Working vehicle

Abstract

To provide a riding type rice transplanter in which work can be accurately performed by a working device by using automatic steering control of a traveling machine body.SOLUTION: A working vehicle comprises a machine body C comprising a seat 41, a seedling planting device W connected to a rear part of the machine body C, and a receiving device 63 for acquiring position information by using a satellite positioning system. On the outside of the seat 41 in a width direction of the machine body C, at least a portion of the machine body C is located behind a front end part of the seat 41.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention is a vehicle capable of automatic steering control of a traveling vehicle. Riding rice transplanter Regarding. [Background technology]

[0002] A conventional work vehicle is described in, for example, Patent Document 1 below. This work vehicle is equipped with a traveling machine body having traveling gear ("front wheels" and "rear wheels" in Patent Document 1), a work device that performs work on a farm field ("seedling planting work device" in Patent Document 1), and a steering unit that can steer the traveling gear ("power steering valve", "power steering cylinder", "automatic control valve", etc. in Patent Document 1). Furthermore, this work vehicle is equipped with a receiving device ("GPS receiver" in Patent Document 1) that acquires position information by a satellite positioning system, and a control unit ("controller" in Patent Document 1) that controls the steering unit so that the traveling machine body travels straight based on the acquired position information. This work vehicle controls the steering unit based only on the position information acquired by the receiving device, and performs automatic steering control of the traveling machine body.

[0003] Moreover, the following Patent Document 2 describes a measurement unit in which a receiving device that acquires position information by a satellite positioning system and an inertial measurement unit that measures inertial information are integrated. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2001-161112 A [Patent Document 2] U.S. Patent No. 7,346,452 (Fig. 1) Summary of the Invention [Problem to be solved by the invention]

[0005] However, there are cases where the position information obtained from the receiving device by the satellite positioning system deviates significantly from the actual position, and in such cases, it becomes difficult for the work vehicle described in Patent Document 1 above to accurately perform work using the work equipment by using the automatic steering control of the running body.

[0006] Furthermore, in conditions where radio interference is likely to occur, the amount of position information acquired by the receiving device becomes insufficient, making it difficult to perform automatic steering control of the traveling vehicle.

[0007] For this reason, it was considered to equip the work vehicle described in Patent Document 1 above with a measurement unit that combines a receiving device that acquires position information using a satellite positioning system and an inertial measurement unit that measures inertial information, as described in Patent Document 2 above, and to perform automatic steering control of the running body based on the position information acquired by the receiving device and the inertial information measured by the inertial measurement unit, thereby further improving the accuracy of work performed by the work equipment.

[0008] The object of the present invention is to provide a method for accurately performing work using a work implement by using automatic steering control of a traveling machine body. Riding rice transplanter The purpose of this invention is to provide [Means for solving the problem]

[0009] The work vehicle of the present invention comprises a body having a seat, a seedling planting device connected to the rear of the body, and a receiving device that acquires position information using a satellite positioning system, and at least a part of the body is located rearward of the front end of the seat, outside the seat in the width direction of the body. In the above configuration, the machine body has a spare seedling accommodating device which is equipped with a plurality of spare seedling placing tables and is switchable between a first state in which the plurality of spare seedling placing tables are lined up in the vertical direction of the machine body and a second state in which the plurality of spare seedling placing tables are lined up in the fore-aft direction of the machine body, and it is preferable that in the second state of the spare seedling accommodating device, the rear end side portion of the rearmost spare seedling placing table among the plurality of spare seedling placing tables is located rearward of the front end portion of the seat in a side view. In the above configuration, it is preferable to provide a handrail extending upward from the body of the machine, outside the seat in the width direction of the machine and behind the spare seedling accommodating device. In the above configuration, it is preferable that a front end of the handrail is located forward of a rear end of the seat. In the above configuration, it is preferable that, in the second state of the spare seedling accommodating device, the rearmost spare seedling placing table overlaps with the seat in a side view. In the above configuration, it is preferable that, in the second state of the spare seedling accommodating device, the rear end side portion of the rearmost spare seedling placing table enters an access opening of a driver's section. The work vehicle of the present invention comprises a body having a seat, a seedling planting device connected to the rear of the body, and a receiving device that acquires position information using a satellite positioning system, and at least a part of the body is located outboard of the seat in the width direction of the body and forward of the rear end of the seat. In the above configuration, it is preferable that a front end of a handrail which is erected upward from the aircraft body outside the seat in the width direction of the aircraft body is located forward of a rear end of the seat. In the above configuration, it is preferable that the aircraft has front and rear wheels, and a front end of the receiving device is located forward of a front end of the front wheels. In the above configuration, it is preferable that a front end of the receiving device is located rearward of a front end of the aircraft body. The work vehicle of the present invention comprises a running body having running gear, a steering unit capable of steering the running gear, a receiving device that acquires position information using a satellite positioning system, an inertial measurement unit, and a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement unit, a bonnet provided at the front of the running body, and a frame extending above the bonnet, and the receiving device and the inertial measurement unit are supported by the frame, which is the same location on the running body. In addition, the work vehicle of the present invention is equipped with a running body having a running gear, a steering unit capable of steering the running gear, a receiving device that acquires position information using a satellite positioning system, a secondary inertial measurement device that detects the inclination of the running body, and a control unit that controls the steering unit based on the position information, and the receiving device and the secondary inertial measurement device are arranged in the same location on the running body. In addition, the work vehicle of the present invention is equipped with a running machine body having running gear, a work device that performs work on a field, a steering unit capable of steer- ing the running gear, a receiving device that acquires position information by a satellite positioning system, an inertial measurement device that measures inertial information, a generation unit that generates a target line along which the running machine body should run, and a control unit that controls the steering unit based on the position information and the inertial information so that the running machine body runs along the target line, and the receiving device and the inertial measurement device are arranged at different locations on the running machine body.

