Work vehicle

Abstract

This work vehicle is provided with: a traveling machine body (C) having a traveling device (A); a seedling planting device (W) that performs operation with respect to the field; a steering means (U) capable of steering the travel device (A); a receiving device (63) that acquires position information from the satellite positioning system; a main inertia measurement device (62) that measures inertia information; a generation unit that generates a target route on which the traveling machine body (C) travels; and a control unit that controls the steering unit (U) on the basis of the position information and the inertia information so that the traveling machine body (C) travels along the target route. The reception device (63) and the main inertia measurement device (62) are disposed at different locations of the traveling machine body (C).

Description

Technical Field

[0001] The present invention relates to agricultural work vehicles (hereinafter also referred to as "agricultural work machines"), construction work vehicles, etc. The agricultural work vehicles include, but are not limited to, riding rice transplanters, riding seed drills, tractors, and combine harvesters. Background Art

[0002] [1] For example, JP2001-161112A describes a conventional work vehicle capable of automatic steering control of a traveling machine. The work vehicle includes a traveling machine having a traveling device ("front wheels", "rear wheels"), an operating device for performing operations relative to a field ("seedling planting operation device"), and a steering unit capable of steering the traveling device ("power steering valve", "power steering cylinder", "automatic control valve", etc.). Furthermore, the work vehicle includes a receiving device ("GPS receiver") for obtaining position information with the aid of a satellite positioning system, and a control unit ("controller") for controlling the steering unit based on the obtained position information so that the traveling machine moves straight (the names in parentheses are the names of the components in JP2001-161112A). The work vehicle performs automatic steering control of the traveling machine by controlling the steering unit based only on the position information obtained by the receiving device.

[0003] Furthermore, US Pat. No. 7,346,452 B2 describes a measuring unit that integrates a receiving device that acquires position information from a satellite positioning system and an inertial measuring device that measures inertial information.

[0004] [2] Conventional riding rice transplanters have a structure comprising a traveling body with a riding driving portion, a seedling planting device connected to the rear of the traveling body so as to be able to be raised or lowered, a handrail erected upward from the vehicle body on the lateral side of the driving portion, and a reserve seedling storage device arranged in front of the handrail (for example, refer to JP2013-074841A).

[0005] The riding type rice transplanter comprises a riding driving part, a horizontal handrail part (equivalent to a handrail), and a prepared seedling loading device (equivalent to a prepared seedling storage device). The prepared seedling loading device can be switched to: a folded state, in which the prepared seedling platform of the front movable frame and the prepared seedling platform of the rear movable frame are folded above the prepared seedling platform of the fixed frame; and an unfolded state, in which the prepared seedling platform of the front movable frame is unfolded to the front side of the fixed frame, and the prepared seedling platform of the rear movable frame is unfolded to the rear side of the fixed frame.

[0006] [3] A work vehicle has a structure including a position detection mechanism for detecting the position of a vehicle body and an orientation detection mechanism for detecting the orientation of the vehicle body, and the vehicle body is configured to move along a target movement path based on the detection information.

[0007] In the past, the following structure was included in the body of a work vehicle: a satellite positioning unit such as a GPS (Global Positioning System) and an inertial navigation unit as an example of a direction detection mechanism; a target movement path for the vehicle body to travel was pre-set in the field as the work object; steering control was performed so that the position of the vehicle body detected by the satellite positioning system became a target position corresponding to the target movement path, and the detected direction became a target direction corresponding to the target movement path; the target direction was always set to the direction corresponding to the target movement path (for example, refer to JP2009-245002A).

[0008] To explain, when steering the vehicle, it is not known which direction the vehicle is currently moving in based only on the position information obtained by the satellite positioning unit. In addition, the measurement processing by the satellite positioning unit may take time, and when applied to a work vehicle that guides the vehicle along a set path, it is difficult to perform steering control of the work vehicle with good accuracy based only on the position information. Therefore, the current position of the vehicle is detected by the position detection mechanism, and steering control is performed based on the position information and the position information.

[0009] [4] Among agricultural machines, there is a structure that performs agricultural work by setting a travel route using a positioning system using satellites such as GPS. Among such agricultural machines, there is a structure that can freely switch between manual travel and automatic travel, wherein the manual travel is performed by manual steering, and the automatic travel is performed along a set travel route set in parallel with a reference travel route by automatic steering; and a switch that freely switches between the manual travel and the automatic travel is provided.

[0010] Conventionally, as such agricultural working machines, there is a rice transplanter configured to automatically travel along a set travel route while measuring the position of a traveling machine body using the positioning system and to plant seedlings in a predetermined planting range (see, for example, JP2008-092818A).

[0011] In order for the rice transplanter to automatically travel, it is necessary to set in advance a reference travel route (referred to as teaching herein) as a reference of the travel route.

[0012] As a specific example of teaching, when a traveling machine moves in a field and reaches a position serving as the starting point of a reference traveling route, the position information of the traveling machine at that position is read by a positioning system by operating a designated switch on the instrument panel and input into a recording unit as the starting point.

[0013] Next, the traveling body is caused to travel to the position of the end point of the reference traveling route. Similarly, by operating the designated switch, the end point position information of the reference traveling route can be recorded, and the reference traveling route is set by linking the starting point position and the end point position.

[0014] In addition, the setting of the travel route as an indicator for making the traveling body move automatically is based on the aforementioned reference travel route, and a certain interval size calculated according to the number of plantings of the traveling body is separated, and multiple line segments parallel to the reference travel route are imagined, and these parallel line segments are set as the set travel route.

[0015] Furthermore, the control unit for controlling the automatic travel of the traveling body is configured to make the traveling body automatically travel along the set travel route to the end position. In addition, the control is performed so that the traveling body automatically turns (180 degrees) between adjacent set travel routes. Furthermore, the control unit is configured to repeat the automatic travel along the set travel route from the starting point of the adjacent set travel route.

[0016] [5] A field work vehicle has a structure including a traveling body that travels in a field while changing direction in a field ridge area, a field work device that performs work relative to the field, and a positioning unit that outputs positioning data indicating the position of the vehicle.

[0017] As an example of such a field work vehicle, according to JP2008-092818A, there is known a rice transplanter that automatically travels on a target path using position information measured by a GPS device. In this rice transplanter, the seedling planting operation is performed while autonomously traveling on a straight target path. If the driver confirms that the field ridge area, also known as a pillow-shaped land, has been reached, the driver operates a turning operation tool to change the direction of the machine body in a desired direction, thereby automatically turning for direction change in the field ridge area. If the direction change is performed, the planting operation is performed while autonomously traveling on the straight target path again.

[0018] Patent Document 1: Japanese Patent Application Publication No. 2001-161112 (JP 2001-161112 A).

[0019] Patent document 2: U.S. Patent Specification No. 7346452 (US7346452B2).

[0020] Patent Document 3: Japanese Patent Application Publication No. 2013-074841 (JP 2013-074841A).

[0021] Patent Document 4: Japanese Patent Application Publication No. 2009-245002 (JP 2009-245002 A).

[0022] Patent Document 5: Japanese Patent Application Publication No. 2008-092818 (JP 2008-092818 A).

[0023] Problems to be solved by the invention

[0024] [1] The issues corresponding to the background technology [1] are as follows.

[0025] The position information obtained from the receiving device by the satellite positioning system may deviate greatly from the actual position. In such a case, it is difficult to accurately perform the work performed by the working device using the automatic steering control of the traveling machine in the working vehicle described in JP2001-161112A. In addition, in a situation where radio wave interference is likely to occur, the amount of information of the position information obtained by the receiving device becomes insufficient, and it is difficult to perform the automatic steering control of the traveling machine.

[0026] Therefore, in the work vehicle described in JP2001-161112A, as described in US7346452B2, the following technology has been studied: a measuring unit is equipped with a receiving device for obtaining position information from a satellite positioning system and an inertial measuring device for measuring inertial information, and automatic steering control of the moving body is performed based on the position information obtained by the receiving device and the inertial information measured by the inertial measuring device, thereby further improving the accuracy of the work performed by the work device.

[0027] However, by placing the receiving device in a location with fewer shielding objects that block radio waves and a relatively large swing, there is a tendency to show a characteristic that the accuracy of the acquired position information becomes higher. On the other hand, on the contrary, by placing the inertial measurement device in a location with a relatively small swing, there is a tendency to show a characteristic that the error of the inertial information becomes smaller. Therefore, if a measurement unit in which the receiving device and the inertial measurement device are integrated is placed in a part of the moving body, it may not be possible to fully utilize the characteristics of both the receiving device and the inertial measurement device.

[0028] In view of the above circumstances, a work vehicle is desired that can accurately perform work performed by a work device using automatic steering control of a traveling machine.

[0029] [2] The issues corresponding to the background technology [2] are as follows.

[0030] In the above-mentioned riding type rice transplanter of JP2013-074841A, a plurality of seedling carriers are provided on the seedling storage device, and the seedling storage device is constructed to be switchable between a first state in which a plurality of seedling carriers are arranged in the up-and-down direction of the traveling vehicle body, and a second state in which a plurality of seedling carriers are arranged in the front-and-rear direction of the traveling vehicle body. Thus, the seedling storage device can be switched to the first state to store a plurality of seedling carriers in multiple layers arranged up and down, or a plurality of seedlings can be stored in multiple layers arranged up and down, and the seedling storage device can be switched to the second state to store a plurality of seedlings arranged in the front-and-rear direction of the traveling vehicle body.

[0031] By adopting the conventional technology, when the first state and the second state of the reserve seedling storage device can be switched, the longer the length of the upper end portion of the grip portion of the handrail in the vehicle body front-to-back direction is, the more the reserve seedling storage device is located on the front side of the vehicle body. That is, when the reserve seedling storage device is switched to the second state, it is necessary to prevent the first reserve seedling loading platform from hitting the handrail.

[0032] Therefore, it is desired to have a riding type rice transplanter in which the length of the upper end portion of the handrail in the vehicle body front-rear direction can be made longer even if the preliminary seedling storage device is not brought close to the vehicle body front side or even if it is not brought close very much.

[0033] [3] The issues corresponding to the background technology [3] are as follows.

[0034] In the above configuration of JP2009-245002A, when steering control is performed based on detection information from the satellite positioning unit and detection information from the direction detection mechanism, the target direction is always set to a direction along the target movement path, which has the following disadvantages.

[0035] That is, in the above-mentioned conventional structure, the control mechanism operates the steering operation mechanism so that the detection position of the vehicle body is located on the target moving path and the detection direction becomes the direction along the target moving path. If so, for example, when the position is corrected from a traveling state where the vehicle body is offset in the lateral direction from the target moving path but the direction of the vehicle body is the same as the target direction, if the traveling direction of the vehicle body is changed for the purpose of position correction, since the direction of the vehicle body is offset from the target direction, there is a case where a useless operation is performed in response to the offset from the target direction. As a result, it may take time to return to the traveling state along the target moving path.

[0036] Therefore, it is desirable to be able to quickly return to a state of traveling along the target movement path when the vehicle body is laterally displaced from the target movement path and the orientation of the vehicle body is the same as the target orientation.

[0037] [4] The issues corresponding to the background technology [4] are as follows.

[0038] According to the agricultural machine of JP2008-092818A etc. having the above structure, each set travel route is set in parallel with the reference travel route and at equal intervals. Therefore, regardless of the difference in field conditions (e.g., undulation of the field or the planting status of seedlings in the adjacent planting completion path) in the automatic travel path, the travel machine planted seedlings while traveling on the equally spaced travel routes.

[0039] However, the surface of the field on which the traveling machine travels is not necessarily limited to being flat, so for example, there is the possibility that some deviations may occur in the path of the traveling machine between some undulating parts of the field and some non-undulating parts, or that the planting conditions such as the position or posture of the seedlings after planting may change.

[0040] In such a case, it may be preferable to perform planting while observing the planting status of the adjacent planting-completed path, for example, while traveling in a lane close to the adjacent set travel route (or a lane away).

[0041] However, since the set travel path is set to be parallel to the reference travel path and at equal intervals, in order to take the above-mentioned countermeasures, it is necessary to switch from automatic travel to manual travel with a switch, and continue manual travel while changing the lane by manual steering. As a result, the driver cannot take his hands off the driving operation, and it may be difficult to perform other operations on the travel machine at the same time.

[0042] Furthermore, if the switch is switched to automatic driving again, the driving lane returns to the initially set driving route, and there is a problem that even if the vehicle finally drives along the driving route that matches the on-site situation, it will not be reflected in the subsequent driving.

[0043] Therefore, there is a demand for an agricultural working machine that can set a set travel route as a free lane and reduce the burden on the driver.

[0044] [5] The issues corresponding to the background technology [5] are as follows.

[0045] In the case of a rice transplanter, for example, where the positioning of the adjacent working area (travel track) is required to be accurate, a high level of machine position detection technology and automatic steering control technology are required in order to automatically and accurately perform positioning during turns under autonomous driving in a pincushion. However, when such a direction change is performed by automatic steering or manual steering, it is important to accurately identify the timing of starting the direction change, that is, the rice transplanter reaching the field ridge area, and to accurately position the starting point for the next work after the direction change, which is a difficult driving operation for unskilled operators.

[0046] In view of such actual conditions, a field working vehicle is desired that can at least appropriately recognize that the vehicle has reached a field ridge region (pillow land) where the direction of the traveling body is to be changed and that can travel by appropriately changing the direction. Summary of the invention

[0047] [1] The solution to problem [1] is as follows.

[0048] The work vehicle of the present invention comprises: a traveling body having a traveling device; a working device for performing work relative to a field; a steering unit capable of steering the traveling device; a receiving device for acquiring position information from a satellite positioning system; an inertial measuring device for measuring inertial information; a generating unit for generating a target route for the traveling body to travel; and a control unit for controlling the steering unit based on the position information and the inertial information so that the traveling body travels along the target route; the receiving device and the inertial measuring device are arranged at different positions of the traveling body.

[0049] According to the present invention, the receiving device for acquiring position information from the satellite positioning system and the inertial measurement device for measuring inertial information are arranged at different locations of the moving machine.

[0050] Therefore, for example, the receiving device can be arranged at a location with relatively large sway, so that the accuracy of the position information obtained by the receiving device is improved, and the inertial measurement device can be arranged at a location with relatively small sway, so that the error of the inertial information measured by the inertial measurement device is reduced. In other words, the accuracy of the position information obtained by the receiving device and the accuracy of the inertial information measured by the inertial measurement device are both improved, and the characteristics of both the receiving device and the inertial measurement device can be brought into play.

[0051] As a result, the steering unit can be controlled by using high-precision position information and inertia information, and the traveling machine can be accurately and automatically controlled to allow the traveling machine and the working device to travel along the target route.

[0052] Therefore, according to the present invention, it is possible to accurately perform work by the working device using the automatic steering control of the traveling machine.

[0053] In the above aspect, it is preferable that the inertial measurement device is disposed in a position near the center in the front-rear direction of the entire length of the traveling body and the working device in the front-rear direction.

[0054] According to this scheme, a portion near the front-to-back center of the entire length of the traveling body and the working device in the front-to-back direction is, for example, a portion near the yaw axis which is the turning center of the traveling body and the working device as a whole. By arranging the inertial measurement device at such a portion, the error of the inertial information measured by the inertial measurement device becomes small, and accurate measurement of the inertial information is easy to perform.

[0055] In the above aspect, it is preferred that the inertial measurement device is mounted on a mounting member located near a rear axle of the travel device.

[0056] According to this solution, the mounting component near the rear axle of the traveling device is less likely to swing during the traveling of the traveling machine. By mounting the inertial measuring device on such a mounting component, the error of the inertial information measured by the inertial measuring device is reduced, making it easier to accurately measure the inertial information.

[0057] In the above scheme, it is preferred that the aforementioned working device is a seedling planting device capable of planting seedlings relative to a field; it is equipped with: a plurality of reserve seedling stands capable of carrying reserve seedlings for supplying the aforementioned seedling planting device; a pair of left and right reserve seedling racks supporting the aforementioned reserve seedling stands; and a connecting frame spanning the upper parts of the left and right reserve seedling racks and connecting them; the aforementioned receiving device is installed on the aforementioned connecting frame.

[0058] According to this scheme, the receiving device is installed on a connecting frame that connects the left and right seedling racks supporting the seedling stand and is set at a relatively high position, so the receiving device can be arranged at a position where there are fewer shielding objects that block the radio waves. As a result, it is less likely that interruptions will occur in the position information obtained by the receiving device. In addition, the seedling rack and the connecting frame are more likely to sway during travel, so for example, the detection accuracy of the direction of the traveling body based on the position information obtained by the receiving device can be improved.

[0059] In the above scheme, it is preferred that the state of the connecting frame can be changed into: a use state, in which the receiving device is located above the upper end of the aforementioned seedling preparation rack; and a storage state, in which the receiving device is reversed upside down relative to the use state, and is located below the upper end of the aforementioned seedling preparation rack.

[0060] According to this scheme, by putting the connecting frame in the use state, the receiving device is located at a position higher than the upper end of the reserve seedling frame, so that the receiving sensitivity of the radio wave when the receiving device is used can be improved. On the other hand, by putting the connecting frame in the storage state, the receiving device is located at a position lower than the upper end of the reserve seedling frame, so that when the traveling body is stored in a warehouse, the receiving device does not become an obstacle, for example, it can be avoided that the receiving device hits the upper part of the entrance of the warehouse, etc.

[0061] In the above scheme, it is preferred that the connecting frame can rotate around a left-right axis along the left-right direction, and can be supported on the left and right seedling preparation racks in a fixed position in the above-mentioned use state and the above-mentioned storage state.

[0062] According to this aspect, the connection frame can rotate around the left-right axis, so it is easy to change the state of the connection frame between the use state in which the receiving device is used and the storage state in which the receiving device is stored.

[0063] In the above scheme, it is preferred that the connecting frame can be detached relative to the left and right seedling preparation frames.

[0064] According to this aspect, the connecting frame can be detached, so when the receiving device is not used, the connecting frame in use can be removed from the preliminary seedling frame, and the connecting frame can be put into a stored state and mounted on the preliminary seedling frame.

[0065] In the above aspect, preferably, the receiving device includes a connector portion to which an electric harness is connected; and the connector portion extends outward in a left-right direction from the receiving device.

[0066] According to this scheme, the connector part connecting the electrical wiring in the receiving device extends outward in the left-right direction from the receiving device, so compared with the case where the connector part is extended from the receiving device to the front side, it is less likely for the connector part of the receiving device to collide with obstacles such as tree branches approaching from the front while moving.

[0067] In the above aspect, it is preferred that the receiving device includes a connector portion to which the electric wiring is connected, and includes a protective member to protect the connector portion.

[0068] According to this aspect, the protective member appropriately protects the connector portion so that obstacles such as branches do not collide with the connector portion during travel.

[0069] [2] The solution to problem [2] is as follows.

[0070] The riding rice transplanter of the present invention comprises: a traveling body having a riding-type driving part; a seedling planting device connected to the rear part of the aforementioned traveling body in a manner that can be raised and lowered; an armrest, which is erected from the body part toward the upper side on the lateral side of the aforementioned driving part; and a prepared seedling storage device, which is arranged in front of the aforementioned armrest; the aforementioned prepared seedling storage device comprises a plurality of prepared seedling loading platforms, which can be switched between a first state and a second state, in which in the first state, the plurality of the aforementioned prepared seedling loading platforms are arranged along the up-and-down direction of the aforementioned traveling body, and in the second state, the plurality of the aforementioned prepared seedling loading platforms are arranged along the front-and-back direction of the aforementioned traveling body; an empty space is provided below the upper end portion of the aforementioned handrail; in the aforementioned second state of the aforementioned prepared seedling storage device, the rear end side portion of the first aforementioned prepared seedling loading platform from the back among the plurality of aforementioned prepared seedling loading platforms enters the aforementioned empty space, and the aforementioned upper end portion overlaps with the aforementioned rear end side portion when viewed from above.

[0071] According to this scheme, if the prepared seedling storing device is switched to the second state, it enters into the empty space from the rear end side of the first prepared seedling loading platform from the back. Therefore, even if the length of the upper end of the handrail in the front-to-rear direction of the vehicle body is lengthened and the prepared seedling storing device is not close to the front side of the vehicle body, and even if it is close, it is not as close as in the previous structure, the prepared seedling loading platform and the handrail can be avoided by entering from the empty space toward the rear end side of the first prepared seedling loading platform from the back.

[0072] Therefore, the length of the upper end of the handrail in the front-rear direction of the vehicle body can be lengthened without bringing the reserve seedling storage device close to or too close to the front side of the vehicle body. Even if the reserve seedling storage device is switched to the second state, the reserve seedling loading platform does not protrude too far forward from the moving vehicle body, thereby making it easier to operate the moving vehicle body and making it easy to use the handrail.

[0073] In the present invention, it is preferred that the aforementioned first prepared seedling loading platform comprises a prepared seedling loading platform main body and an extended loading platform, and the extended loading platform is supported on the aforementioned prepared seedling loading platform main body so as to be able to change its posture between a use posture and a storage posture, and in the use posture, it extends rearward from the aforementioned prepared seedling loading platform main body, and in the storage posture, it is stored on the inner side of the aforementioned prepared seedling loading platform main body; the aforementioned rear end side portion of the aforementioned first prepared seedling loading platform is formed by the extended loading platform in the aforementioned use posture.

[0074] According to this scheme, when the seedling storage device is switched to the second state, by making the extended loading platform into the use posture, the loading area of ​​the first seedling loading platform from the back can be enlarged, and the seedlings can be easily taken and placed relative to the seedling loading platform. In this way, the loading area of ​​the seedling loading platform can be enlarged, and at the same time, the seedling storage device can be prevented from being close to or too close to the front side of the traveling vehicle body, and the length of the upper end of the handrail in the vehicle body front and rear direction can be lengthened.

[0075] In the present invention, it is preferred that, in the second state of the reserve seedling storage device, the rear end side portion of the first reserve seedling loading platform enters into the boarding and alighting port of the driving section.

[0076] According to this scheme, if the reserve seedling storage device is switched to the second state, the boarding and alighting entrance can be closed or narrowed with a simple structure in which the rear end side portion of the first reserve seedling loading platform from the back is utilized as a closing member of the boarding and alighting entrance.

[0077] In the present invention, it is preferred that the upper end portion of the armrest has a fixed portion and a movable portion, the fixed portion is fixed on a vehicle body portion, and the movable portion can be switched between a closed state and an open state. In the closed state, the movable portion extends forward from the fixed portion, and the front end side portion closes the boarding and alighting opening of the driving portion, and in the open state, the boarding and alighting opening is opened; the vacant space is formed below the movable portion in the closed state.

[0078] According to this aspect, by bringing the movable portion into the closed state, the entrance can be closed or narrowed with a simple structure in which the movable portion is utilized as a closing member of the entrance.

[0079] In the present invention, it is preferable that the movable portion is supported by the fixed portion so as to be swingably switchable between the closed state and the open state.

[0080] According to this aspect, the movable portion can be switched between the closed state and the open state with simple operation only by swinging the movable portion.

[0081] In the present invention, it is preferred that, in the closed state of the movable portion, the front end side portion of the movable portion is supported on a support column of the reserve seedling housing device.

[0082] According to this aspect, the movable part can be reliably supported in the closed state with a simple structure in which the support column of the reserve seedling storage device is utilized as a member supporting the front end side portion of the movable part.

[0083] [3] The solution to problem [3] is as follows.

[0084] A characteristic scheme of the work vehicle of the present invention is that it comprises: a steering operating mechanism capable of changing the direction of movement of the vehicle body; a path setting mechanism for setting a target moving path that the aforementioned vehicle body should travel; a position detection mechanism for detecting the position of the aforementioned vehicle body; an orientation detection mechanism for detecting the orientation of the aforementioned vehicle body; and a control mechanism for executing automatic steering control by operating the aforementioned steering operating mechanism so that the detected position of the aforementioned vehicle body detected by the aforementioned position detection mechanism becomes a position on the aforementioned target moving path, and the detected orientation of the aforementioned vehicle body detected by the aforementioned orientation detection mechanism becomes a target orientation in the aforementioned target moving path; the aforementioned control mechanism executes a position deviation correction process when the aforementioned detected position deviates laterally from the aforementioned target moving path and the aforementioned detected orientation is the same as the aforementioned target orientation, and the position deviation correction process changes the aforementioned target orientation to an inclined target orientation inclined toward the aforementioned target moving path side and operates the aforementioned steering operating mechanism.

[0085] According to the present invention, when the control mechanism performs automatic steering control, when the detected position of the vehicle body detected by the position detection mechanism deviates from the target moving path in the lateral direction, and the detected azimuth of the vehicle body detected by the azimuth detection mechanism is the same as the target azimuth in the target moving path (hereinafter referred to as the reference target azimuth), the target azimuth is changed to an inclined target azimuth inclined toward the target moving path side and the steering operating mechanism is operated. That is, the control mechanism operates the steering operating mechanism so that the detected position of the vehicle body becomes a position on the target moving path and the detected azimuth of the vehicle body becomes the inclined target azimuth.

