movement path LM.

The satellite positioning unit 62 has a function of measuring DOP (Diltion Of Precision) (positioning accuracy deterioration coefficient), which indicates the degree of deterioration of positioning accuracy determined by the arrangement state of satellites, based on transmission information from a plurality of GPS satellites. ing. In addition, the number of GPS satellites currently receiving radio waves can be determined from the received data.

Information on the DOP value obtained by the satellite positioning unit 62 and the number of GPS satellites to be received is transmitted to the control device 67. From this information, the control device 67 can visually identify the positioning accuracy when obtaining its own position information so that the user using the work vehicle can easily understand the current positioning accuracy. The calculation process of obtaining the five-stage display information, which is the number of stages display, is executed. That is, the state where the positioning accuracy is the lowest is represented by "1", the state where the positioning accuracy is the highest is represented by "5", and the positioning accuracy is visually checked in five stages between "1" and "5". I try to express it in an easy-to-understand manner. Then, this calculation result is displayed on the display unit 48 (see FIGS. 7 and 8). FIG. 7 represents the positioning accuracy “5”, and FIG. 8 represents the positioning accuracy “3”.

When the control device 67 is executing the automatic steering control as described above, the control device 67 causes the display unit 48 to display the calculation result of the positioning accuracy as described above in five stages. When the automatic steering control is off, the positioning accuracy is basically not displayed, but when setting the start point position and end point position in the route setting process, the positioning accuracy is set in 5 steps. I am trying to display it.

The display of the positioning accuracy by the display unit 48 is not limited to the case where the positioning accuracy is displayed based on the determination result by the control device 67 as described above, but can also be arbitrarily performed by the driver's intention. That is, as shown in FIG. 5, the display unit 48 is provided with a manually operated display changeover switch 70 as a display command tool, and the operator operates the display changeover switch 70 at an arbitrary timing. The calculation result of the positioning accuracy can be displayed only for the set time.

Hereinafter, the control operation of the control device 67 will be described by exemplifying a case where seedlings are planted in a rectangular paddy field with reference to FIGS. 9 to 11.
As shown in FIG. 6, in the paddy field, the rice transplanter travels straight along the target movement path LM while planting seedlings, and the next time parallel to the target movement path LM at the end point position of the target movement path LM. The vehicle travels by alternately and repeatedly turning toward the target movement path LM.
As a general rule, the control device 67 executes the automatic steering control during the straight-ahead traveling for planting seedlings, and does not execute the automatic steering control for the moving traveling other than the straight-ahead traveling.

First, before executing the automatic steering control, a process for setting the target movement path LM in the automatic steering control is performed.
First, the traveling vehicle body C is positioned at the start point position Q1 at the ridge in the field, and the first setting switch 49 is operated. At this time, the control device 67 is set to the automatic off mode, and the display unit 48 is displayed. The positioning accuracy is not displayed, and the lighting lamps 49a and 50a built in the first setting switch 49 and the second setting switch 50 are both turned off. Further, when the display changeover switch 70 is operated, the positioning accuracy is displayed on the display unit 48 in five stages for a set time (for example, 5 seconds) (steps 1 to 5).

When the first setting switch 49 is operated, the lighting lamp 49a built in the first setting switch 49 is switched to the continuous lighting state, and the start point position is set (steps 6, 7, 8). In this way, when the first setting switch 49 is operated, the positioning accuracy is displayed on the display unit 48 in five stages only while the set time (5 seconds) has elapsed (step 9). This is to determine whether or not the accuracy of the position when the driver sets the starting point position is good. At this time, if the positioning accuracy is too low, a new start point position can be set by operating the first setting switch 49 again (step 10).

Then, while the driver manually steers, the traveling vehicle body C is driven straight from the start point position Q1 along the straight line shape of the ridge on the side side in a non-working state, and moves to the end point position Q2 near the ridge on the opposite side. After that, the second setting switch 50 is operated.

When the second setting switch 50 is operated, the lighting lamp 50a built in the second setting switch 50 is switched to the continuous lighting state, and the end point position is set (steps 11, 12, 13).
In this way, similarly to the first setting switch 49, the positioning accuracy is displayed in five stages only while the set time (5 seconds) has elapsed on the display unit 48 (step 14). At this time, if the positioning accuracy is too low, a new end point position can be set by operating the second setting switch 50 again (step 15).

When the start point position and the end point position are set, the teaching path is set based on the position information (step 16). That is, a teaching path connecting the start point position Q1 and the end point position Q2 is set from the position information acquired by the receiving unit 63 at the start point position Q1 and the position information acquired by the receiving unit 63 at the end point position Q2.

Next, the driver manually operates the steering wheel 43 to turn the traveling vehicle body C. At this time, the control device 67 can determine that the traveling vehicle body C has been turned by reversing its own direction NA.

After the turning of the traveling vehicle body C is completed, the driver operates the automatic on / off switch 51 to switch to the automatic on / off mode (step 3).
When the automatic on mode is switched, the lighting lamps 49a and 50a built in the first setting switch 49 and the second setting switch 50 are both switched to the blinking state (step 17), and the positioning accuracy is displayed on the display unit 48. Display in 5 stages (step 18). This positioning accuracy display is continuously performed while the automatic entry mode is set.