[0010] According to the present invention, the receiving device that acquires position information by the satellite positioning system and the inertial measurement unit that measures inertial information are arranged at different positions on the traveling vehicle body. Therefore, for example, by disposing the receiving device in a location where the shaking is relatively large, the accuracy of acquiring the position information of the receiving device can be improved, and by disposing the inertial measurement unit in a location where the shaking is relatively small, the error of the inertial information measured by the inertial measurement unit can be reduced. In other words, the accuracy of both the position information acquired by the receiving device and the inertial information measured by the inertial measurement unit are improved, and it becomes possible to utilize the characteristics of both the receiving device and the inertial measurement unit. This makes it possible to perform steering control of the steering unit using highly accurate position information and inertial information, enabling accurate automatic steering control of the running body so that the running body and working equipment travel along the target line. Therefore, according to the present invention, it is possible to accurately perform work using the working implement by using automatic steering control of the traveling machine body.

[0011] In the above configuration, It is preferable that the inertial measurement unit be disposed at a location near the center of the longitudinal direction of the entire longitudinal length of the traveling machine body and the working device.

[0012] According to this configuration, the location near the center of the longitudinal direction of the traveling body and the working device is, for example, a location near the yaw axis that is the center of rotation of the traveling body and the working device as a whole. By locating the inertial measurement unit in such a location, the error in the inertial information measured by the inertial measurement unit is reduced, making it easier to measure the inertial information accurately.

[0013] In the above configuration, It is preferable that the inertial measurement unit is attached to a mounting member located in the vicinity of a rear axle of the traveling device.

[0014] According to this configuration, the mounting member located near the rear axle of the traveling device is less likely to sway while the traveling body is traveling. By mounting the inertial measurement unit to such a mounting member, the error in the inertial information measured by the inertial measurement unit is reduced, making it easier to measure the inertial information accurately.

[0015] In the above configuration, The working device is a seedling planting device capable of planting seedlings in a field, A plurality of spare seedling trays on which spare seedlings to be replenished to the seedling planting device can be placed; A pair of left and right spare seedling frames supporting the spare seedling stand; A connecting frame is provided to connect the upper parts of the left and right spare seedling frames, The receiving device is preferably attached to the connection frame.

[0016] According to this configuration, the receiver is attached to the connecting frame that is installed at a relatively high position and connects the left and right spare seedling frames that support the spare seedling tray, so the receiver can be placed in a location with few obstructions that block radio waves. This makes it less likely that the position information acquired by the receiver will be interrupted. In addition, since the spare seedling frames and connecting frames are relatively prone to shaking while traveling, for example, the accuracy of detecting the direction of travel of the traveling body based on the position information acquired by the receiver can be improved.

[0017] In the above configuration, It is preferable that the connecting frame be changeable between a usage state in which the receiving device is positioned above the upper end of the spare seedling frame, and a stored state in which the connecting frame is upside down relative to the usage state and the receiving device is positioned below the upper end of the spare seedling frame.

[0018] According to this configuration, by putting the connecting frame into use, the receiver is positioned higher than the upper end of the spare seedling frame, improving the radio wave reception sensitivity when the receiver is in use. On the other hand, by putting the connecting frame into the storage state, the receiver is positioned lower than the upper end of the spare seedling frame, so that, for example, when storing the traveling machine body in a barn, the receiver does not get in the way, and it is possible to avoid the receiver hitting the upper part of the barn entrance, for example.

[0019] In the above configuration, It is preferable that the connecting frame is supported by the left and right spare seedling frames so as to be rotatable about a left-right axis along the left-right direction and so as to be fixable in position between the use state and the storage state.

[0020] According to this configuration, the connecting frame is rotatable about the left and right axis, so that the connecting frame can be easily changed between a usage state in which the receiving device is used and a storage state in which the receiving device is stored.

[0021] In the above configuration, It is preferable that the connecting frame be detachable from the left and right spare seedling frames.

[0022] According to this configuration, the connecting frame is detachable, so that when the receiving device is not in use, the connecting frame in use can be removed from the spare seedling frame and the connecting frame can be stored and attached to the spare seedling frame.

[0023] In the above configuration, The receiving device is provided with a connector portion for connecting a harness, It is preferable that the connector portion extends outward in the left-right direction from the receiving device.

[0024] According to this configuration, the connector portion to which the harness is connected in the receiving device extends outward in the left-right direction from the receiving device. Therefore, compared to, for example, a case in which the connector portion extends forward from the receiving device, the connector portion of the receiving device is less likely to hit an obstacle such as a tree branch approaching from the front while driving.

[0025] In the above configuration, The receiving device is provided with a connector portion for connecting a harness, It is preferable that a guard member is provided to protect the connector portion.