[0086] When the vehicle body moves in a direction inclined toward the target moving path in order to correct the lateral position deviation, the vehicle body moves in a posture along the reference target orientation in a manner that reduces the position deviation. That is, the orientation of the vehicle body does not deviate from the inclined target orientation, so there is no need to perform wasteful operations to correspond to the deviation of the orientation.

[0087] As a result, when the vehicle body is laterally deviated from the target movement path and the orientation of the vehicle body is the same as the reference target orientation, wasteful operations are reduced and the vehicle body can be returned to the state of traveling along the target movement path extremely quickly.

[0088] In the present invention, it is preferable that the control means sets the inclination angle of the inclination target azimuth relative to the target azimuth to be equal to or less than a set upper limit value when executing the position deviation correction process.

[0089] According to this aspect, when the steering control is executed, the target direction does not change too much, so there is little possibility that the vehicle body turns sharply and the posture becomes unstable.

[0090] In the present invention, it is preferred that a vehicle speed detection mechanism for detecting the vehicle speed is provided; when the control mechanism executes the position deviation correction process, the greater the vehicle speed, the smaller the change operation speed of the steering operation mechanism when changing the proceeding direction.

[0091] When the position deviation is corrected, if the steering operation is performed quickly when the vehicle speed is high, it will become a sudden posture change action, and the vehicle posture may become unstable. Therefore, in this scheme, when the position deviation is corrected, the higher the vehicle speed, the slower the change operation speed when the steering operation mechanism changes the direction. As a result, the possibility of the vehicle posture becoming unstable due to the rapid change of the direction of the vehicle is small, and the position deviation correction can be performed smoothly.

[0092] In the present invention, it is preferred that a vehicle speed detection mechanism is provided for detecting the vehicle speed; when the control mechanism executes the position deviation correction processing, the greater the vehicle speed, the smaller the inclination angle of the target orientation toward the target moving path side.

[0093] When the position deviation is corrected, if the steering operation is performed quickly when the vehicle speed is high, it becomes a sudden posture change action, and the vehicle posture may become unstable. Therefore, in this scheme, the higher the vehicle speed, the smaller the inclination angle of the target direction to the target movement path side. As a result, the direction change amount of the vehicle body becomes less, the possibility of the vehicle body posture becoming unstable is small, and the position deviation correction can be performed smoothly.

[0094] In the present invention, it is preferred that the control means maintains the inclined target azimuth as it is until the detection position reaches a portion corresponding to the target movement path when executing the position deviation correction process.

[0095] According to this scheme, in the position deviation correction process, once the target azimuth is changed to the inclined target azimuth, the inclined target azimuth is maintained until the vehicle body reaches a position corresponding to the target movement path. As a result, the vehicle body moves to a position corresponding to the target movement path in a state along the inclined target azimuth, so the position deviation can be corrected quickly with less wasted motion.

[0096] In the present invention, it is preferred that when the control means performs the position deviation correction process, the closer the detection position is to a portion corresponding to the target movement path, the more gradually the inclination of the inclined target azimuth relative to the target azimuth is made.

[0097] According to this scheme, in the position deviation correction processing, first, the inclined target orientation is changed to a steeper inclination relative to the reference target orientation, but the inclined target orientation changes in a state where the inclination relative to the reference target orientation becomes gentler as the vehicle body approaches the portion corresponding to the target movement path.

[0098] In the position deviation correction process, if the steering operation is performed in a state where the inclination relative to the reference target orientation is steep, the vehicle body can be quickly brought close to the portion corresponding to the target movement path. However, if the vehicle body is driven in such a state where the inclination relative to the reference target orientation is steep, after reaching the portion corresponding to the target movement path, when the orientation of the vehicle body is returned to the orientation along the target movement path, the return correction amount becomes large, so there is a disadvantage that the re-correction operation takes time.

[0099] Therefore, when the position deviation correction process is executed, in the initial stage when the position deviation amount is large, by changing to a steeply inclined target azimuth, the vehicle body can be quickly brought close to the portion corresponding to the target movement path. Furthermore, the closer the vehicle body is to the portion corresponding to the target movement path, the more gently inclined the target azimuth is changed to the reference target azimuth. As a result, when the portion corresponding to the target movement path is reached, the angular deviation between the inclined target azimuth and the azimuth along the target movement path becomes smaller, so the return correction amount becomes smaller, and the re-correction operation can be quickly performed.

[0100] Therefore, the vehicle body can be brought close to the portion corresponding to the target movement path as quickly as possible, and the re-correction operation of returning to the direction along the target movement path can be performed in a short time without waste.

[0101] In the present invention, it is preferable that the portion corresponding to the target movement path has regions having a predetermined width in a lateral direction on both left and right sides of the position corresponding to the target movement path.

[0102] In the position deviation correction process, if the position deviation correction process is performed until the position of the vehicle body reaches the position corresponding to the target movement path, there is a disadvantage that when the orientation of the vehicle body is returned to the orientation along the target movement path after the position of the vehicle body reaches the position corresponding to the target movement path, a delay occurs in the return operation and the re-correction operation takes time. Therefore, in this scheme, the portion corresponding to the target movement path has an area of ​​a predetermined width, so that the orientation of the vehicle body can be returned to the orientation along the target movement path slightly before the position of the vehicle body reaches the position corresponding to the target movement path, and the re-correction operation can be performed with less response delay.

[0103] In the present invention, it is preferred that the vehicle body moves in a straight line and turns alternately and repeatedly, and during the straight line movement, it works while moving along the target moving path, and during the turning movement, it turns toward the next target moving path parallel to the target moving path at the end position of the target moving path; when the control mechanism performs the position deviation correction processing in a state where the vehicle body has a position deviation to the side of the worked area, the control mechanism sets the inclined target orientation by being more inclined toward the side of the target moving path than in a state where the vehicle body has a position deviation to the side of the non-worked area.

[0104] According to this scheme, the vehicle body moves in a manner of alternately repeating straight-ahead movement and turning movement, and works are performed during straight-ahead movement. Furthermore, when the position deviation correction process is performed in a state where the vehicle body is positionally deviated toward the worked area side, the inclination of the inclined target direction relative to the target direction is made larger than in a state where the vehicle body is positionally deviated toward the unworked area side.

[0105] If the vehicle is used to plant seedlings in a field while traveling, the seedlings have already been planted in the working area, so the vehicle body needs to be prevented from intruding into the working area. Therefore, when the vehicle body deviates from the working area, the position can be corrected as quickly as possible by steering in a direction with a greater inclination, so as to prevent the vehicle body from intruding into the working area.

[0106] In the present invention, it is preferred that the vehicle body moves in a straight line and turns alternately and repeatedly, and during the straight line movement, it works while moving along the target moving path, and during the turning movement, it turns toward the next target moving path parallel to the target moving path at the end position of the target moving path; when the control mechanism performs the position deviation correction processing in a state where the vehicle body has a position deviation to the non-operated area side, the control mechanism sets the inclined target orientation by being more inclined to the target moving path side than in a state where the vehicle body has a position deviation to the operated area side.

[0107] According to this scheme, the vehicle body moves in a manner of alternately repeating straight-ahead movement and turning movement, and works are performed during straight-ahead movement. Furthermore, when the position deviation correction process is performed in a state where the vehicle body is positionally deviated to the unworked area side, the inclination of the inclined target azimuth relative to the reference target azimuth is made larger than in a state where the vehicle body is positionally deviated to the worked area side.

[0108] If the vehicle is used to harvest standing crops while moving, the standing crops are present in the unworked area, so it is necessary to prevent the vehicle body from intruding into the unworked area. Therefore, when the vehicle body deviates toward the unworked area, the position can be corrected as quickly as possible by steering in a direction with a greater inclination, thereby preventing the vehicle body from intruding into the unworked area.

[0109] In the present invention, it is preferred that the vehicle body moves straight and turns alternately and repeatedly, and during the straight movement, it works while moving along the target moving path, and during the turning movement, it turns toward the next target moving path parallel to the target moving path at the end position of the target moving path; the control mechanism does not perform the position deviation correction processing during the period before the predetermined judgment condition is met after the vehicle body starts the straight movement after the turning movement.

[0110] After turning and just starting to go straight, there is a situation where the traveling state is unstable, and there is also a situation where the vehicle body deviates laterally from the target moving path. As a result, after just starting to go straight, it is not necessarily limited to that the vehicle body can immediately go in a stable state on the target moving path.

[0111] Therefore, in this scheme, the position deviation correction process is not performed in the period after the straight-line travel starts and before the predetermined judgment condition is satisfied, so that unnecessary steering operation can be avoided. As the predetermined judgment condition, various conditions can be considered, such as the elapse of a set time from the turn, the travel of a set distance, and the orientation of the vehicle body being close to a predetermined orientation. In short, it is a condition for stabilizing the travel state.

[0112] In the present invention, it is preferred that there are: a manual steering operating tool for changing the direction of the vehicle body based on a manual operating instruction; and a manual operation detection mechanism for performing manual operation relative to the manual steering operating tool; if the manual operation is detected by the manual operation detection mechanism, the control mechanism reduces the operating force when operating the steering operating mechanism in the automatic steering control.

[0113] According to this aspect, the steering operating mechanism can be operated manually to change the direction of the vehicle body. Furthermore, if the manual operation is detected by the manual operation detection mechanism, the control mechanism reduces the operating force when operating the steering operating mechanism in the automatic steering control.

[0114] As a result, the steering operation mechanism can be operated manually rather than by automatic steering control. For example, in a situation where there is a possibility of contact with an obstacle, contact with the obstacle can be avoided by steering manually instead of by automatic steering control.

[0115] In the present invention, preferably, if the manual operation is detected by the manual operation detection mechanism, the control mechanism reduces the operating force, and maintains the reduced operating force even if the manual operation is no longer detected by the manual operation detection mechanism.

[0116] According to this scheme, once manual operation is detected and the operating force of the steering operating mechanism is reduced, this state is maintained even if no manual operation is performed. Therefore, if manual operation is performed intermittently and repeatedly, manual operation can be performed, which is more convenient to use.

[0117] In the present invention, preferably, if manual operation is detected by the manual operation detection mechanism, the control mechanism reduces the operating force, and if manual operation is no longer detected by the manual operation detection mechanism, the operating force is restored to its original size.

[0118] According to this scheme, after manual operation is detected and the operating force of the steering operating mechanism is reduced, if the manual operation is no longer performed, the operating force of the steering operating mechanism will be restored. Therefore, if the manual operation is only performed once and then no manual operation is performed, automatic steering control will be performed next, so the user-friendliness is better.

[0119] In the present invention, it is preferred that there are: a manual steering operating tool for changing the direction of the vehicle body based on a manual operating instruction; and a manual operation detection mechanism for detecting a manual operation performed relative to the manual steering operating tool; if the change instruction performed by the manual steering operating tool is continuously instructed for more than a set time, the control mechanism stops the automatic steering control.

[0120] According to this scheme, if the manual operation is continued for a long time longer than the set time, it is judged that there is an intention to continue the steering operation performed by the manual operation, and the automatic steering control is stopped. As a result, there is no operation in a direction contrary to the intention of the manual operator accompanied by the automatic steering control, and manual operation is easy.

[0121] In the present invention, it is preferred that there are: a manual steering operating tool for changing the direction of the vehicle body based on a manual operating instruction; and a manual operation detection mechanism for detecting a manual operation performed relative to the manual steering operating tool; if the manual operation is detected by the manual operation detection mechanism, the control mechanism stops the automatic steering control and performs auxiliary control of the steering operating mechanism so as to achieve a traveling state corresponding to the change instruction performed by the manual steering operating tool.

[0122] According to this scheme, the steering operating mechanism can also be operated manually to change the direction of the vehicle body. Furthermore, if the manual operation is detected by the manual operation detection mechanism, the control mechanism stops the automatic steering control and performs auxiliary control. That is, the steering operating mechanism is operated to achieve a steering state corresponding to the change instruction brought by the manual steering operating tool.

[0123] Therefore, when the steering operation is performed by manual operation, the steering operation mechanism is operated in the direction desired by the manual operator, so the manual operation can be easily performed with less operational burden.

[0124] In the present invention, it is preferable that the position detection mechanism is a satellite positioning unit that receives radio waves from a satellite to detect the position of the vehicle body.

[0125] According to this scheme, the position of the vehicle body is detected by receiving radio waves from a satellite using a satellite positioning unit such as GPS, so that the absolute position on the earth can be measured. Therefore, the position of the work vehicle in the field can be detected with high accuracy.

[0126] [4] The solution to problem [4] is as follows.

[0127] The present invention is characterized in that it comprises: a traveling body that can freely switch between manual traveling and automatic traveling, the manual traveling being performed by manual steering, and the automatic traveling being performed along a set traveling route set in parallel with a reference traveling route with the aid of automatic steering; a switching switch that can freely switch between the aforementioned manual traveling and the aforementioned automatic traveling; and a starting point setting unit that sets the planar position of the aforementioned traveling body at the time point when the aforementioned switching switch switches from the aforementioned manual traveling to the aforementioned automatic traveling as the starting point of the aforementioned set traveling route.

[0128] According to the present invention, the starting point setting unit can set the location as the starting point of the set travel route simply by switching the switch from manual travel to automatic travel, so the driver can freely set the set travel route to a desired position while observing the field conditions.

[0129] Furthermore, the setting operation of setting the travel route by the driver is an operation of switching the switch from manual travel to automatic travel, so that automatic travel is achieved after the switching operation of the switch, and the burden on the driver can be reduced.

[0130] In the present invention, preferably, the switching switch is provided on a speed change operating tool that is swung along the front-rear direction of the traveling body, and the operating direction of the switching switch is set along the left-right direction of the traveling body.

[0131] According to this aspect, since the speed change operating tool is provided with the changeover switch, the changeover switch can be operated with the hand placed on the speed change operating tool, and the changeover switch can be operated efficiently without moving the hand to another position or changing the grip.

[0132] Furthermore, since the operating direction of the speed change operating tool (front-rear direction) is different from the operating direction of the changeover switch (left-right direction), when one of the speed change operating tool and the changeover switch is operated, it is easy to prevent erroneous operation of the other.

[0133] In the present invention, it is preferable to include a shift switch for shifting the set travel path in parallel.

[0134] According to this aspect, even in the middle of automatic travel along the set travel path, the set travel path can be shifted in parallel by operating the shift switch.

[0135] Therefore, during automatic travel, the driver can observe the field conditions (for example, the undulations of the field and the planting status of seedlings in the adjacent path where planting has been completed, etc.), and at the same time, for example, shift the set travel route parallel to the side close to (or away from) the adjacent set travel route where planting has been completed, and make setting changes to enable automatic travel in a more preferred lane.

[0136] Therefore, agricultural work that matches the conditions of the field can be performed.

[0137] In the present invention, it is preferable that the shift switch also serves as an indication switch for freely inputting the planar position of the traveling body into a recording unit during the manual traveling when setting the reference traveling route.

[0138] According to this aspect, the indicator switch used for setting the reference course can also be used as the shift switch, so the number of switches is reduced, and for example, the switch panel can be made easy to see.

[0139] In the present invention, it is preferable that the shift switch includes a right shift switch for shifting the set traveling path to the right and a left shift switch for shifting the set traveling path to the left at different positions.

[0140] According to this aspect, the right shift switch and the left shift switch are provided separately and mounted at different positions, so that erroneous operation is less likely to occur, and the traveling body can be accurately shifted to the direction desired by the driver.

[0141] In the present invention, it is preferable that the right shift switch is provided at a position further to the right with respect to the front of the traveling body than the left shift switch.

[0142] According to this scheme, in the relative position relationship between the shift switch for right shifting and the shift switch for left shifting, the shift switch for right shifting is arranged on the right side and the shift switch for left shifting is arranged on the left side, so that the direction of shifting of the traveling body is consistent with the left and right configurations of the corresponding shift switches, which makes it easy to prevent misoperation.

[0143] As a result, the shift operation for setting the travel route can be performed more accurately.

[0144] In the present invention, it is preferable to include an operation canceling unit for preventing an initial predetermined number of operations on the shift switch from being reflected in the shift control of the set travel course.

[0145] According to this aspect, even if the shift switch is touched by mistake and turned on, as long as the number of operations is within the prescribed number set by the operation canceling unit, it will not be reflected in the shift control for setting the travel path, thereby preventing erroneous operation.

[0146] Therefore, more accurate travel control can be performed according to the driver's operating intention.

[0147] Furthermore, when the number of operations of the shift switch exceeds a predetermined number of times set by the operation canceling unit, the shift operation in the desired direction is reflected, and the set travel route can be shifted in the indicated direction.

[0148] In the present invention, it is preferable to include an operation canceling unit for preventing the operation of the shift switch from being reflected in the shift control of the set travel route until a set time has elapsed from the operation of the shift switch when the shift switch is operated.

[0149] According to this scheme, for example, in a case where the shift switch is intended to be operated only once but the opening operation is performed multiple times in succession by mistake, as long as the elapsed time from the first operation is within the predetermined time set by the operation cancellation unit, the second and subsequent operations will not be reflected in the shift control of the set travel route, thereby preventing erroneous operations.

[0150] Therefore, more accurate travel control can be performed according to the driver's operating intention.

[0151] Furthermore, if the operation time of the shift switch exceeds a predetermined time set by the operation canceling unit, the next switch operation is reflected in the shift control, and the set travel route can be shifted in the indicated direction.

[0152] In the present invention, it is preferred that an operation cancellation unit is provided. If the shift switch is operated, the operation cancellation unit prevents the operation of the shift switch from being reflected in the shift control of the set travel route before the traveling body reaches an error area of ​​a predetermined width set centered on the set travel route after the shift.

[0153] According to this scheme, for example, even if the shift switch is turned on multiple times in succession, during the process of the moving body automatically moving toward the target set travel route set by the first shift operation, the operation cancellation unit prevents the operation of the shift switch from being reflected in the shift control until an error area of ​​a predetermined width set centered on the target set travel route is reached, thereby preventing erroneous operations or sudden route changes.

[0154] Therefore, more accurate travel control can be performed according to the driver's operating intention.

[0155] [5] The solution to problem [5] is as follows.

[0156] The field working vehicle of the present invention comprises: a traveling body, which travels in the field while changing direction in the field ridge area; a field working device, which works relative to the aforementioned field; a positioning unit, which outputs positioning data indicating the position of the vehicle; a manual steering unit, which steers the aforementioned traveling body based on manual operation; an automatic steering unit, which automatically steers the aforementioned traveling body; and a field ridge detection module, which detects, based on the aforementioned position of the vehicle, that the aforementioned traveling body has reached the aforementioned field ridge area.

[0157] According to this scheme, since the positioning data indicating the position of the vehicle is obtained from the positioning unit using GNSS (Global Navigation Satellite System) or GPS (Global Positioning System), the ridge detection module can detect the arrival of the traveling machine at the ridge area by setting the position of the ridge area in advance, and can communicate the situation to the driver or the automatic steering control system. As a result, the arrival of the traveling machine at the ridge area, which was previously performed by the driver by visual confirmation, can be stably and accurately detected, and the burden on the driver can be reduced.

[0158] One method for presetting the position of a ridge area is to be equipped with map data of a field including a ridge area, and the ridge area is pre-set in the map data. By matching the field map based on the map data with the position of the vehicle obtained from the positioning unit, the position of the moving field working vehicle in the field is calculated in real time. Therefore, the time point when the moving body reaches the ridge area can be reported to the automatic steering control system or the driver. Therefore, in one of the preferred embodiments of the present invention, a field map storage unit is provided for storing the map data of the aforementioned field, and the aforementioned ridge detection module detects the arrival of the aforementioned moving body at the aforementioned ridge area by performing map matching using the aforementioned vehicle position and the aforementioned map data.

[0159] In actual field work performed by a field work vehicle, the movement of the vehicle is different when traveling in a non-ridge area (work area: generally an area outside the pillow area of ​​the field) where work relative to the field is performed, and when traveling in a ridge area where direction change is performed. The movement of the vehicle includes the movement of the traveling body and the movement of the field work device. In particular, by detecting the movement of the vehicle when entering the ridge area from the non-ridge area and the movement of the vehicle when entering the non-ridge area from the ridge area, and combining them with the position of the vehicle at the time of the detection, the boundary point between the ridge area and the non-ridge area can be obtained. In a normal field, the interval between adjacent boundary points is roughly equal to the interval between the travel trajectories during reciprocating work, that is, the working width, so the next boundary point can be estimated based on the initially obtained boundary point. Therefore, in one of the preferred embodiments of the present invention, a vehicle motion recording unit is provided, which associates the motion of the aforementioned traveling body or the aforementioned field working device or both with the position of the aforementioned traveling body and records them as vehicle motion; the aforementioned ridge detection module detects the arrival of the aforementioned traveling body at the aforementioned ridge area based on the aforementioned vehicle motion.

[0160] The vehicle action that occurs when entering from the non-ridge area to the ridge area, the vehicle action that occurs when entering from the ridge area to the non-ridge area, and the vehicle action that occurs when entering from the ridge area to the non-ridge area differ according to the type of field working vehicle and the content of the work. In the planting and sowing operations performed by the rice transplanter, the tillage operations performed by the tractor, and the harvesting and harvesting operations performed by the combine harvester, as common vehicle actions, the start and stop of the field working device, the transfer of the field working device to the working position and the transfer to the non-working position, and the start and stop of the direction change of the traveling body can be cited. Therefore, in one of the preferred embodiments of the present invention, the aforementioned vehicle action recording unit records the start and stop of the operation of the aforementioned field working device as the aforementioned vehicle action. In another embodiment, the aforementioned vehicle action recording unit records the transfer of the aforementioned field working device to the working position and the transfer to the non-working position as the aforementioned vehicle action. In yet another embodiment, the vehicle motion recording unit records the start and stop of the direction change of the traveling body as the vehicle motion. Of course, these embodiments may be arbitrarily combined and applied.

[0161] In addition, the boundary point between the non-ridge area and the ridge area can also be determined manually. Therefore, in one embodiment of the present invention, a travel mode switching operation tool is provided, and the travel mode switching operation tool is manually operated when switching between the travel in the aforementioned ridge area (ridge travel mode) and the travel outside the aforementioned ridge area (non-ridge travel mode); the aforementioned vehicle action recording unit records the operation of the aforementioned travel mode switching operation tool as the aforementioned vehicle action.

[0162] As described above, once the boundary between the non-ridge area and the ridge area is determined based on the vehicle action, the boundary between the non-ridge area and the ridge area can be estimated. Therefore, in one preferred embodiment of the present invention, the ridge detection module has a ridge estimation unit, which estimates the arrival time of the next traveling machine body to the ridge area from the vehicle action in the adjacent last operation travel path. Thus, the approach state to the ridge area can be calculated during the travel in the non-ridge area, and appropriate and necessary control can be performed before or after the arrival at the ridge area.

[0163] For example, if an approach report instruction for reporting the approach to the aforementioned ridge area is output before the arrival timing estimated by the aforementioned ridge estimation unit, the driver can have time to perform the necessary operations and confirmations in the ridge area. In addition, in order to avoid the adverse conditions associated with the unexpected approach of the traveling body to the ridge area, an embodiment can be adopted in which a deceleration instruction for decelerating the aforementioned traveling body is output before the arrival timing estimated by the aforementioned ridge estimation unit. Furthermore, an embodiment can also be adopted in which a vehicle stop instruction for stopping the traveling body is output when a predetermined distance has been traveled from the arrival timing estimated by the aforementioned ridge estimation unit, or a vehicle stop instruction for stopping the traveling body is output in response to the arrival timing estimated by the aforementioned ridge estimation unit.

[0164] Completely different steering is performed when traveling in a non-ridge area and when traveling in a ridge area where a direction change is performed. Therefore, whether these two different travels are performed by automatic steering or manual steering differs according to the type of field work vehicle, the type of field work, the proficiency of the driver, etc. Therefore, in one of the preferred embodiments of the present invention, a steering mode management unit is provided, and the steering mode management unit manages a manual steering mode and an automatic steering mode. In the manual steering mode, manual steering is performed by the aforementioned manual steering unit, and in the automatic steering mode, automatic steering is performed by the aforementioned automatic steering unit. In this scheme, if an appropriate algorithm is pre-loaded, automatic steering and manual steering can be appropriately allocated according to the travel conditions and surrounding conditions.

[0165] For example, when automatic steering for changing direction becomes a technical burden, the following scheme may be adopted: the steering mode management unit selects the manual steering mode in the field ridge area and selects the automatic steering mode outside the field ridge area.

[0166] Furthermore, when automatic steering and manual steering are flexibly applied, it is preferable to adopt an embodiment in which a steering mode switching operation tool is provided, and the steering mode switching operation tool manually selects the automatic steering mode and the manual steering mode.

[0167] In a positioning unit such as GNSS or GPS that uses radio waves from a satellite, if it becomes inoperable due to deterioration of the reception state, etc., an undesirable situation occurs in which no positioning data can be obtained. Therefore, in a preferred embodiment of the present invention, a travel distance calculation unit is provided, and the travel distance calculation unit calculates the travel distance based on the rotation speed of the wheel; when the aforementioned positioning unit is inoperable, the aforementioned ridge detection module detects the arrival of the aforementioned traveling machine body at the aforementioned ridge area based on the travel distance calculated by the aforementioned travel distance calculation unit. Thus, even if the positioning unit becomes temporarily inoperable, the arrival of the traveling machine body at the ridge area is detected. At this time, in the case where the travel distance calculation unit detects the arrival at the ridge area due to the inoperability of the positioning unit, the traveling machine body can also be stopped at that time point.

