Working vehicle and its driving path setting system

Abstract

The present invention relates to a work vehicle. The work vehicle is configured so that, when it is desired to obtain position data of the periphery of a field, it is possible to avoid unnecessary work and appropriately obtain the position data of the periphery of the field. The work vehicle comprises: a positioning unit for detecting the position of a machine body; a ridge edge acquisition unit for acquiring the position of the machine body from the start to the end of traveling as a ridge edge (B11 to B41) along a ridge (B1 to B4) based on an acquisition instruction; a turning position acquisition unit for acquiring the turning position (D1 to D5) of the machine body based on the acquisition instruction; and a turning ridge edge acquisition unit for acquiring a position obtained by connecting adjacent turning positions (D1 to D5) as a ridge edge (B11 to B41) along a ridge (B1 to B4).

Description

[0001] This application is a divisional application of the invention patent application with application date of June 26, 2018 and application number 201810670481.5. Technical Field

[0002] The present invention relates to a working vehicle that travels while working on a field, such as a riding rice transplanter, a riding seed drill, a combine harvester equipped with a harvesting unit, and a tractor equipped with a rotary tilling device. Background Art

[0003] As disclosed in Patent Document 1, in a riding rice transplanter as an example of a work vehicle, in a field, the machine travels from one ridge to another ridge, then turns at the edge of the other ridge, and then travels from the other ridge to one ridge, thereby repeating the travel from one ridge (the other side) to the other ridge (the one side) and the turning at the edge of one ridge (the other side).

[0004] In Patent Document 1, first, the driver manually steers the front wheels of the machine body to perform a teaching drive to make the work vehicle drive along the ridge of the field, thereby setting a reference driving path (Patent Document 1). Figure 7 Thus, when setting the reference driving path, multiple driving paths (the reference line of patent document 1) are selected. Figure 7 The first to Nth rows of the reference driving paths (field ridges) are set in parallel with each other at predetermined intervals in the field.

[0005] In Patent Document 1, the front wheels of the machine body are automatically steered to perform a first travel so that the machine body automatically travels along a first travel path, and when the first travel ends and the machine body reaches a field ridge on one side, the machine body turns at the field ridge on the one side. Next, the front wheels of the machine body are automatically steered to perform a second travel so that the machine body automatically travels along an adjacent second travel path.

[0006] Prior Art Literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2008-92818

[0009] In Patent Document 1, in order to set a plurality of travel routes, a teaching travel is first performed to set a reference travel route. In this case, the driver performs the teaching travel by manually steering the front wheels of the machine body, so the steering operation of the front wheels performed by the driver may have errors, and the reference travel route may have errors with respect to the field. When the reference travel route has errors with respect to the field, the travel route set in parallel with the reference travel route may also have errors with respect to the field.

[0010] Therefore, it is conceivable to obtain the position data of the edge (outer periphery) of the ridge of the field and set the travel route based on the position data of the edge (outer periphery) of the ridge of the field. Summary of the invention

[0011] An object of the present invention is to configure a work vehicle so that, when it is desired to obtain position data of a ridge edge (periphery) of a field, the position data of the ridge edge (periphery) of the field can be appropriately obtained while avoiding unnecessary work.

[0012] Solutions to Solve Problems

[0013] The working vehicle of the present invention comprises:

[0014] A positioning unit, the positioning unit detecting the position of the body;

[0015] a ridge edge acquisition unit that acquires, based on an acquisition instruction, a position of the machine body from the start to the end of the travel as a ridge edge along the ridge;

[0016] a turning position acquisition unit that acquires a turning position of the aircraft based on an acquisition instruction; and

[0017] The turning ridge edge acquisition unit acquires a position obtained by connecting adjacent turning positions among the turning positions acquired by the turning position acquisition unit as a ridge edge along the ridge. Here, the ridge edge acquired by the turning ridge edge acquisition unit may be a ridge edge intersecting with the ridge edge acquired by the ridge edge acquisition unit.

[0018] In a field, when a work vehicle repeatedly travels from one ridge (the other) to another ridge (the other) and turns at the edge of one ridge (the other), it not only travels near the center of the field but also travels along the ridge.

[0019] According to the present invention, when traveling along a ridge, the ridge edge acquisition unit may acquire the position of the machine body from the start to the end of traveling as the ridge edge along the ridge.

[0020] When the turning at the ridge edge is repeated, the turning ridge edge acquisition unit may acquire, among the turning positions acquired by the turning position acquisition unit, a position obtained by connecting adjacent turning positions as the ridge edge along the ridge.

[0021] Thus, by combining the ridge edge (position data) acquired by the ridge edge acquisition unit and the ridge edge (position data) acquired by the turning ridge edge acquisition unit, position data of the ridge edge of the field, that is, position data of the outer periphery of the field can be obtained.

[0022] As described above, the journey in which the ridge edge (position data) is acquired by the ridge edge acquisition unit and the turning ridge edge acquisition unit is roughly the same as (or included in) the journey in which normal operations (planting of seedlings in a riding rice transplanter, etc.) are performed in the field.

[0023] According to the present invention, while normal work is being performed in the field, the ridge edge acquisition unit and the turning ridge edge acquisition unit acquire the ridge edge (position data) in parallel, thereby obtaining the position data of the peripheral portion of the field. The position data of the peripheral portion of the field obtained as described above can be used for the next work of the work vehicle in the same field and the work in the next year.

[0024] As described above, according to the present invention, by traveling in a field in the same manner as normal work, it is possible to appropriately obtain position data of the peripheral portion of the field and avoid unnecessary work.

[0025] In the present invention, it is preferable that the work vehicle includes a travel route acquisition unit that acquires a travel route set based on the ridge edge acquired by the ridge edge acquisition unit.

[0026] According to the present invention, in a field, when repeatedly traveling from a ridge on one side (the other side) to a ridge on another side (the one side), a traveling path set based on a ridge edge (position data) obtained by a ridge edge obtaining unit is obtained, and therefore, by effectively utilizing the traveling path, traveling from a ridge on one side (the other side) to a ridge on another side (the one side) can be easily performed.