[0026] According to this configuration, the guard member effectively protects the connector portion from collisions with obstacles such as tree branches while traveling. [Brief description of the drawings]

[0027] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 2 is a schematic diagram showing a steering unit. [Diagram 5] FIG. 2 is a block diagram showing a control configuration relating to automatic steering control. [Figure 6] FIG. 4 is a top view illustrating the operation of the automatic steering control. [Figure 7] 11 is a top view illustrating generation of a target line, etc. FIG. [Figure 8] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings. As shown in Figs. 1 to 3, a riding rice transplanter (an example of a "work vehicle"), which is a paddy field work vehicle for planting seeds among agricultural work vehicles, has a traveling body C having a traveling device A. (equivalent to the aircraft) The rice transplanter is equipped with a work device that performs work on the field. The work device of the rice transplanter is a seedling planting device W that can plant seedlings in the field. Note that the arrow F shown in FIG. 2 indicates the "front" of the traveling body C, the arrow B indicates the "rear" 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.

[0029] As shown in FIG. 1, the traveling device A includes a pair of left and right front wheels 10. (Equivalent to the front wheel) and a pair of rear wheels 11 (Equivalent to rear wheel) The traveling machine body C is provided with a steering unit U capable of steering the left and right front wheels 10 of the traveling device A.

[0030] As shown in Figs. 1 to 3, an openable / closable bonnet 12 is provided at the front of the traveling body C. An engine 13 is provided inside the bonnet 12. A rod-shaped center mascot 14 is provided at the tip of the bonnet 12 for checking an index line LN (see Fig. 6). As shown in Figs. 1 and 3, the traveling body C is provided with a frame-shaped body frame 15 extending along the front-rear direction. A support pillar frame 16 is erected at the front of the body frame 15.

[0031] [About the seedling planting device] As shown in FIG. 1, the seedling planting device W is connected to the rear end of the traveling body C so as to be freely raised and lowered via a link mechanism 21 which is raised and lowered by the extension and contraction of a lifting cylinder 20 which is a hydraulic cylinder.

[0032] 1 and 2, the seedling planting device W is equipped with four transmission cases 22, a rotating case 23 rotatably supported on the left and right rear parts of each transmission case 22, a pair of rotary planting arms 24 provided on both ends of each rotating case 23, a plurality of ground leveling floats 25 for leveling the surface of the field, a seedling carrying table 26 on which mat-like seedlings for planting are placed, etc. In other words, the seedling planting device W is configured as an 8-row planting type.

[0033] The seedling planting device W configured in this manner drives the seedling carrying platform 26 back and forth horizontally while rotating each rotating case 23 using power transmitted from the transmission case 22, so that seedlings are alternately taken out from the bottom of the seedling carrying platform 26 by each planting arm 24 and planted on the rice field surface.

[0034] [About spare seedling beds] As shown in FIG. 1 to FIG. 3, a plurality of (for example, four) normal spare seedling trays 2 on which spare seedlings to be supplied to the seedling planting device W can be placed are provided on the left and right sides of the bonnet 12 of the traveling body C. 8、 A rail-type spare seedling stand 29 on which spare seedlings to be supplied to the seedling planting device W can be placed. (Equivalent to spare seedling storage device)The left and right sides of the bonnet 12 of the traveling body C are provided with a pair of left and right spare seedling frames 30 supporting the normal spare seedling trays 28 and the rail-type spare seedling tray 29, and a connecting frame 31 connecting the upper parts of the left and right spare seedling frames 30. The connecting frame 31 has a U-shape when viewed from the front. The left and right ends of the connecting frame 31 are connected to the upper parts of the left and right spare seedling frames 30 via connecting brackets 32, respectively.

[0035] [Regarding the marker device] As shown in Fig. 1, marker devices 33 for forming index lines LN (see Figs. 6 and 7) on the surface of the field are provided on the left and right sides of the seedling planting device W. The left and right marker devices 33 are each configured to be freely operable in an operating position in which they are in contact with the surface of the field and form index lines LN on the surface of the field as the traveling body C travels, and in a stored position above and away from the surface of the field.

[0036] As shown in Fig. 1, the left and right marker devices 33 each include a marker arm 34 supported by the seedling planting device W so as to be able to swing up and down, and a rotating body 35 having a plurality of protruding bodies in the circumferential direction and supported so as to be able to rotate freely at the tip of the marker arm 34. Also, an electric marker motor (not shown) is provided for operating the left, right, and right marker devices 33 into an active posture and a stored posture. When each marker device 33 is in the active posture, the rotating body 35 rolls on the ground in response to steering of the traveling body C, forming a dotted index line LN (see Fig. 6) when viewed from above.

[0037] [About the driving section] As shown in Figs. 1 to 3, a driving section 40 where various driving operations are performed is provided in the center of the traveling machine body C. The driving section 40 includes a driver's seat 41 on which a driver can sit. (equivalent to a seat)The vehicle is provided with a control tower 42, a steering handle 43 consisting of a steering wheel for manually steering the front wheels 10, a main speed change lever 44 that can switch between forward and reverse travel and change the travel speed, and an operating lever 45. The driver's seat 41 is provided in the center of the traveling vehicle body C. The control tower 42 is provided with the steering handle 43, the main speed change lever 44, the operating lever 45, etc., which can be freely operated. A boarding step 46 is provided at the foot area of ​​the driver's section 40. Auxiliary steps 47 are provided at the left and right outer positions of the boarding step 46. Boarding and alighting steps 48 are provided on both the left and right sides of the bonnet 12 as boarding and alighting passages that are connected to the boarding step 46 without any steps. The left and right spare seedling frames 30 are respectively arranged on the outside of the boarding and alighting steps 48.