[0168] In particular, when traveling by automatic steering, it is difficult for the automatic steering control system to grasp various conditions of the vehicle while traveling. One of the important vehicle conditions when traveling in a field is the posture of the traveling body. The posture of the traveling body is substantially determined by the inclination of the traveling body relative to the ground. In particular, a pitch angle or a roll angle above a predetermined value has an adverse effect on traveling. Therefore, in one of the preferred embodiments of the present invention, a posture determination unit for determining the posture of the aforementioned traveling body is provided, and when the aforementioned posture deviates from a predetermined condition, a braking command (including a stop command or a deceleration command) for decelerating or stopping the aforementioned traveling body is output.

[0169] For other features and the advantageous effects thereof, please refer to the attached Figure 1 It will become clear as you read the following instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0170] Figure 1 is a diagram showing a first embodiment (hereinafter, Figure 8 ), is a side view showing a rice transplanter as an example of a work vehicle.

[0171] Figure 2 It is a top view showing the rice transplanter.

[0172] Figure 3 It is a front view showing the rice transplanter.

[0173] Figure 4 is a schematic diagram schematically showing a steering unit.

[0174] Figure 5 This is a block diagram showing a control structure related to automatic steering control.

[0175] Figure 6 It is an explanatory diagram from above for explaining the operation of the automatic steering control.

[0176] Figure 7 This is a top view for explaining the generation of a target line and the like.

[0177] Figure 8 It is a side view showing another embodiment.

[0178] Fig. 9 is a diagram showing a second embodiment of the present invention (hereinafter, Fig. 22 , is a left side view of the entire riding type rice transplanter in which the lower layer's reserve seedling storage device is in the second state.

[0179] Fig.10 It is a left side view of the whole riding type rice transplanter which shows that the lower stage preliminary seedling storage device is in the first state.

[0180] Fig.11 It is a plan view showing the whole of the riding type rice transplanter in which the lower stage preliminary seedling accommodation device is in the second state.

[0181] Fig.12 It is a front view of the moving vehicle.

[0182] Fig.13 It is a left side view of the rear part of the reserve seedling storage device of the lower left layer showing the second state.

[0183] Fig.14 It is a front view showing the rear guard.

[0184] Fig.15 It is a perspective view showing a rear guard.

[0185] Fig.16 It is a perspective view showing the upper end side portion of the seedling carrier.

[0186] Fig.17 It is a longitudinal sectional view showing the partition plate.

[0187] Fig.18 It is a left side view showing the handrail having the second implementation structure.

[0188] Fig.19 It is a left side view showing the handrail having the third embodiment structure.

[0189] Fig. 20 It is a left side view showing a rear guard having a first alternative implementation structure.

[0190] Fig.21 It is a front view showing a rear guard having a second alternative implementation structure.

[0191] Fig. 22 It is a front view showing a rear guard having a third alternative implementation structure.

[0192] Fig.23 is a diagram showing a third embodiment (hereinafter, Fig.32 ), is an overall side view of a rice transplanter as an example of a work vehicle.

[0193] Fig.24 It is an overall top view of the rice transplanter.

[0194] Fig.25 It is the front view of the rice transplanter.

[0195] Fig.26 It is a diagram showing a steering unit.

[0196] Fig. 27 is a block diagram representing a control structure.

[0197] Fig.28 This is an explanatory diagram of the entire field surface viewed from above for explaining the operation of the automatic steering control.

[0198] Fig.29 This is an explanatory diagram of the rice transplanter seen from above for explaining the operation of the automatic steering control.

[0199] Fig.30 This is an explanatory diagram of the rice transplanter seen from above for explaining the operation of the automatic steering control.

[0200] Fig.31 This is an explanatory diagram of the rice transplanter seen from above for explaining the operation of the automatic steering control.

[0201] Fig.32 This is an explanatory diagram of the rice transplanter seen from above for explaining the operation of the automatic steering control.

[0202] Fig.33 is a diagram showing a fourth embodiment (hereinafter, Fig.42 ), is a side view showing a rice transplanter as an example of an agricultural machine or an agricultural vehicle.

[0203] Fig.34 It is a top view showing the rice transplanter.

[0204] Fig.35 is a schematic diagram schematically showing a steering unit.

[0205] Fig.36 This is a block diagram showing a control structure related to automatic steering control.

[0206] Fig.37 It is a top view showing the surroundings of the instrument panel.

[0207] Fig.38 This is an explanatory diagram from a top view for explaining the generation of a travel route and the like.

[0208] Fig.39 This is a top view for explaining the parallel shift operation for setting the travel path.

[0209] Fig.40 This is a flowchart for setting the parallel shift control of the travel path.

[0210] Fig.41 This is a block diagram showing a control structure of automatic steering control according to another embodiment.

[0211] Fig.42 This is an explanatory diagram of a plan view for explaining a parallel shift operation for setting a travel path according to another embodiment.

[0212] Fig.43 is a diagram showing a fifth embodiment (hereinafter, Fig.49 ), is a schematic diagram illustrating the basic principle of vehicle control used in field work vehicles.

[0213] Fig.44 It is a schematic diagram explaining the basic principle of vehicle control adopted in a field work vehicle.

[0214] Fig.45 It is a side view of the rice transplanter which is one embodiment of the field work vehicle.

[0215] Fig.46 It is a top view of the rice transplanter which is one embodiment of the field work vehicle.

[0216] Fig.47 It is a schematic diagram showing the steering system of the rice transplanter.

[0217] Fig.48 This is a functional block diagram showing functions related to the travel control of the rice transplanter.

[0218] Fig.49 This is an explanatory diagram showing an example of recorded vehicle behavior. DETAILED DESCRIPTION

[0219] [First embodiment]

[0220] like Figure 1 to Figure 3 As shown, in a rice transplanter (an example of a "work vehicle") that is a passenger type and is a paddy field work vehicle for planting and sowing among agricultural work vehicles, there is a traveling body C having a traveling device A, and a working device for working on the field. The working device of the rice transplanter is a seedling planting device W that can plant seedlings on the field. In addition, Figure 2 The arrow F shown indicates the “front” of the traveling body C, the arrow B indicates the “back” of the traveling body C, the arrow L indicates the “left” of the traveling body C, and the arrow R indicates the “right” of the traveling body C.

[0221] like Figure 1 As shown, a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 are provided as the travel device A. The travel machine body C is provided with a steering unit U capable of steering the left and right front wheels 10 of the travel device A.

[0222] like Figure 1 to Figure 3 As shown, an openable engine hood 12 is provided at the front of the traveling machine body C. An engine 13 is provided inside the engine hood 12. At the front end of the engine hood 12, a display for confirming the indication line LN (see Figure 6 ) of the central rod-shaped indicator 14. Figure 1 , Figure 3 As shown in FIG. 1 , a frame-shaped machine frame 15 extending in the front-rear direction is provided on the traveling machine frame C. A support column frame 16 is erected at the front portion of the machine frame 15 .

[0223] [Regarding the seedling planting device]

[0224] like Figure 1 As shown, the seedling planting device W is connected to the rear end of the traveling body C via a link mechanism 21 so as to be freely movable upward and downward. The link mechanism 21 is movable upward and downward by the extension and contraction of a lift cylinder 20 composed of a hydraulic cylinder.

[0225] like Figure 1 , Figure 2 As shown in FIG. 1 , the seedling planting device W includes four transmission boxes 22, a rotating box 23 rotatably supported at the left and right sides of the rear of each transmission box 22, a pair of rotary planting arms 24 provided at both ends of each rotating box 23, a plurality of leveling floats 25 for leveling the field surface, a seedling loading platform 26 for loading mat-shaped seedlings for planting, etc. That is, the seedling planting device W is configured as an 8-row planting pattern.

[0226] The seedling planting device W constructed in this way drives the seedling platform 26 to move back and forth horizontally while using the power transmitted from the transmission box 22 to rotate each rotating box 23, and uses each planting arm 24 to alternately take out the seedlings from the lower part of the seedling platform 26 and plant them on the field surface.

[0227] [About the preparation of seedling stands]

[0228] like Figure 1 to Figure 3As shown, on the left and right sides of the engine hood 12 on the traveling body C, there are provided a plurality of (for example, four) normal seedling stands 28 (an example of a "seedling stand") capable of carrying seedlings for supplying the seedling planting device W, and a track-type seedling stand 29 (an example of a "seedling stand") capable of carrying seedlings for supplying the seedling planting device W. In addition, on the left and right sides of the engine hood 12 on the traveling body C, there are provided a pair of left and right seedling racks 30 supporting the normal seedling stands 28 and the track-type seedling racks 29, and a connecting frame 31 spanning the upper parts of the left and right seedling racks 30. The connecting frame 31 is U-shaped 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 seedling racks 30 via connecting brackets 32, respectively.

[0229] [About the marker device]

[0230] like Figure 1 As shown, the left and right sides of the seedling planting device W are respectively provided with a guide line LN (refer to Figure 6 , Figure 7 The left and right marker devices 33 are respectively configured to be freely operable in an active posture and a storage posture, in which the marker devices 33 are grounded on the field surface of the field in the active posture and form an indication line LN on the field surface as the traveling body C travels, and in the storage posture, they are separated from the field surface of the field upward.

[0231] like Figure 1 As shown, the left and right marker devices 33 are respectively provided with a marker arm 34 and a rotating body 35. The marker arm 34 is supported on the seedling planting device W so as to be able to swing up and down freely, and the rotating body 35 is supported on the front end of the marker arm 34 so as to be able to rotate freely, and has a plurality of convex bodies in the circumferential direction. In addition, there is an electric motor for the marker (not shown) for operating the left and right marker devices 33 to the working posture and the storage posture. Each marker device 33 is set to the working posture, and the rotating body 35 rotates on the ground as the traveling body C turns, forming a dotted line indication line LN in a top view (refer to Figure 6 ).

[0232] [About the driving department]

[0233] like Figure 1 to Figure 3As shown, in the central part of the traveling machine body C, there is a driving unit 40 for performing various driving operations. The driving unit 40 is provided with a driving seat 41 where the driver can sit, a control tower 42, a steering handle 43 composed of a steering wheel for manual steering operation of the front wheel 10, a main speed change lever 44 that can switch forward and backward and change the travel speed, an operating lever 45, etc. The driving seat 41 is equipped in the central part of the traveling machine body C. On the control tower 42, a steering handle 43, a main speed change lever 44, an operating lever 45, etc. are equipped so as to be freely operable. A boarding step 46 is provided at the foot of the driving unit 40. Auxiliary steps 47 are provided at the left and right outer positions of the boarding step 46. On the left and right sides of the engine hood 12, a boarding and descending step 48 is provided as a boarding and descending passage connected to the boarding step 46 without a step difference. On the lateral outer sides of the boarding and descending step 48, left and right reserve seedling racks 30 are respectively arranged.

[0234] [About operating leverage]

[0235] Figure 2 , Figure 3 The operating lever 45 shown is provided on the right lateral side of the lower side of 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 rising position, a downward falling position, a rear right marker position, and a front left marker position, and is urged toward the neutral position.

[0236] If the operating lever 45 is operated to the raised position, the planting clutch (not shown) is operated to the cut-off state, the seedling planting device W rises, and the left and right marker devices 33 (see Figure 1 ) is operated to the storage position. If the operating lever 45 is operated to the lowered position, the planting clutch (not shown) is operated to the cut-off state, the left and right marker devices 33 are operated to the storage position, and the seedling planting device W is lowered. If the central flat float 25 is grounded on the field surface of the field, the seedling planting device W is grounded on the field surface of the field and becomes a stopped state.

[0237] When the operating lever 45 is operated to the right marker position, the right marker device 33 changes from the storage position to the operating position. When the operating lever 45 is operated to the left marker position, the left marker device 33 changes from the storage position to the operating position.

[0238] The control tower 42 of the driving unit 40 is provided with a push-operated automatic steering switch 50 (see Figure 5 The automatic steering switch 50 is configured to be able to switch the automatic steering of the steering unit U on and off. In addition, the main shift lever 44 is provided with a teaching direction TA (refer to Figure 6) Login switch 52 (refer to Figure 5 ) The login switch 52 includes a push-operation type first login button 52A and a push-operation type second login button 52B.

[0239] [About Steering Unit]

[0240] like Figure 4 As shown, the steering unit U is provided with the above-mentioned steering handle 43, a steering operating shaft 54 ​​linked to the steering handle 43, a steering rocker arm 55 that swings with the rotation of the steering operating shaft 54, left and right connecting mechanisms 56 linked to the steering rocker arm 55, a steering motor 58, and a gear mechanism 57 that links the steering motor 58 to the steering operating shaft 54, etc.

[0241] The steering operation shaft 54 ​​is linked to the left and right front wheels 10 via a steering arm 55 and left and right link mechanisms 56. The rotation amount of the steering operation shaft 54 ​​is detected by a steering angle sensor 60 (see Figure 5 ) detection, the steering angle sensor 60 is equipped at the lower end of the steering operation shaft 54 ​​and is composed of a rotary encoder.

[0242] When the steering unit U is manually steered, the steering motor 58 is used to provide an auxiliary force corresponding to the operation of the steering handle 43 to the driver's operating force to rotate the steering operation shaft 54, thereby changing the steering angle of the front wheels 10. On the other hand, when the steering unit U is automatically steered, the steering motor 58 is driven, and the steering operation shaft 54 ​​is rotated by the driving force of the steering motor 58, thereby changing the steering angle of the front wheels 10.

[0243] [Regarding the measuring unit and the inertial measuring device having a receiving device]

[0244] like Figure 1 to Figure 3 , Figure 5 As shown, the moving body C is provided with: a measuring unit 61, which has a receiving device 63 for obtaining position information with the help of a satellite positioning system and a secondary inertial measuring device 64 that can mainly detect the inclination (pitch angle, roll angle) of the moving body C; and a main inertial measuring device 62 (equivalent to an "inertial measuring device") that measures inertial information.

[0245] The main inertial measurement device 62 and the sub-inertial measurement device 64 are each constituted by an IMU (Inertial Measurement Unit).

[0246] The measuring unit 61 including the receiving device 63 and the auxiliary inertial measuring device 64 and the main inertial measuring device 62 are arranged at different positions of the traveling body C. In addition, the measuring unit 61 including the receiving device 63 and the auxiliary inertial measuring device 64 and the main inertial measuring device 62 are arranged on the left-right center line CL of the traveling body C.

[0247] Among the satellite positioning systems (GNSS: Global Navigation Satellite System), a representative system thereof is GPS (Global Positioning System). GPS is a system that uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls GPS satellites, and a receiving device 63 of an object to be positioned (traveling machine C) to measure the position of the receiving device 63. The receiving device 63 is used to obtain the position information of the traveling machine C from the satellite positioning system.

[0248] like Figure 1 to Figure 3 As shown, the measuring unit 61 having the receiving device 63 is mounted on the connecting frame 31 via a plate-shaped support plate 65. The measuring unit 61 having the receiving device 63 is arranged at the front position of the traveling body C (particularly, in front of the front wheel 10). Therefore, when the traveling body C changes its traveling direction, the displacement amount of the front position of the traveling body C in the left-right direction is larger than that of the rear end position of the traveling body C, and the change of the traveling body position NM of the traveling body C obtained by the receiving device 63 can be detected with high sensitivity.

[0249] like Figure 3 As shown in the figures, the connection frame 31 can be changed into a use state S1, in which the measuring unit 61 having the receiving device 63 is located above the upper end of the reserve seedling frame 30; and a storage state S2, in which the receiving device 63 is located below the upper end of the reserve seedling frame 30 when the use state S1 is reversed upside down. If explained, the connection frame 31 can rotate around the left and right axis X along the left and right directions, and can be fixedly supported on the left and right reserve seedling frames 30 by the connection bracket 32 ​​in each state position of the use state S1 and the storage state S2.

[0250] like Figure 1 , Figure 3As shown in the figures, by setting the connecting frame 31 to the use state S1, the receiving device 63 is supported at a higher position by the connecting frame 31 and the reserve seedling frame 30, so that as the traveling body C travels, the receiving device 63 is easily swung by the deflection of the reserve seedling frame 30 and the connecting frame 31, and the local position NM and the local orientation NA of the traveling body C based on the position information obtained by the receiving device 63 can be detected with good accuracy. Furthermore, by setting the connecting frame 31 to the use state S1, the receiving device 63 is located at the highest part of the traveling body C, so the receiving sensitivity of the radio wave of the receiving device 63 can be improved, and radio wave interference is not easy to occur in the receiving device 63.

[0251] like Figure 2 , Figure 3 As shown, the receiving device 63 of the measuring unit 61 is provided with a connector portion 67 to which the electrical wiring 66 is connected. The connector portion 67 extends outward in the left-right direction from the receiving device 63 of the measuring unit 61. The electrical wiring 66 is wired along the connecting frame 31 and the seedling preparation frame 30. Furthermore, a protective member 68 is provided to protect the connector portion 67. The protective member 68 is mounted on the support plate 65. The protective member 68 protects the front side of the connector portion 67.

[0252] like Figure 1 As shown, the main inertial measuring device 62 is arranged near the center of the front-to-back direction of the entire length of the traveling body C and the seedling planting device W. To explain, the main inertial measuring device 62 is arranged near the turning center of the traveling body C in the direction of travel (the axis of the yaw axis of the traveling body C).

[0253] Specifically, a rear axle frame 73 (equivalent to a "mounting member") is provided at the rear of the traveling body C, which rotatably supports the rear axle 72 that transmits the 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 device 62 is mounted on the rear axle frame 73.

[0254] If explained, Figure 1 , Figure 2 As shown, the main inertial measuring device 62 is located near the seedling planting device W. In addition, the main inertial measuring device 62 is located at the rear side and below the driver's seat 41.

[0255] like Figure 5As shown in FIG. 1 , the main inertial measurement device 62 mainly includes a gyro sensor 70 capable of detecting the angular velocity of the deflection angle (turning angle of the traveling body C) of the traveling body C, and an acceleration sensor 71 capable of detecting accelerations in three mutually orthogonal axial directions. That is, the inertial information measured by the main inertial measurement device 62 includes the azimuth change information detected by the gyro sensor 70 and the position change information detected by the acceleration sensor 71. As described above, the main inertial measurement device 62 is arranged near the turning center of the traveling direction of the traveling body C, so that the cumulative error of the azimuth change information generated in the gyro sensor 70 can be suppressed to a small level, and the detection accuracy of the position change information obtained by the acceleration sensor 71 becomes high.

[0256] 〔About control structure〕

[0257] like Figure 5 As shown, the traveling machine C is provided with a control device 75 that performs automatic steering control of the steering unit U. The control device 75 includes an information storage unit 76, a teaching storage unit 77, a turn detection unit 78, a start determination unit 79, an information correction unit 80, a generation unit 81 that generates a target route LM for the traveling machine C to travel, a state detection unit 82, and a control unit 83 that controls the steering unit U based on position information and inertia information so that the traveling machine C travels along the target route LM.

[0258] Information from the receiving device 63 , the secondary inertial measurement unit 64 , the gyro sensor 70 in the primary inertial measurement unit 62 , the acceleration sensor 71 , the steering angle sensor 60 , the automatic steering switch 50 , the registration switch 52 , and the like is input to the control device 75 .

[0259] The information storage unit 76 is configured to store the position information acquired from the receiving device 63 in time order.

[0260] The teaching storage unit 77 is configured to calculate the teaching direction TA based on the operation of the registration switch 52 using the two-point position information among the position information stored in the information storage unit 76 .

[0261] The turning detection unit 78 is configured to detect the start of turning of the traveling machine C and the end of turning of the traveling machine 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 .

[0262] The start determination unit 79 is configured to determine whether the automatic steering control of the traveling machine body C is started.

[0263] The information correction unit 80 is configured to correct the accumulated error of the information detected by the gyro sensor 70 in the inertial information measured by the main inertial measurement unit 62 based on the position information obtained by the receiving device 63 and the information measured by the secondary inertial measurement unit 64 at the start of each automatic steering control of the moving body C.

[0264] The generating unit 81 is configured to generate a target route LM based on the teaching direction TA, and the vehicle position NM and the vehicle orientation NA of the traveling vehicle C at the start of the automatic steering control.

[0265] The state detection unit 82 is configured to detect the distance deviation (deviation distance) between the traveling machine C's own position NM and the target path LM, and the angular deviation (deviation angle) between the traveling machine C's own azimuth NA and the teaching direction TA during the automatic steering control of the traveling machine C.

[0266] 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 .

[0267] [About automatic steering control]

[0268] As an example, a case where a seedling planting operation is performed in a paddy field that is a quadrilateral in a plan view will be described.

[0269] like Figure 6 As shown, first, the traveling machine body C is located at the first position Q1 with a ridge in the field, and the first login button 52A of the login switch 52 is operated (refer to Figure 5 Then, the seedling planting device W is raised, and the traveling body C is moved straight from the first position Q1 along the straight shape of the ridge on the side of the field while the leveling float 25 is grounded, and after it is moved to the second position Q2 near the ridge on the opposite side, the second registration button 52B of the registration switch 52 is operated (see Figure 5 ). Thus, based on 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, a teaching direction TA is generated as a direction connecting the first position Q1 and the second position Q2.

[0270] Then, if Figure 6 As shown, the traveling body C is manually turned by operating the steering handle 43. When the turning start of the traveling body C is detected by the steering angle sensor 60, the seedling planting device W, the leveling float 25, and the marker device 33 are automatically raised from the field surface of the field. When the turning of the traveling body C is completed, the turning end position Q3 of the traveling body C is detected based on the detection result of the steering angle sensor 60.

[0271] From the time when the turning end position Q3 of the traveling machine C is detected to the time when a certain time has passed and until the deviation angle between the machine's azimuth NA and the teaching direction TA falls within a predetermined range, a non-sensing zone is set in which the operation input of the automatic steering switch 50 is not accepted. That is, during the period when the state of the traveling machine C is in the non-sensing zone, even if the automatic steering switch 50 is operated, the automatic steering control is not started. During the period when the state of the traveling machine C is in the non-sensing zone, the driver can manually steer the steering unit U to align the traveling machine C so that the indication line LN coincides with the front end of the line of sight of the front end of the center indicator 14.

[0272] Furthermore, if the state of the traveling machine C is out of the insensitive zone, the operation input of the automatic steering switch 50 is accepted, and if the automatic steering switch 50 is operated, the position NM and the azimuth NA of the traveling machine C based on the position information in the receiving device 63 are stored in the control start position Q4. Furthermore, a straight target route LM parallel to the teaching direction TA is generated from a portion away from the position where the receiving device 63 is set in the direction of the azimuth NA of the traveling machine C by a predetermined distance. At the same time, the information measured by the main inertial measurement unit 62 is corrected based on the position information of the position NM obtained by the receiving device 63 and the azimuth NA calculated based on the position information of the position NM obtained by the receiving device 63 and the position information of the previous position.

[0273] In addition, Figure 6 In the figure, for the convenience of illustration, the indication line LN formed by the marker device 33 and the target line LM are slightly offset, but in fact, since manual alignment is performed to make the driver's line of sight consistent with the front end of the central indicator 14 and the indication line LN, the target line LM is generated in a manner that is roughly consistent with the indication line LN.

[0274] At the same time, the automatic steering control of the traveling body C mainly based on the main inertial measurement unit 62 is started. That is, in the automatic steering control, the main inertial measurement unit 62 is mainly used, and the receiving device 63 is used for correction of the main inertial measurement unit 62. Specifically, the current own-machine position NM and own-machine orientation NA are obtained based on the position information of the own-machine position NM and the own-machine orientation NA acquired by the receiving device 63 at the control start position Q4, the orientation change information obtained by integrating the angular velocity measured by the gyro sensor 70 of the main inertial measurement unit 62, and the position change information obtained by integrating the acceleration measured by the acceleration sensor 71 of the main inertial measurement unit 62. Then, the steering unit U is automatically steered, and the automatic steering control of the traveling body C is performed so that the current own-machine position NM and the own-machine orientation NA are consistent with the target route LM and the teaching direction TA.

[0275] In the automatic steering control of the traveling machine C, the steering unit U is not controlled if there is no angular deviation (deviation angle) between the machine's azimuth NA and the teaching direction TA and no distance deviation (deviation distance) between the machine's position NM and the target path LM.

[0276] In addition, in the automatic steering control of the moving body C, when there is an angular deviation (deviation angle) between the aircraft's azimuth NA and the teaching direction TA and there is no distance deviation (deviation distance) between the aircraft's position NM and the target line LM, the steering unit U is controlled to steer in a direction that eliminates the angular deviation (deviation angle) between the aircraft's azimuth NA and the teaching direction TA.

[0277] In addition, in the automatic steering control of the moving body C, when there is an angular deviation (deviation angle) between the aircraft's azimuth NA and the teaching direction TA and a distance deviation (deviation distance) between the aircraft's position NM and the target line LM, the steering unit U is controlled to steer in a direction that eliminates the angular deviation (deviation angle) between the aircraft's azimuth NA and the teaching direction TA.

