JP7513680B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle capable of automatic steering control of the running body.

A conventional work vehicle is described, for example, in the following Patent Document 1. This work vehicle is equipped with a traveling machine body having traveling gear ("front wheels" and "rear wheels" in Patent Document 1), a work device that performs work on the field ("seedling planting work device" in Patent Document 1), and a steering unit that can steer the traveling gear ("power steering valve", "power steering cylinder", "automatic control valve", etc. in Patent Document 1). Furthermore, this work vehicle is equipped with a receiving device ("GPS receiver" in Patent Document 1) that acquires position information by a satellite positioning system, and a control unit ("controller" in Patent Document 1) that controls the steering unit so that the traveling machine body travels straight based on the acquired position information. This work vehicle controls the steering unit based only on the position information acquired by the receiving device, and performs automatic steering control of the traveling machine body.

Furthermore, the following Patent Document 2 describes a measurement unit that integrates a receiving device that acquires position information using a satellite positioning system and an inertial measurement unit that measures inertial information.

JP 2001-161112 A U.S. Pat. No. 7,346,452 (FIG. 1)

However, the position information obtained from the receiving device by the satellite positioning system can differ significantly from the actual position. In such cases, it is difficult for the work vehicle described in Patent Document 1 to accurately perform work using the work equipment by using automatic steering control of the traveling machine body.

In addition, in situations where radio interference is likely to occur, the amount of location information acquired by the receiving device is insufficient, making it difficult to perform automatic steering control of the traveling vehicle.

For this reason, it has been considered to equip the work vehicle described in Patent Document 1 with a measurement unit that combines a receiving device that acquires position information by a satellite positioning system and an inertial measurement device that measures inertial information, as described in Patent Document 2, and to perform automatic steering control of the traveling machine body based on the position information acquired by the receiving device and the inertial information measured by the inertial measurement device, thereby further improving the accuracy of work performed by the work equipment.

The object of the present invention is to provide a work vehicle that uses automatic steering control of the running body to enable accurate work using a work device.

The work vehicle of the present invention comprises a running body having running gear, a steering unit capable of steering the running gear, a receiving device that acquires position information using a satellite positioning system, an inertial measurement unit, and a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement unit, a bonnet provided at the front of the running body, and a frame extending above the bonnet, and the receiving device and the inertial measurement unit are supported by the frame, which is the same location on the running body.
In addition, the work vehicle of the present invention is equipped with a running body having a running gear, a steering unit capable of steering the running gear, a receiving device that acquires position information using a satellite positioning system, a secondary inertial measurement device that detects the inclination of the running body, and a control unit that controls the steering unit based on the position information, and the receiving device and the secondary inertial measurement device are arranged in the same location on the running body.
In addition, the work vehicle of the present invention is equipped with a running body having running gear, a work device that performs work on a field, a steering unit capable of steer- ing the running gear, a receiving device that acquires position information by a satellite positioning system, an inertial measurement device that measures inertial information, a generation unit that generates a target line along which the running body should run, and a control unit that controls the steering unit based on the position information and the inertial information so that the running body runs along the target line, and the receiving device and the inertial measurement device are arranged at different locations on the running body.

According to the present invention, the receiving device that acquires position information by the satellite positioning system and the inertial measurement unit that measures inertial information are arranged at different positions on the traveling vehicle body.
Therefore, for example, by disposing the receiving device in a location where the shaking is relatively large, the accuracy of acquiring the position information of the receiving device can be improved, and by disposing the inertial measurement unit in a location where the shaking is relatively small, the error of the inertial information measured by the inertial measurement unit can be reduced. In other words, the accuracy of both the position information acquired by the receiving device and the inertial information measured by the inertial measurement unit are improved, and it becomes possible to make use of the characteristics of both the receiving device and the inertial measurement unit.
This makes it possible to perform steering control of the steering unit using highly accurate position information and inertial information, enabling accurate automatic steering control of the running body so that the running body and working equipment travel along the target line.
Therefore, according to the present invention, it is possible to accurately perform work using the working implement by using automatic steering control of the traveling machine body.

In the above configuration,
It is preferable that the inertial measurement unit be disposed at a location near the center of the longitudinal direction of the entire longitudinal length of the traveling machine body and the working device.

According to this configuration, the location near the center of the longitudinal direction of the entire length of the traveling body and the working device in the longitudinal direction is, for example, a location located near the yaw axis that is the center of rotation of the entire traveling body and the working device. By locating the inertial measurement unit in such a location, the error in the inertial information measured by the inertial measurement unit is reduced, making it easier to measure the inertial information accurately.

In the above configuration,
It is preferable that the inertial measurement unit is attached to a mounting member located in the vicinity of a rear axle of the traveling device.