[0038] [About the control lever] 2 and 3 is provided on the right side below the steering handle 43. Although not shown in detail, the operating lever 45 is configured to be freely operable in a cross direction from a neutral position to an upward raised position, a downward lowered position, a rear right marker position, and a front left marker position, and is biased to the neutral position.

[0039] When the operating lever 45 is operated to the raised position, the planting clutch (not shown) is operated to the disengaged state, the seedling planting device W is raised, and the left and right marker devices 33 (see Figure 1) are operated to the stored position. When the operating lever 45 is operated to the lowered position, the planting clutch (not shown) is operated to the disengaged state, the left and right marker devices 33 are operated to the stored position, and the seedling planting device W is lowered. When the central ground leveling float 25 touches the surface of the field, the seedling planting device W touches the surface of the field and comes to a stop.

[0040] When the operating lever 45 is operated to the right marker position, the right marker device 33 changes from the stored position to the active position. When the operating lever 45 is operated to the left marker position, the left marker device 33 changes from the stored position to the active position.

[0041] The control tower 42 of the driving section 40 is provided with a push-type automatic steering switch 50 (see FIG. 5). The automatic steering switch 50 is configured to be capable of switching on and off the automatic steering of the steering unit U. In addition, the main shift lever 44 is provided with a registration switch 52 (see FIG. 5) for registering a teaching direction TA (see FIG. 6) used for the automatic steering control of the steering unit U. The registration switch 52 is provided with a push-type first registration button 52A and a push-type second registration button 52B.

[0042] [About the steering unit] As shown in FIG. 4, the steering unit U is equipped with the above-mentioned steering handle 43, a steering operation shaft 54 ​​operatively connected to the steering handle 43, a pitman arm 55 that swings as the steering operation shaft 54 ​​rotates, left and right linking mechanisms 56 operatively connected to the pitman arm 55, a steering motor 58, and a gear mechanism 57 that operatively connects the steering motor 58 to the steering operation shaft 54.

[0043] The steering operation shaft 54 ​​is interlockingly connected to the left and right front wheels 10 via a pitman arm 55 and left and right linking mechanisms 56. The amount of rotation of the steering operation shaft 54 ​​is detected by a steering angle sensor 60 (see FIG. 5) consisting of a rotary encoder provided at the lower end of the steering operation shaft 54.

[0044] When the steering unit U is to be manually steered, an auxiliary force corresponding to the operation of the steering handle 43 by the steering motor 58 is applied to the operating force applied by the driver to operate the steering handle 43 to rotate the steering shaft 54 ​​and change the steering angle of the front wheels 10. On the other hand, when the steering unit U is to be automatically steered, the steering motor 58 is driven and the steering shaft 54 ​​is rotated by the driving force of the steering motor 58 to change the steering angle of the front wheels 10.

[0045] [Regarding measurement units with receivers and inertial measurement units] As shown in FIGS. 1 to 3 and 5, the traveling vehicle C is equipped with a receiver 63 for acquiring position information by a satellite positioning system and a secondary inertial measurement unit 6 capable of detecting the inclination (pitch angle, roll angle) of the traveling vehicle C. 4 The satellite is equipped with a measurement unit 61 having a measurement function and a main inertial measurement unit 62 that measures inertial information.

[0046] The primary inertial measurement unit 62 and the secondary inertial measurement unit 64 are each composed of an IMU (Inertial Measurement Unit).

[0047] The measurement unit 61 having the receiving device 63 and the secondary inertial measurement unit 64, and the primary inertial measurement unit 62 are disposed at different positions in the traveling vehicle body C. In addition, the measurement unit 61 having the receiving device 63 and the secondary inertial measurement unit 64, and the primary inertial measurement unit 62 are disposed on the left-right center line CL of the traveling vehicle body C.

[0048] A representative example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of the receiver 63 using a receiver 63 provided in a plurality of GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and an object (traveling vehicle C) to be positioned. The receiver 63 is used to acquire position information of the traveling vehicle C by the satellite positioning system.

[0049] As shown in Figs. 1 to 3, the measurement unit 61 having the receiving device 63 is attached to the connecting frame 31 via a plate-shaped support plate 65. The measurement unit 61 having the receiving device 63 is disposed at the front position of the traveling machine body C (particularly, forward of the front wheel 10). For this reason, when the traveling machine body C changes its heading, the front position of the traveling machine body C has a larger amount of displacement in the left-right direction compared to the rear end position of the traveling machine body C, and the change in the own machine position NM of the traveling machine body C acquired by the receiving device 63 can be detected with high sensitivity.

[0050] 3 and other figures, the connecting frame 31 can be changed between a use state S1 in which the measuring unit 61 having the receiving device 63 is positioned above the upper end of the spare seedling frame 30, and a storage state S2 in which the use state S1 is inverted and the receiving device 63 is positioned below the upper end of the spare seedling frame 30. To explain further, the connecting frame 31 is supported by the left and right spare seedling frames 30 by the connecting brackets 32 so that it can rotate around the left-right axis X along the left-right direction and can be fixed in position in each of the use state S1 and the storage state S2.