[0027] In the present invention, preferably, the work vehicle includes an automatic travel control unit configured to automatically control the machine body based on the position of the machine body so that the machine body travels along the travel path.

[0028] According to the present invention, the travel path is set as described above, and the machine body is automatically operated so that the machine body travels along the travel path, so that it can easily travel from one (the other) ridge to the other (the one) ridge.

[0029] The working vehicle of the present invention comprises:

[0030] A positioning unit, the positioning unit detecting the position of the body;

[0031] a first ridge edge acquisition unit that acquires, based on an acquisition instruction, a position of the machine body from the start to the end of traveling as a first ridge edge along the ridge;

[0032] a second ridge edge acquisition unit, which acquires the position of the machine from the start to the end of the travel as a second ridge edge along the ridge based on an acquisition instruction during the travel of the machine along a direction intersecting the first ridge edge;

[0033] a turning position acquisition unit that acquires a turning position of the aircraft based on an acquisition instruction; and

[0034] A turning ridge edge acquisition unit is configured to acquire, as a ridge edge along the ridge, a position connecting adjacent turning positions among the turning positions acquired by the turning position acquisition unit.

[0035] Here, the ridge edge acquired by the curved ridge edge acquisition unit may be a ridge edge intersecting the second ridge edge and facing the first ridge edge.

[0036] Furthermore, the work vehicle may include a travel route acquisition unit that acquires a travel route set based on the ridge edge acquired by the second ridge edge acquisition unit.

[0037] Furthermore, the work vehicle may include an automatic travel control unit configured to automatically control the machine body based on the position of the machine body so that the machine body travels along the travel path.

[0038] In a field, when a work vehicle repeatedly travels from one ridge (the other) to another ridge (the other) and turns at the edge of one ridge (the other), it not only travels near the center of the field but also travels along the ridge.

[0039] According to the present invention, when traveling along a ridge, the first ridge edge acquisition unit and the second ridge edge acquisition unit may acquire the position of the machine body from the start to the end of traveling as the first ridge edge and the second ridge edge along the ridge.

[0040] When the turning at the ridge edge is repeated, the turning ridge edge acquisition unit may acquire, among the turning positions acquired by the turning position acquisition unit, a position obtained by connecting adjacent turning positions as the ridge edge along the ridge.

[0041] Therefore, by combining the first ridge edge and the second ridge edge (position data) obtained by the first ridge edge acquisition unit and the second ridge edge acquisition unit with the ridge edge (position data) obtained by the turning ridge edge acquisition unit, the position data of the ridge edge of the field, that is, the position data of the outer periphery of the field, can be obtained.

[0042] According to the present invention, by obtaining a first ridge edge (position data) and a second ridge edge (position data) intersecting the first ridge edge, the position data of the ridge edge of the field including the corners of the field can be obtained, thereby obtaining high-precision position data of the periphery of the field.

[0043] As described above, the journey of acquiring the ridge edge (position data) by the first ridge edge acquiring unit, the second ridge edge acquiring unit, and the turning ridge edge acquiring unit is roughly the same as (or included in) the journey of performing normal operations in the field (planting of seedlings in a riding rice transplanter, etc.).

[0044] According to the present invention, while normal work is being performed in the field, the first ridge edge acquisition unit, the second ridge edge acquisition unit, and the turning ridge edge acquisition unit acquire ridge edges (position data) in parallel, thereby obtaining position data of the peripheral portion of the field. The position data of the peripheral portion of the field obtained as described above can be used for the next work of the work vehicle in the same field and the work in the next year.

[0045] As described above, according to the present invention, by traveling in a field in the same manner as normal work, it is possible to appropriately obtain position data of the peripheral portion of the field and avoid unnecessary work. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is an overall side view of the riding type rice transplanter.

[0047] Figure 2 It is an overall top view of the riding rice transplanter.

[0048] Figure 3 This is a schematic diagram showing the connection status of the control device and each component.

[0049] Figure 4 It is a top view showing the traveling state of the machine body in the field.

[0050] Figure 5 It is a top view showing the traveling state of the machine body in the field.

[0051] Figure 6 It is a top view showing the traveling state of the machine body in the field.

[0052] Figure 7 It is a top view showing the traveling state of the machine body in the field.

[0053] Figure 8 It is a top view showing the traveling state of the machine body in the field.

[0054] Fig. 9 It is a top view showing the traveling state of the machine body in the field.

[0055] Fig.10 This is a top view showing the position data of the edge of the field and the state of the turning position.

[0056] Fig.11 This is a top view showing the state of the position data of the edge of the field.

[0057] Fig.12 This is a top view showing the state of the travel route set in the field.

[0058] Fig.13 This is a plan view showing the state of position data of a ridge edge of a field and a turning position in the first other embodiment of the present invention.

[0059] Fig.14 This is a plan view showing the state of position data of a ridge edge of a field and a turning position in the first other embodiment of the present invention.

[0060] Fig.15 This is a plan view showing a state of a travel route set in a field in a fifth other embodiment of the present invention.

[0061] Description of Reference Numerals

[0062] 11 Body

[0063] 29 Positioning Department

[0064] 51st ridge edge acquisition unit, first ridge edge acquisition unit

[0065] 52 Second ridge edge acquisition department

[0066] 55 Automatic driving control unit

[0067] 56 Turning position acquisition unit

[0068] 57 Turning ridge edge acquisition section

[0069] 59 Driving route acquisition unit

[0070] B1~B4 Field Ridge

[0071] B11 Field Edge, First Field Edge

[0072] B21 ridge edge, second ridge edge

[0073] B31 Edge of the field

[0074] B41 Edge of the field

[0075] D1~D9 Turning position

[0076] L01~L03 driving route DETAILED DESCRIPTION

[0077] In the embodiment of the present invention, a six-row planting type riding rice transplanter is shown as an example of a work vehicle that performs planting work in a field (paddy field).

[0078] Unless otherwise specified, the front-to-back direction and the left-to-right direction in the embodiments of the present invention are described as follows. The forward direction of the vehicle body 11 when traveling is "front", and the backward direction of the vehicle body 11 is "rear". Based on the forward posture in the front-to-back direction, the direction corresponding to the right side is "right", and the direction corresponding to the left side is "left".