According to this configuration, the mounting member located near the rear axle of the traveling device is less likely to shake while the traveling body is traveling. By attaching the inertial measurement device to such a mounting member, the error in the inertial information measured by the inertial measurement device is reduced, making it easier to measure the inertial information accurately.

In the above configuration,
The working device is a seedling planting device capable of planting seedlings in a field,
A plurality of spare seedling trays on which spare seedlings to be replenished to the seedling planting device can be placed;
A pair of left and right spare seedling frames supporting the spare seedling stand;
A connecting frame is provided to connect the upper parts of the left and right spare seedling frames,
The receiving device is preferably attached to the connection frame.

According to this configuration, the receiving device is attached to a connecting frame that is installed at a relatively high position and connects the left and right spare seedling frames that support the spare seedling tray, so the receiving device can be placed in a location with few obstructions that block radio waves. This makes it less likely that interruptions will occur in the position information acquired by the receiving device. In addition, since the spare seedling frames and connecting frames are relatively prone to shaking while traveling, for example, it is possible to improve the accuracy of detecting the direction in which the traveling body is moving based on the position information acquired by the receiving device.

In the above configuration,
It is preferable that the connecting frame be changeable between a usage state in which the receiving device is positioned above the upper end of the spare seedling frame, and a stored state in which the connecting frame is upside down relative to the usage state and the receiving device is positioned below the upper end of the spare seedling frame.

According to this configuration, by putting the connecting frame into use, the receiving device is positioned higher than the upper end of the spare seedling frame, improving the radio wave reception sensitivity when the receiving device is in use. On the other hand, by putting the connecting frame into the storage state, the receiving device is positioned lower than the upper end of the spare seedling frame, so that, for example, when storing the traveling machine body in a barn, the receiving device does not get in the way, and it is possible to avoid inconveniences such as the receiving device hitting the top of the barn entrance.

In the above configuration,
It is preferable that the connecting frame is supported by the left and right spare seedling frames so as to be rotatable about a left-right axis along the left-right direction and so as to be fixable in position in the use state and the stored state.

With this configuration, the connecting frame can rotate about the left and right axis, making it easy to change the state of the connecting frame between a usage state in which the receiving device is used and a storage state in which the receiving device is stored.

In the above configuration,
It is preferable that the connecting frame be detachable from the left and right spare seedling frames.

With this configuration, the connecting frame is detachable, so when the receiving device is not in use, the connecting frame in use can be removed from the spare seedling frame and the connecting frame can be stored and attached to the spare seedling frame.

In the above configuration,
The receiving device is provided with a connector portion for connecting a harness,
It is preferable that the connector portion extends outward in the left-right direction from the receiving device.

With this configuration, the connector part of the receiving device that connects the harness extends outward in the left-right direction from the receiving device, so compared to when the connector part extends forward from the receiving device, for example, the connector part of the receiving device is less likely to hit an obstacle such as a tree branch approaching from the front while driving.

In the above configuration,
The receiving device is provided with a connector portion for connecting a harness,
It is preferable that a guard member is provided to protect the connector portion.

With this configuration, the guard member effectively protects the connector from collisions with obstacles such as tree branches while driving.

FIG. FIG. FIG. FIG. 2 is a schematic diagram showing a steering unit; FIG. 2 is a block diagram showing a control configuration relating to automatic steering control. FIG. 4 is a top view illustrating the operation of the automatic steering control. 11 is a top view illustrating generation of a target line, etc. FIG. FIG.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
As shown in Figures 1 to 3, a riding rice transplanter (an example of a "work vehicle"), which is a planting type paddy field work vehicle among agricultural work vehicles, is equipped with a traveling body C having a traveling device A, and a work device for working on a field. The work device of the rice transplanter is a seedling planting device W capable of planting seedlings in a field. Note that arrow F shown in Figure 2 indicates the "front" of the traveling body C, arrow B indicates the "rear" of the traveling body C, arrow L indicates the "left" of the traveling body C, and arrow R indicates the "right" of the traveling body C.

As shown in FIG. 1, the traveling device A is equipped with a pair of left and right front wheels 10 and a pair of left and right rear wheels 11. The traveling body C is equipped with a steering unit U that can steer the left and right front wheels 10 of the traveling device A.

As shown in Figures 1 to 3, the traveling body C is provided with an openable bonnet 12 at the front. An engine 13 is provided inside the bonnet 12. At the tip of the bonnet 12, a rod-shaped center mascot 14 is provided for checking the index line LN (see Figure 6). As shown in Figures 1 and 3, the traveling body C is provided with a frame-shaped body frame 15 that extends in the fore-and-aft direction. A support pillar frame 16 is erected at the front of the body frame 15.