[0051] As shown in Fig. 1 and Fig. 3, by setting the connecting frame 31 to the use state S1, the receiving device 63 is supported at a high point by the connecting frame 31 and the spare seedling frame 30, so that as the traveling machine body C travels, the spare seedling frame 30 and the connecting frame 31 flex, which makes it easy for the receiving device 63 to swing, and the position NM and the orientation NA of the traveling machine body C can be detected with high accuracy based on the position information acquired by the receiving device 63. Furthermore, by setting the connecting frame 31 to the use state S1, the receiving device 63 is located at the topmost position of the traveling machine body C, so that the receiving sensitivity of the radio waves of the receiving device 63 can be increased, and the receiving device 63 is less likely to suffer from radio interference.

[0052] As shown in Figures 2 and 3, the receiving device 63 of the measuring unit 61 is provided with a connector portion 67 to which a harness 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 harness 66 is routed along the connecting frame 31 and the spare seedling frame 30. Furthermore, a guard member 68 that protects the connector portion 67 is provided. The guard member 68 is attached to the support plate 65. The guard member 68 is configured to protect the front side of the connector portion 67.

[0053] 1, the primary inertial measurement unit 62 is disposed near the center of the longitudinal length of the traveling body C and the seedling planting device W. To explain further, the primary inertial measurement unit 62 is disposed near the center of rotation of the traveling body C in the traveling direction (the axis of the yaw axis of the traveling body C).

[0054] Specifically, at the rear of the traveling machine body C, a rear axle frame 7 is provided which rotatably supports a rear axle 72 which transmits driving force to the rear wheels 11. 3 is The rear axle frame 73 is a rigid member located in the vicinity of the rear axle 72 of the traveling device A. The primary inertial measurement unit 62 is attached to this rear axle frame 73.

[0055] 1 and 2, the primary inertial measurement unit 62 is located in the vicinity of the seedling planting device W. The primary inertial measurement unit 62 is located below and behind the driver's seat 41.

[0056] 5, the primary inertial measurement unit 62 is mainly equipped with a gyro sensor 70 capable of detecting the angular velocity of the yaw angle (the turning angle of the traveling body C) of the traveling body C, and an acceleration sensor 71 capable of detecting acceleration in three mutually orthogonal axial directions. That is, the inertial information measured by the primary inertial measurement unit 62 includes orientation change information detected by the gyro sensor 70 and position change information detected by the acceleration sensor 71. As described above, since the primary inertial measurement unit 62 is disposed near the turning center in the traveling direction of the traveling body C, it is possible to suppress the accumulated error of the orientation change information generated in the gyro sensor 70 to a small value, and the detection accuracy of the position change information by the acceleration sensor 71 is high.

[0057] [Regarding control configuration] 5, the traveling machine body C is provided with a control device 75 that controls the automatic steering of the steering unit U. The control device 75 is provided with an information storage unit 76, a teaching storage unit 77, a turning detection unit 78, a start determination unit 79, an information correction unit 80, a generation unit 81 that generates a target line LM along which the traveling machine body C travels, a state detection unit 82, and a control unit 83 that controls the steering unit U so that the traveling machine body C travels along the target line LM based on the position information and the inertia information.

[0058] 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, etc. is input to the control device 75.

[0059] The information storage unit 76 is configured to store the location information acquired from the receiving device 63 on a time basis.

[0060] The teaching storage unit 77 is configured to calculate the teaching direction TA by using two pieces of position information among the pieces of position information stored in the information storage unit 76 based on the operation of the registration switch 52.

[0061] The turning detection unit 78 is configured to detect the start and end of turning of the traveling body C based on the steering angle information of the steering operation shaft 54 ​​of the steering unit U input from the steering angle sensor 60.

[0062] The start determination unit 79 is configured to determine whether or not to start automatic steering control of the traveling machine body C.

[0063] The information correction unit 80 is configured to perform a correction process on the basis of the accumulated error of the information detected by the gyro sensor 70 among the inertial information measured by the primary inertial measurement unit 62, the position information acquired by the receiving device 63, and the information measured by the secondary inertial measurement unit 64 each time automatic steering control of the running vehicle body C is started.

[0064] The generation unit 81 is configured to generate a target line LM based on the teaching direction TA, the vehicle's own position NM at the start of automatic steering control of the traveling vehicle body C, and the vehicle's own heading NA.

[0065] The status detection unit 82 is configured to detect, during automatic steering control of the running body C, the distance deviation (deviation distance) between the running body C's own position NM and the target line LM, and the angle deviation (deviation angle) between the running body C's own orientation NA and the teaching direction TA.

[0066] 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.

[0067] [About automatic steering control] As an example, a case where seedlings are planted in a paddy field that is rectangular when viewed from above will be described. As shown in Fig. 6, first, the traveling machine body C is positioned at a first position Q1 at the edge of the ridge in the field, and the first registration button 52A (see Fig. 5) of the registration switch 52 is operated. Then, the seedling planting device W is raised and the ground leveling float 25 is grounded, and the traveling machine body C is made to travel straight along the straight shape of the ridge on the side side from the first position Q1 to a second position Q2 near the ridge on the opposite side, and then the second registration button 52B (see Fig. 5) of the registration switch 52 is operated. As a result, a teaching direction TA, which is a direction connecting the first position Q1 and the second position Q2, is generated from the position information acquired by the receiving device 63 at the first position Q1 and the position information acquired by the receiving device 63 at the second position Q2.