[0079] (Overall structure of the riding rice transplanter)

[0080] like Figure 1 and Figure 2 As shown, the riding rice transplanter includes a link mechanism 3 and a hydraulic cylinder 4 for lifting and lowering the link mechanism 3 at the rear of a machine body 11 including left and right front wheels 1 and left and right rear wheels 2. A rice transplanting device 5 as a working device is supported at the rear of the link mechanism 3.

[0081] The rice transplanting device 5 comprises: a planting transmission box 6 arranged at a predetermined interval in the left-right direction, a rotating box 7 rotatably supported on the right and left parts of the rear part of the planting transmission box 6, a planting arm 8 provided at both ends of the rotating box 7, a floating plate 9 and a seedling loading platform 10, etc.

[0082] A fertilizer application device 18 as a working device is provided across the machine body 11 and the rice transplanting device 5. The fertilizer application device 18 includes a hopper 13, a continuous delivery unit 14, a blower 15, a slotter 16, a hose 17, and the like.

[0083] The machine body 11 is provided with a hopper 13 for storing fertilizers and three successive delivery parts 14 corresponding to two planting strips at the rear side of the driver's seat 12, and a blower 15 is provided on the left lateral outer side of the successive delivery part 14. A slotter 16 is connected to the floating plate 9, and six slotters 16 are provided, and six hoses 17 are connected across the successive delivery parts 14 and the slotters 16.

[0084] like Figure 1 as well as Figure 3As shown, the left and right markers 44 are provided on the left and right parts of the rice transplanting device 5, and the left and right markers 44 can be freely operated to an action posture in contact with the field and a storage posture away from the field upward. The left and right markers 44 include: an arm 44a supported by the rice transplanting device 5 so as to swing freely up and down, and a rotating body 44b supported by the front end of the arm 44a so as to rotate freely, and an electric motor 45 for operating the left and right markers 44 to the action posture and the storage posture.

[0085] (Transmission system for front and rear wheels, rice transplanting device, and fertilizer application device)

[0086] like Figure 1 As shown, the power of the engine 31 provided at the front of the machine body 11 is transmitted to a hydrostatic continuously variable transmission (not shown) via a transmission belt 32 and then to a gear-shift type auxiliary transmission (not shown) inside a transmission case 33 .

[0087] The left and right front axle boxes 34 are connected to the left and right parts of the transmission 33, and the left and right front wheels 1 are steerably supported on the left and right parts of the front axle boxes 34. The power of the auxiliary transmission device is transmitted to the left and right front wheels 1 via the front wheel differential device (not shown) and the transmission shaft (not shown) inside the front axle box 34.

[0088] A rear axle box 35 is supported in the left-right direction at the lower rear portion of the machine body 11, and the left and right rear wheels 2 are supported at the left and right portions of the rear axle box 35. The power of the auxiliary transmission device is transmitted to the left and right rear wheels 2 via the transmission shaft 36, the transmission shaft (not shown) inside the rear axle box 35, and the side clutch (not shown).

[0089] like Figure 1 , Figure 2 , Figure 3 As shown, a steering handle 20 is provided in front of the driver's seat 12, and the steering operation of the front wheel 1 is performed by the steering handle 20. A shift lever 37 is provided on the left lateral side of the steering handle 20, and the continuously variable transmission device can be operated by the shift lever 37 in a stepless manner from the neutral position N to the forward side F and the reverse side R.

[0090] (Transmission system for transmitting power to the rice transplanting device and the fertilizer application device)

[0091] like Figure 1 , Figure 2 , Figure 3 As shown, in the transmission 33, the power branched from just before the auxiliary transmission is transmitted to the rice transplanting device 5 via the planting clutch 26 and the PTO shaft 38, and the electric motor 28 for operating the planting clutch 26 to the transmission state and the cutoff state is provided.

[0092] When the planting clutch 26 is operated to the transmission state, the seedling loading platform 10 is driven to be reciprocated and transversely fed in the left and right directions, the rotating box 7 is rotated and driven, and the planting arm 8 alternately takes out the seedlings from the lower part of the seedling loading platform 10 and plants them in the field. When the planting clutch 26 is operated to the cut-off state, the seedling loading platform 10 and the rotating box 7 stop.

[0093] like Figure 1 , Figure 2 , Figure 3 As shown, in the transmission 33, the power of the auxiliary transmission device is transmitted to the continuous delivery part 14 of the fertilizer device 18 via the fertilizer clutch 27, and the fertilizer clutch 27 is operated by the electric motor 28 to the transmission state and the cutoff state.

[0094] When the fertilizer clutch 27 is operated to the transmission state, the fertilizer in the hopper 13 is successively delivered by the continuous delivery unit 14, and the conveying air of the blower 15 is supplied to the slot opener 16 through the hose 17. While the slot opener 16 forms a slot in the field, the fertilizer is supplied from the slot opener 16 to the slot in the field. When the fertilizer clutch 27 is operated to the cut-off state, the continuous delivery unit 14 stops.

[0095] (Automatic lifting control of rice transplanting device)

[0096] like Figure 3 As shown, the rear part of the central floating plate 9 is supported so as to swing freely up and down around the axis P1 in the left-right direction of the rice transplanting device 5, and a potentiometer-type height sensor 22 is provided for detecting the height of the central floating plate 9 relative to the rice transplanting device 5, and the detection value of the height sensor 22 is input into the control device 23. As the machine body 11 moves forward, the central floating plate 9 contacts the ground and follows the movement of the machine body 11, and the height from the field (central floating plate 9) to the rice transplanting device 5 can be detected by using the detection value of the height sensor 22.

[0097] The automatic lifting control unit 54 is provided as software in the control device 23 , and includes a control valve 24 for supplying and discharging hydraulic oil to and from the hydraulic cylinder 4 . The control valve 24 is operated by the automatic lifting control unit 54 .