In this automatic on / off mode, when the automatic on / off switch 51 is operated at the start end of the route, the target movement path LM parallel to the teaching path at that position is set and detected by the satellite positioning unit 62. The target is the detection direction (own machine orientation) of the traveling vehicle body C detected by the inertial measurement unit 66 so that the detection position (own machine position) NM of the traveling vehicle body C is on the target movement path LM. The automatic steering process for operating the steering motor 58 is executed so as to be the target direction in the movement path LM (step 23). As a result, the traveling vehicle body C travels accurately along the target movement path LM. The driver has released his hand from the steering wheel 43. However, the vehicle speed is adjusted manually.

If the first setting switch 49 is manually operated by the driver while the automatic steering process is being executed, the automatic steering process is prioritized while the operation is being performed. The steering motor 58 is operated so that the orientation of the vehicle body is changed to the right side (steps 19 and 20). Further, when the second setting switch 50 is operated manually by the driver, the direction of the vehicle body is changed to the left side in preference to the automatic steering process while the operation is being performed. The directional motor 58 is operated (steps 21 and 22).

The amount of operation per unit time by the steering motor 58 at this time is set to a value smaller than that of the normal operation. That is, the steering operation can be finely adjusted by manually operating the switch.

When the traveling vehicle body C reaches the end point position Q4 (see FIG. 6) of the straight traveling path, the driver operates the automatic on / off switch 51 to switch to the automatic turning mode. At this time, the operation lever 45 is operated to block the transmission to the seedling planting device W and raise the seedling planting device W. After that, the driver manually operates the steering wheel 43 to turn the traveling vehicle body C toward the next straight traveling route. After that, as in the previous straight traveling route, when the automatic on / off switch 51 is operated, the automatic steering control is started, and the traveling vehicle body C travels straight while executing the automatic steering control. Then, the turning running and the straight running as described above are repeated.

[Separate Embodiment] (1) In the above embodiment, the positioning accuracy is displayed in 5 stages of "1" to "5" as the stage display information, but instead of this configuration, 4 stages or less, Alternatively, it may be displayed in stages of 6 or more stages, and may be displayed in various forms such as displaying using an alphabet or a pattern (icon) or displaying in a bar graph shape instead of the one represented by numbers. ..

(2) In the above embodiment, the first setting switch 49 as the start point command tool and the second setting switch 50 as the end point command tool are configured to also serve as the steering operation tool for fine adjustment, but instead of this configuration. Each of them may have a dedicated function as a start point command tool and an end point command tool.

(3) In the above embodiment, the first setting switch 49 as the start point command tool and the second setting switch 50 as the end point command tool are provided on the operation panel 47 in a state of being distributed to the left and right sides. Instead of, they may be provided in a state where they are lined up in the front-rear direction of the aircraft, and their installation state can be changed as appropriate.

(4) In the above embodiment, the display changeover switch 70 as a display command tool is provided, but the display changeover switch 70 may not be provided.

(5) In the above embodiment, the receiving unit 63 is supported so that the posture can be changed between the working posture and the retracting posture, but the receiving unit 63 may be provided in a fixed position state.

(6) In the above embodiment, as the satellite positioning unit as the position detecting means, the one using GPS is exemplified, but other types of satellite positioning units may be used.

The present invention can be applied to, for example, a passenger-type direct seeding machine, a farm work vehicle such as a tractor and a combine, or various work vehicles such as a construction work vehicle, in addition to the passenger-type rice transplanter.

30 Frame member 40 Body driver 41 Driver's seat 47 Operation panel 48 Display 49 Start point commander 50 End point commander
58 Steering operation means 63 Receiver 64 Position measurement unit 68 Travel control unit 69 Positioning accuracy calculation unit 70 Display command tool Gear anti-centric

Claims (4)

A receiver that receives transmission information transmitted from multiple satellites,
A position measuring unit that obtains the position of the vehicle body based on the transmission information received by the receiving unit, and
A traveling control unit that executes vehicle body traveling control based on the vehicle body position information obtained by the position measuring unit, and a traveling control unit.
A positioning accuracy calculation unit that obtains the positioning accuracy when obtaining its own position information based on the reception status of the transmitted information from the plurality of satellites, and
It is provided with a display unit that displays the calculation result of the positioning accuracy calculation unit.
As the vehicle body traveling control, the target traveling route is based on the route traveled between the operation of the manually operated command tool at the start point position and the operation of the manually operated command tool at the end point position. It is configured to execute the route setting process to set
The command tool is arranged adjacent to the display unit, and the command tool is arranged adjacent to the display unit.
An automatic driving command tool for starting automatic driving along a route parallel to the target driving route is arranged on one of the left and right sides of the control tower provided with a steering handle .
A work vehicle in which the calculation result of the positioning accuracy calculation unit is displayed on the display unit while the set time elapses when the command tool is operated . The command tool has a start point operation tool and an end point operation tool.
The work vehicle according to claim 1, wherein the start point operation tool and the end point operation tool are arranged on one of the left and right sides of the control tower of the vehicle body driving unit. The work vehicle according to claim 1 or 2, wherein the automatic traveling command tool is provided on a lever operating tool that overlaps with the control tower in a plan view. The work vehicle according to claim 2 or 3, wherein the command tool overlaps with the control tower in a plan view.

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