[0068] Next, as shown in Fig. 6, the traveling machine body C is manually turned by operating the steering handle 43. When the steering angle sensor 60 detects the start of turning of the traveling machine body C, the seedling planting device W, the soil leveling float 25, and the marker device 33 are automatically raised from the surface of the field. When the turning of the traveling machine body C is completed, the turning end position Q3 of the traveling machine body C is detected based on the detection result of the steering angle sensor 60.

[0069] A dead zone is set in which the automatic steering switch 50 does not accept operation input until a certain time has elapsed since the turning end position Q3 of the traveling vehicle C was detected and until the deviation angle between the vehicle's heading NA and the teaching direction TA falls within a predetermined range. In other words, while the state of the traveling vehicle C is in the dead zone, automatic steering control will not be started even if the automatic steering switch 50 is operated. While the state of the traveling vehicle C is in the dead zone, the driver can manually steer the steering unit U to align the index line LN with the line of sight for viewing the tip of the center mascot 14, thereby aligning the traveling vehicle C.

[0070] Then, when the state of the traveling machine body C leaves the dead zone, the operation input of the automatic steering switch 50 is accepted, and when the automatic steering switch 50 is operated, the own machine position NM and own machine direction NA of the traveling machine body C based on the position information in the receiving device 63 are stored at the control start position Q4. Then, a straight target line LM parallel to the teaching direction TA is generated from a point a predetermined distance away in the direction of the own machine direction NA of the traveling machine body C from the position where the receiving device 63 is installed. At the same time, the information measured by the main inertial measurement unit 62 is corrected based on the position information of the own machine position NM acquired by the receiving device 63, and the own machine direction NA calculated based on the position information of the own machine position NM acquired by the receiving device 63 and the position information of the previous position.

[0071] In Figure 6, for convenience of illustration, the index line LN formed by the marker device 33 is slightly offset from the target line LM. In reality, however, manual alignment is performed so that the driver's line of sight coincides with the tip of the center mascot 14 and the index line LN, and the target line LM is generated so that it approximately coincides with the index line LN.

[0072] At the same time, automatic steering control of the traveling machine body C is started mainly based on the primary inertial measurement unit 62. That is, in the automatic steering control, the primary inertial measurement unit 62 is mainly used, and the receiving device 63 is used for correcting the primary inertial measurement unit 62. Specifically, the current machine position NM and machine orientation NA are calculated based on the machine position NM and machine orientation NA based on the position information acquired by the receiving device 63 at the control start position Q4, orientation change information obtained by integrating the angular velocity measured by the gyro sensor 70 of the primary inertial measurement unit 62, and position change information obtained by integrating the acceleration measured by the acceleration sensor 71 of the primary inertial measurement unit 62. Then, the steering unit U is automatically steered so that the current machine position NM and machine orientation NA match the target line LM and teaching direction TA, and automatic steering control of the traveling machine body C is performed.

[0073] During automatic steering control of the traveling aircraft C, if there is no angle deviation (deviation angle) between the aircraft's heading NA and the teaching direction TA, and no distance deviation (deviation distance) between the aircraft's position NM and the target line LM, the steering unit U is not steered. In addition, during automatic steering control of the traveling aircraft C, if there is an angle deviation (deviation angle) between the aircraft's heading 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 steered in a direction that eliminates the angle deviation (deviation angle) between the aircraft's heading NA and the teaching direction TA. In addition, during automatic steering control of the traveling aircraft C, if there is an angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA, and there is a distance deviation (deviation distance) between the aircraft's own position NM and the target line LM, the steering unit U is steered in a direction that eliminates the angle deviation (deviation angle) between the aircraft's own orientation NA and the teaching direction TA. In addition, during automatic steering control of the traveling aircraft C, if there is no angle deviation (deviation angle) between the aircraft's heading NA and the teaching direction TA, but there is a distance deviation (deviation distance) between the aircraft's position NM and the target line LM, the steering unit U is steered in a direction that eliminates the distance deviation (deviation distance) between the aircraft's position NM and the target line LM. This allows the traveling body C to travel accurately along the target line LM.

[0074] In this way, since the position information acquired by the receiving device 63 is not essential during automatic steering control of the running body C, even if radio interference or the like occurs in the receiving device 63 during automatic steering control of the running body C, the automatic steering control of the running body C can be continued based on the inertial information measured by the primary inertial measurement device 62, and the seedlings can be accurately planted by the seedling planting device W along the target line LM.

[0075] Then, when the traveling machine body C approaches the ridge, the driver operates the automatic steering switch 50, which stops the automatic steering control of the traveling machine body C and switches to manual steering. Then, the vehicle performs a similar turning operation at the ridge, and repeats the same operation to plant seedlings in the field. This eliminates the need for the driver to manually operate the steering handle 43 while the seedling planting device W is planting seedlings in the field, making it possible to plant seedlings more accurately and easily.