[About the seedling planting device]
As shown in FIG. 1, the seedling planting device W is connected to the rear end of the traveling body C so as to be freely raised and lowered via a link mechanism 21 which is raised and lowered by the extension and contraction of a lifting cylinder 20 which is a hydraulic cylinder.

As shown in Figures 1 and 2, the seedling planting device W is equipped with four transmission cases 22, a rotating case 23 supported for free rotation on the left and right rear parts of each transmission case 22, a pair of rotary planting arms 24 provided at both ends of each rotating case 23, a number of ground leveling floats 25 for leveling the surface of the field, a seedling carrying platform 26 on which mat-like seedlings for planting are placed, and the like. In other words, the seedling planting device W is configured as an 8-row planting type.

The seedling planting device W configured in this way drives the seedling carrying platform 26 back and forth sideways while rotating each rotating case 23 with the power transmitted from the transmission case 22, so that the seedlings are taken out alternately from the bottom of the seedling carrying platform 26 by each planting arm 24 and planted on the surface of the rice field.

[About spare seedling beds]
As shown in FIG. 1 to FIG. 3, the left and right sides of the bonnet 12 of the traveling body C are provided with a plurality of (for example, four) normal spare seedling tables 28 (one example of a "spare seedling table") on which spare seedlings to be supplied to the seedling planting device W can be placed, and one rail-type spare seedling table 29 (one example of a "spare seedling table") on which spare seedlings to be supplied to the seedling planting device W can be placed. In addition, the left and right sides of the bonnet 12 of the traveling body C are provided with a pair of left and right spare seedling frames 30 supporting each normal spare seedling table 28 and the rail-type spare seedling table 29, and a connecting frame 31 connected across the upper parts of the left and right spare seedling frames 30. The connecting frame 31 has a U-shape when viewed from the front. The left and right ends of the connecting frame 31 are connected to the upper parts of the left and right spare seedling frames 30 via connecting brackets 32, respectively.

[Regarding the marker device]
As shown in Fig. 1, the left and right sides of the seedling planting device W are each provided with a marker device 33 for forming an index line LN (see Figs. 6 and 7) on the surface of the field. The left and right marker devices 33 are each configured to be freely operable in an operating position in which they are in contact with the surface of the field and form the index line LN on the surface of the field as the traveling body C travels, and in a stored position above and away from the surface of the field.

As shown in FIG. 1, the left and right marker devices 33 each include a marker arm 34 supported by the seedling planting device W so that it can swing up and down, and a rotating body 35 with multiple protrusions in the circumferential direction that is supported at the tip of the marker arm 34 so that it can rotate freely. In addition, an electric marker motor (not shown) is provided to operate the left, right, and right marker devices 33 into an active position and a stored position. When each marker device 33 is in the active position, the rotating body 35 rolls on the ground in response to steering of the traveling body C, forming a dotted indicator line LN (see FIG. 6) when viewed from above.

[About the driving section]
As shown in FIG. 1 to FIG. 3, the driving section 40 where various driving operations are performed is provided in the center of the traveling machine body C. The driving section 40 is provided with a driver's seat 41 on which the driver can sit, a control tower 42, a steering handle 43 consisting of a steering wheel for manually steering the front wheels 10, a main speed change lever 44 that can switch between forward and reverse and change the traveling speed, an operation lever 45, and the like. The driver's seat 41 is provided in the center of the traveling machine body C. The steering handle 43, the main speed change lever 44, the operation lever 45, and the like are provided in the control tower 42 so as to be freely operable. A boarding step 46 is provided at the foot area of the driving section 40. Auxiliary steps 47 are provided at the left and right outer positions of the boarding step 46. On both the left and right sides of the bonnet 12, boarding and disembarking steps 48 are provided as boarding and disembarking passages that are connected to the boarding step 46 without any step. The left and right spare seedling frames 30 are respectively arranged on the lateral outer sides of the boarding and disembarking steps 48.

[About the control lever]
2 and 3 is provided on the right side below the steering handle 43. Although not shown in detail, the operating lever 45 is configured to be freely operable in a cross direction from a neutral position to an upward raised position, a downward lowered position, a rear right marker position, and a front left marker position, and is biased to the neutral position.

When the operating lever 45 is operated to the raised position, the planting clutch (not shown) is disengaged, the seedling planting device W is raised, and the left and right marker devices 33 (see Figure 1) are operated to the stored position. When the operating lever 45 is operated to the lowered position, the planting clutch (not shown) is disengaged, the left and right marker devices 33 are operated to the stored position, and the seedling planting device W is lowered. When the central ground leveling float 25 touches the surface of the field, the seedling planting device W touches the surface of the field and comes to a stop.