[0278] In addition, in the automatic steering control of the moving body C, when there is no angular deviation (deviation angle) between the aircraft's orientation NA and the teaching direction TA and there is a distance deviation (deviation distance) between the aircraft's position NM and the target line LM, the steering unit U is controlled to steer in a direction that eliminates the distance deviation (deviation distance) between the aircraft's position NM and the target line LM.

[0279] Thereby, the traveling machine C accurately travels along the target route LM.

[0280] In this way, in the automatic steering control of the moving body C, the position information obtained by the receiving device 63 is not necessary. Therefore, even if it is assumed that radio interference occurs in the receiving device 63 during the automatic steering control of the moving body C, the automatic steering control of the moving body C can be continued based on the inertial information measured by the main inertial measuring device 62, and the planting of seedlings by the seedling planting device W can be accurately performed along the target route LM.

[0281] Furthermore, if the traveling machine C approaches a ridge, the driver operates the automatic steering switch 50, and the automatic steering control of the traveling machine C is stopped and switched to manual steering. Then, the turning operation is performed on the ridge, and the same operation is repeated to plant seedlings in the field. Thus, the driver does not need to manually operate the steering handle 43 during the planting of seedlings in the field by the seedling planting device W, and can more accurately and simply perform the seedling planting operation.

[0282] [About the location setting of this unit]

[0283] like Figure 7 As shown, the receiving device 63 is arranged in front of the traveling body C, but the own-machine position NM as the reference for data processing is not the actual installation position of the receiving device 63, but is set at a position near the main inertial measurement device 62. The setting of the own-machine position NM as the reference for data processing is obtained based on the distance from the receiving device 63 to the part serving as the own-machine position NM and the own-machine azimuth NA calculated based on the receiving device 63 and the main inertial measurement device 62. Since it is the seedling planting device W that is to be accurately moved along the target route LM, by setting the own-machine position NM near the seedling planting device W in this way, the automatic steering control of the traveling body C can be performed so that the seedling planting device W accurately moves along the target route LM.

[0284] [Regarding the relationship between the seedling preparation rack, the normal seedling preparation platform, and the track-type seedling preparation platform]

[0285] like Figure 3 As shown, the left and right seedling racks 30 are respectively provided with a fixing portion 85 fixed to the supporting support frame 16, an inclined portion 86 extending upward from the fixing portion 85 and inclined toward the left and right inner sides, and a longitudinal portion 87 extending upward from the inclined portion 86. That is, the longitudinal portion 87 of the seedling rack 30 is offset to the left and right inner sides by a predetermined distance D relative to the supporting support frame 16 and the fixing portion 85 of the seedling rack 30.

[0286] like Figure 1 to Figure 3 As shown, a plurality of normal seedling preparation stands 28 are supported on the seedling preparation rack 30 so as to be able to swing around the front-back axis Y, and the front-back axis Y is provided on the longitudinal portion 87 of the seedling preparation rack 30, along the front-back direction, and inclined to the left and right inner sides as it moves forward. The normal seedling preparation stand 28 is configured so that its posture can be changed to a horizontal posture E1 and a longitudinal posture E2.

[0287] like Figure 1 to Figure 3 As shown, if the normal reserve seedling stand 28 is made into a horizontal posture E1, the loading surface of the normal reserve seedling stand 28 becomes a substantially horizontal state. On the other hand, when the normal reserve seedling stand 28 is made into a vertical posture E2 from the horizontal posture E1, each normal reserve seedling stand 28 is swung around the front-rear axis Y to be set in a vertical direction. Thus, each normal reserve seedling stand 28 in the vertical posture E2 becomes a compact state in the left-right direction close to the vertical portion 87 side of the reserve seedling rack 30.

[0288] exist Figure 1 to Figure 3The rail-type seedling preparation platform 29 shown in the figure is equipped with a front loading platform 88, a central loading platform 89 and a rear loading platform 90. The central loading platform 89 is fixed to the support support frame 16 via a pair of support brackets 91. The front loading platform 88 is connected to the front end of the central loading platform 89 so that it can swing around the front transverse axis P1 along the left and right directions. The rear loading platform 90 is connected to the rear end of the central loading platform 89 so that it can swing freely around the rear transverse axis P2 along the left and right directions. Figure 1 As shown, the rail-type seedling preparation stand 29 is configured to be able to change its state to the unfolded state F1 and the folded state F2. If the rail-type seedling preparation stand 29 is put into the unfolded state F1, the front stand 88 is unfolded to the front side of the central stand 89 with the central stand 89 as the center, and the rear stand 90 is unfolded to the rear side of the central stand 89. That is, if the rail-type seedling preparation stand 29 is put into the unfolded state F1, the front stand 88, the central stand 89 and the rear stand 90 are arranged in sequence front and back.

[0289] like Figure 1 As shown, when the rail-type seedling preparation stand 29 is changed from the unfolded state F1 to the folded state F2, the front platform 88 is swung around the front transverse axis P1 located at the front end of the central platform 89, and the front platform 88 is folded to be located on the upper side of the central platform 89, and the rear platform 90 is swung around the rear transverse axis P2 located at the rear end of the central platform 89, and the rear platform 90 is located on the upper side of the central platform 89. In this way, the rail-type seedling preparation stand 29 can be brought into the compact folded state F2 in the front-rear direction.

[0290] like Figure 1 As shown, a plurality of normal seedling preparation stands 28 are arranged in a vertical arrangement, and a track-type seedling preparation stand 29 is arranged below the normal seedling preparation stand 28 at the lowest level.

[0291] That is, if Figure 1 to Figure 3 As understood, in addition to offsetting the longitudinal portion 87 of the seedling preparation rack 30 by a predetermined distance D to the left and right inner sides relative to the support support frame 16 and the fixed portion 85 of the seedling preparation rack 30, the plurality of normal seedling preparation stands 28 can be changed in posture to a longitudinal posture E2 that is a compact state in the left and right direction close to the longitudinal portion 87 of the seedling preparation rack 30 and offset to the left and right inner sides, thereby enabling the track-type seedling preparation stand 29 to be unobstructedly changed from the unfolded state F1 to the folded state F2 without interfering with the seedling preparation rack 30 and the normal seedling preparation stand 28. In addition, by enabling the plurality of normal seedling preparation stands 28 to be offset to the left and right inner sides, the overall left and right width of the traveling body C can be reduced compared to, for example, offsetting the track-type seedling preparation stand 29 to the left and right outer sides.

[0292] [Other embodiments of the first embodiment]

[0293] Hereinafter, other embodiments of the first embodiment will be described. A plurality of the other embodiments described below may be combined and applied to the above-described embodiment unless there is any contradiction. In addition, the scope of the present invention is not limited to the contents of these embodiments.

[0294] (1) In the above embodiment, the following case is exemplified: the automatic steering control of the traveling machine C is performed mainly based on the inertia information measured by the main inertia measuring device 62, and the inertia information measured by the main inertia measuring device 62 is corrected based on the position information obtained by the receiving device 63, but the present invention is not limited to this. For example, the automatic steering control of the traveling machine C may be performed mainly based on the position information obtained by the receiving device 63, and the position information obtained by the receiving device 63 may be corrected based on the inertia information measured by the main inertia measuring device 62.

[0295] (2) In the above embodiment, the following case is illustrated: the connecting frame 31 can rotate around the left and right axis X along the left and right direction, and can be supported on the left and right reserve seedling racks 30 in a fixed position in the use state S1 and the storage state S2, but the present invention is not limited to this. For example, it is also possible to be detachable relative to the left and right reserve seedling racks 30. In this case, the connecting frame 31 in the use state S1 is removed from the reserve seedling rack 30, turned upside down and mounted on the reserve seedling rack 30 again, so that the connecting frame 31 is in the storage state S2.

[0296] (3) In the above embodiment, the receiving device 63 is fixed at a certain position, but the present invention is not limited to this. Figure 8 As shown in the figure, the receiving device 63 is arranged on the rail member 100 in a state that it can move in the front-rear direction. The rail member 100 is fixed to the seedling preparation rack 30 and extends in the front-rear direction of the traveling body C. Therefore, by moving the receiving device 63 between two points on the rail member 100, the traveling body C can be stopped. The position information of the two points obtained by the receiving device 63 can be used to obtain the local position NA of the traveling body C.

[0297] (4) In the above embodiment, the case where only one receiving device 63 is provided is exemplified, but the present invention is not limited thereto. For example, two or more receiving devices 63 may be provided. In this way, even when the traveling machine C is stopped, the aircraft position NA of the traveling machine C can be obtained based on the position information obtained by one receiving device 63 and the position information obtained by other receiving devices 63.

[0298] (5) In the above embodiment, the connector portion 67 is exemplified as extending outward in the left-right direction from the side surface of the receiving device 63, but the present invention is not limited thereto. For example, the connector portion 67 may extend upward from the upper surface of the receiving device 63, or extend downward from the lower surface of the receiving device 63, or extend forward from the front surface of the receiving device 63, or extend backward from the rear surface of the receiving device 63. In this case, it is preferable to also provide a protective member 68 for protecting the connector portion 67 at the location of the connector portion 67.

[0299] (6) In the above embodiment, the shield member 68 is attached to the support plate 65, but the present invention is not limited thereto. For example, the shield member 68 may be attached to the receiving device 63 itself.

[0300] (7) In the above embodiment, the case where the seedling planting device W is provided as the working device is exemplified, but the present invention is not limited thereto. For example, in addition to the seedling planting device W, a fertilizer application device or a drug spraying device may be provided as the working device.

[0301] (8) In addition to being used in the above-mentioned riding type rice transplanter equipped with a seedling planting device as a working device, the present invention can also be used in various working vehicles, such as a riding type seed drill as a paddy field working vehicle equipped with a seeding device as a working device, a tractor equipped with a plow as a working device, or an agricultural working vehicle such as a combine harvester equipped with a harvesting part as a working device, or a construction working vehicle equipped with a bucket as a working device.

[0302] [Second embodiment]

[0303] Hereinafter, the second embodiment will be described. In the following description, the first to third implementation structures of the second embodiment will be referred to as "Example 1", "Example 2", and "Example 3" respectively.

[0304] [Example 1]

[0305] Fig. 9 It is a left side view of the whole riding type rice transplanter which shows the preliminary seedling accommodation device 150 of the lower stage in the second state. Fig.11 It is a plan view of the whole riding type rice transplanter which shows the lower stage preliminary seedling accommodation device 150 in the second state. Fig. 9 , Fig.11 The [F] direction shown is defined as the [front side] of the traveling body 104 , the [B] direction is defined as the [rear side] of the traveling body 104 , the [L] direction is defined as the [left side] of the traveling body 104 , and the [R] direction is defined as the [right side] of the traveling body 104 .

[0306] like Fig. 9 , Fig.11 As shown, a traveling body 104 is provided at the lower part of a vehicle frame 101, and the traveling body 104 is equipped with a pair of left and right front wheels 102 and a pair of left and right rear wheels 103. A driving unit 106 having an engine 105 is provided at the front part of the traveling body 104. The traveling body 104 drives the front wheels 102 by the driving force transmitted from the engine 105 to a transmission device 107, and drives the rear wheels 103 by the driving force transmitted from the engine 105 via the transmission device 107 and a rotating shaft 108 to a rear wheel drive box 109, thereby traveling. A riding type driving unit 111 having a driver's seat 110 is provided at the rear part of the traveling body 104. The traveling body 104 is configured as a passenger type so that the passenger can ride on the driving unit 111 and operate it.

[0307] The seedling planting device 120 is connected to the rear of the traveling vehicle body 104 via a link mechanism 112. The link mechanism 112 is supported on the vehicle body frame 101 so as to be able to swing up and down. The seedling planting device 120 is swung by the hydraulic cylinder 113 through the link mechanism 112, and is raised and lowered in a descending working state and an ascending non-working state. The descending working state is a state in which the grounding float 121 is grounded to the field surface S, and the ascending non-working state is a state in which the grounding float 121 is raised higher from the field surface S.

[0308] like Fig. 9 , Fig.11 As shown, the seedling planting device 120 includes eight seedling planting mechanisms 122 and one seedling carrier 123, and the eight seedling planting mechanisms 122 are arranged in the lateral width direction of the traveling vehicle body 104. Fig.11 As shown, there are 8 seedling loading sections 123a for arranging and loading the mat-shaped seedlings in the lateral width direction of the traveling vehicle body 104. The seedling loading platform 123 is reciprocated in the lateral width direction of the traveling vehicle body 104 in a state linked with the seedling planting movement of the seedling planting mechanism 122, and the seedlings are supplied from the seedling loading section 123a to each seedling planting mechanism 122.

[0309] The riding type rice transplanter performs the seedling planting operation in which eight plants can be planted using the seedling planting device 120 by moving the traveling body 104 in a state in which the seedling planting device 120 is lowered to the lowered operation state.

[0310] like Fig. 9 , Fig.11 As shown in FIG. 1 , a receiving device 114 is provided on the front portion of the traveling vehicle body 104. A support frame 115 of the receiving device 114 is shown in FIG. Fig. 9 , Fig.11 , Fig.12As shown, it is connected to the support 141 of the left and right seedling storage devices 140 and 150 described later. The receiving device 114 is a device that obtains the position information of the traveling vehicle 104 through a satellite positioning system and inputs the obtained position information to the automatic steering control device (not shown) of the traveling vehicle 104.

[0311] like Fig.16 , Fig.17 As shown, an extended seedling loading platform 124 extends from each seedling loading portion 123a of the seedling loading platform 123. A pair of left and right partition plates 125 are erected at both lateral ends of the seedling loading platform 123. The left and right partition plates 125 at both lateral ends of the seedling loading platform 123 are provided across the seedling loading portion 123a at the most lateral end of the seedling loading platform 123 and the extended seedling loading platform 124 corresponding to the seedling loading portion 123a. The left and right partition plates 125 extend from a partition wall portion 123b located on the lateral side of the seedling loading portion 123a toward the top of the seedling loading platform 123, and extend from the partition wall portion 123b toward the top of the extended seedling loading platform 124.

[0312] When the cushion-shaped seedlings are supplied to the seedling loading section 123a at the lateral end of the seedling loading platform 123, the cushion-shaped seedlings can be supplied while being appropriately guided to the seedling loading section 123a by the left and right partition plates 125 even when the seedling loading platform 123 is being transported lateraly. That is, it is possible to avoid the situation where the cushion-shaped seedlings are supplied while being deviated from the seedling loading section 123a at the lateral end to the lateral outside due to the lateral transport of the seedling loading platform 123. In this embodiment, the partition plates 125 are provided only on the seedling loading section 123a at the lateral end, but they may also be provided on all the seedling loading sections 123a.

[0313] like Fig. 9 , Fig.11 As shown, working steps 116 are provided on both lateral sides of the traveling vehicle body 104 that straddle the driver's seat 110 and on the rear side of the driver's seat 110. Handrails 130 are provided on both lateral sides of the driving section 111. The left and right lateral handrails 130 are erected upward from a step frame that is a body part of the traveling vehicle body 104 and a working step frame that is a body part of the traveling vehicle body 104. The upper end portions 131 of the left and right lateral handrails 130 are located at the rear side of the boarding and alighting opening 111a of the driving section 111, and are located above the lateral edge of the working step 116. Fig. 9 , Fig.11 , Fig.14 , Fig.15As shown, a rear guard 117 extending in the lateral direction of the traveling vehicle body 104 is provided behind the driver's seat 110. The rear guard 117 is arranged above the rear edge of the working step 116. The rear guard 117 is connected across the left horizontal handrail 130 and the right horizontal handrail 130. The left and right horizontal handrails 130 can be used when getting on or getting off the driving part 111, and also when being on the working step 116. The rear guard 117 can be used as a handrail when being on the working step 116. In this embodiment, the fertilizer tank and the fertilizer delivery mechanism of the fertilizing device are not provided behind the driver's seat 110, but it is also possible to provide a fertilizer tank and a fertilizer delivery mechanism for implementation.

[0314] like Fig. 9 , Fig.15 As shown, an empty space 200 is provided below the upper end 131 of the left and right horizontal handrails 130. The empty space 200 is provided by being formed of a pipe member formed by bending the handrail 130.

[0315] like Fig. 9 , Fig.11 , Fig.12 As shown, upper and lower layers of seedling storage devices 140 and 150 are provided on both lateral sides of the traveling vehicle body 104. The upper and lower layers of seedling storage devices 140 and 150 on the left are provided in front of the left horizontal handrail 130. The upper and lower layers of seedling storage devices 140 and 150 on the right are provided in front of the right horizontal handrail 130.

[0316] On the preparation seedling receiving device 140 of the upper left layer, as Fig. 9 , Fig.12 As shown, there are four layers of seedling loading platforms 142. The four-layer seedling loading platform 142 is supported on a pair of front and rear pillars 141. The front pillar 141 is erected upward from the engine support frame in the traveling vehicle body 104. The rear pillar 141 is erected upward from the step frame in the traveling vehicle body 104.

[0317] The upper right seedling storage device 140 has the same structure as the upper left seedling storage device 140. In the upper left seedling storage device 140 and the upper right seedling storage device 140, four mat-shaped seedlings supplied to the seedling planting device 120 can be arranged and stored in the vertical direction of the traveling vehicle body 104.

[0318] On the preparation seedling receiving device 150 of the lower left layer, as Fig. 9 , Fig.10 , Fig.11As shown, there are three seedling placement platforms 151, 152, and 153. The three seedling placement platforms 151, 152, and 153 are provided with placement platforms 151a, 152a, and 153a and seedling placement platform main bodies 151b, 152b, and 153b. The seedling placement platform main bodies 151b, 152b, and 153b are supported on the placement platforms 151a, 152a, and 153a in a fixed state. Two of the three seedling placement platforms 151, 152, and 153 are provided with extended placement platforms 152c and 153c. The extended placement platforms 152c and 153c are supported on the seedling placement platform main bodies 152b and 153b and the placement platforms 152a and 153a in a slidable manner.

[0319] The seedling stand 151 of the three seedling stands 151, 152, 153 is fixed to the front and rear pillars 141 by a stand frame 151a, and is fixed to the front and rear pillars 141 with the seedlings facing upward.

[0320] In the seedling carrier 152 among the three seedling carriers 151, 152, and 153, one end of the carrier frame 152a is rotatably supported on the front end side of the carrier frame 151a of the fixed seedling carrier 151 via a connecting shaft 154. The seedling carrier 152 can be swung relative to the fixed seedling carrier 151 with the shaft core 154a of the connecting shaft 154 extending transversely of the traveling vehicle body as the swing center. Hereinafter, the seedling carrier 152 is referred to as the front movable seedling carrier 152. By swinging the front movable seedling carrier 152, the installation posture of the front movable seedling carrier 152 can be switched to a storage posture, such as Fig.10 , Fig.12 As shown, folded above the seedling loading surface side of the fixed seedling loading platform 151, and the seedling loading surface of the movable seedling loading platform 152 in front is facing downward; and the use posture, such as Fig. 9 , Fig.11 As shown, the fixed seedling placement platform 151 extends toward the front side of the traveling vehicle body, and the seedling placement surface faces upward.

[0321] In the seedling carrier 153 among the three seedling carriers 151, 152, and 153, the end of the carrier frame 153a on the opposite side to the side where the extended carrier 153c is positioned is rotatably supported on the rear end side of the carrier frame 151a of the fixed seedling carrier 151 via a connecting shaft 155. The seedling carrier 153 can be swung relative to the fixed seedling carrier 151 with the shaft core 155a of the connecting shaft 155 extending transversely of the traveling vehicle body as the swing center. Hereinafter, the seedling carrier 153 is referred to as the rear movable seedling carrier 153. By swinging the rear movable seedling carrier 153, the installation posture of the rear movable seedling carrier 153 can be switched to a storage posture, such as Fig.10 , Fig.12 As shown, folded to the top of the movable seedling stand 152 in front, the movable seedling stand 152 in front is folded above the fixed seedling stand 151, and the seedlings of the movable seedling stand 153 in the rear face downward; and the use posture, as shown Fig. 9 , Fig.11 As shown, the fixed seedling placement platform 151 extends toward the rear side of the traveling vehicle body, and the seedling placement surface of the movable seedling placement platform 153 at the rear faces upward.

[0322] In the use posture of the movable seedling placement platform 153 at the rear, by sliding the extension placement platform 153c, the installation posture of the extension placement platform 153c can be switched to: the use posture, such as Fig. 9 , Fig.11 As shown, it extends backward from the rear movable reserve seedling loading platform 153 in a state along the front-rear direction of the rear movable reserve seedling loading platform 153; and in a storage posture, it is stored inside the rear movable reserve seedling loading platform 153.

[0323] The seedling storage device 150 in the lower left layer is Fig.10 , Fig.12 As shown, the front movable seedling carrier 152 and the rear movable seedling carrier 153 are switched to a storage posture, and the fixed seedling carrier 151, the front movable seedling carrier 152 and the rear movable seedling carrier 153 are arranged in the up and down direction of the traveling vehicle body 104 and are stored in the first state.

[0324] The seedling storage device 150 in the lower left layer is Fig. 9 , Fig.11As shown, the front movable seedling carrier 152 and the rear movable seedling carrier 153 are switched to a use posture, so that the fixed seedling carrier 151, the front movable seedling carrier 152 and the rear movable seedling carrier 153 are arranged in the front-to-back direction of the traveling vehicle body 104, and the cushion-shaped seedlings can be loaded onto the fixed seedling carrier 151, the front movable seedling carrier 152 and the rear movable seedling carrier 153 to form the second state.

[0325] The seedling storage device 150 in the lower right layer is as shown in FIG. Fig.11 , Fig.12 As shown, it has the same structure as the reserve seedling storage device 150 of the lower left layer. By switching the reserve seedling storage device 150 of the lower left layer and the reserve seedling storage device 150 of the lower right layer to the second state, the three reserve mat-shaped seedlings supplied to the seedling planting device 120 can be stored in the reserve seedling storage device 150 of the lower left layer and the reserve seedling storage device 150 of the lower right layer in a row in the front-to-back direction of the traveling vehicle body 104.

[0326] In the reserve seedling storage device 150 at the lower left layer and the reserve seedling storage device 150 at the lower right layer, as shown in FIG. Fig. 9 , Fig.11 , Fig.13 As shown, when the seedling storage device 150 is switched to the second state, the extended platform 153c is put into a use posture, and the rear end side portion 153r of the movable seedling loading platform 153 (the first seedling loading platform from the back) is formed by the extended platform 153c and the rear part of the seedling loading platform body 151b of the movable seedling loading platform 153 at the rear, and the rear end side portion 153r enters the empty space 200, and in a top view, the rear end side portion 153r overlaps with the upper end portion 131. In addition, the rear end side portion 153r enters the boarding and alighting port 111a. The rear end side portion 153r can be used as a closing member to close the boarding and alighting port 111a.

[0327] In the reserve seedling storage device 140 on the upper left layer and the reserve seedling storage device 140 on the upper right layer, as shown in FIG. Fig. 9 , Fig.12 As shown, the ends of the upper and lower four-layer seedling loading platform 142 on the lateral inner side of the traveling vehicle body are rotatably connected to the front and rear pillars 141 via a connecting shaft (not shown). The upper and lower four-layer seedling loading platform 142 is supported in a swingable manner across a lowered use posture and an ascending storage posture, with the axis Y of the connecting shaft extending in the front and rear direction of the traveling vehicle body as the swing center. Fig.12 The lowered state of the seedling placement platform 142 on the upper right layer shown in the figure, the rising storage posture is as shown in the figure. Fig.12The front and rear pillars 141 are formed in a curved state in which the upper part of the reserve seedling storage device 140 supporting the upper layer is located closer to the lateral inner side of the traveling vehicle body than the lower part of the reserve seedling storage device 150 supporting the lower layer. That is, when the front movable reserve seedling storage platform 152 and the rear movable reserve seedling storage platform 153 are swung across the storage posture and the use posture, by switching the reserve seedling storage platform 142 to the rising storage posture, it can be made to retreat from the moving path of the front movable reserve seedling storage platform 152 and the rear movable reserve seedling storage platform 153 to the lateral inner side of the traveling vehicle body to avoid being hit by the front movable reserve seedling storage platform 152 and the rear movable reserve seedling storage platform 153.

[0328] [Example 2]

[0329] Fig.18 This is a left side view showing a portion where the handrail 130 of the riding type rice transplanter having the second embodiment structure is disposed. In the riding type rice transplanter having the second embodiment structure, the upper end portion 131 of the handrail 130 includes a fixed portion 131a and a movable portion 131b.

[0330] The fixed portion 131a is fixed to the vehicle body portion of the traveling vehicle body 104. A support portion 132 is provided at the rear of the fixed portion 131a. The rear end of the movable portion 131b is rotatably connected to the support portion 132 via a connecting shaft 133. The movable portion 131b is supported so as to be able to swing between a lowered use state and an raised storage state, with the shaft core 133a of the connecting shaft 133 extending in the transverse direction of the traveling vehicle body as the swing center. Fig.18 As shown by the solid line in FIG. 1 , the fixed portion 131a extends forward, and the raised storage state is as shown in FIG. Fig.18 As indicated by the two-dot chain line in FIG. 1 , it is housed in the rear portion of the fixing portion 131 a.