[0076] [About setting your aircraft position] As shown in FIG. 7, the receiving device 63 is disposed at the front of the traveling machine body C, but the machine's own position NM, which is the basis of data processing, is set to a position near the main inertial measurement unit 62, not to the actual installation position of the receiving device 63. The machine's own position NM, which is the basis of data processing, is set based on the distance between the receiving device 63 and the location to be the machine's own position NM, and the machine's own orientation NA calculated based on the receiving device 63 and the main inertial measurement unit 62. Since it is the seedling planting device W that is desired to travel accurately along the target line LM, by setting the machine's own position NM near the seedling planting device W in this way, automatic steering control of the traveling machine body C can be performed so that the seedling planting device W travels accurately along the target line LM.

[0077] [Relationship between spare seedling frames, regular spare seedling stands, and rail-type spare seedling stands] 3, each of the left and right spare seedling frames 30 includes a fixed portion 85 fixed to the support column frame 16, an inclined portion 86 extending upward from the fixed portion 85 and inclining inwardly to the left and right, and a vertical portion 87 extending upward from the inclined portion 86. In other words, the vertical portion 87 of the spare seedling frame 30 is offset by a predetermined distance D inwardly to the left and right with respect to the support column frame 16 and the fixed portion 85 of the spare seedling frame 30.

[0078] 1 to 3, the plurality of normal spare seedling trays 28 are supported by the spare seedling frame 30 so as to be swingable about a front-to-rear axis Y that is inclined inwardly to the left and right as it approaches the front while extending in the front-to-rear direction provided on the vertical portion 87 of the spare seedling frame 30. The normal spare seedling trays 28 are configured so that their positions can be changed between a horizontal position E1 and a vertical position E2.

[0079] 1 to 3, when the normal spare seedling trays 28 are in the horizontal position E1, the placement surface of the normal spare seedling trays 28 is in a substantially horizontal state. On the other hand, when the normal spare seedling trays 28 are changed from the horizontal position E1 to the vertical position E2, each normal spare seedling tray 28 is swung about the front-rear axis Y to be oriented vertically. As a result, each normal spare seedling tray 28 in the vertical position E2 becomes compact in the left-right direction, closer to the vertical portion 87 of the spare seedling frame 30.

[0080] The rail-type spare seedling tray 29 shown in FIGS. 1 to 3 includes a front loading tray 88. (Equivalent to spare seedling stand) and central placement table 89 (Equivalent to spare seedling stand) and rear loading stand 90 (Equivalent to spare seedling stand) The central mounting table 89 is fixed to the support column frame 16 via a pair of support brackets 91. The front mounting table 88 is connected to the front end of the central mounting table 89 so as to be swingable about a front horizontal axis P1 along the left-right direction. The rear mounting table 90 is connected to the rear end of the central mounting table 89 so as to be swingable about a rear horizontal axis P2 along the left-right direction. As shown in FIG. 1, the rail-type spare seedling tray 29 is in the unfolded state F1. (corresponding to the second state) and the folded state F2 (corresponding to the first state)When the rail-type spare seedling tray 29 is in the expanded state F1, the front placement table 88 is expanded in front of the central placement table 89, and the rear placement table 90 is expanded behind the central placement table 89. In other words, when the rail-type spare seedling tray 29 is in the expanded state F1, the front placement table 88, the central placement table 89, and the rear placement table 90 are lined up in front-to-back order.

[0081] 1, when the rail-type spare seedling tray 29 is changed from the unfolded state F1 to the folded state F2, the front mounting table 88 is swung about the front horizontal axis P1 located at the front end of the central mounting table 89 to fold and position the front mounting table 88 above the central mounting table 89, and the rear mounting table 90 is swung about the rear horizontal axis P2 located at the rear end of the central mounting table 89 to position the rear mounting table 90 above the central mounting table 89. This allows the rail-type spare seedling tray 29 to be in the folded state F2 which is compact in the front-rear direction.

[0082] As shown in FIG. 1, a plurality of normal spare seedling trays 28 are arranged vertically, and the rail-type spare seedling tray 29 is arranged below the lowermost normal spare seedling tray 28.

[0083] 1 to 3, the vertical portion 87 of the spare seedling frame 30 is offset by a predetermined distance D inwardly relative to the support column frame 16 and the fixed portion 85 of the spare seedling frame 30, and the multiple regular spare seedling trays 28 are changed to a vertical position E2 in which they are compact in the left-right direction and closer to the vertical portion 87 of the spare seedling frame 30, so that they can be offset inwardly to the left and right, allowing the rail-type spare seedling tray 29 to be smoothly changed from the unfolded state F1 to the folded state F2 without interfering with the spare seedling frame 30 or the regular spare seedling tray 28. Also, by allowing the multiple regular spare seedling trays 28 to be offset inwardly to the left and right, the overall left and right width of the traveling body C can be made smaller than, for example, by offsetting the rail-type spare seedling tray 29 outwardly to the left and right.

[0084] [Another embodiment] Other embodiments of the present invention will be described below. The following embodiments may be combined with the above embodiment as long as no contradiction occurs. The scope of the present invention is not limited to the contents of these embodiments.

[0085] (1) In the above embodiment, automatic steering control of the traveling machine body C is mainly performed based on the inertial information measured by the primary inertial measurement unit 62, and the inertial information measured by the primary inertial measurement unit 62 is corrected based on the position information acquired by the receiving device 63, but this is not limited to the above. For example, automatic steering control of the traveling machine body C may be mainly performed based on the position information acquired by the receiving device 63, and the position information acquired by the receiving device 63 may be corrected based on the inertial information measured by the primary inertial measurement unit 62.