[0098] When the control valve 24 is operated to the rising position, hydraulic oil is supplied to the hydraulic cylinder 4, and the hydraulic cylinder 4 contracts to raise the rice transplanting device 5. When the control valve 24 is operated to the falling position, hydraulic oil is discharged from the hydraulic cylinder 4, and the hydraulic cylinder 4 extends to lower the rice transplanting device 5.

[0099] like Figure 3As shown, in the working state of the automatic lifting control unit 54, based on the height from the field to the rice transplanting device 5, the automatic lifting control unit 54 is used to operate the control valve 24, so that the hydraulic cylinder 4 is extended and retracted and the rice transplanting device 5 is automatically lifted and lowered, so that the rice transplanting device 5 is maintained at a set height from the field. As a result, the planting depth of the seedlings is maintained at the set depth.

[0100] (Lifting and lowering operation of the rice transplanting device by the operating lever)

[0101] like Figure 2 as well as Figure 3 As shown in FIG. 1 , an operating rod 39 is provided on the right lateral side portion below the operating handle 20 , and the operating rod 39 extends to the right lateral outer side.

[0102] The operating lever 39 is configured to be freely operated in the cross direction from the neutral position N to the first rising position UU1 on the upper side, the second rising position UU2, the first falling position DD1 on the lower side, the second falling position DD2, the right marker position RA on the rear side, and the left marker position LA on the front side. A force is applied at the neutral position N, and the operating position of the operating lever 39 is input into the control device 23.

[0103] When the operating lever 39 is operated to the second rising position UU2, the planting clutch 26 and the fertilizing clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, and the control valve 24 is operated to the rising position to raise the rice transplanting device 5. When the rice transplanting device 5 reaches the upper limit position, the control valve 24 is operated to the neutral position to automatically stop the hydraulic cylinder 4.

[0104] When the operating lever 39 is operated to the second lowering position DD2, the planting clutch 26 and the fertilizing clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, and the control valve 24 is operated to the lower position to lower the rice transplanting device 5. When the central floating plate 9 is grounded to the field, the automatic lifting control unit 54 is in the working state, and the rice transplanting device 5 is grounded to the field and stopped.

[0105] After the operating lever 39 is operated to the second lowered position DD2 and further to the neutral position N, when the operating lever 39 is operated to the second lowered position DD2 again, the planting clutch 26 and the fertilizing clutch 27 are operated to the transmission state by the electric motor 28 in the working state of the automatic lifting control unit 54.

[0106] When the operating lever 39 is operated to the first raised position UU1, the planting clutch 26 and the fertilizing clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, and the control valve 24 is operated to the raised position to raise the rice transplanting device 5. The rice transplanting device 5 rises only during the period when the operating lever 39 is operated to the first raised position UU1. When the operating lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position to stop the raising of the rice transplanting device 5.

[0107] When the operating lever 39 is operated to the first descending position DD1, the planting clutch 26 and the fertilizing clutch 27 are operated to the cut-off state by the electric motor 28, the automatic lifting control unit 54 is stopped, and the control valve 24 is operated to the descending position to lower the rice transplanting device 5. The rice transplanting device 5 is lowered only during the period when the operating lever 39 is operated to the first descending position DD1. When the operating lever 39 is operated to the neutral position N, the control valve 24 is operated to the neutral position to stop the descent of the rice transplanting device 5.

[0108] As described above, the rice transplanting device 5 can be raised and lowered only while the operating lever 39 is operated to the first rising position UU1 and the first falling position DD1, and the rice transplanting device 5 can be raised and lowered to an arbitrary height and stopped.

[0109] When the operating lever 39 is operated to the right marker position RA, the right marker 44 is operated to the active position by the electric motor 45. When the operating lever 39 is operated to the left marker position LA, the left marker 44 is operated to the active position by the electric motor 45.

[0110] (Structure for detecting the position and orientation of the machine body)

[0111] like Figure 1 and Figure 2 As shown, left and right support frames 19 are provided at the left and right parts of the front part of the machine body 11, and a seedling loading platform 21 is supported in advance on the support frames 19. A support frame 25 is connected across the upper parts of the left and right support frames 19.

[0112] A measuring device 29 (corresponding to a positioning unit) is mounted on the support frame 25 at a portion located at the left-right center CL of the body 11 when viewed from above. The measuring device 29 includes an information receiving device (not shown) for acquiring position information through a satellite positioning system, and an inertial measurement device (not shown) for detecting the inclination (pitch angle, roll angle) of the body 11. The measuring device 29 outputs position data of the body 11.

[0113] An inertial measurement device 30 for measuring inertial information is mounted on the rear axle box 35 at a portion located at the left-right center CL of the vehicle body 11 in a plan view. The inertial measurement device 30 and the inertial measurement of the measurement device 29 are constituted by an IMU (Inertial Measurement Unit).

[0114] The satellite positioning system (GNSS: Global Navigation Satellite System) cites GPS (Global Positioning System) as a representative positioning system. GPS uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls the GPS satellites, and an information receiving device of the object to be positioned (machine body 11), and measures the position of the information receiving device of the measuring device 29.

[0115] The inertial measurement device 30 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle (turning angle of the body 11) of the body 11, and an acceleration sensor (not shown) capable of detecting acceleration in three mutually orthogonal axis directions. The inertial information measured by the inertial measurement device 30 includes the azimuth change information detected by the gyro sensor and the position change information detected by the acceleration sensor.

[0116] Thus, the position of the machine body 11 and the orientation of the machine body 11 are detected by the measuring device 29 and the inertial measurement device 30 .

[0117] (Structure related to the automatic driving of the machine)

[0118] like Figure 3 As shown, a steering motor 40 for operating the steering handle 20 is provided, and a display device 42 composed of a liquid crystal display or the like is provided on the front side of the steering handle 20 .

[0119] The operating position of the shift lever 37 is input to the control device 23, and a shift motor 41 is provided to operate the shift lever 37. A push-button type automatic operation unit 43 for starting and stopping automatic driving is provided on the grip of the shift lever 37, and a signal of the automatic operation unit 43 is input to the control device 23.