[0331] If the movable part 131b is set to the descending use state, the front end side part 131f enters the boarding and alighting port 111a, and the boarding and alighting port 111a is closed by the front end side part 131f. If the movable part 131b is set to the descending use state, the front end side part 131f of the movable part 131b is in a state of protruding forward from the fixed part 131a, and an empty space 200 is formed below the front end side part 131f. When the movable part 131b is set to the descending use state, the part of the movable part 131b located closer to the free end side than the connecting shaft 133 is supported by the supporting part 134, and the movable part 131b can be kept in the descending use state. If the movable part 131b is set to the ascending storage state, it is located at the rear side of the boarding and alighting port 111a, and the boarding and alighting port 111a is opened.

[0332] By switching the movable part 131b to the ascending storage state, the closure of the boarding and alighting door 111a by the movable part 131b can be released, and the fixed part 131a can be used as a handrail to board the driving part 111 or get off the driving part 111. Except when boarding the driving part 111 or getting off the driving part 111, by switching the movable part 131b to the descending use state, the movable part 131b can be used as a closing member to close the boarding and alighting door 111a.

[0333] [Example 3]

[0334] Fig.19 This is a left side view showing a portion where the handrail 130 of the riding type rice transplanter having the third embodiment structure is disposed. In the riding type rice transplanter having the third embodiment structure, the upper end portion 131 of the handrail 130 includes a fixed portion 131a and a movable portion 131b.

[0335] The support 134 is provided on the rear support column 141 of the seedling storage device 150. When the movable portion 131b is switched to the open state, the front end side portion 131f of the movable portion 131b is supported by the support 134 and supported by the rear support column 141.

[0336] [Other embodiments of the second embodiment]

[0337] (1) Fig. 20 1 is a left side view showing a rear guard 117 having a first alternative embodiment. Fig. 20 As shown, the rear guard 117 having the first alternative implementation structure is supported by the front leg 131 c of the front and rear legs 131 c of the left and right lateral armrests 130 and 130 .

[0338] (2) Fig.21 1 is a front view showing a rear guard 117 having a second alternative embodiment. Fig.21 As shown, the rear guard 117 having the second alternative embodiment structure includes an upper rear guard 117u also serving as a rear armrest, a middle rear guard 117n, and a lower rear guard 117d.

[0339] (3) Fig. 22 1 is a front view showing a rear guard 117 having a third alternative embodiment. Fig. 22 As shown, the rear guard 117 having the third alternative embodiment structure includes an upper rear guard 117u also serving as a rear armrest, a lower rear guard 117d, and a pair of left and right side guards 118. The left and right side guards 118 are connected to the upper rear guard 117u and the lower rear guard 117d at locations located behind both lateral sides of the driver's seat 110.

[0340] (4) In the above embodiment, an example is shown in which three seedling placement platforms 151, 152, and 153 are provided on the seedling storage device 150, but the number is not limited to three, and two or four or more seedling placement platforms may be provided.

[0341] (5) In the above embodiment, an example is shown in which the front movable seedling carrier 152 and the rear movable seedling carrier 153 are switched between the storage posture and the use posture by swinging, but the present invention is not limited to this structure. The following structure may also be adopted: the front movable seedling carrier 152 and the rear movable seedling carrier 153 are replaced and installed on the fixed seedling carrier 151 and the pillar 141, thereby switching the seedling carriers 151, 152, and 153 to a state of being arranged in the vertical direction of the vehicle body and a state of being arranged in the front-rear direction of the vehicle body. In addition, the following structure may also be adopted: a plurality of seedling carriers are supported by a link mechanism that is swingably supported on the pillar 141, and the plurality of seedling carriers are switched to a state of being arranged in the vertical direction of the vehicle body and a state of being arranged in the front-rear direction of the vehicle body by the swinging operation of the link mechanism.

[0342] (6) In the above-mentioned embodiment, the state in which the reserve seedling loading platforms 151, 152, and 153 are stored is shown as an example of the first state of the reserve seedling receiving device 150, but it is also possible to implement the state in which a plurality of reserve seedling loading platforms are arranged in the vertical direction of the traveling vehicle body in a state in which the reserve seedlings can be loaded and received as the first state of the reserve seedling receiving device 150.

[0343] (7) In the above-mentioned embodiment, an example is shown in which the extended loading platform 153c is provided on the rear movable seedling loading platform 153, but it can also be configured so that the rear end side portion of the seedling loading platform main body 151b of the rear movable seedling loading platform 153 enters into the empty space 200 without the extended loading platform 153c.

[0344] (8) In the above embodiment, an example is shown in which the upper layer of the seedling storage device 140 is provided, but it is also possible to implement it without providing the upper layer of the seedling storage device 140 and only providing the seedling storage device 150 that can be switched between the first state and the second state.

[0345] (9) The present invention is not limited to a riding type rice transplanter connected to a seedling planting device 120 capable of planting 8 rows, but can also be applied to a riding type rice transplanter connected to a seedling planting device that can plant 4 rows, 6 rows, etc., which is less than 8 rows, or a seedling planting device that can plant more than 8 rows. In addition, the present invention can also be applied to a riding type rice transplanter equipped with a fertilizer application device having a fertilizer tank and a fertilizer delivery device disposed behind the driver's seat 110.

[0346] [Third Embodiment]

[0347] Hereinafter, a third embodiment will be described. Here, a riding type rice transplanter will be described as an example of a work vehicle.

[0348] like Figure 23 to Figure 25 As shown, the riding type rice transplanter is provided with a traveling body 300 having a pair of left and right front wheels 210 which can be freely operated to change the direction of the traveling device and a pair of left and right rear wheels 211 which can be fixed in the direction, and a seedling planting device W which is a working device capable of planting seedlings in the field. The seedling planting device W is connected to the rear end of the traveling body 300 via a link mechanism 221 which can be raised and lowered by the extension and contraction of the lifting hydraulic cylinder 220.

[0349] In this embodiment, Fig.24 Arrow F indicates the front side of the traveling body 300 , arrow B indicates the rear side of the traveling body 300 , arrow L indicates the left side of the traveling body 300 , and arrow R indicates the right side of the traveling body 300 .

[0350] like Figure 23 to Figure 25 As shown, an openable engine hood 212 is provided at the front of the traveling vehicle body 300. An engine 213 is provided inside the engine hood 212. A rod-shaped central indicator 214 is provided at the front end of the engine hood 212 as a guide for following an indicator line LN (see FIG. Fig.28 The traveling vehicle body 300 is provided with a frame-shaped body frame 215 extending in the front-rear direction, and a supporting support frame 216 is erected at the front of the body frame 215.

[0351] like Fig.23 and Fig.24 As shown, the seedling planting device W is provided with four transmission boxes 222, a total of eight rotating boxes 223 rotatably supported on the left and right sides of the rear parts of each transmission box 222, a pair of rotary planting arms 224 provided on both ends of each rotating box 223, a plurality of leveling floats 225 for leveling the surface of the field, a seedling loading platform 226 for loading mat-shaped seedlings for planting, and a device for forming an indication line LN on the surface of the field (see FIG. Fig.28 ) marker device 233, etc.

[0352] The seedling planting device W thus constructed drives the seedling carrying platform 226 to feed back and forth horizontally, and at the same time, drives each rotating box 223 to rotate by means of the power transmitted from the transmission box 222, and alternately takes out the seedlings from the lower part of the seedling carrying platform 226 with each planting arm 224 and plants them on the field surface of the field. Therefore, the seedling planting device W is constructed to have eight planting patterns in which the seedlings are planted by the planting arms 224 equipped on the eight rotating boxes 223. Although not described in detail, the marker device 233 is equipped on the left and right sides of the seedling planting device W, and is constructed to be freely operable in the working posture and the storage posture. In the working posture, it is grounded on the field surface of the field, and forms an indication line LN on the field surface corresponding to the next operation stroke as the traveling vehicle body 300 travels, and in the storage posture, it moves away from the field surface of the field upward. The posture switching of the marker device 233 is performed by an electric motor not shown in the figure.

[0353] like Figure 23 to Figure 25 As shown, on the left and right sides of the engine hood 212 on the traveling vehicle body 300, there are provided a plurality of (for example, four) normal seedling stands 228 capable of carrying seedlings for supplying the seedling planting device W, and a single rail-type seedling stand 229 capable of carrying seedlings for supplying the seedling planting device W. On the left and right sides of the engine hood 212 on the traveling vehicle body 300, there are provided a pair of left and right seedling racks 230 supporting the normal seedling stands 228 and the rail-type seedling stand 229, and the upper portions of the left and right seedling racks 230 are connected to each other by a connecting rack 231.

[0354] like Figure 23 to Figure 25 As shown, a driving unit 240 for performing various driving operations is provided in the central part of the traveling vehicle body 300. The driving unit 240 includes a driving seat 241 where the driver can sit, a control tower 242, a steering handle 243 as a manual steering operation tool composed of a steering wheel for manual steering operation of the front wheels 210, a main speed change lever 244 capable of switching forward and backward and changing the traveling speed, and an operating lever 245. The driving seat 241 is provided in the central part of the traveling vehicle body 300. The control tower 242 is provided with a steering handle 243, a main speed change lever 244, an operating lever 245, etc., which can be freely operated. A boarding step 246 is provided at the foot of the driving unit 240. Auxiliary steps 247 are provided at the left and right outer positions of the boarding step 246. The boarding step 246 also extends to the left and right sides of the engine hood 212.

[0355] like Figure 23 to Figure 25 As shown, the operating lever 245 is provided on the right lateral side of the lower side of the steering handle 243. Although not shown in detail, the operating lever 245 is configured to be freely movable in the cross direction from the central neutral position to the rising position, the lowering position, the right marker position, and the left marker position, and is urged toward the neutral position.

[0356] If the operating lever 245 is operated to the raised position, the transmission relative to the seedling planting device is cut off, the seedling planting device W rises, and the left and right marker devices 233 (refer to Fig.23 ) is operated to the storage posture. If the operating lever 245 is operated to the lowered position, the seedling device W is lowered and grounded on the field surface, and becomes a stopped state. If the operating lever 245 is operated to the right marker position in this lowered state, the right marker device 233 changes from the storage posture to the working posture. If the operating lever 245 is operated to the left marker position, the left marker device 233 changes from the storage posture to the working posture.

[0357] When the driver starts the seedling planting operation, he operates the operating lever 245 to lower the seedling planting device W and starts the seedling planting operation with respect to the seedling planting device W. When the driver stops the seedling planting operation, he operates the operating lever 245 to raise the seedling planting device W and cuts off the transmission with respect to the seedling planting device W.

[0358] A display device 248 capable of displaying various information using a liquid crystal display is provided on the upper part of the control tower 242 of the driving unit 240. In addition, the starting point setting switch 249A used in the automatic steering control described later is provided on the right side of the display device 248, and the end point setting switch 249B is provided on the left side of the display device 248.

[0359] The grip of the main shift lever 244 is provided with a push-operation type automatic steering switch 250. The automatic steering switch 250 is set to an automatic return type, and commands the switching of the automatic steering control on / off for each push operation. The automatic steering switch 250 is arranged at a position that can be pressed by, for example, the thumb when the grip of the main shift lever 244 is gripped by hand.

[0360] like Fig.26 As shown, the traveling vehicle body 300 is provided with a steering unit U capable of steering the left and right front wheels 210. The steering unit U is provided with a steering operation shaft 254 linked to the steering handle 243, a steering rocker arm 255 that swings with the rotation of the steering operation shaft 254, left and right link mechanisms 256 linked to the steering rocker arm 255, a steering motor 258, a gear mechanism 257 that links the steering motor 258 to the steering operation shaft 254, and the like.

[0361] The steering operation shaft 254 is linked to the left and right front wheels 210 via the steering rocker arm 255 and the left and right link mechanisms 256. A steering angle sensor 260 composed of a rotary encoder is provided at the lower end of the steering operation shaft 254, and the rotation amount of the steering operation shaft 254 is detected by the steering angle sensor 260. A torque sensor 261 as a manual operation detection mechanism for detecting the torque acting on the steering handle 243 is provided at the middle part of the steering operation shaft 254. For example, when the steering motor 258 is rotated in a predetermined direction, if the steering handle 243 is manually operated in the direction opposite to the rotation direction, this can be detected by the torque sensor 261.

[0362] When the steering unit U is automatically steered, the steering motor 258 is driven, and the steering operation shaft 254 is rotated by the driving force of the steering motor 258 to change the steering angle of the front wheel 210. Therefore, the steering motor 258 corresponds to the steering operation mechanism. When the steering unit U is not automatically steered, the steering unit U can be rotated by manual operation of the steering handle 243.

[0363] Next, a configuration for performing automatic steering control will be described.

[0364] As an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that detects the position of the vehicle by receiving radio waves from a satellite, a moving vehicle is provided with a position detection mechanism that detects the position of the vehicle using the GPS (Global Positioning System) which is a well-known technology.

[0365] Specifically, as a position detection mechanism, a position measuring unit 264 (an example of a satellite positioning unit) having a receiving device 263 is equipped on the object to be positioned (the moving vehicle 300), and the position of the receiving device 263, i.e., the position measuring unit 264, can be measured based on the information of the received radio waves. The receiving device 263 has an antenna 262 for receiving radio waves transmitted from multiple GPS satellites orbiting the earth.

[0366] like Figure 23 to Figure 25 As shown, the position measuring unit 264 is mounted on the connecting frame 231 via a plate-shaped support plate 265 in a state of being located at the front of the traveling vehicle body 300. Fig.25As shown, the connection frame 231 can be changed into the following states: the use state S1, in which the position measuring unit 264 is located above the upper end of the reserve seedling frame 230; and the storage state S2, in which the receiving device 263 is located below the upper end of the reserve seedling frame 230 and is reversed upside down relative to the use state S1. To explain, the connection frame 231 can be supported on the left and right reserve seedling frames 230 via the connection bracket 232 so as to be rotatable around the left and right axis X along the horizontal direction of the machine body, and can be fixed in position in each state of the use state S1 and the storage state S2.

[0367] like Fig.23 and Fig.25 As shown, by setting the connecting frame 231 to the use state S1, the receiving device 263 is supported at a higher position by the connecting frame 231 and the seedling preparation frame 230. The possibility of radio wave interference in the receiving device 263 is small, and the receiving sensitivity of the radio wave of the receiving device 263 can be improved.

[0368] In addition to the position measuring unit 264, the traveling vehicle 300 is provided with an inertial measuring unit 266 having a gyro sensor 266A and the like as an orientation detection mechanism for detecting the orientation of the traveling vehicle 300. Although not shown in the figure, the inertial measuring unit 266 is provided, for example, at a lower position behind the driver's seat 241 or at a lower position in the center of the lateral width direction of the traveling vehicle 300. The inertial measuring unit 266 can detect the angular velocity of the turning angle of the traveling vehicle 300, and can obtain the orientation change angle of the vehicle body by integrating the angular velocity. Therefore, the orientation information of the traveling vehicle 300 is included in the measurement information measured by the inertial measuring unit 266. Although not described in detail, the inertial measuring unit 266 can measure the angular velocity of the left and right tilt angle of the traveling vehicle 300, the angular velocity of the front and rear tilt angle of the traveling vehicle 300, and the like in addition to the angular velocity of the turning angle of the traveling vehicle 300.

[0369] like Fig. 27 As shown, the traveling vehicle 300 is provided with a control device 267 that controls the steering motor 258. The control device 267 includes a path setting unit 268 that sets a target movement path that the traveling vehicle 300 should travel, and a steering control unit 269 that controls the steering motor 258 based on the position information of the traveling vehicle 300 measured by the position measurement unit 264 and the orientation information of the traveling vehicle 300 measured by the inertial measurement unit 266 so that the traveling vehicle 300 travels along the target movement path. Specifically, the control device 267 includes a microcomputer, and the path setting unit 268 and the steering control unit 269 are composed of a control program.

[0370] like Fig. 27As shown, a setting switch 249 is provided for setting a target moving path used in the automatic steering control by means of a teaching process. The setting switch 249 includes a starting point setting switch 249A for setting a starting point position and an end point setting switch 249B for setting an end point position. As described above, the starting point setting switch 249A is provided on the right side of the display device 248, and the end point setting switch 249B is provided on the left side of the display device 248.

[0371] like Fig. 27 As shown, information such as the position measuring unit 264, the inertia measuring unit 266, the automatic steering switch 250, the starting point setting switch 249A, the end point setting switch 249B, the steering angle sensor 260, the torque sensor 261, and the vehicle speed sensor 270 are input to the control device 267. The vehicle speed sensor 270 is not described in detail, but detects the vehicle speed based on the rotation speed of the transmission shaft in the transmission mechanism relative to the rear wheel 211, for example.

[0372] The path setting unit 268 is configured to set a teaching path corresponding to a target path to be automatically turned to by means of a teaching process based on the operation of a starting point setting switch 249A and an end point setting switch 249B, and during actual operation, if an automatic mode is instructed at the starting end of the teaching path, a target moving path LK parallel to the teaching path at that position is set.

[0373] When the steering control unit 269 is set to the automatic steering mode, the steering control unit 269 performs the automatic steering control of operating the steering motor 258 so that the detected position (the vehicle position) NM of the moving vehicle 300 detected by the position measuring unit 264 becomes a position on the target moving path LK, and the detected orientation (the vehicle orientation) of the moving vehicle 300 detected by the inertial measuring unit 266 becomes a target orientation in the target moving path LK. That is, in the automatic steering control of the moving vehicle 300, the position deviation ΔP (refer to Fig.29 In the following description, the steering motor 258 is controlled to reduce the deviations (also referred to as "position deviation amount ΔP") and the angular deviation between the vehicle orientation NA and the target orientation TD of the moving vehicle body 300.

[0374] When the steering control unit performs automatic steering control, when the local position NM deviates laterally from the target moving path LK and the local azimuth NA is the same as the target azimuth TD, the steering control unit performs the following position deviation correction processing: the target azimuth serving as the control target is changed to an inclined target azimuth KA inclined toward the target moving path side and the steering motor 258 is operated.

[0375] When the position deviation correction process is executed, if the own vehicle position NM deviates greatly from the portion corresponding to the target movement path LK, the inclination of the tilted target direction KA relative to the target direction TD is set to the large side, and the closer the own vehicle position NM is to the portion corresponding to the target movement path LK, the more gradually the inclination of the tilted target direction KA relative to the target direction is made. In addition, if the vehicle speed is low, the steering control unit 269 sets the inclination of the tilted target direction KA relative to the target direction TD to the large side, and the faster the vehicle speed is, the more gradually the inclination of the tilted target direction KA relative to the target direction TD is made.

[0376] However, there is an upper limit to the inclination angle α of the inclination target azimuth KA relative to the target azimuth, and even if the vehicle speed is extremely low or the position deviation amount ΔP becomes large, the inclination angle α is set to a value below the set upper limit value. This is because if the inclination angle α is too large, the moving vehicle body 300 may make a sharp turn and the moving state may become unstable (in the following description, this inclination angle α is also referred to as "set inclination angle α").

[0377] Furthermore, when the steering control unit 269 performs the position deviation correction process, the greater the vehicle speed, the smaller the change operation speed of the steering motor 258 when changing the traveling direction. Therefore, if the vehicle speed is low, the change operation speed is set to be large, and the greater the vehicle speed, the smaller the change operation speed.

[0378] Next, the operation of the control device 267 when the seedling planting operation is performed in a rectangular paddy field will be described.

[0379] like Fig.28 As shown, the rice transplanter moves in the paddy field by alternately and repeatedly performing straight travel and turning travel, wherein the straight travel is performed while moving along the target moving path LK and performing seedling planting operation, and the turning travel is performed at the end position of the target moving path LK and turns toward the next target moving path LK parallel to the target moving path LK. In addition, the steering control unit 269 performs automatic steering control in principle during the straight travel during the seedling planting operation, and does not perform automatic steering control during the movement other than the straight travel.

[0380] First, the traveling vehicle body 300 is located at the starting position R1 of the ridge in the field, and the starting point setting switch 249A is operated. At this time, the control device 267 is set to the automatic off mode. And, the driver manually operates the traveling vehicle body 300 while moving it straight from the starting position R1 along the straight shape of the ridge on the side in a non-operating state, and after moving it to the end position R2 near the ridge on the opposite side, the end point setting switch 249B is operated. Thus, the teaching process is performed. That is, based on the position information obtained by the receiving device 263 at the starting position R1 and the position information obtained by the receiving device 263 at the end position R2, a teaching path connecting the starting position R1 and the end position R2 is set. The direction along the teaching path is set as the target direction TD (hereinafter, also referred to as the teaching direction TD) as a reference.

[0381] Next, the driver manually operates the steering handle 243 to turn the vehicle body 300. At this time, the control device 267 can determine that the vehicle body 300 has turned based on the reversal of the vehicle azimuth NA.

[0382] If the steering control unit 269 determines that a turn has been made, after the turning of the traveling vehicle body 300 is completed, until the predetermined determination condition is satisfied, the control restraint state in which the operation input of the automatic steering switch 250 is not accepted is set. The predetermined determination condition is that a certain time has passed since the turning of the traveling vehicle body 300 is completed, and the deviation angle between the machine direction NA and the teaching direction TD is within a predetermined range. During the period set to the control restraint state, even if the automatic steering switch 250 is operated, the automatic steering control is not started. At this time, the driver can manually operate the steering handle to align the traveling vehicle body 300 so that the indication line LN formed on the field surface is consistent with the front end of the line of sight of the front end of the central indicator 214.

[0383] If in Fig. 27 At the predetermined position R3 in the vehicle, the control restraint state is released, and the operation input of the automatic steering switch 250 is accepted. Therefore, if the driver operates the automatic steering switch 250, it switches to the automatic closing mode, and the steering control unit 269 starts the automatic steering control from this point. At this time, the driver operates the operating lever 245 to lower the seedling planting device W and perform the seedling planting operation.

[0384] When the automatic steering control is started, the position measuring unit 264 obtains the information of the own aircraft position NM, and the inertial measuring unit 266 obtains the own aircraft orientation NA. Fig.29As shown, the vehicle position NM serving as a reference for data processing is not the actual installation position of the position measurement unit 264, but is set at a position near the inertial measurement unit 266. In addition, the steering motor 258 is operated to perform steering control so that the current vehicle position NM and the vehicle orientation NA are consistent with the target movement path LK and the teaching orientation TD. As a result, the vehicle body 300 accurately moves along the target movement path LK. The driver takes his hands off the steering handle 243. However, the vehicle speed is adjusted manually.

[0385] When the steering control unit 269 is driving straight while executing the automatic steering control, as shown in FIG. Fig.29 As shown, when the detected position of the machine deviates laterally from the target moving path and the detected azimuth is the same as the teaching azimuth TD, the steering control unit 269 performs the following position deviation correction processing: the target azimuth is changed to an inclined target azimuth KA that is inclined from the teaching azimuth TD toward the target moving path side by a set inclination angle α and the steering motor 258 is operated.

[0386] That is, Fig.30 As shown in FIG. 1 , in the position deviation correction process, the target direction during the automatic steering control is not the teaching direction TD, but is changed to an inclined target direction KA inclined from the teaching direction TD toward the target moving path by a set inclination angle α, and the automatic steering control is performed. Therefore, when the position deviation correction process is performed, the vehicle moves in an oblique direction with a small direction deviation, so the position deviation ΔP can be quickly reduced.

[0387] At this time, the farther the vehicle position NM is from the portion corresponding to the target movement path LK, the larger the set tilt angle α is set, and the closer the vehicle position NM is to the portion corresponding to the target movement path LK, the gentler the set tilt angle α is. In addition, if the vehicle speed is low, the set tilt angle α is set to the larger side, and the higher the vehicle speed is, the gentler the set tilt angle is. However, an upper limit value is set for the set tilt angle α, and no matter how low the vehicle speed is, even if the position deviation is large, the set tilt angle α will not exceed the set upper limit value.

[0388] In addition, the so-called portion corresponding to the target movement path LK has a region of a predetermined width in the horizontal direction on both sides of the position corresponding to the target movement path LK. That is, a control insensitivity zone is set relative to the position deviation, and if the position deviation is not zero and enters the insensitivity zone, the position deviation correction process ends. That is, the target azimuth is not an inclined target azimuth, but is set to a direction along the original teaching azimuth TD.

[0389] Thus, the magnitude of the inclination of the inclination target orientation KA relative to the target orientation varies depending on the magnitude of the position deviation ΔP of the traveling vehicle body 300 and the magnitude of the vehicle speed, but the respective correlations between the magnitude of the inclination, the position deviation ΔP of the traveling vehicle body 300, and the vehicle speed can be obtained in advance by experiments, set as mapping table data, and determined by calculation formulas, etc. Furthermore, if the vehicle speed is constant, the smaller the position deviation ΔP is, in other words, the closer the own position NM of the traveling vehicle body 300 is to the portion corresponding to the target moving path LK, the smaller the inclination angle α is set.