When the operating lever 45 is operated to the right marker position, the right marker device 33 changes from the stored position to the active position. When the operating lever 45 is operated to the left marker position, the left marker device 33 changes from the stored position to the active position.

The control tower 42 of the driving section 40 is equipped with a push-type automatic steering switch 50 (see FIG. 5). The automatic steering switch 50 is configured to be able to switch on and off the automatic steering of the steering unit U. In addition, the main shift lever 44 is equipped with a registration switch 52 (see FIG. 5) for registering the teaching direction TA (see FIG. 6) used for the automatic steering control of the steering unit U. The registration switch 52 is equipped with a push-type first registration button 52A and a push-type second registration button 52B.

[About the steering unit]
As shown in FIG. 4, the steering unit U is equipped with the above-mentioned steering handle 43, a steering operation shaft 54 which is operatively connected to the steering handle 43, a pitman arm 55 which swings in conjunction with the rotation of the steering operation shaft 54, left and right linking mechanisms 56 which are operatively connected to the pitman arm 55, a steering motor 58, and a gear mechanism 57 which operatively connects the steering motor 58 to the steering operation shaft 54.

The steering shaft 54 is linked to the left and right front wheels 10 via a pitman arm 55 and left and right linkage mechanisms 56. The amount of rotation of the steering shaft 54 is detected by a steering angle sensor 60 (see FIG. 5) consisting of a rotary encoder provided at the lower end of the steering shaft 54.

When the steering unit U is to be manually steered, the steering motor 58 applies an auxiliary force corresponding to the operation of the steering handle 43 to the operating force exerted by the driver to operate the steering handle 43, thereby rotating the steering shaft 54 and changing the steering angle of the front wheels 10. On the other hand, when the steering unit U is to be automatically steered, the steering motor 58 is driven and the steering shaft 54 is rotated by the driving force of the steering motor 58, thereby changing the steering angle of the front wheels 10.

[Regarding measurement units with receivers and inertial measurement units]
As shown in Figures 1 to 3 and 5, the traveling vehicle C is equipped with a receiving device 63 that acquires position information by a satellite positioning system, and a measurement unit 61 that has a secondary inertial measurement unit 64 (corresponding to an "inertial measurement unit") that can mainly detect the inclination (pitch angle, roll angle) of the traveling vehicle C, and a primary inertial measurement unit 62 that measures inertial information.

The primary inertial measurement unit 62 and the secondary inertial measurement unit 64 are each composed of an IMU (Inertial Measurement Unit).

The measurement unit 61 having the receiving device 63 and the secondary inertial measurement device 64, and the primary inertial measurement device 62 are arranged at different locations on the running vehicle C. In addition, the measurement unit 61 having the receiving device 63 and the secondary inertial measurement device 64, and the primary inertial measurement device 62 are arranged on the left-right center line CL of the running vehicle C.

A representative example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of the receiver 63 using a receiver 63 provided on multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and the target (traveling vehicle C) that performs positioning. The receiver 63 is used to obtain position information of the traveling vehicle C by the satellite positioning system.

As shown in Figures 1 to 3, the measurement unit 61 having the receiving device 63 is attached to the connecting frame 31 via a plate-shaped support plate 65. The measurement unit 61 having the receiving device 63 is disposed at the front position of the traveling body C (particularly, forward of the front wheel 10). Therefore, when the traveling body C changes its heading, the front position of the traveling body C experiences a larger amount of left-right displacement compared to the rear end position of the traveling body C, and the change in the own position NM of the traveling body C acquired by the receiving device 63 can be detected with high sensitivity.

As shown in FIG. 3 etc., the connecting frame 31 can be changed between a use state S1 in which the measuring unit 61 having the receiving device 63 is positioned above the upper end of the spare seedling frame 30, and a storage state S2 in which the use state S1 is inverted and the receiving device 63 is positioned below the upper end of the spare seedling frame 30. To explain further, the connecting frame 31 is supported by the left and right spare seedling frames 30 so that it can rotate around a left-right axis X along the left-right direction and can be fixed in position in each of the use state S1 and the storage state S2 by the connecting brackets 32.

As shown in Figures 1 and 3, by setting the connecting frame 31 to the use state S1, the receiving device 63 is supported at a high point by the connecting frame 31 and the spare seedling frame 30, so that as the traveling machine body C travels, the spare seedling frame 30 and the connecting frame 31 flex, causing the receiving device 63 to easily shake, and the position NM and orientation NA of the traveling machine body C can be accurately detected based on the position information acquired by the receiving device 63. Furthermore, by setting the connecting frame 31 to the use state S1, the receiving device 63 is located at the topmost position of the traveling machine body C, so that the radio wave reception sensitivity of the receiving device 63 can be increased, and radio wave interference is less likely to occur to the receiving device 63.