[0120] In addition to the automatic lifting control unit 54 described in the previous item (automatic lifting and lowering control of the rice transplanting device), the first ridge edge acquisition unit 51, the second ridge edge acquisition unit 52, the driving path setting unit 53, the automatic driving control unit 55, the turning position acquisition unit 56, the turning ridge edge acquisition unit 57, the storage unit 58, and the driving path acquisition unit 59 are also configured as software in the control device 23.

[0121] like Figure 2 As shown, the lateral width of the transplanting device 5 is set to W1, the first length spanning the measuring device 29 and the rear end of the transplanting device 5 (floating plate 9) when viewed from above is set to E1, the second length spanning the measuring device 29 and the front end of the body 11 when viewed from above is set to E2, and the total length spanning the front end of the body 11 and the rear end of the transplanting device 5 (floating plate 9) is set to E3.

[0122] (Planting of rice seedlings in fields, supply of fertilizers, acquisition of position data of ridges) (1)

[0123] like Figure 4 As shown, for example, a field includes ridges B1, B2, B3, and B4 and ridge edges B11, B21, B31, and B41.

[0124] The operator operates the control handle 20 and the shift lever 37 so that the machine body 11 is located at the position K1 , and inputs a command to start acquiring the position data of the ridge edges B11 to B41 into the control device 23 .

[0125] At position K1, the rear end of the transplanting device 5 (floating plate 9) is located at the ridge edge B41, and the left end of the transplanting device 5 is located at the ridge edge B11. The measuring device 29 is located at a first length E1 from the ridge edge B41 and 1 / 2 of the lateral width W1 from the ridge edge B11.

[0126] At position K1, the driver operates the operating lever 39 (equivalent to obtaining an instruction) to lower the rice transplanting device 5 to the field, and operates the operating hand wheel 20 and the gear lever 37 to make the machine body 11 travel along the edge of the field B11. In this case, the planting of rice seedlings and the supply of fertilizers are not performed, and the left and right markers 44 are in the storage posture.

[0127] When the front end of the machine body 11 reaches the ridge edge B21 (position K2), the operator operates the operating lever 39 (equivalent to obtaining a command) to raise the rice transplanting device 5.

[0128] like Figure 4 as well as Figure 5 As shown, the position data (position of the machine body 11) of the measuring device 29 from the start (position K1) to the end (position K2) of the travel is acquired and stored by the first ridge edge acquisition unit 51 as the position data C1 of the ridge edge B11 (first ridge edge) along the ridge B1.

[0129] like Figure 5As shown, the driver operates the control hand wheel 20 and the gear lever 37 to place the machine body 11 at position K3. At position K3, the rear end of the rice transplanting device 5 (floating plate 9) is located at the edge of the ridge B11, and the left end of the rice transplanting device 5 is located at the edge of the ridge B21. The measuring device 29 is located at a position at a first length E1 from the edge of the ridge B11 and at a position at a half of the transverse width W1 from the edge of the ridge B21.

[0130] At position K3, the driver operates the operating lever 39 (equivalent to obtaining an instruction) to lower the rice transplanting device 5 to the field, and operates the operating hand wheel 20 and the gear lever 37 to make the machine body 11 travel along the edge of the field B21. In this case, the planting of rice seedlings and the supply of fertilizers are not performed, and the right marker 44 is operated to the working posture.

[0131] When the front end of the machine body 11 reaches the ridge edge B31 (position K4), the operator operates the operating lever 39 (equivalent to obtaining a command) to raise the rice transplanting device 5.

[0132] like Figure 5 as well as Figure 6 As shown, the position data (position of the machine body 11) of the measuring device 29 from the start (position K3) to the end (position K4) of the travel is acquired and stored by the second ridge edge acquisition unit 52 as the position data C2 of the ridge edge B21 (second ridge edge) along the ridge B2.

[0133] The position data of the measuring device 29 at the position K4 is acquired and stored by the turning position acquisition unit 56 as the turning position D1 of the machine body 11. The right marker 44 forms a mark S1 in the field.

[0134] (Planting of rice seedlings in fields, supply of fertilizers, acquisition of position data of ridges) (2)

[0135] like Figure 5 as well as Figure 6 As shown, when the front end of the machine body 11 reaches the edge of the ridge B31 (position K4), the driver visually observes the mark S1 of the field as a target, and operates the control handle 20 and the gear lever 37 to turn the machine body 11 from the position K4 to the mark S1 (position K5). At the position K5, the rear end of the rice transplanting device 5 (floating plate 9) is located at a position with a total length E3 away from the edge of the ridge B31, and the left and right center CL of the machine body 11 is located at a position with a horizontal width W1 away from the position data C2.

[0136] like Figure 6As shown, at position K5, the driver operates the operating lever 39 (equivalent to obtaining an instruction) to lower the rice transplanting device 5 to the field, and operates the planting clutch 26 and the fertilizing clutch 27 to the transmission state, operates the left marker 44 to the active posture, and operates the shift lever 37 to start the machine body 11.

[0137] The position on the ridge edge B31 side that is twice the first length E1 from the position of the measuring device 29 (the position that is the second length E2 from the ridge edge B31 ) is acquired and stored as the turning position D2 of the machine body 11 by the turning position acquisition unit 56 .

[0138] At the position K5, when the driver operates the automatic operation unit 43, a travel path L01 parallel to the position data C2 (a travel path L01 intersecting the position data C1 at a predetermined angle) is set by the travel path setting unit 53 in front of the position (K5) of the machine body 11. The travel path L01 is acquired by the travel path acquisition unit 59, and the position of the machine body 11 and the travel path L01 are displayed on the display device 42.

[0139] At the same time, the automatic driving control unit 55 is in operation. Based on the position of the machine body 11 obtained by the measuring device 29 and the inertial information obtained by the inertial measurement device 30, the steering motor 40 is operated to automatically steer the front wheel 1, and the speed change motor 41 is operated to automatically operate the speed change lever 37, so that the machine body 11 automatically travels along the driving path L01 at a constant speed. In this way, the rice seedlings are planted and the fertilizer is supplied, and the left marker 44 forms a mark S2 in the field.