[0390] When driving straight ahead while executing automatic steering control, Fig.31 As shown in FIG. 1 , when the position deviation correction process is executed in a state where the traveling vehicle body 300 is positionally deviated toward the worked area Z1 side, the steering control unit 269 performs the following operation: Fig.32 As shown, the set inclination angle α is set larger than the state where the traveling vehicle body 300 deviates to the unoperated area Z2 side. That is, if the traveling vehicle body 300 deviates to the operated area Z1 side, the set inclination angle α tilted from the teaching orientation TD is set larger and the position deviation correction process is performed. That is, since seedlings have been planted in the operated area Z1, the position is quickly corrected toward the target moving path LK to prevent the traveling vehicle body 300 from crushing the planted seedlings.

[0391] When the steering control unit 269 is performing automatic steering control, if it is determined based on the detection information of the torque sensor 261 that the driver has manually operated the steering handle 243 in the opposite manner to the operation of the steering motor 258, in other words, if a change command to be performed by the steering handle 243 is instructed, the operating force when operating the steering motor 258 in the automatic steering control is reduced to a level that allows the manual operation.

[0392] If the operation of the steering handle 243 by manual operation is detected and the operating force of the steering motor 258 is reduced, the state of reducing the operating force of the steering motor 258 is maintained even after the manual operation is no longer performed. This state is maintained after the automatic steering switch 250 is operated to switch to the automatic off mode until it is switched to the automatic on mode again.

[0393] However, if the change command by the steering handle is continuously issued for a long time over a set time (for example, between ten seconds and several tens of seconds), the automatic steering control is stopped and switched to the automatic off mode. By giving priority to manual operation in this way, for example, it is possible to avoid collision with obstacles or perform track correction when control is not properly performed. Returning to the automatic on mode can be performed by pressing the automatic steering switch.

[0394] If the traveling vehicle body 300 reaches the end position R4 of the straight traveling path (refer to Fig.28 ), the driver operates the automatic steering switch 250 to switch the steering control unit 269 to the automatic cut-off mode. At this time, the operating lever 245 is operated to cut off the transmission relative to the seedling planting device W, so that the seedling planting device W rises. Then, the driver manually operates the steering handle 243 to turn the moving vehicle body 300 toward the next straight-ahead travel path. Thereafter, similar to the previous straight-ahead travel path, after the judgment condition is met after the turn, if the automatic steering switch 250 is operated, the automatic steering control is started. While the automatic steering control is executed, the moving vehicle body 300 moves straight. And the turning and straight-ahead travel as described above are repeated.

[0395] When the automatic cut-off mode is set, the steering control unit 269 performs auxiliary control of operating the steering motor 258 to achieve a traveling state corresponding to the change command issued by the steering handle 243. In this auxiliary control, if the steering control unit 269 detects that the steering handle 243 is operated and the operation direction based on the detection information of the torque sensor 261 and the steering angle sensor 260, the steering motor 258 is operated in the same direction as the operation direction. If the manual operation stops, the operation of the steering motor 258 also stops.

[0396] [Other embodiments of the third embodiment]

[0397] (1) In the above-mentioned embodiment, when the steering control unit 269 performs the position deviation correction processing, if the local position NM deviates significantly from the part corresponding to the target movement path LK, the inclination of the tilted target azimuth KA relative to the target azimuth TD is set to the large side. The closer the local position NM is to the part corresponding to the target movement path LK, the gentler the inclination of the tilted target azimuth KA relative to the target azimuth is made. However, this scheme may be replaced by the following configuration.

[0398] That is, when the steering control unit performs the position deviation correction process, it can also maintain the tilt target azimuth as it is until the vehicle position (detection position) NM reaches the portion corresponding to the target movement path LK. The so-called portion corresponding to the target movement path LK is an area (non-sensing zone) with a predetermined width in the lateral direction on both sides of the position corresponding to the target movement path. That is, when the vehicle position (detection position) NM reaches the end of the non-sensing zone set relative to the position corresponding to the target movement path, the position deviation correction process is terminated. As a result, the control delay is small, and the azimuth of the vehicle body can be corrected to the azimuth along the target movement path.

[0399] (2) In the above-mentioned embodiment, when the steering control unit 269 is executing automatic steering control, when a change instruction is issued by the steering handle 243, the operating force when operating the steering motor 258 in the automatic steering control is reduced to a level that allows manual operation, but it can also be configured as follows instead of this scheme.

[0400] That is, it is also possible that when the steering control unit 269 is executing automatic steering control, if a change instruction is issued by the steering handle 243, the automatic steering control is immediately stopped, and then the following auxiliary control is performed: the operating force of the driver operating the steering handle 243 is given by the steering motor 258 corresponding to the operation of the steering handle 243, the steering operating shaft 254 is rotated, and the steering angle of the front wheels 210 is changed.

[0401] (3) In the above-mentioned embodiment, when the steering control unit performs the position deviation correction processing in the state where the moving vehicle body is positionally deviated to the side of the worked area Z1, the set tilt angle α is set to a larger value than the state where the moving vehicle body is positionally deviated to the side of the non-worked area Z2. However, this scheme may be replaced by the following configuration.

[0402] That is, when the steering control unit 269 performs the position deviation correction process when the vehicle body 300 is positionally deviated to the unworked area Z2, the tilt angle α may be set to a larger value than when the vehicle body 300 is positionally deviated to the worked area Z1.

[0403] This scheme can be suitably used if the vehicle is a work vehicle that performs work such as harvesting standing crops while traveling, such as a combine harvester.

[0404] (4) In the above embodiment, after the moving vehicle body turns, the judgment condition for allowing the position deviation correction process is that a certain time has passed since the turning of the moving vehicle body 300 is completed, and the deviation angle between the vehicle orientation NA and the teaching orientation TD is within a predetermined range. Instead of this scheme, the following conditions may be set as the judgment condition. In addition, it is not limited to this, and in short, any condition that can judge that the orientation of the vehicle body is stable will do.

[0405] (4-1) Travel the set distance from the end of the turn.

[0406] (4-2) The set time has passed since the turn was completed.

[0407] (4-3) The deviation angle between the aircraft's azimuth NA and the teaching azimuth TD becomes within a predetermined range.

[0408] (4-4) satisfies both of the above (4-1) and (4-3).

[0409] (4-5) satisfies all of the above (4-1), (4-2), and (4-3).

[0410] (5) In the above embodiment, the working device is provided with the seedling planting device W, but the present invention is not limited thereto. For example, the working device may include a fertilizer application device or a drug spraying device in addition to the seedling planting device W.

[0411] (6) In the above embodiment, GPS is used as the satellite positioning unit of the position detection mechanism, but it may be another type of satellite positioning unit such as Galileo. In addition, other measuring systems such as an optical measuring device that projects a laser onto the ground to measure the position of the vehicle body may be used instead of the satellite positioning unit.

[0412] (7) In addition to the above-mentioned riding type rice transplanter equipped with a seedling planting device as a working device, the present invention can also be used in various working vehicles such as a riding type seed drill as a paddy field working vehicle equipped with a seeding device as a working device, a tractor equipped with a plow as a working device, or a combine harvester equipped with a harvesting part as a working device, or a construction working vehicle equipped with a bucket as a working device.

[0413] [Fourth embodiment]

[0414] Hereinafter, an example of an embodiment of the present invention will be described based on the drawings.

[0415] like Fig.33 , Fig.34 As shown, in a rice transplanter (an example of a rice transplanter or a rice transplanter vehicle) that is a paddy field planting vehicle, there is a traveling machine body C having a traveling device A and a working device for working on the field. The working device of the rice transplanter is a seedling planting device W that can plant seedlings on the field. In addition, Fig.34 The arrow Hf shown indicates the “front” of the traveling body C, the arrow Hb indicates the “rear” of the traveling body C, the arrow H1 indicates the “left” of the traveling body C, and the arrow Hr indicates the “right” of the traveling body C.

[0416] In addition, the rice transplanter is equipped with a positioning system composed of a GNSS (Global Navigation Satellite System) or an IMU (Inertial Measurement Unit), such as Fig.38As shown, with respect to the reference travel route KL set on the field, the position information of the starting point and the end point is obtained by the positioning system and stored, and a set travel route SL parallel to the reference travel route KL can be set. In addition, after the set travel route SL is set, the traveling machine C is automatically driven along the set travel route SL (equivalent to automatic driving by automatic steering).

[0417] In addition, it is also possible to switch to manual travel in which the driver operates the steering handle 343 to travel (equivalent to manual travel by manual steering).

[0418] As an example of the traveling of the traveling machine C, the following method is taken as an example: Fig.38 As shown, first, in order to set the reference travel route KL, manual travel (teaching) is performed. After the teaching is completed, the vehicle is turned to the planting start position by manual travel, and then switched to automatic travel, thereby generating a set travel route SL and performing planting travel. In addition, at the end of the set travel route SL, planting is temporarily stopped, and the vehicle is turned by switching from automatic travel to manual steering, and the cycle of generating the next set travel route SL and switching to automatic travel for planting is repeated again.

[0419] In addition, the rice transplanter also has the following functions: when automatically traveling along the set travel route SL as described later, Fig.39 As shown, the position of the set travel line SL itself is shifted in parallel. When the boundary of the planting completion area E adjacent to the travel position is shown as a shifted shape as shown in the figure, this function can change the travel lane G to match its boundary with the judgment of the driver, so that the planting area can be prevented from being repeated or discontinuous.

[0420] like Fig.33 , Fig.34 As shown, a pair of left and right front wheels 310 and a pair of left and right rear wheels 311 are provided as the travel device A. The travel machine body C is provided with a steering unit U capable of steering the left and right front wheels 310 on the travel device A.

[0421] An openable engine hood 312 is provided at the front of the traveling machine C. An engine 313 is provided inside the engine hood 312. A rod-shaped central indicator 314 is provided at the front end of the engine hood 312. The central indicator 314 is used as a reference for checking whether the position of the traveling machine C matches the indicator line drawn on the field surface by the marker device 333 described later. If the indicator line is located on the extension line of the line of sight when the central indicator 314 is viewed from the driver's seat 341, it can be determined that the position of the traveling machine C matches.

[0422] The position check of the traveling body C using the central indicator 314 can be performed not only in automatic travel but also in manual travel. In particular, it is effective to change the direction by turning at the end position of the set travel route SL while switching to manual travel, and to match the position to the starting point of the next set travel route SL.

[0423] The traveling body C is provided with a frame-shaped body frame 315 extending in the front-rear direction. A support column frame 316 is erected at the front portion of the body frame 315 .

[0424] [Regarding the seedling planting device]

[0425] like Fig.33 As shown, the seedling planting device W is connected to the rear end of the traveling body C via a link mechanism 321 so as to be freely raised and lowered. The link mechanism 321 is raised and lowered by the telescopic action of a lifting cylinder 320 composed of a hydraulic cylinder.

[0426] like Fig.33 , Fig.34 As shown, the seedling planting device W includes four transmission boxes 322, rotating boxes 323 rotatably supported on the left and right sides of the rear parts of each transmission box 322, a pair of rotary planting arms 324 provided at both ends of each rotating box 323, a plurality of leveling floats 325 for leveling the field surface, and a seedling loading platform 326 for loading mat-shaped seedlings for planting. In this embodiment, the seedling planting device W is configured as an 8-row planting type, but it may be a plural-row planting type other than 8-row planting.

[0427] The seedling planting device W constructed in this way drives the seedling platform 326 to move back and forth horizontally, and at the same time drives each rotating box 323 to rotate with the help of the power transmitted from the transmission box 322, and uses each planting arm 324 to alternately take out the seedlings from the lower part of the seedling platform 326 and plant them on the field surface.

[0428] [About the preparation of seedling stands]

[0429] like Fig.33 , Fig.34 As shown, a plurality of seedling stands 328 capable of carrying seedlings for supplying seedlings to the seedling planting device W are provided on the left and right sides of the engine hood 312 on the traveling body C. In addition, a pair of seedling stands 330 supporting each seedling stand 328 and a connecting frame 331 connecting the upper parts of the left and right seedling stands 330 are provided on the left and right sides of the engine hood 312 on the traveling body C. The connecting frame 331 is U-shaped when viewed from the front. The left and right ends of the connecting frame 331 are connected to the upper parts of the left and right seedling stands 330 via connecting brackets 332, respectively.

[0430] [About the marker device]

[0431] like Fig.33 As shown, on the left and right sides of the seedling planting device W, there are marker devices 333 for forming indicator lines on the field surface.

[0432] The left and right marker devices 333 are provided with a marker arm 334 supported on the seedling planting device W so as to swing up and down freely, and a rotating body 335 having a plurality of convex bodies in the circumferential direction and supported on the front end of the marker arm 334 so as to rotate freely. In addition, a marker electric motor (not shown) is provided for operating the left and right marker devices 333 to the working posture and the storage posture.

[0433] By operating the marker device 333 to the active posture, the rotating body 335 comes into contact with the field surface to mark a track, and the track becomes an indicator line.

[0434] [About the driving department]

[0435] like Fig.33 , Fig.34 As shown, a driving unit 340 for performing various driving operations is provided in the central portion of the traveling machine body C. The driving unit 340 includes a driver's seat 341 where the driver can sit, a control tower 342, a steering handle 343 consisting of a steering wheel for manually steering the front wheels 310, a main speed lever 344 (equivalent to a speed change operating tool) capable of switching forward and backward and changing the traveling speed, and an operating lever 345 for operating the seedling planting device W.

[0436] A boarding step 346 is provided at the foot of the driving unit 340. Auxiliary steps 347 are provided at the left and right outer positions of the boarding step 346. Boarding steps 348 as a boarding and alighting passage connected to the boarding step 346 without a step difference are provided on the left and right sides of the engine hood 312. Left and right reserve seedling racks 330 are respectively arranged on the lateral outer sides of the boarding step 348.

[0437] Furthermore, the control tower 342 is provided with a steering handle 343 , a main speed change lever 344 , an operating lever 345 , an instrument panel 349 , and the like.

[0438] [About the main shift lever]

[0439] Fig.33 , Fig.34 , Fig.37 The main shift lever 344 shown is equipped on the left lateral side of the steering handle 343.

[0440] The vehicle is configured to be swingable in the front-rear direction, and a forward speed change operation can be performed by swinging the vehicle forward from a neutral position, and a reverse speed change operation can be performed by swinging the vehicle backward from a neutral position.

[0441] In addition, a push-operated automatic steering switch 350 (an example of a switching switch) for switching on / off the automatic steering of the steering unit U is provided on the grip portion 344A provided at the upper end portion of the main shift lever 344 (see Fig.37 ).

[0442] The automatic steering switch 350 is arranged at a position that can be pressed by, for example, the thumb of the left hand when the grip portion 344A is gripped by the left hand, and is configured so that manual steering and automatic steering are alternately switched each time they are pressed.

[0443] That is, the operating direction of the automatic steering switch 350 is set to be along the left-right direction of the traveling body C, which is different from the operating direction (front-rear direction) of the main shift lever 344, thereby preventing erroneous operation. Furthermore, since the automatic steering switch 350 can be operated while holding the hand grip 344A in its original state, there is no need for the workload of changing the grip, which can improve the efficiency of the steering switching operation.

[0444] 〔About instrument panel〕

[0445] like Fig.34 , Fig.37 As shown in FIG. 1 , an instrument panel 349 is arranged at the rear end of the engine hood 312 in front of the steering handle 343. A liquid crystal display unit 349A with a backlight is provided in the left and right central portions of the instrument panel 349. In addition, a pair of indication buttons 352 (equivalent to indication switches) for setting the start and end points of the reference travel route KL are provided on the left and right sides sandwiching the liquid crystal display unit 349A.

[0446] Furthermore, a plurality of display lamps are provided around the liquid crystal display unit 349A, and the liquid crystal display unit 349A is configured to be able to display operation information.

[0447] The liquid crystal display unit 349A displays, in addition to the timer, the status of the automatic planting clutch, the remaining fuel, the temperature of the cooling water, and the like, information such as "sensor heating in progress", "whether to reset the IMU", "GPS signal reception status", "manual steering during automatic travel", "detection status of the end point of the ridge", and "grounding status of the seedling planting device" are also displayed, as well as "corresponding methods" for these notification contents.

[0448] In addition, as a plurality of indicator lights, there are provided an oil-end light, a charging light, a seedling-end light, a planting indicator light, a ridge clutch light, a marker light, and the like.

[0449] By pressing the indication button 352 during manual travel for teaching (when traveling by switching from the automatic steering switch 350 to manual steering), the starting point and the end point of the reference travel route KL can be set according to the position information of the traveling body C at that time.

[0450] In this embodiment, the right instruction button 352A on the right side of the pair of instruction buttons 352 is configured to indicate the starting point of the reference travel route KL, and the left instruction button 352B on the left side is configured to indicate the end point of the reference travel route KL.

[0451] In addition, the instruction button 352 is used as a setting operation means for the reference travel path KL as described above, and is also used as a shift switch 359 for shifting the set travel path SL in parallel during automatic travel.

[0452] Therefore, when the indicator button 352 functions as the shift switch 359 (during automatic travel), the above-mentioned right indicator button 352A functions as the right shift switch 359A that shifts the set travel path SL to the right side relative to the forward direction, and the above-mentioned left indicator button 352B functions as the left shift switch 359B that shifts the set travel path SL to the left side relative to the forward direction.

[0453] The control of parallel displacement of the set travel path SL is performed in the path displacement unit 382 described later, and the travel body C automatically changes the travel path to the new set travel path SL after parallel displacement by the path displacement unit 382 and travels (see Fig.39 ).

[0454] The parallel shift control of the set travel path SL is as follows Fig.40 The process is carried out as shown in the flowchart.

[0455] That is, in a state where the traveling body C automatically travels on the set traveling path SL by turning on the automatic steering switch 350 (#01), if the shift switch 359 is pressed (#02), the set traveling path SL is shifted in parallel by a set predetermined amount b (refer to Fig.39 )(#03).

[0456] Furthermore, the parallel shift control is continued until the automatic steering switch 350 is turned off (#04).

[0457] [About Steering Unit]

[0458] like Fig.35As shown, the steering unit U is provided with the above-mentioned steering handle 343, a steering operating shaft 354 linked to the steering handle 343, a steering rocker arm 355 that swings with the rotation of the steering operating shaft 354, left and right connecting mechanisms 356 linked to the steering rocker arm 355, a steering motor 358, and a gear mechanism 357 that links the steering motor 358 to the steering operating shaft 354.

[0459] The steering operation shaft 354 is linked to the left and right front wheels 310 via a steering rocker arm 355 and left and right link mechanisms 356. The amount of rotation of the steering operation shaft 354 is detected by a steering angle sensor 360 (see FIG. 1 ) composed of a rotary encoder provided at the lower end of the steering operation shaft 354. Fig.36 ) detection.

[0460] When the steering unit U is manually steered, the steering motor 358 provides an auxiliary force corresponding to the operation of the steering handle 343 to the driver's operating force on the steering handle 343, and the steering operation shaft 354 is rotated to change the steering angle of the front wheels 310. On the other hand, when the steering unit U is automatically steered, the steering motor 358 is driven, and the driving force of the steering motor 358 rotates the steering operation shaft 354 to change the steering angle of the front wheels 310.

[0461] [Regarding the measuring unit and the inertial measuring device having a receiving device]

[0462] like Fig.33 , Fig.34 , Fig.36 As shown, the moving body C is provided with: a measuring unit 361 having a receiving device 363 for obtaining position information from a satellite positioning system, and a secondary inertial measuring device 364 capable of detecting the inclination (pitch angle, roll angle) of the moving body C; and a main inertial measuring device 362 (equivalent to an "inertial measuring device") for measuring inertial information.

[0463] The main inertial measurement device 362 and the sub-inertial measurement device 364 are each constituted by an IMU (Inertial Measurement Unit).

[0464] The measuring unit 361 and the main inertial measuring device 362 are arranged at different locations on the traveling body C and are arranged on the left-right center line CL of the traveling body C.

[0465] Among the satellite positioning systems (GNSS: Global Navigation Satelite System), GPS (Global Positioning System) is a representative system. GPS is a system that uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls GPS satellites, and a receiving device 363 of the object to be positioned (traveling machine C) to measure the position of the receiving device 363. The receiving device 363 is used to obtain the position information of the traveling machine C from the satellite positioning system.

[0466] like Fig.33 , Fig.34 As shown, the measuring unit 361 is mounted on the connecting frame 331 via a plate-shaped support plate 365. The main inertial measuring device 362 is arranged near the center of the traveling body C and the seedling planting device W in the front-rear direction.

[0467] 〔About control structure〕

[0468] like Fig.37 As shown, the traveling machine C is provided with a control device 375 for controlling the automatic steering of the steering unit U. The control device 375 includes an information storage unit 376 (equivalent to a recording unit), a teaching storage unit 377, a turn detection unit 78, a start determination unit 79, an information correction unit 380, a starting point setting unit 381 for generating a set travel route SL for the traveling machine C to travel, a route shifting unit 382 for shifting the set travel route SL in parallel, a state detection unit 383, and a control unit 384 for controlling the steering unit U based on position information and inertia information so that the traveling machine C travels along the set travel route SL.

[0469] Information from the gyro sensor 370 , the acceleration sensor 371 , the steering angle sensor 360 , the automatic steering switch 350 , the indication button 352 , the shift switch 359 , etc. included in the receiving device 363 , the secondary inertial measurement device 364 , and the main inertial measurement device 362 is input to the control device 375 .

[0470] The information storage unit 376 is configured to store the position information acquired from the receiving device 363 in time order.

[0471] The teaching storage unit 377 is configured to calculate the reference travel route KL based on the operation of the instruction button 352 using the position information of the starting point K1 and the end point K2 among the position information stored in the information storage unit 376 .

[0472] The turning detection unit 378 is configured to detect the start of turning of the traveling machine C and the end of turning of the traveling machine C based on the steering angle information of the steering operation shaft 354 of the steering unit U input from the steering angle sensor 360 .

[0473] The start determination unit 379 is configured to determine whether the automatic steering control of the traveling machine C is started.

[0474] The information correction unit 380 is configured to correct the accumulated error of the information detected by the gyro sensor 370 in the inertial information measured by the main inertial measurement device 362 based on the position information obtained by the receiving device 363 and the information measured by the secondary inertial measurement device 364 at the start of each automatic steering control of the moving body C.

[0475] The starting point setting unit 381 is configured to generate a set travel route SL based on the reference travel route KL and the position and orientation of the traveling machine C at the start of the automatic steering control of the traveling machine C.

[0476] The line shifting unit 382 is configured to shift the set traveling line SL in parallel to the right side (or the left side) by a predetermined amount b in response to the operation of the right shift switch 359A (or the left shift switch 359B).

[0477] The state detection unit 383 is configured to detect the distance deviation (deviation distance) between the position of the traveling body C and the set traveling path SL, and the angle deviation (deviation angle) between the direction of the traveling body C and the set traveling path SL during the automatic steering control of the traveling body C.

[0478] The control unit 384 is configured to control the driving of the steering motor 358 of the steering unit U based on the information input from the state detection unit 383 .

[0479] A specific travel example of the rice transplanter according to this embodiment will be described.

[0480] [1] Fig.38 As shown, manual travel for teaching begins.

[0481] The manual travel can be started by swinging the main speed lever 344 forward from the neutral position, and the vehicle travels in a straight lane along the ridge from the outer peripheral portion of the field close to the ridge. During the travel, by pressing the right instruction button 352A, the position information of the travel body C at that time is obtained by the positioning system and recorded in the information storage unit 376 as the position information of the starting point K1 of the reference travel route KL.

[0482] Furthermore, after the manual travel is continued, by pressing the left instruction button 352B, the position information of the traveling body C at that time is acquired by the positioning system and recorded in the information storage unit 376 as the position information of the end point K2 of the reference travel route KL.

[0483] As a result, the teaching storage unit 377 sets the reference travel path KL as a straight line connecting the start point K1 and the end point K2.

[0484] [2] After traveling in a straight line in the reference travel path KL, the steering handle 343 is turned to change the direction of the travel body C, and manual travel is performed until the start position of the adjacent set travel path SL.

[0485] At this time, the traveling machine body C can be positioned to a predetermined position using the indicator line drawn on the field surface by the marker device 333 during the traveling of the reference traveling route KL and the aforementioned center indicator 314 .

[0486] [3] Planting is performed while the moving body C is automatically moved.

[0487] The start of automatic travel is implemented by swinging the main speed change lever 344 forward and pressing the automatic steering switch 350. When the automatic steering switch 350 is pressed, the position information of the traveling body C at that time is obtained by the positioning system with the help of the starting point setting unit 381, and is recorded in the information storage unit 376 as the position information of the starting point S0 of the set travel route SL, and then the set travel route SL is generated which passes through the starting point S0 and is parallel to the above-mentioned reference travel route KL.

[0488] When the set travel path SL is generated, the control device 375 controls the steering unit U in the deviation correction direction based on the deviation information of the traveling body C input from the state detection unit 383, so that the traveling body C travels on the set travel path SL.

[0489] [4] Cancel the automatic travel in the set travel route SL.