As shown in Figures 2 and 3, the receiver 63 of the measurement unit 61 is provided with a connector portion 67 to which the harness 66 is connected. The connector portion 67 extends outward in the left-right direction from the receiver 63 of the measurement unit 61. The harness 66 is routed along the connecting frame 31 and the spare seedling frame 30. In addition, a guard member 68 that protects the connector portion 67 is provided. The guard member 68 is attached to the support plate 65. The guard member 68 is designed to protect the front side of the connector portion 67.

As shown in FIG. 1, the primary inertial measurement unit 62 is disposed near the center of the longitudinal length of the traveling body C and the seedling planting device W. To explain further, the primary inertial measurement unit 62 is disposed near the center of rotation of the traveling body C in the direction of travel (the axis of the yaw axis of the traveling body C).

Specifically, the rear of the traveling body C is provided with a rear axle frame 73 (corresponding to a "mounting member") that rotatably supports a rear axle 72 that transmits driving force to the rear wheels 11. The rear axle frame 73 is a rigid member located near the rear axle 72 of the traveling device A. The main inertial measurement unit 62 is attached to this rear axle frame 73.

To explain further, as shown in Figures 1 and 2, the primary inertial measurement unit 62 is located near the seedling planting device W. The primary inertial measurement unit 62 is also located below and behind the driver's seat 41.

As shown in FIG. 5, the primary inertial measurement unit 62 is mainly equipped with a gyro sensor 70 capable of detecting the angular velocity of the yaw angle (the turning angle of the running body C) of the running body C, and an acceleration sensor 71 capable of detecting acceleration in three mutually orthogonal axial directions. In other words, the inertial information measured by the primary inertial measurement unit 62 includes orientation change information detected by the gyro sensor 70 and position change information detected by the acceleration sensor 71. As described above, since the primary inertial measurement unit 62 is disposed near the turning center in the traveling direction of the running body C, it is possible to reduce the accumulated error of the orientation change information generated by the gyro sensor 70, and the detection accuracy of the position change information by the acceleration sensor 71 is high.

[Regarding control configuration]
5, the traveling machine body C is provided with a control device 75 that controls the automatic steering of the steering unit U. The control device 75 is provided with an information storage unit 76, a teaching storage unit 77, a turning detection unit 78, a start determination unit 79, an information correction unit 80, a generation unit 81 that generates a target line LM along which the traveling machine body C travels, a state detection unit 82, and a control unit 83 that controls the steering unit U so that the traveling machine body C travels along the target line LM based on the position information and the inertia information.

Information from the receiver 63, secondary inertial measurement unit 64, gyro sensor 70 in the primary inertial measurement unit 62, acceleration sensor 71, steering angle sensor 60, automatic steering switch 50, registration switch 52, etc. is input to the control unit 75.

The information storage unit 76 is configured to store the location information obtained from the receiving device 63 over time.

The teaching memory unit 77 is configured to calculate the teaching direction TA using two pieces of position information stored in the information memory unit 76 based on the operation of the registration switch 52.

The turning detection unit 78 is configured to detect the start and end of turning of the traveling vehicle body C based on the steering angle information of the steering operation shaft 54 of the steering unit U input from the steering angle sensor 60.

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

The information correction unit 80 is configured to perform a correction process for the integrated error of the information detected by the gyro sensor 70 among the inertial information measured by the primary inertial measurement unit 62, based on the position information acquired by the receiving device 63 and the information measured by the secondary inertial measurement unit 64, each time automatic steering control of the traveling vehicle body C is started.

The generation unit 81 is configured to generate the target line LM based on the teaching direction TA, the vehicle's own position NM at the start of automatic steering control of the traveling vehicle body C, and the vehicle's own orientation NA.

The state detection unit 82 is configured to detect the distance deviation (deviation distance) between the vehicle position NM of the traveling vehicle C and the target line LM, and the angle deviation (deviation angle) between the vehicle orientation NA of the traveling vehicle C and the teaching direction TA during automatic steering control of the traveling vehicle C.

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

[Automatic steering control]
As an example, a case where seedlings are planted in a paddy field that is rectangular when viewed from above will be described.
As shown in Fig. 6, first, the traveling machine body C is positioned at a first position Q1 at the edge of the ridge in the field, and the first registration button 52A (see Fig. 5) of the registration switch 52 is operated. Then, the seedling planting device W is raised and the ground leveling float 25 is grounded, and the traveling machine body C is moved straight along the straight shape of the ridge on the side side from the first position Q1 to a second position Q2 near the ridge on the opposite side, and then the second registration button 52B (see Fig. 5) of the registration switch 52 is operated. As a result, a teaching direction TA, which is a direction connecting the first position Q1 and the second position Q2, is generated from the position information acquired by the receiving device 63 at the first position Q1 and the position information acquired by the receiving device 63 at the second position Q2.