[0140] like Figure 6 as well as Figure 7 As shown, when the front end of the machine body 11 reaches the edge of the field ridge B11 (position K6), the driver operates the operating lever 39 (equivalent to obtaining a command) to raise the rice transplanting device 5, and while visually viewing the mark S2 of the field as a target, operates the operating hand wheel 20 and the gear lever 37 to turn the machine body 11 from the position K6 to the mark S2 (position K7). At the position K7, the rear end of the rice transplanting device 5 (floating plate 9) is located at a position separated from the edge of the field ridge B11 by a lateral width W1.

[0141] like Figure 7 As shown, at position K7, the driver operates the operating lever 39 (equivalent to obtaining an instruction) to lower the rice transplanting device 5 to the field, and operates the planting clutch 26 and the fertilizing clutch 27 to the transmission state, operates the right marker 44 to the active posture, and operates the shift lever 37 to start the machine body 11.

[0142] When the driver operates the automatic operation unit 43 at the position K7, in the same manner as described above, a travel path L02 parallel to the position data C2 (a travel path L02 intersecting the position data C1 at a predetermined angle) is set by the travel path setting unit 53 in front of the position (K7) of the machine body 11. The travel path L02 is acquired by the travel path acquisition unit 59, and the position of the machine body 11 and the travel path L02 are displayed on the display device 42.

[0143] The automatic travel control unit 55 is in operation, and the machine body 11 automatically travels at a constant speed along the travel path L02 to plant rice seedlings and supply fertilizers, and forms a mark S3 in the field using the right marker 44 .

[0144] (Planting of rice seedlings in fields, supply of fertilizers, acquisition of position data of ridges) (3)

[0145] like Figure 7 As shown, when the front end of the machine body 11 reaches the edge of the field B31 (position K8), the driver performs Figure 5 as well as Figure 6 The same operation is performed at positions K4 and K5 as shown. Figure 8 As shown, the machine body 11 is located at position K9 and is Figure 6 The operations at the positions K5 and K6 shown are the same operations.

[0146] The position data of the measuring device 29 at the position K8 is acquired by the turning position acquisition unit 56 as the turning position D3 of the machine body 11 and stored.

[0147] like Figure 8 As shown, by the operation of the automatic operation unit 43, a travel path L03 parallel to the position data C2 (a travel path L03 intersecting the position data C1 at a predetermined angle) is set by the travel path setting unit 53 in front of the position (K9) of the machine body 11. The travel path L03 is acquired by the travel path acquisition unit 59, and the position of the machine body 11 and the travel path L03 are displayed on the display device 42.

[0148] The automatic travel control unit 55 is in operation, and the machine body 11 automatically travels at a constant speed along the travel path L03 to plant rice seedlings and supply fertilizers, and forms a mark S4 in the field using the left marker 44 .

[0149] At position K9 , a position on the ridge edge B31 side that is twice the first length E1 from the position of the measuring device 29 (a position that is a second length E2 from the ridge edge B31 ) is acquired and stored as a turning position D4 of the machine body 11 by the turning position acquisition unit 56 .

[0150] like Figure 8As shown, when the front end of the machine body 11 reaches the edge of the field B11 (position K10), the driver performs Figure 6 as well as Figure 7 The same operation is performed at positions K6 and K7 as shown. Fig. 9 As shown, the machine body 11 is located at position K11 and is Figure 7 The operations at the positions K7 and K8 shown in the figure are the same operations. In this case, the planting of the seedlings and the supply of fertilizers are not performed, and the left and right markers 44 are placed in the storage posture.

[0151] like Fig. 9 As shown, by the operation of the automatic operation unit 43, the driving path L04 parallel to the position data C2 is set by the driving path setting unit 53 in front of the position (K11) of the machine body 11. The driving path L04 is acquired by the driving path acquisition unit 59, and the position of the machine body 11 and the driving path L04 are displayed on the display device 42. The automatic driving control unit 55 is in operation, and the machine body 11 automatically drives along the driving path L04 at a constant speed.

[0152] When the front end of the machine body 11 reaches the ridge edge B31 (position K12), the operator operates the operating lever 39 (equivalent to an acquisition command) to raise the rice transplanting device 5, and inputs an acquisition completion command for the position data of the ridge edges B11 to B41 into the control device 23.

[0153] The position data of the measuring device 29 at the position K12 is acquired by the turning position acquisition unit 56 as the turning position D5 of the machine body 11 and stored.

[0154] In the field, the rice seedlings are not planted and the fertilizer is not supplied in the range of the lateral width W1 away from the ridge edges B11, B21, and B41, and the range of the total length E3 away from the ridge edge B31. Therefore, the driver finally drives the machine body 11 along the ridge edges B11 to B41 and plants the rice seedlings and supplies the fertilizer (rotating planting), thereby completing the planting of the rice seedlings and the supply of the fertilizer in a field.

[0155] In this case, the travel route setting part 53 may be provided in an external computer (not shown) other than the riding rice transplanter instead of being provided in the control device 23.

[0156] According to this configuration, each time the automatic operation unit 43 is operated, the driving route setting unit 53 of the external computer sets the driving routes L01 to L04 , and the set driving routes L01 to L04 are sent to the control device 23 and acquired by the driving route acquisition unit 59 .

[0157] (Acquisition of position data of field edge)

[0158] As described in the previous item (planting of rice seedlings in the field, supply of fertilizer, acquisition of position data of the edge of the field) (1) (2) (3), Fig.10 As shown, position data C1, C2 and turning positions D1~D5 can be obtained.

[0159] like Fig.10 As shown, the intersection point F1 of the imaginary line extending from the position data C2 and the position data C1 is set. The intersection point F2 of the imaginary line extending from the turn position D5 in parallel with the position data C2 and the imaginary line extending from the position data C1 is set.

[0160] like Fig.11 As shown, position data C3 straddling the intersections F1 and F2 , position data C4 straddling the intersection F1 and the turning position D1 , and position data C5 straddling the intersection F2 and the turning position D5 are set and acquired by the first ridge edge acquisition unit 51 and the second ridge edge acquisition unit 52 .