[0490] If the end position of the set travel route SL is reached, the automatic steering switch 350 is pressed, and the automatic travel is released. In this state, the steering handle 343 is turned to realize the direction conversion of the travel body C, and manual steering is performed until the start position of the next set travel route SL.

[0491] Thereafter, the planting turn of the set travel route SL by automatic travel and the direction change by manual travel are repeated alternately.

[0492] Furthermore, when the set travel path SL itself is desired to be shifted in parallel while traveling along the set travel path SL, the shift switch 359 on the side to be shifted can be pressed to shift in parallel by the set predetermined amount b.

[0493] According to the rice transplanter of this embodiment, the location can be set as the starting point S0 of the set travel route SL by simply switching the manual travel to the automatic travel using the automatic steering switch (an example of a switching switch) 50, so the driver can freely set the set travel route SL to a preferred position while observing the conditions of the field. Thus, various operations on the traveling machine body C can be efficiently performed, and the burden on the driver can be reduced.

[0494] Furthermore, during automatic travel along the set travel route SL that has been set once, the set travel route SL can be easily shifted in parallel simply by operating the shift switch 359, so that agricultural work that is more suitable for the conditions of the field can be performed.

[0495] In addition, the shift switch 359 makes the switch configuration consistent with the shift operation direction, so it is possible to prevent erroneous operation and obtain good handling properties.

[0496] [Other embodiments of the fourth embodiment]

[0497] <1> The agricultural work machine is not limited to the rice transplanter of the type described in the above embodiment, and may be a rice transplanter of another type, or an agricultural work machine other than a rice transplanter, and all of them are collectively referred to as an agricultural work machine.

[0498] <2> The changeover switch (automatic steering switch 350 ) is not limited to the automatic steering switch of the structure described in the previous embodiment, and may have a swing operation type or a rotation operation type instead of a push operation type, for example.

[0499] Therefore, the operation direction of the switching switch (automatic steering switch 350) is not limited to the left-right direction along the traveling body C.

[0500] In addition, the location where the switching switch is set can also be set at a location other than the speed change operation tool, and can also be used as another function switch.

[0501] They are collectively referred to as "switches".

[0502] <3> The indication switch is not limited to the indication button 352 described in the above embodiment, and for example, as a switch structure, a swing operation type or a rotation operation type structure may be provided instead of a push operation type structure.

[0503] In addition, the right instruction button 352A and the left instruction button 352B are not limited to being arranged corresponding to the left and right directions of the traveling body C. For example, they can also be arranged side by side in the front and back directions, or arranged at completely different positions.

[0504] Furthermore, the configuration is not limited to providing two switches as the indication switches, and for example, a configuration may be adopted in which the start point K1 and the end point K2 of the reference travel path KL can be indicated by a single switch.

[0505] In addition, the indicator switch may also be used as a switch different from the shift switch 359, or may be configured as a separate switch.

[0506] They are collectively referred to as "indicator switches".

[0507] <4> The shift switch 359 is not limited to the shift switch described in the above embodiment, and for example, as a switch structure, a swing operation type or a rotation operation type structure may be provided instead of a push operation type structure.

[0508] In addition, the shift switch 359 may also be used as a switch different from the indication switch, or may be configured as a separate switch.

[0509] Furthermore, the configuration is not limited to providing two switches as the shift switch 359, and for example, a configuration may be adopted in which a shift direction of the travel path SL can be instructed and set using a single switch.

[0510] They are collectively referred to as shift switches 359.

[0511] <5> Regarding the steering control accompanying the operation of the shift switch 359, for example, in order to prevent excessive parallel shifting due to continuous pressing of the switch, the control device 375 may also be provided with an operation canceling unit 385, which cancels the operation when specific conditions are met, such as Fig.41 As shown, the operation of the shift switch 359 is not reflected in the shift control.

[0512] As a method of cancelling the operation of the shift switch 359 by the operation canceling unit 385, the following method can be cited.

[0513] For example, among the operations on the shift switch 359, the initial predetermined number of operations is not reflected in the shift control for setting the travel path SL.

[0514] In this method, after the travel route SL is shifted by a predetermined amount b by the first operation of the shift switch 359, operations for a predetermined number of times (for example, 4 times) from the second time onwards are not reflected in the shift control. Thus, even if the operation is pressed 5 times in succession, the shift of the travel route SL is set to the predetermined amount b once, thereby preventing excessive parallel shifting.

[0515] In another aspect, when the shift switch 359 is operated, the operation of the shift switch 359 is not reflected in the shift control for setting the travel path SL until a set time has passed since the operation of the shift switch 359 .

[0516] In this method, for example, if the setting time is set to 5 seconds, the displacement of the travel path SL is set to a predetermined amount b for 1 time regardless of how many times the shift switch 359 is pressed in succession within 5 seconds from the first operation, thereby preventing excessive parallel displacement.

[0517] In addition, as another method, Fig.42 As shown, when the shift switch 359 is operated, the operation of the shift switch 359 is not reflected in the shift control of the set travel path SL until the traveling body C reaches the error area of ​​the predetermined width SB set around the set travel path SL after the shift.

[0518] In this method, for example, when the aforementioned predetermined amount b is set to 10 cm and the aforementioned predetermined width SB is set to 6 cm (3 cm on one side), during the process of the moving body C changing the travel lane G by means of the first operation of the shift switch 359, during the period of passing through the area of ​​(b-SB / 2)=10-3=7 cm in the parallel shift direction, no matter how many times the button is pressed, the shift of the set travel route SL is canceled, thereby preventing excessive parallel shifting.

[0519] <6> The position information of the traveling machine C obtained by the positioning system is the planar position information of the measuring unit 361, but the starting point K1 and the end point K2 of the reference traveling route KL set with reference to the top thereof, and the starting point S0 of the set traveling route SL are not necessarily limited to being set to the planar position of the measuring unit 361 on the traveling machine C. For example, they may be set to the front position (or rear position) on the left-right center line CL on the traveling machine C, or to a position away from the center of gravity of the traveling machine C by a predetermined distance to the front (or rear) (for example, a position in front of the intersection of the line of sight of the driver passing through the center indicator 314 and the field surface, etc.).

[0520] (7) In addition to the above-mentioned riding type rice transplanter equipped with a seedling planting device as a working device, the present invention can also be used in agricultural working vehicles such as a riding type seed drill as a paddy field working vehicle equipped with a seeding device as a working device, a tractor equipped with a plow as a working device, or a combine harvester equipped with a harvesting unit as a working device.

[0521] [Fifth embodiment]

[0522] Before describing a specific embodiment of the field work vehicle of the present invention, Fig.43The basic principle of vehicle control employed in this field work vehicle is described.

[0523] exist Fig.43 In the present invention, rice transplanters, seed drills, tractors, and combine harvesters are envisioned as field work vehicles. As field work devices, rice transplanters have a planting device, seed drills have a seeding device, tractors have a tilling device, and combine harvesters have a harvesting device. These field work devices are connected to each traveling machine body so as to be able to be raised and lowered between a working position and a non-working position.

[0524] The field working vehicle (hereinafter referred to as the vehicle) is Fig.43 In the field demarcated by the parallel upper and lower ridges, the vehicle moves in a straight line while repeatedly changing direction (turning) every 180 degrees. An upper ridge area is set near the upper ridge, and a lower ridge area is set near the lower ridge. The vehicle changes direction in the ridge area and moves in a straight line in the field area other than the ridge area.

[0525] The vehicle is equipped with a positioning unit that outputs positioning data indicating the position of the vehicle. Furthermore, the vehicle is equipped with not only a manual steering unit that steers the traveling body based on human operation, but also an automatic steering unit that automatically steers the traveling body. In addition, the positioning data output from the positioning unit is based on the position of the antenna, but correction processing is performed here so that the position of the vehicle is not the position of the antenna, but an appropriate position of the vehicle, such as the ground action point of the field working device.

[0526] An example of field progress in the field is shown below.

[0527] First, the vehicle that has crossed the lower ridge and entered the field, at point A1, lowers the field working device to the working position with the help of the driver's operation, and starts a linear working movement (outward). The lowering of the field working device is recorded as a vehicle action indicating the start of the work, together with the positioning data indicating the position of point A1. After the linear working movement, if the vehicle reaches the direction change area at point B1, the field working device is raised to the non-working position with the help of the driver's operation, and the direction change movement is transferred to 180 degrees. The raising of the field working device is recorded as a vehicle action indicating the stop of the work, together with the positioning data indicating the position of point B1.

[0528] If the direction change in the ridge area is completed, the field working device is lowered to the working position again at location A2, and a linear working movement (return route) is started. The lowering of the field working device is also recorded as a vehicle action indicating the start of the work, together with the positioning data indicating the position of location A2. In addition, the position of location A2 can be estimated based on the position of location B1, taking into account the reciprocating working movement interval equivalent to the working width (planting width or tillage width). Therefore, if the vehicle approaches the estimated location A2 during the direction change in the ridge area, the situation is reported to the driver, and the driver can be urged to lower the field working device to the working position. In addition, when the vehicle arrives at the estimated location A2, the field working device can also be automatically lowered to the working position. The position where the vehicle starts the linear working movement (return route) again is set to the final location A2.

[0529] The location B2, which is the end point of the linear working movement (return route), i.e., the location where the vehicle reaches the ridge area again, can also be estimated based on the location of location A1. Therefore, if the vehicle approaches location B2, before reaching the ridge area, the following information can be reported to the driver: the field working device is raised to the non-working position to prepare for the direction change movement. In addition, when the vehicle reaches the estimated location B2, the field working device can also be automatically raised to the non-working position. If the vehicle reaches the ridge area, it automatically or manually transfers to the direction change movement in the ridge area. If the direction change movement is completed, the linear working movement (return route) starts again from location A3.

[0530] In this way, the operation and direction change are repeated while passing through location B3, location A4, location B4, location A5, etc. At this time, if location A1 is set, location B2, location A3, etc. can be estimated based on location A1 in consideration of the reciprocating operation interval. However, when estimating location A3, it can also be estimated based on location A1, but since location B2, which is the actual position of the transition from the operation to the direction change, is detected, location A3 can also be estimated based on this location B2. In particular, in the case where the actual ridge area does not extend in a straight line but extends obliquely or in a stepped shape, the boundary point of such a ridge area can be correctly detected by estimating based on the location newly set midway.

[0531] For example, Fig.44As shown in FIG. 1 , when the ridge area has a step difference, the linear operation needs to be extended further than the estimated location B4. When the linear operation is performed by automatic steering, the automatic steering is released and the linear operation is continued by manual steering to a position suitable for direction change (newly set location B4). If the location B4 is newly set, the next location A5 is estimated based on the location B4.

[0532] Locations A1, A2, ... as the starting points of the working movement can be automatically set based on a specific vehicle action. Suitable actions as such specific vehicle actions include, for example, a command to start working relative to the field working device, detection of a position change of the field working device to the working position, detection of the closing of the power transmission clutch for the field working device, etc. Furthermore, the state of the operating tool operated by the driver can also be used as a specific vehicle action. Similarly, locations B1, B2, ... as the end points of the working movement (the starting points of the direction change movement) can also be automatically set based on a specific vehicle action. Suitable actions as such specific vehicle actions include, for example, a command to stop working relative to the field working device, detection of the transfer of the field working device to the non-working position, detection of the disconnection of the power transmission clutch for the field working device, etc. Furthermore, the state of the operating tool operated by the driver can also be used as a specific vehicle action.

[0533] If the initial operation path defined by the location A1 and the location B1 is used as the reference operation path, the target operation path for the subsequent automatic steering can be calculated based on the reference operation path. The operation travel is usually a straight-line travel, so it is a simple steering compared to the direction change travel. Therefore, it is appropriate to implement the operation travel by automatic steering and implement the direction change travel by manual steering in terms of control. In the case where the field shape is a simple rectangle, if the location A1 and the location B1 are set, the transition timing between the subsequent operation travel and the direction change travel, that is, the arrival timing to the ridge area and the departure timing from the ridge area can be estimated based on the location A1 and the location B1.

[0534] If the vehicle enters the ridge area from a straight working route (return route) but does not change direction for some reason, an undesirable situation may occur where the vehicle rides on the ridge. In order to avoid such an undesirable situation, it is important to estimate and record the locations B2, B3, B4, etc., which are the end points of the straight working route (return route). Since the position of the vehicle can be calculated by the positioning unit, the position of the vehicle can always be compared with the position of the end point (entry point to the ridge area) of the working route (return route). As a result, it is possible to implement vehicle deceleration, warning reporting, vehicle stopping, etc. before and after the vehicle enters the ridge area.

[0535] In the above example, the location A1 and the location B1 are set in the initial operation, and the locations (the vehicle's arrival point at the ridge area and the departure point from the ridge area), A2, A3, ..., B2, B3, ..., between the subsequent operation and the direction change are estimated based on the location A1 and the location B1. In the case where the vehicle has a field map storage unit storing field map data, the vehicle's arrival at the ridge area or departure from the ridge area can be detected by performing map matching using the vehicle position and the map data, so there is no need to set such location A1 and location B1, and estimate other locations based on location A1 and location B1.

[0536] Next, one specific embodiment of the farmland working vehicle according to the present invention will be described with reference to the drawings. Fig.45 This is a side view of a passenger-type rice transplanter as an example of a field work vehicle. Fig.46 This is a top view. The rice transplanter includes a traveling machine body C and a field work device for performing work on the field. The field work device here is a seedling planting device W that can plant seedlings on the field. In addition, Fig.46 The arrow F shown indicates the “front” of the traveling body C, the arrow B indicates the “back” of the traveling body C, the arrow L indicates the “left” of the traveling body C, and the arrow R indicates the “right” of the traveling body C.

[0537] like Fig.45 As shown, as the travel device, a pair of left and right front wheels 410 and a pair of left and right rear wheels 411 are provided. The travel machine body C is provided with a steering unit U1 capable of steering the left and right front wheels 410 in the travel device.

[0538] like Fig.45 and Fig.46 As shown, an openable engine hood 412 is provided at the front of the traveling machine body C. An engine 413 is provided in the engine hood 412. A frame-shaped machine frame 415 extending in the front-rear direction is provided on the traveling machine body C. A support support frame 416 is erected at the front of the machine frame 415.

[0539] like Fig.45As shown in FIG. 1 , the seedling planting device W is connected to the rear end of the traveling machine body C via a link mechanism 421 that is lifted and lowered by the telescopic movement of a lifting cylinder 420 composed of a hydraulic cylinder. The seedling planting device W includes four transmission boxes 422, a rotating box 423 that is rotatably supported on the left and right sides of the rear of each transmission box 422, a pair of rotating planting arms 424 equipped on both ends of each rotating box 423, a plurality of floating bodies 425 that level the field surface, and a seedling carrying platform 426 that carries a mat-shaped seedling for planting. That is, the seedling planting device W is configured as an 8-row planting pattern.

[0540] On the left and right sides of the engine hood 412 on the traveling body C, there are provided a plurality of (for example, four) normal seedling stands 428 capable of carrying seedlings for supplying the seedling planting device W, and a track-type seedling stand 429 capable of carrying seedlings for supplying the seedling planting device W. In addition, on the left and right sides of the engine hood 412 on the traveling body C, there are provided a pair of left and right seedling racks 430 supporting the normal seedling stands 428 and the track-type seedling stand 429, and a connecting frame 431 connected across the upper parts of the left and right seedling racks 430. The connecting frame 431 is U-shaped when viewed from the front. The left and right ends of the connecting frame 431 are connected to the upper parts of the left and right seedling racks 430 via connecting brackets 432, respectively.

[0541] A driving unit 440 for performing various driving operations is provided in the center of the traveling body C. The driving unit 440 includes a driving seat 441 where the driver can sit, a control tower 442, a steering handle 443 consisting of a steering wheel for manually steering the front wheels 410, a main speed change lever 444 capable of switching between forward and reverse and changing the traveling speed, and an operating lever 445. The driving seat 441 is provided in the center of the traveling body C. The control tower 442 is provided with a steering handle 443 and a main speed change lever 444 so as to be freely operable. A boarding step 446 is provided at the foot of the driving unit 440.

[0542] An operating lever 445 is provided on the right lateral side of the lower side of the steering handle 443. When the operating lever 445 is operated to the rising position, a planting clutch (not shown) as a kind of working clutch is operated to the disconnected state, and the seedling planting device W rises. When the operating lever 445 is operated to the falling position, the planting clutch (not shown) is operated to the disconnected state, and the seedling planting device W falls. When the central float 425 is grounded on the field surface of the field, the seedling planting device W is grounded on the field surface of the field and becomes a stopped state.

[0543] like Fig.47As shown, the steering unit U1 is provided with the above-mentioned steering handle 443, a steering operating shaft 454 linked to the steering handle 443, a steering rocker arm 455 that swings with the rotation of the steering operating shaft 454, a left and right connecting mechanism 456 linked to the steering rocker arm 455, a steering motor 458, a gear mechanism 457 that links the steering motor 458 to the steering operating shaft 454, etc.

[0544] The steering unit U1 is capable of operating in an automatic steering mode and a manual steering mode. In the manual steering mode, an auxiliary force corresponding to the operation of the steering handle 443 is applied by the steering motor 458 to the driver's operating force on the steering handle 443, and the steering operating shaft 454 is rotated to change the steering angle of the front wheels 410. On the other hand, in the automatic steering mode, the steering motor 458 is automatically controlled, and the steering operating shaft 454 is rotated by the driving force of the steering motor 458 to change the steering angle of the front wheels 410. In this embodiment, the steering handle 443 and the steering motor 458 function as components of a manual steering unit for manually steering the traveling body C. In addition, the automatic steering control function for automatically steering the traveling body C is constructed in the control device 408 (refer to Fig.48 ), the steering motor 458 is driven based on the control command from the control device 408. In addition, the operation displacement of the steering handle 443 is not directly transmitted to the steering operation shaft 454, and the operation displacement of the steering handle 443 is detected by a sensor, and the steering motor 458 is driven based on the detection value. In the case of adopting the so-called wire control method, the control function of manual steering is also built in the control device 408.

[0545] The traveling machine C is provided with a positioning unit 461, and the position of the traveling machine C is obtained based on the positioning data from the positioning unit 461. The positioning unit 461 includes a satellite navigation module configured as a GNSS module and an inertial navigation module configured as a module equipped with a gyro acceleration sensor and a magnetic orientation sensor. The satellite navigation module is connected to a satellite antenna for receiving GPS signals or GNSS signals. At least the satellite antenna is installed at a location with good radio wave reception sensitivity, and in this embodiment, is installed on the connecting frame 431. The satellite navigation module and the inertial navigation module are arranged in different places.

[0546] exist Fig.48 408 is shown in FIG. Fig.48 , among the functional parts built in the control device 408, the functional parts mainly related to steering are shown. The control device 408 adopts the use of Fig.43 and Fig.44The basic principle of automatic steering and manual steering is described. The control device 408 is connected to the positioning unit 461, the vehicle state detection sensor group 409, the contact detector 490, the travel mode switching operation tool 465, and the steering mode switching operation tool 466 via the input signal processing unit 408a. In addition, the control device 408 is connected to the reporting device 407, the vehicle travel device group 471, and the working device device group 472 via the output signal processing unit 408b. In addition, the travel mode switching operation tool 465 and the steering mode switching operation tool 466 are composed of switches or buttons.

[0547] The vehicle state detection sensor group 409 is composed of various sensors and switches provided to detect the movement and posture of the traveling machine body C and the movement and posture of the seedling planting device W as a field working device. The contact detector 490 itself is well known, so although it is Fig.45 and Fig.46 Although not shown in the figure, it has a structure for detecting the contact between the rice transplanter and the obstacle. If the contact between the rice transplanter and the obstacle is detected by the contact detector 490, the rice transplanter stops urgently. The steering mode switching operation tool 466 is a switch for selecting one of the automatic steering mode for traveling with automatic steering and the manual steering mode for traveling with manual steering. For example, by operating the steering mode switching operation tool 466 while traveling with automatic steering, it is switched to traveling under manual steering, and by operating the steering mode switching operation tool 466 while traveling with manual steering, it is switched to traveling under automatic steering.

[0548] The travel mode switching operation tool 465 is a teaching switch for teaching the boundary between the ridge area and the non-ridge area to the control device 408. In this embodiment, the travel mode switching operation tool 465 has an A button and a B button. The driver presses the A button when the vehicle switches from the direction change travel to the working travel, and presses the B button when the vehicle switches from the working travel to the direction change travel.

[0549] The reporting device 407 includes a lamp or a buzzer, and various information to be reported to the driver, such as approach to a ridge area or departure from a target travel path under automatic steering, is output visually or auditorily based on a command from the control device 408. Furthermore, if the reporting device 407 includes a flat panel display or the like, character information may also be provided.

[0550] The vehicle travel equipment group 471 includes various motion devices and control devices for travel mounted on the travel machine body C, such as motion devices such as the steering motor 458 constituting the steering unit U1, control devices for adjusting the engine speed, gearbox motion devices such as clutches and shifters, brake motion devices, etc. The working travel equipment group includes motion devices such as the lifting cylinder 420 for lifting and lowering the seedling planting device W mounted as a field working device and the planting clutch that functions as a working clutch of the seedling planting device W, etc.

[0551] In the control device 408, the ridge detection module 481, the automatic steering unit 482, the vehicle action recording unit 483, the steering mode management unit 484, the travel path calculation unit 485, the travel distance calculation unit 486, the posture determination unit 487, etc. are substantially constructed by computer programs.

[0552] The ridge detection module 481 detects whether the traveling body C has reached the ridge area based on the location A1 of the transition from traveling in the ridge area to working traveling, the location B1 of the transition from working traveling to direction change traveling in the ridge area, and the vehicle position obtained from the positioning data of the positioning unit 461. Fig.43 and Fig.44 As described, the descent detection point A1 of the seedling planting device (working device) W to the descent position (working position) and the ascent detection point B1 of the seedling planting device W to the ascent position (non-working position) are respectively recorded as vehicle actions in the vehicle action recording unit 483. The travel path (usually a straight line) between the point A1 and the point B1 is the reference working travel path. Regardless of whether it is automatic steering or manual steering, the next working travel path is obtained by moving the reference working travel path in parallel in sequence by the reciprocating working travel interval. That is, the points B2, A3, B4, A5... corresponding to the point A1 and the points A2, B3, B4, A4, B5... corresponding to the point B1 are estimated. The estimation algorithm is constructed in the ridge estimation unit 810. The estimation method of the point indicating the boundary of the ridge area varies depending on the shape of the field, so it is preferable to have a structure that can select an appropriate estimation algorithm for the shape of each field. By comparing each location with the position of the vehicle, the distance from the traveling body C in operation to the ridge area is detected, and the control device 408 can, for example, output instructions such as an approach report when approaching the ridge area at a predetermined distance, an arrival report when reaching the ridge area, a deceleration of the traveling body C, and a stop of the traveling body C.

[0553] The path calculation unit 485 calculates path data required for subsequent work by automatic steering based on the reference work path. The automatic steering unit 482 calculates the deviation between the path data calculated by the path calculation unit 485 and the vehicle position, generates an automatic steering command, and outputs it to the steering unit U1.

[0554] The steering mode management unit 484 manages the manual steering mode, which is the mode of travel performed by manual steering, and the automatic steering mode, which is the mode of travel performed by automatic steering. For example, it can be set so that the manual steering mode is selected in the field ridge area, and the automatic steering mode is selected outside the field ridge area (usually a straight-line operation). In addition, the manual steering mode and the automatic steering mode can also be forcibly selected by means of a switching command from the steering mode switching operation tool 466. Furthermore, it can also be set so that if the steering handle 443 is operated, the automatic steering mode is forcibly switched to the manual steering mode.

[0555] The vehicle motion recording unit 483 records the states occurring in the vehicle, in particular, the vehicle motions related to the start and end of the work movement, based on the various sensor detection signals and the operation signals of the various operation devices inputted via the input signal processing unit 408a and the control signals outputted via the output signal processing unit 408b to the vehicle travel device group 471 and the work device device group 472. At this time, each vehicle motion is recorded together with the vehicle position acquired when the vehicle motion occurs.

[0556] exist Fig.49 In Fig.43 An example of a vehicle action recorded in a time series by the vehicle action recording unit 483 while traveling in a simplified field as shown. In this example, the record items of the vehicle action recording unit 483 include a record NO, an action time, a vehicle position, and an action content. The action time is the time (timestamp) when the vehicle action is detected. The vehicle position is the vehicle position when the vehicle action is detected. The action content identifies the detected vehicle action, and here, the operation content of the travel mode switching operation tool 465 (A refers to the operation of the A button, and B refers to the operation of the B button), the position of the seedling device W and the float 425, the state of the planting clutch (operating clutch), and the state of the steering (steering from straight to turning, or steering from turning to straight). In addition, in Fig.49 In the figure, the vehicle position of each vehicle action is the same, but the lifting timing of the seedling planting device W and the steering timing of the turning are different, so the vehicle position is different. However, here, the recorded vehicle position is replaced with the reference position of a specific vehicle and recorded.