Next, as shown in FIG. 6, the traveling machine body C is manually turned by operating the steering handle 43. When the steering angle sensor 60 detects that the traveling machine body C has started to turn, the seedling planting device W, the soil leveling float 25, and the marker device 33 are automatically raised from the surface of the field. When the traveling machine body C finishes turning, the turning end position Q3 of the traveling machine body C is detected based on the detection result of the steering angle sensor 60.

A dead zone is set in which the automatic steering switch 50 will not accept any operation input until a certain time has elapsed since the turning end position Q3 of the traveling vehicle C was detected, and until the angle deviation between the vehicle's heading NA and the teaching direction TA falls within a specified range. In other words, while the state of the traveling vehicle C is in the dead zone, automatic steering control will not start even if the automatic steering switch 50 is operated. While the state of the traveling vehicle C is in the dead zone, the driver can manually steer the steering unit U to align the index line LN with the line of sight for viewing the tip of the center mascot 14, thereby aligning the traveling vehicle C.

Then, when the state of the running body C leaves the dead zone, operation input of the automatic steering switch 50 is accepted, and when the automatic steering switch 50 is operated, the own aircraft position NM and own aircraft orientation NA of the running body C based on the position information in the receiving device 63 are stored at the control start position Q4.
Then, a straight target line LM parallel to the teaching direction TA is generated from a point a predetermined distance away from the position where the receiving device 63 is installed in the direction of the aircraft's own orientation NA of the traveling aircraft C. At the same time, the information measured by the main inertial measurement unit 62 is corrected based on the position information of the aircraft's own position NM acquired by the receiving device 63, and the aircraft's own orientation NA calculated based on the position information of the aircraft's own position NM acquired by the receiving device 63 and the position information of the previous position.

In FIG. 6, for convenience of illustration, the indicator line LN formed by the marker device 33 is slightly offset from the target line LM. In reality, however, manual alignment is performed so that the driver's line of sight is aligned with the tip of the center mascot 14 and the indicator line LN, and the target line LM is generated so that it approximately coincides with the indicator line LN.

At the same time, automatic steering control of the traveling vehicle C is started, mainly based on the primary inertial measurement unit 62. In other words, in the automatic steering control, the primary inertial measurement unit 62 is mainly used, and the receiver 63 is used for correcting the primary inertial measurement unit 62. Specifically, the current aircraft position NM and aircraft orientation NA are calculated based on the aircraft position NM and aircraft orientation NA based on the position information acquired by the receiver 63 at the control start position Q4, orientation change information obtained by integrating the angular velocity measured by the gyro sensor 70 of the primary inertial measurement unit 62, and position change information obtained by integrating the acceleration measured by the acceleration sensor 71 of the primary inertial measurement unit 62. Then, the steering unit U is automatically steered so that the current aircraft position NM and aircraft orientation NA match the target line LM and teaching direction TA, and automatic steering control of the traveling vehicle C is performed.

During automatic steering control of the traveling vehicle body C, if there is no angle deviation (deviation angle) between the vehicle's own orientation NA and the teaching direction TA, and no distance deviation (deviation distance) between the vehicle's own position NM and the target line LM, the steering unit U is not steered.
In addition, during automatic steering control of the running aircraft body C, if there is an angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA and there is no distance deviation (deviation distance) between the aircraft's own position NM and the target line LM, the steering unit U is steered in a direction that eliminates the angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA.
In addition, during automatic steering control of the running aircraft body C, if there is an angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA, and there is a distance deviation (deviation distance) between the aircraft's own position NM and the target line LM, the steering unit U is steered in a direction that eliminates the angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA.
In addition, during automatic steering control of the running aircraft body C, if there is no angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA, but there is a distance deviation (deviation distance) between the aircraft's own position NM and the target line LM, the steering unit U is steered in a direction that eliminates the distance deviation (deviation distance) between the aircraft's own position NM and the target line LM.
This allows the traveling machine body C to travel accurately along the target line LM.

In this way, since the position information acquired by the receiving device 63 is not essential during automatic steering control of the traveling body C, even if radio interference or the like occurs in the receiving device 63 during automatic steering control of the traveling body C, automatic steering control of the traveling body C can be continued based on the inertial information measured by the main inertial measurement device 62, and the seedling planting device W can accurately plant seedlings along the target line LM.