[0161] like Fig.11 As shown, a position outside the position data C3 by 1 / 2 of the lateral width W1 is stored in the storage unit 58 by the first ridge edge acquisition unit 51 and the second ridge edge acquisition unit 52 as the position data C7 of the ridge edge B11 .

[0162] The position outside the position data C4 by 1 / 2 of the lateral width W1 is acquired as the position data C8 of the ridge edge B21 by the first ridge edge acquisition unit 51 and the second ridge edge acquisition unit 52 and stored in the storage unit 58 .

[0163] The position outside the position data C5 by 1 / 2 of the lateral width W1 is acquired as the position data C9 of the ridge edge B41 by the first ridge edge acquisition unit 51 and the second ridge edge acquisition unit 52 and stored in the storage unit 58 .

[0164] like Fig.11 As shown, the position data C6 along the turning positions D1 to D5 is set and acquired by the turning ridge edge acquisition unit 57 .

[0165] The position outside the position data C6 by the second length E2 is acquired as the position data C10 of the ridge edge B31 by the curved ridge edge acquisition unit 57 and stored in the storage unit 58 .

[0166] (Automatic setting of driving route)

[0167] As described in the previous item (obtaining the position data of the ridge edge), if the position data C7 to C10 of the ridge edges B11 to B41 are stored in the storage unit 58, when planting seedlings in the same field in the next year, the position data C7 to C10 of the ridge edges B11 to B41 can be used as described below.

[0168] In the control device 23, as Fig.12 As shown, based on the position data C7~C10 of the ridge edges B11~B41, the driving paths L01, L02, L03, the turning paths LL1, LL2, LL3 connecting the driving paths L01, L02, L03, and the rotating planting paths L11, L12, L13, L14 along the ridge edges B11~B41 are set.

[0169] In this case, a travel path setting system may be provided in an external computer (not shown) other than the riding rice transplanter, and the control device 23 may not set the travel paths L01 to L03, the turning paths LL1 to LL3, and the rotary planting paths L11 to L14.

[0170] According to this structure, the position data C7 to C10 of the ridge edges B11 to B41 are input into the driving route setting system, and the driving routes L01 to L03, the turning routes LL1 to LL3, and the rotating planting routes L11 to L14 are set by the driving route setting system. Thereafter, the set driving routes L01 to L03, the turning routes LL1 to LL3, and the rotating planting routes L11 to L14 are sent to the control device 23 and acquired by the driving route acquisition unit 59.

[0171] The position data C7 to C10 of the ridge edges B11 to B41 can be used not only in the same riding rice transplanter but also in other riding rice transplanters, riding seed drills, pesticide sprayers, tractors, combine harvesters, and the like.

[0172] In the above situation, if Fig.12 As shown, the driver operates the control handle 20 and the shift lever 37 to place the machine body 11 at the position K13 , and operates the automatic operation unit 43 .

[0173] Thus, the automatic travel control unit 55 is activated, and the machine body 11 automatically travels at a constant speed along the travel path L01, the turning path LL1, the travel path L02, the turning path LL2, the travel path L03, the turning path LL3, and the rotary planting paths L11 to L14.

[0174] The driver operates the operating lever 39 to raise and lower the rice transplanting device 5, and to operate the planting clutch 26 and the fertilizing clutch 27, so that the rice seedlings can be planted and the fertilizer can be supplied in the driving paths L01 to L03 and the rotating planting paths L11 to L14. In this case, it is not necessary to operate the left and right markers 44 to the active posture.

[0175] (First other embodiment of the present invention)

[0176] In the above (specific embodiment), the second ridge edge acquisition unit 52 may not be provided and the first ridge edge acquisition unit 51 may be used as one ridge edge acquisition unit 51. According to this configuration, the ridge edge acquisition unit 51 and the turning position acquisition unit 56 may be arbitrarily set to the operating state and the stopping state according to the acquisition instruction of the driver.

[0177] For example Fig.13 As shown, when the machine 11 is driven along the ridges B2 and B4, the ridge edge acquisition unit 51 is set to an active state to acquire the position data C11 and C12 of the ridge edges B21 and B41. When the machine 11 is turned near the ridges B1 and B3, the turning position acquisition unit 56 is set to an active state to acquire the turning positions D6 and D7.

[0178] For example Fig.14 As shown, when the machine body 11 is driven along the ridge B3, the ridge edge acquisition unit 51 is set to the operating state and the position data C13 of the ridge edge B31 is acquired. When the machine body 11 is turned near the ridges B2 and B4, the turning position acquisition unit 56 is set to the operating state and the turning positions D8 and D9 are acquired. In this case, by connecting the turning positions D8 and D9 located closest to the ridge edge B11, the position data of the ridge edge B11 can be acquired.

[0179] (Second other embodiment of the present invention)

[0180] As described above, when the position data C1 to C13 and the turning positions D1 to D9 of the ridge edges B11 to B41 are obtained, the machine body 11 can also be driven and turned in the field within a range of twice the lateral width W1 from the ridge edges B11 to B41 without planting seedlings or supplying fertilizers.

[0181] Thereafter, the operator drives the machine body 11 two circles (two turns) along the ridges B11 to B41 to plant the rice seedlings and supply fertilizers (rotation planting), thereby completing the planting of the rice seedlings and the supply of fertilizers in one field.

[0182] (Third other embodiment of the present invention)

[0183] It can also be configured that the above-mentioned ridge edge acquisition unit 51 (the first ridge edge acquisition unit 51 and the second ridge edge acquisition unit 52) ​​does not perform the setting of the intersection points F1 and F2, the correction of the position outside 1 / 2 of the lateral width W1, etc., and the setting of the position data C6 along the turning positions D1 to D5 is not performed in the turning ridge edge acquisition unit 56.

[0184] According to this configuration, a field edge position system (not shown) is provided in an external computer (not shown) different from the riding rice transplanter.

[0185] along with Figures 4 to 9 As the machine body 11 travels as shown, the position data of the measuring device 29 is sent to the field edge position system, and the field edge position system is set Fig.11 Position data C7 to C10 as shown.