[0557] according to Fig.43 and Fig.49It is understood that various states of the traveling body C and the seedling planting device W as the working device, especially the start and end of the work, can be read from the records of the vehicle action recording unit 483. As the initial process of the seedling planting work performed by the rice transplanter, when the vehicle enters the field ridge area from the field ridge and leaves the field ridge area, NO "0001" is recorded. The content of the record NO "0001" is Fig.43 The record of location A1 includes the action time, the vehicle position, and the action content at that time. As the action content, the travel operation mode is "A", the seedling planting device position is "lowered position", the floating body position is "grounded", and the clutch state is "closed". In fact, the timing of detecting these action contents is slightly different, but it is the same timing here. That is, at the timing when the record NO "0001" is recorded, the driver presses the A button of the travel mode switching operation tool 465 and makes the setting for the operation travel.

[0558] Then, the work proceeds in a straight line, and when it reaches the ridge area, the record number "0002" is recorded. The content of the record number "0002" is Fig.43 The record of location B1 includes the action time, the vehicle position, and the action content at that time. As the action content, the travel operation mode is "B", the seedling device position is "raised position", the float position is "disengaged", the clutch state is "off", and the steering is "from straight to turn". That is, at the time when record NO "0002" is recorded, the driver presses the B button of the travel mode switching operation tool 465, and makes settings for direction change. By operating the A button and the B button of the travel mode switching operation tool 465 in this way, the positions of location A1 and location B1 are recorded. The line connecting location A1 and location B1 can be used as a reference work travel path for estimating the travel path of subsequent work travel. Therefore, outside of location A1 and location B1, the operation of the travel mode switching operation tool 465 is no longer required.

[0559] When the direction change in the ridge area is completed and the work is carried out after leaving the ridge area, record No. "0003" is recorded. The content of record No. "0003" is Fig.43 The record of location A2 includes the action time, the vehicle position, and the action content. In addition, the location of location A2 is estimated by the field ridge estimation unit 810. Fig.43For such a field, the reciprocating operation travel interval is estimated based on the location B1. Therefore, when the position of the vehicle obtained from the positioning unit 461 is close to or consistent with the estimated location B1, the setting of the operation travel can be automatically performed. Alternatively, the vehicle can be reported to be close to the location B1, and the driver can be urged to set the operation travel. Similarly, the position of the location B2 is also estimated based on the location A1. Therefore, when the position of the vehicle obtained from the positioning unit 461 is close to or consistent with the estimated location B2, the setting of the direction change travel can be automatically performed. Alternatively, the vehicle can be reported to be close to the location B2, and the driver can be urged to set the direction change travel.

[0560] According to the above description, the timing of arriving at the ridge area and the timing of leaving the ridge area can be determined based on the position change of the seedling planting device W and the float 425, the switching operation of the working clutch, and the change of the steering angle, so the travel mode switching operation tool 465 as a teaching operation tool for identifying the boundary of the ridge area is not necessary. The boundary of the ridge area can be determined based on one or a combination of the above-mentioned vehicle actions. For example, in the case of using the characteristics of the seedling planting device W that descends to the field surface at the beginning of the operation and rises from the field surface at the end of the operation, the transition point from the ridge area of ​​the vehicle to the working area (non-ridge area) can be determined based on the state signal indicating the descending action from the rising posture to the descending posture of the seedling planting device W, and the transition point from the working area (non-ridge area) to the ridge area of ​​the vehicle can be determined based on the state signal indicating the rising action from the descending posture to the ascending posture of the seedling planting device W.

[0561] The control device 408 can be equipped with an algorithm that outputs various commands for executing various operations based on the determination result of the ridge detection module 481 regarding the arrival of the vehicle at the ridge area. Some of them are listed below.

[0562] (1) When the vehicle reaches a recorded scheduled point for executing a vehicle action but the vehicle action is not executed, the vehicle is decelerated, the engine is stopped, etc.

[0563] (2) When traveling in a field, the position and time of each vehicle movement to be recorded can be limited to a specific range. Therefore, vehicle movements outside the specific range are not recorded, thereby improving recording accuracy.

[0564] (3) If the vehicle is detected entering a field ridge area, automatic steering is prohibited.

[0565] (4) When the steering action of the vehicle in the field ridge area, such as the steering angle and the turning radius, is different from the direction change action, the recording to the vehicle action recording unit 483 is stopped. For example, when the turning radius is large, it is considered that the vehicle is not moving in a direction change, but is moving away from the field, which is not a normal working action.

[0566] (5) When a specific vehicle behavior occurs and an inappropriate vehicle speed is detected during the vehicle behavior, the vehicle is forcibly stopped.

[0567] The travel distance calculation unit 486 calculates the travel distance of the traveling body C based on the detection signal from the sensor (one of the vehicle state detection sensor group 409), and the sensor detects the rotation speed of the rear wheel 411 or the rotation speed of the transmission system of the rear wheel 411. At this time, if the slip rate estimated based on the state of the field is taken into account, the travel distance can be calculated more accurately. In the case of the positioning unit 461 that calculates the position of the vehicle based on the radio wave signal from the satellite, if the reception sensitivity of the radio wave signal decreases due to some circumstances, the positioning data can no longer be output. The travel distance calculation unit 486 is used as compensation. For example, the ridge detection module 481 can detect that the traveling body C has reached the ridge area based on the travel distance calculated by the travel distance calculation unit when the positioning data from the positioning unit 461 is not input.

[0568] The posture determination unit 487 compares the posture of the traveling body with a predetermined tilt threshold value based on a detection signal from a tilt sensor (one of the vehicle state detection sensor group 409) that detects the tilt angle (roll angle and pitch angle) of the traveling body C. In this embodiment, the posture determination unit 487 gives a braking command to decelerate or stop the traveling body to a braking device that is one of the vehicle traveling device group 471 when the posture of the traveling body deviates from a predetermined condition.

[0569] Specific control operations based on the determination result of the posture determination unit 487 are listed below.

[0570] (1) If the detected tilt angle exceeds the tilt threshold, report, decelerate, or stop.

[0571] (2) When the detected tilt angle frequently exceeds the tilt threshold, automatic steering is prohibited.

[0572] (3) If the detected tilt angle exceeds the tilt threshold for a period of time, the vehicle is notified, decelerated, or stopped. The period of time is determined by the vehicle speed and the depth of the field. In addition, if the depth of the field exceeds a predetermined value, a complete stop is prohibited to prevent the vehicle from sinking.

[0573] (4) The acceleration change of the tilt is calculated, and when the tilt changes suddenly, the automatic steering is prohibited even if the tilt is below the tilt threshold.

[0574] [Other embodiments of the fifth embodiment]

[0575] (1) In the above-mentioned embodiment, the location A1 and the location B1, which are the boundary points between the ridge area where the direction is turned back and the non-ridge area where the work is carried out, are determined based on the operation of the A button and the B button of the travel mode switching operation tool, and the subsequent locations A2, A3... and the locations B2, B3... are estimated based on the location A1 and the location B1 and determined based on the vehicle movement. In order to simplify the control, the location A2, A3... and the locations B2, B3... may be estimated based on the location A1 and the location B1 without using the vehicle movement, and when a location different from the estimated location is used as the official location, the location is determined by operating the A button or the B button of the travel mode switching operation tool again.

[0576] (2) Fig.48 The functional blocks shown in the functional block diagram are mainly divided for illustrative purposes. Fig.48 Each functional unit of the vehicle can be combined with other functional units or divided into a plurality of functional units. Independent functional units are connected to each other by an in-vehicle LAN or the like.

[0577] (3) Vehicle actions recorded in the vehicle action recording unit 483 In addition to the above, the rice transplanter may also include the posture of the marker, etc. In addition, the vehicle action performed at the boundary between the ridge area and the non-ridge area is an object of the vehicle action to be recorded in the vehicle action recording unit 483.

[0578] (4) In addition to the above-mentioned riding type rice transplanter equipped with a seedling planting device as a working device, the present invention can also be applied to various working vehicles such as a riding type seed drill as a paddy field working vehicle equipped with a seeding device as a working device, a tractor equipped with a plow as a working device, or an agricultural working vehicle such as a combine harvester equipped with a harvesting part as a working device, or a construction working vehicle equipped with a bucket as a working device.

[0579] Description of Reference Numerals

[0580] [First embodiment]

[0581] 28 Usually prepare the seedling platform (prepare the seedling platform)

[0582] 29 Track-type seedling preparation platform (seedling preparation platform)

[0583] 30 Prepare the seedling rack

[0584] 31 Connecting frame

[0585] 62 Primary Inertial Measurement Unit (PIMU)

[0586] 63 Receiving device

[0587] 66 Electrical wiring

[0588] 67 Connector

[0589] 68 Protective parts

[0590] 72 Rear axle

[0591] 73 Rear axle bracket (installation component)

[0592] 81 Generation Department

[0593] 83 Control Department

[0594] A Travel device

[0595] C Moving body

[0596] U-turn unit

[0597] W Seedling Planting Device (Operation Device)

[0598] S1 Usage Status

[0599] S2 Storage status

[0600] LM Target Line

[0601] X left and right axis

[0602] [Second embodiment]

[0603] 111 Driving Department

[0604] 111a Exit

[0605] 120 Seedling Planting Device

[0606] 130 Handrail

[0607] 131 Upper end

[0608] 131a Fixed part

[0609] 131b Moving part

[0610] 131f Front side

[0611] 150 Preparatory seedling storage device

[0612] 151 Seedling preparation platform

[0613] 152 Seedling preparation platform

[0614] 153 Seedling preparation platform

[0615] 153b Main body of the seedling preparation platform

[0616] 153c Extended loading platform

[0617] 153r rear end side

[0618] 200 free space

[0619] [Third embodiment]

[0620] 243 Manual steering operating tool (steering handle)

[0621] 258 Steering operating mechanism (steering motor)

[0622] 261 Manual operation detection mechanism (torque sensor)

[0623] 264 Position detection mechanism (position measuring unit)

[0624] 266 Azimuth detection mechanism (inertial measurement unit)

[0625] 268 Path setting mechanism (path setting unit)

[0626] 269 ​​Control mechanism (steering control unit)

[0627] 270 Vehicle speed detection mechanism (vehicle speed sensor)

[0628] 300 Moving vehicle

[0629] KA Slant target bearing

[0630] LK Target movement path

[0631] NA Detection direction (local direction)

[0632] NM Detection position (local position)

[0633] TD Target direction (teaching direction)

[0634] Z1 Worked area

[0635] Z2 Unused area

[0636] α Tilt angle (set tilt angle)

[0637] [Fourth embodiment]

[0638] 344 Main gear lever (speed shifting tool)

[0639] 350 Automatic steering switch (changeover switch)

[0640] 352 Indicator button (indicator switch)

[0641] 359 Shift switch

[0642] 359A Right Shift Switch

[0643] 359B Left Shift Switch

[0644] 376 Information storage unit (recording unit)

[0645] 381 Starting point setting department

[0646] 385 Operation Cancel Section

[0647] C Moving body

[0648] KL Baseline Route

[0649] S0 Set the starting point of the route

[0650] SL Set the route

[0651] SB Specified Width

[0652] [Fifth embodiment]

[0653] 407 Reporting Device

[0654] 408 Control Device

[0655] 408a Input signal processing unit

[0656] 408b Output signal processing unit

[0657] 409 Vehicle status detection sensor group

[0658] 425 floating body

[0659] 426 Seedling loading platform

[0660] 443 Steering handle

[0661] 444 Main gear lever

[0662] 445 Operating Lever

[0663] 461 Positioning Unit

[0664] 465 Travel mode switching operation tool

[0665] 466 Steering mode switching operation tool

[0666] 471 Vehicle moving equipment group

[0667] 472 Operating equipment group

[0668] 481 Ridge Detection Module

[0669] 482 Automatic Steering Unit

[0670] 483 Vehicle Movement Recording Department

[0671] 484 Steering Mode Management Department

[0672] 485 Travel Path Calculation Unit

[0673] 486 Travel distance calculation unit

[0674] 487 Posture Determination Unit

[0675] 490 Contact Detector

[0676] 810 Field Speculation Department

[0677] U1 Steering Unit

[0678] W Seedling planting device (field working device).

Claims

1. A working vehicle, characterized in that: have: Steering operating mechanism, which can change the direction of the vehicle; A path setting mechanism for setting a target moving path that the vehicle body should travel; A position detection mechanism for detecting the position of the aforementioned vehicle body; A position detection mechanism for detecting the position of the aforementioned vehicle body; and a control mechanism for performing automatic steering control by operating the steering operating mechanism so that the detected position of the vehicle body detected by the position detecting mechanism becomes the position on the target moving path, and the detected orientation of the vehicle body detected by the orientation detecting mechanism becomes the target orientation in the target moving path; When the detection position deviates laterally from the target movement path and the detection azimuth is the same as the target azimuth, the control mechanism executes a position deviation correction process, wherein the target azimuth is changed to an inclined target azimuth inclined toward the target movement path and the steering operation mechanism is operated.

2. The work vehicle according to claim 1, characterized in that: The control means sets the inclination angle of the inclination target azimuth relative to the target azimuth to be less than a set upper limit value when executing the position deviation correction process.

3. The working vehicle according to claim 1 or 2, characterized in that: A vehicle speed detection mechanism is provided for detecting vehicle speed; When the control means executes the position deviation correction process, the greater the vehicle speed, the smaller the change operation speed of the steering operation means when changing the traveling direction.

4. The working vehicle according to any one of claims 1 to 3, characterized in that: A vehicle speed detection mechanism is provided for detecting vehicle speed; When the control means executes the position deviation correction process, the greater the vehicle speed, the smaller the inclination angle at which the target orientation is inclined toward the target movement path side.

5. The working vehicle according to any one of claims 1 to 4, characterized in that: When executing the position deviation correction process, the control means maintains the inclined target azimuth as it is until the detection position reaches a portion corresponding to the target movement path.

6. The working vehicle according to any one of claims 1 to 5, characterized in that: When the control means executes the position deviation correction process, the closer the detection position is to a portion corresponding to the target movement path, the more gradually the inclination of the inclined target azimuth relative to the target azimuth is made.

7. The working vehicle according to claim 5 or 6, characterized in that: The portion corresponding to the target movement path has areas having a predetermined width in the lateral direction on both left and right sides of the position corresponding to the target movement path.

8. The working vehicle according to any one of claims 1 to 7, characterized in that: The vehicle body moves in a straight-line manner and in a turning manner alternately and repeatedly, wherein during the straight-line movement, the vehicle body performs operations while moving along the target movement path, and during the turning movement, the vehicle body turns at the end position of the target movement path toward the next target movement path parallel to the target movement path; When the control mechanism executes the position deviation correction process in a state where the vehicle body is positionally deviated to the worked area side, the control mechanism sets the tilt target direction by being tilted more toward the target movement path side than in a state where the vehicle body is positionally deviated to the unworked area side.

9. The working vehicle according to any one of claims 1 to 7, characterized in that: The vehicle body moves in a straight-line manner and in a turning manner alternately and repeatedly, wherein during the straight-line movement, the vehicle body performs operations while moving along the target movement path, and during the turning movement, the vehicle body turns at the end position of the target movement path toward the next target movement path parallel to the target movement path; When the control mechanism executes the position deviation correction process in a state where the vehicle body is positionally deviated to the unoperated area side, the control mechanism sets the inclined target direction by being more inclined toward the target movement path side than in a state where the vehicle body is positionally deviated to the operated area side.

10. The working vehicle according to any one of claims 1 to 9, characterized in that: The vehicle body moves in a straight-line manner and in a turning manner alternately and repeatedly, wherein during the straight-line movement, the vehicle body performs operations while moving along the target movement path, and during the turning movement, the vehicle body turns at the end position of the target movement path toward the next target movement path parallel to the target movement path; The control means does not execute the positional deviation correction process during a period after the vehicle body has made the turning movement and has just started the straight-ahead movement and before a predetermined determination condition is satisfied.

11. The working vehicle according to any one of claims 1 to 10, characterized in that: have: A manual steering operation tool for changing the direction of the vehicle body based on a manual operation command; and A manual operation detection mechanism for performing manual operation relative to the aforementioned manual steering operation tool; If the manual operation is detected by the manual operation detection means, the control means reduces the operating force when operating the steering operating means in the automatic steering control.

12. The work vehicle according to claim 11, characterized in that: The control mechanism reduces the operating force if the manual operation is detected by the manual operation detection mechanism, and maintains the reduced operating force even if the manual operation is no longer detected by the manual operation detection mechanism.

13. The work vehicle according to claim 11, characterized in that: The control mechanism reduces the operating force if the manual operation is detected by the manual operation detection mechanism, and restores the operating force to its original size if the manual operation is no longer detected by the manual operation detection mechanism.

14. The working vehicle according to any one of claims 1 to 13, characterized in that: have: A manual steering operation tool for changing the direction of the vehicle body based on a manual operation command; and A manual operation detection mechanism for detecting whether a manual operation relative to the aforementioned manual steering operation tool has been performed; If the change instruction by the manual steering operation tool is continuously instructed for a set time period or longer, the control means stops the automatic steering control.

15. The working vehicle according to any one of claims 1 to 10, characterized in that: have: A manual steering operation tool for changing the direction of the vehicle body based on a manual operation command; and A manual operation detection mechanism for detecting whether a manual operation relative to the aforementioned manual steering operation tool has been performed; If the manual operation is detected by the manual operation detection means, the control means stops the automatic steering control and performs auxiliary control of operating the steering operation means so as to achieve a traveling state corresponding to a change instruction issued by the manual steering operation means.

16. The working vehicle according to any one of claims 1 to 15, characterized in that: The position detection mechanism is a satellite positioning unit that receives radio waves from a satellite to detect the position of the vehicle body.

17. The working vehicle according to any one of claims 11 to 15, characterized in that: The aforementioned manual steering operation tool comprises a steering handle.

18. A field working vehicle, characterized in that: have: The moving machine body moves in the field while changing direction in the field ridge area; A field working device for working relative to the aforementioned field; A positioning unit, outputting positioning data representing the position of the vehicle; A manual steering unit, which steers the aforementioned moving machine body based on manual operation; An automatic steering unit for automatically steering the aforementioned moving machine body; The ridge detection module detects the arrival of the aforementioned moving body at the aforementioned ridge area based on the aforementioned vehicle position.

19. The field working vehicle according to claim 18, characterized in that: The field map storage unit is provided with a map data of the field, and the field ridge detection module detects the arrival of the traveling machine at the field ridge area by performing map matching using the vehicle position and the map data.

20. The field working vehicle according to claim 18, wherein: A vehicle motion recording unit is provided, wherein the vehicle motion recording unit associates the motion of the traveling machine or the field working device or both with the position of the traveling machine and records the motion as a vehicle motion; The aforementioned ridge detection module detects the arrival of the aforementioned moving body at the aforementioned ridge area based on the aforementioned vehicle action.

21. The field working vehicle according to claim 20, characterized in that: The vehicle operation recording unit records a start of operation and a stop of operation of the field working device as the vehicle operation.

22. The field working vehicle according to claim 20 or 21, characterized in that: The vehicle motion recording unit records, as the vehicle motion, a shift of the field working device to a working position and a shift to a non-working position.

23. The field work vehicle according to any one of claims 20 to 22, characterized in that: The vehicle motion recording unit records the start and stop of the direction-changing movement of the traveling body as the vehicle motion.

24. The field work vehicle according to any one of claims 20 to 23, characterized in that: A travel mode switching switch is provided, wherein the travel mode switching switch is manually operated when switching between traveling in the aforementioned ridge area and traveling outside the aforementioned ridge area; The vehicle motion recording unit records the operation of the travel mode switching switch as the vehicle motion.

25. The field work vehicle according to any one of claims 20 to 24, characterized in that: The ridge detection module includes a ridge estimation unit that estimates a timing of the next arrival of the traveling machine at the ridge area based on the behavior of the vehicle in the previous adjacent work travel path.

26. The field work vehicle according to claim 25, characterized in that: Before the arrival timing estimated by the field ridge estimation unit, an approach notification command is outputted to notify the approach to the field ridge area.

27. The field working vehicle according to claim 25 or 26, characterized in that: Before the arrival timing estimated by the ridge estimation unit, a deceleration instruction is outputted to decelerate the traveling machine.

28. The field work vehicle according to any one of claims 25 to 27, characterized in that: When the vehicle has traveled a predetermined distance from the arrival timing estimated by the field ridge estimation unit, a vehicle stop command is outputted to stop the traveling machine.

29. The field work vehicle according to any one of claims 25 to 27, characterized in that: In response to the arrival timing estimated by the ridge estimation unit, a vehicle stop command is output to stop the traveling machine.

30. The field work vehicle according to any one of claims 18 to 29, characterized in that: A steering mode management unit is provided for managing a manual steering mode and an automatic steering mode. In the manual steering mode, manual steering is performed by the manual steering unit, and in the automatic steering mode, automatic steering is performed by the automatic steering unit.

31. The field working vehicle according to claim 30, characterized in that: The steering mode management unit selects the manual steering mode in the field ridge area, and selects the automatic steering mode outside the field ridge area.

32. The field working vehicle according to claim 30 or 31, characterized in that: A steering mode switching operation tool is provided, and the steering mode switching operation tool manually selects the automatic steering mode and the manual steering mode.

33. The field work vehicle according to any one of claims 18 to 32, characterized in that: A travel distance calculation unit is provided, wherein the travel distance calculation unit calculates the travel distance based on the rotation speed of the wheel; When the positioning unit cannot operate, the ridge detection module detects that the traveling machine has reached the ridge area based on the travel distance calculated by the travel distance calculation unit.

34. The field work vehicle according to any one of claims 18 to 33, characterized in that: A posture determination unit is provided for determining the posture of the traveling body, and when the posture deviates from a predetermined condition, the brake command for decelerating or stopping the traveling body is output.

35. The field working vehicle according to claim 34, characterized in that: The predetermined condition is a tilt threshold value of the tilt angle of the traveling body.

36. A work vehicle, have: A traveling body having a traveling device; A steering unit capable of steering the aforementioned traveling device; A receiving device that obtains position information from a satellite positioning system; and A control unit, which controls the steering unit based on the position information so that the traveling machine moves along the target route; A supporting member capable of supporting the receiving device is provided, The support member supports the receiving device so as to be changeable between a use state and a storage state in which the receiving device is located at a lower position than the use state.

37. The work vehicle according to claim 36, characterized in that: The receiving device is supported between a pair of left and right frames extending in the up-down direction.

38. The work vehicle according to claim 37, characterized in that: A horizontal frame is provided for connecting upper ends of a pair of left and right frames, and the receiving device is supported by the horizontal frame.

39. The working vehicle according to claim 37 or 38, characterized in that: In the above-mentioned use state, the upper end of the above-mentioned receiving device is located at a position higher than the upper end of the above-mentioned frame, In the stored state, the upper end of the receiving device in the use state is located at a position lower than the upper end of the rack.

40. The working vehicle according to any one of claims 36 to 39, characterized in that: The receiving device is rotatable about a left-right axis along the left-right direction, and is supported so as to be fixed in position in the use state and the storage state.

41. The work vehicle according to claim 36, characterized in that: have: A seedling planting device capable of planting seedlings relative to the field; A plurality of reserve seedling stands capable of carrying reserve seedlings for supplying the aforementioned seedling planting device; A pair of left and right seedling preparation racks, supporting the seedling preparation platform; and A generating unit, which generates a target route for the moving body to move; The supporting member is provided within the spacing width between the pair of left and right seedling preparation racks in the left-right direction.

42. The work vehicle according to claim 41, characterized in that: In the aforementioned use state of the aforementioned support member, the aforementioned receiving device is located at a position higher than the prepared seedling platform at the upper end. In the aforementioned storage state of the aforementioned supporting member, the aforementioned receiving device is located at a position lower than the preliminary seedling stand at the upper end.

43. The working vehicle according to claim 41 or 42, characterized in that: The aforementioned receiving device is provided in plurality.

44. The working vehicle according to any one of claims 41 to 43, characterized in that: The supporting member is supported by the left and right seedling stands so as to be rotatable around left and right axes along the left and right directions, and can be fixed in position in the use state and the storage state.

45. The working vehicle according to any one of claims 41 to 43, characterized in that: The supporting member can be attached to and detached from the left and right seedling preparation racks.

46. ​​The working vehicle according to any one of claims 41 to 45, characterized in that: In the aforementioned receiving device, a connector portion for connecting the electric wiring is provided; The connector portion extends outward in the left-right direction from the receiving device.

47. The working vehicle according to any one of claims 41 to 46, characterized in that: In the aforementioned receiving device, a connector portion for connecting the electric wiring is provided; A protective member is provided to protect the connector portion.

48. A working vehicle, characterized in that: have: A traveling body having a traveling device; A steering unit capable of steering the aforementioned traveling device; A receiving device obtains position information from a satellite positioning system; 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 device; The receiving device and the inertial measurement device are arranged at the same position of the traveling machine body.

49. The work vehicle according to claim 48, characterized in that: The inertial measurement device can measure tilt and orientation.

50. The work vehicle according to claim 48, characterized in that: The inertial measurement device detects the tilt of the traveling body and corrects the position information. The control unit controls the steering unit based on the position information.

51. The work vehicle according to claim 50, characterized in that: The receiving device and the inertial measurement device are unitized.

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