When the traveling machine body C approaches the edge of the field, the driver operates the automatic steering switch 50, which stops the automatic steering control of the traveling machine body C and switches to manual steering. The machine then performs a similar turning operation at the edge of the field, and repeats the same operation to plant the seedlings in the field. This eliminates the need for the driver to manually operate the steering handle 43 while the seedling planting device W is planting seedlings in the field, making it possible to plant seedlings more accurately and easily.

[About setting your aircraft position]
As shown in Fig. 7, the receiving device 63 is disposed at the front of the traveling machine body C, but the machine's own position NM, which is the basis of data processing, is set to a position near the main inertial measurement unit 62, not to the actual installation position of the receiving device 63. The machine's own position NM, which is the basis of data processing, is set based on the distance between the receiving device 63 and the location to be the machine's own position NM, and the machine's own orientation NA calculated based on the receiving device 63 and the main inertial measurement unit 62. Since it is the seedling planting device W that is desired to travel accurately along the target line LM, by setting the machine's own position NM near the seedling planting device W in this way, automatic steering control of the traveling machine body C can be performed so that the seedling planting device W travels accurately along the target line LM.

[Relationship between spare seedling frames, regular spare seedling stands, and rail-type spare seedling stands]
3, the left and right spare seedling frames 30 each include a fixed portion 85 fixed to the support column frame 16, an inclined portion 86 extending upward from the fixed portion 85 and inclining toward the left and right inside, and a vertical portion 87 extending upward from the inclined portion 86. In other words, the vertical portion 87 of the spare seedling frame 30 is offset by a predetermined distance D toward the left and right inside with respect to the support column frame 16 and the fixed portion 85 of the spare seedling frame 30.

As shown in Figures 1 to 3, the multiple regular spare seedling trays 28 are each supported by the spare seedling frame 30 so that they can swing about a front-to-rear axis Y that is inclined inwardly to the left and right as it moves forward along the front-to-rear direction provided on the vertical portion 87 of the spare seedling frame 30. The regular spare seedling trays 28 are configured so that their positions can be changed between a horizontal position E1 and a vertical position E2.

As shown in Figures 1 to 3, when the normal spare seedling tables 28 are in the horizontal position E1, the placement surface of the normal spare seedling tables 28 is in a substantially horizontal state. On the other hand, when the normal spare seedling tables 28 are changed from the horizontal position E1 to the vertical position E2, each normal spare seedling table 28 is swung around the front-to-rear axis Y to be oriented vertically. As a result, each normal spare seedling table 28 in the vertical position E2 becomes compact in the left-right direction, closer to the vertical portion 87 of the spare seedling frame 30.

The rail-type spare seedling tray 29 shown in Figs. 1 to 3 is provided with a front loading table 88, a central loading table 89, and a rear loading table 90. The central loading table 89 is fixed to the support column frame 16 via a pair of support brackets 91. The front loading table 88 is connected to the front end of the central loading table 89 so as to be swingable around a front horizontal axis P1 along the left-right direction. The rear loading table 90 is connected to the rear end of the central loading table 89 so as to be swingable around a rear horizontal axis P2 along the left-right direction. As shown in Fig. 1, the rail-type spare seedling tray 29 is configured to be changeable between an unfolded state F1 and a folded state F2. When the rail-type spare seedling tray 29 is in the unfolded state F1, the front loading table 88 is unfolded in front of the central loading table 89, and the rear loading table 90 is unfolded behind the central loading table 89, with the central loading table 89 at the center. In other words, when the rail-type spare seedling tray 29 is in the expanded state F1, the front loading tray 88, the center loading tray 89, and the rear loading tray 90 are lined up in front-to-back order.

As shown in FIG. 1, when the rail-type spare seedling tray 29 is changed from the unfolded state F1 to the folded state F2, the front mounting table 88 is swung around the front horizontal axis P1 located at the front end of the central mounting table 89 to fold and position the front mounting table 88 above the central mounting table 89, and the rear mounting table 90 is swung around the rear horizontal axis P2 located at the rear end of the central mounting table 89 to position the rear mounting table 90 above the central mounting table 89. This allows the rail-type spare seedling tray 29 to be in a compact folded state F2 in the front-to-rear direction.

As shown in FIG. 1, multiple regular spare seedling trays 28 are arranged vertically, and the rail-type spare seedling tray 29 is arranged below the lowest regular spare seedling tray 28.

That is, as can be seen from Figs. 1 to 3, the vertical portion 87 of the spare seedling frame 30 is offset by a predetermined distance D to the left and right inward relative to the support column frame 16 and the fixed portion 85 of the spare seedling frame 30, and the multiple regular spare seedling trays 28 can be changed to a vertical position E2 in which they are in a compact state in the left and right direction closer to the vertical portion 87 of the spare seedling frame 30 and offset to the left and right inward, so that the rail-type spare seedling tray 29 can be smoothly changed from the unfolded state F1 to the folded state F2 without interfering with the spare seedling frame 30 or the regular spare seedling tray 28. Also, by allowing the multiple regular spare seedling trays 28 to be offset to the left and right inward, the overall left and right width of the traveling body C can be made smaller than, for example, by offsetting the rail-type spare seedling tray 29 to the left and right outward.