[0186] Thereafter, the set position data C7 to C10 are transmitted from the ridge edge position system to the control device 23 , and acquired by the ridge edge acquisition unit 51 (the first ridge edge acquisition unit 51 and the second ridge edge acquisition unit 52 ) and the turning ridge edge acquisition unit 56 .

[0187] In this case, the above-mentioned ridge edge position system may be provided in the riding rice transplanter as a device different from the control device 23, or may be provided in the control device 23 as software.

[0188] (Fourth other embodiment of the present invention)

[0189] In the riding rice transplanter (control device 23) and the ridge edge position system, the ridge edge acquisition unit 51 (first ridge edge acquisition unit 51 and second ridge edge acquisition unit 52) ​​may be omitted and the position data C7 to C10 may be set and acquired based on the turning positions D1 to D9.

[0190] (Fifth other embodiment of the present invention)

[0191] For example Fig.15 As shown, when the travel routes L01 to L03, the turning routes LL1 to LL3, and the turning planting routes L11 to L14 are set, the position data of the water intake 46 and the drainage outlet 47 of the field may be added.

[0192] Normally, when water is introduced from the water intake 46, the water flows from the water intake 46 to various parts of the field, so the fertilizer supplied near the water intake 46 tends to flow to various parts of the field. Since water from various parts of the field gathers at the drainage port 47, the fertilizer tends to gather near the drainage port 47.

[0193] Thus, the fertilizing device 18 may be configured to automatically adjust the intermittent delivery amount of the fertilizer intermittently delivered by the intermittent delivery unit 14 near the water intake port 46 so as to be greater than that near the center of the field.

[0194] Similarly, the fertilizing device 18 may be configured to automatically adjust the amount of fertilizer continuously delivered by the continuous delivery unit 14 near the drainage port 47 so as to be smaller than that near the center of the field.

[0195] (Sixth other embodiment of the present invention)

[0196] In addition to the measuring device 29 and the inertial measurement device 30 , a camera (not shown) for capturing images of the front of the machine body 11 and an image analysis unit (not shown) for analyzing image data from the camera may be further provided.

[0197] Thus, the automatic driving control unit 55 can perform steering operations of the front wheels 1 based on the steering motor 40 and operation of the shift lever 37 based on the shift motor 41 based on the position of the machine body 11 obtained by the measuring device 29 and the inertial information obtained by the inertial measurement device 30, as well as the information obtained by the camera and the image analysis unit (position information of the seedlings planted in the field according to the last path).

[0198] (Seventh other embodiment of the present invention)

[0199] The position data C7 to C10 of the ridge edges B11 to B41 may be obtained in advance by any one (or more) of the methods (1) to (5) below, for example, and stored in the storage unit 58 .

[0200] (1) The measuring device 29 is removed from the machine body 11, and the operator holding the measuring device 29 walks along the ridge edges B11 to B41, thereby obtaining position data indicating the position of the operator measured by the measuring device 29 as position data C7 to C10 of the ridge edges B11 to B41.

[0201] (2) When another riding rice transplanter or riding seed drill equipped with the measuring device 29 has traveled in the field in the past and obtained the position data of the ridge edges B11 to B41, the position data of the ridge edges B11 to B41 is acquired as the position data C7 to C10 of the ridge edges B11 to B41.

[0202] (3) When various working vehicles such as a combine harvester or a tractor equipped with a measuring device 29 have been (or are currently) traveling in a field and obtained position data of ridge edges B11 to B41, the position data of ridge edges B11 to B41 are obtained as position data C7 to C10 of ridge edges B11 to B41.

[0203] (4) If there is a commercially available storage medium recording the position data C7 to C10 of the ridge edges B11 to B41, the storage medium is used.

[0204] Industrial Applicability

[0205] The present invention can be applied not only to a riding rice transplanter in which a rice transplanting device 5 as a working device is freely liftable at the rear part of the machine body 11, but also to a working vehicle that travels while working on a field, such as a riding seeding machine in which a seeding device as a working device is freely liftable at the rear part of the machine body 11, a tractor in which a rotary tilling device as a working device, a pesticide spraying device as a working device is freely liftable at the rear part of the machine body 11, and a combine harvester in which a harvesting part as a working device is freely liftable at the front part of the machine body 11.

Claims

1. A working vehicle, wherein: have: A positioning unit, the positioning unit detecting the position of the body; a ridge edge acquisition unit that acquires the position of the vehicle body from the start to the end of the travel as a ridge edge along the ridge based on the acquisition instruction, The ridge edge acquisition unit includes a first ridge edge acquisition unit and a second ridge edge acquisition unit, wherein the first ridge edge acquisition unit acquires the position of the machine body from the start to the end of the driving as the first ridge edge along the ridge based on the acquisition instruction; during the driving of the machine body along the direction intersecting the first ridge edge, the second ridge edge acquisition unit acquires the position of the machine body from the start to the end of the driving as the second ridge edge along the ridge based on the acquisition instruction; The machine body further comprises a manual operation unit, which is used to raise and lower a rice transplanting device provided at the rear end of the machine body. The acquisition instruction is a lowering operation of the rice transplanting device to the human operating unit at the start of the travel, and a raising operation of the rice transplanting device to the human operating unit at the end of the travel. The first and second ridge edges are acquired without planting the seedlings or supplying fertilizers.

2. The work vehicle according to claim 1, wherein: The ridge edge acquisition unit acquires the ridge edge based on the rear end position of the rice transplanting device provided at the rear end of the machine body before the start of traveling along the ridge edge and the position of the front end of the machine body after the travel along the ridge edge is completed.

3. The working vehicle according to claim 1, wherein: The work vehicle includes a travel route acquisition unit that acquires a travel route set based on the ridge edge acquired by the ridge edge acquisition unit.

4. The work vehicle according to claim 3, wherein: The work vehicle includes an automatic travel control unit that automatically controls the machine body based on the position of the machine body so that the machine body travels along the travel path.

5. A system for setting a travel path for a work vehicle, wherein: A working vehicle according to any one of claims 1 to 4 and a computer provided separately from the working vehicle, The computer includes a travel route setting unit that sets a travel route based on the ridge edge acquired by the ridge edge acquisition unit.

Images