[Another embodiment]
Other embodiments of the present invention will be described below. The following embodiments may be combined with the above embodiment as long as no contradiction occurs. The scope of the present invention is not limited to the contents of these embodiments.

(1) In the above embodiment, automatic steering control of the traveling machine body C is mainly performed based on inertial information measured by the primary inertial measurement unit 62, and the inertial information measured by the primary inertial measurement unit 62 is corrected based on position information acquired by the receiving device 63, but this is not limited to the above. For example, automatic steering control of the traveling machine body C may be mainly performed based on position information acquired by the receiving device 63, and the position information acquired by the receiving device 63 may be corrected based on inertial information measured by the primary inertial measurement unit 62.

(2) In the above embodiment, the connecting frame 31 is supported by the left and right spare seedling frames 30 so as to be rotatable around the left-right axis X along the left-right direction and to be fixed in position between the use state S1 and the storage state S2, but this is not limited to the above. For example, the connecting frame 31 may be detachable from the left and right spare seedling frames 30. In this case, the connecting frame 31 in the use state S1 is removed from the spare seedling frame 30, turned upside down, and reattached to the spare seedling frame 30, thereby changing the connecting frame 31 to the storage state S2.

(3) In the above embodiment, the receiving device 63 is fixed to a certain location, but this is not limited to this. For example, as shown in FIG. 8, the receiving device 63 may be attached and fixed to the spare seedling frame 30 and arranged on a rail member 100 extending along the fore-and-aft direction of the traveling machine body C in a state where it can move along the fore-and-aft direction. In this way, by moving the receiving device 63 between two points on the rail member 100, the traveling machine body C's own heading NA can be determined based on the position information of the two points obtained by the receiving device 63 while the traveling machine body C is stopped.

(4) In the above embodiment, an example having only one receiving device 63 is given, but this is not limited to this. For example, two or more receiving devices 63 may be provided. In this way, even when the traveling machine body C is stopped, it is possible to determine the own machine direction NA of the traveling machine body C based on the position information acquired by one receiving device 63 and the position information acquired by the other receiving device 63.

(5) In the above embodiment, the connector portion 67 extends outward in the left-right direction from the side portion of the receiving device 63, but is not limited to this. For example, the connector portion 67 may extend upward from the top surface of the receiving device 63, extend downward from the bottom surface of the receiving device 63, extend forward from the front surface of the receiving device 63, or extend rearward from the rear surface of the receiving device 63. In this case, it is preferable that a guard member 68 that protects the connector portion 67 is also provided at the location of the connector portion 67.

(6) In the above embodiment, the guard member 68 is attached to the support plate 65, but this is not limited to the above. For example, the guard member 68 may be attached to the receiving device 63 itself.

(7) In the above embodiment, the working device is exemplified by a seedling planting device W, but is not limited to this. For example, in addition to the seedling planting device W, the working device may also be a fertilizer device, a chemical spraying device, or the like.

In addition to the above-mentioned riding rice transplanter equipped with a seedling planting device as a working device, the present invention can be used in various work vehicles, such as a riding direct seeding machine that is a paddy field work vehicle for planting with a seeding device as a working device, a tractor equipped with a plow or the like as a working device, or an agricultural work vehicle such as a combine harvester equipped with a harvesting section or the like as a working device, or a construction work vehicle equipped with a bucket or the like as a working device.

28: Regular spare seedling stand (spare seedling stand)
29: Rail-type spare seedling stand (spare seedling stand)
30: Spare seedling frame 31: Connecting frame
6 3 : Receiving device 66 : Harness 67 : Connector portion 68 : Guard member 72 : Rear axle 73 : Rear axle frame (mounting member)
81: Generation unit 83: Control unit A: Traveling device C: Traveling body U: Steering unit W: Seedling planting device (working device)
S1: Use state S2: Storage state LM: Target line X: Left-right axis

Claims (2)

A traveling machine body having a traveling device;
A steering unit capable of steering the traveling device;
A receiving device that acquires location information by a satellite positioning system;
an inertial measurement unit;
a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement device,
A bonnet is provided at the front of the traveling body,
A frame is provided extending above the bonnet,
A work vehicle in which the receiving device and the inertial measurement unit are supported on the frame, which is the same location on the traveling body. The work vehicle according to claim 1 , wherein the inertial measurement unit is capable of measuring inclination .

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