[0086] (2) In the above embodiment, the connecting frame 31 is supported by the left and right spare seedling frames 30 so as to be rotatable about the left-right axis X along the left-right direction and to be positionally fixed in the use state S1 and the storage state S2, but this is not limited thereto. For example, the connecting frame 31 may be detachable from the left and right spare seedling frames 30. In this case, the connecting frame 31 in the use state S1 is removed from the spare seedling frame 30, turned upside down, and reattached to the spare seedling frame 30, whereby the connecting frame 31 is placed in the storage state S2.

[0087] (3) In the above embodiment, the receiving device 63 is fixed to a certain location, but the present invention is not limited thereto. For example, as shown in FIG. 8, the receiving device 63 may be arranged on a rail member 100 that is attached and fixed to the spare seedling frame 30 and extends along the front-rear direction of the traveling machine body C in a state where it can move along the front-rear direction. By moving the receiving device 63 between two points on the rail member 100, the traveling machine body C's own orientation NA can be obtained based on the position information of the two points acquired by the receiving device 63 while the traveling machine body C is stopped.

[0088] (4) In the above embodiment, an example having only one receiving device 63 is illustrated, but this is not limited thereto. For example, two or more receiving devices 63 may be provided. In this way, even when the traveling machine body C is stopped, it is possible to obtain the own machine direction NA of the traveling machine body C based on the position information acquired by one receiving device 63 and the position information acquired by the other receiving device 63.

[0089] (5) In the above embodiment, the connector portion 67 extends outward in the left-right direction from the side surface of the receiving device 63, but is not limited to this. For example, the connector portion 67 may extend upward from the upper surface of the receiving device 63, extend downward from the lower surface of the receiving device 63, 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 that a guard member 68 for protecting the connector portion 67 is also provided at the location of the connector portion 67.

[0090] (6) In the above embodiment, the guard member 68 is attached to the support plate 65, but this is not limiting. For example, the guard member 68 may be attached to the receiving device 63 itself.

[0091] (7) In the above embodiment, the working device is exemplified by the seedling planting device W, but is not limited thereto. For example, in addition to the seedling planting device W, a fertilizer applicator, a chemical sprayer, or the like may be provided as the working device. [Industrial Applicability]

[0092] In addition to the above-mentioned riding rice transplanter equipped with a seedling planting device as a working device, the present invention can be used in various work vehicles, such as a riding direct seeder, which is a planting-type paddy field work vehicle equipped with a sowing device as a working device, a tractor equipped with a plow or the like as a working device, or an agricultural work vehicle such as a combine harvester equipped with a harvesting section or the like as a working device, or a construction work vehicle equipped with a bucket or the like as a working device. [Explanation of symbols]

[0093] 10: Front wheel (front wheel) 11: Rear wheel (rear wheel) 29: Rail-type spare seedling stand (spare seedling storage device) 40: Driving section 41: Driver's seat (seat) 63: Receiving device 88: Front loading stand (spare seedling loading stand) 89: Central stand (spare seedling stand) 90: Rear storage stand (spare seedling storage stand) C: Running body (Aircraft) W: Seedling planting device F1: Usage state (second state) F2: Folded state (first state)

Claims

1. An aircraft having seats; A seedling planting device connected to the rear of the machine body; A receiving device that acquires location information by a satellite positioning system, On the outer side of the seat in the width direction of the aircraft, A riding rice transplanter in which at least a portion of the body is located rearward of the front end of the seat.

2. The machine has a spare seedling accommodation device, The spare seedling accommodating device is provided with a plurality of spare seedling placement tables and is switchable between a first state in which the plurality of spare seedling placement tables are arranged in a vertical direction of the machine body and a second state in which the plurality of spare seedling placement tables are arranged in a front-rear direction of the machine body; A riding rice transplanter as described in claim 1, wherein in the second state of the spare seedling storage device, the rear end side of the rearmost spare seedling placing table among the multiple spare seedling placing tables is located rearward of the front end of the seat in a side view.

3. The riding rice transplanter according to claim 2, further comprising a handrail extending upward from the body portion, outside the seat in the width direction of the body and behind the spare seedling storage device.

4. The riding rice transplanter according to claim 3, wherein a front end of the handrail is located forward of a rear end of the seat.

5. The riding rice transplanter according to any one of claims 2 to 4, wherein in the second state of the spare seedling storage device, the rearmost spare seedling placement table overlaps with the seat in a side view.

6. A riding rice transplanter according to any one of claims 2 to 5, wherein in the second state of the spare seedling storage device, the rear end side portion of the rearmost spare seedling placing platform enters the driver's boarding / alighting opening.

7. An aircraft having seats; A seedling planting device connected to the rear of the machine body; A receiving device that acquires location information by a satellite positioning system, On the outer side of the seat in the width direction of the aircraft, A riding rice transplanter in which at least a portion of the body is located forward of the rear end of the seat.

8. A riding rice transplanter as described in claim 7, wherein the front end of a handrail extending upward from the body part outside the seat in the width direction of the body is located forward of the rear end of the seat.

9. The aircraft has front and rear wheels; The riding rice transplanter according to any one of claims 1 to 8, wherein a front end portion of the receiving device is positioned forward of a front end portion of the front wheel.

10. The riding rice transplanter according to any one of claims 1 to 9, wherein a front end portion of the receiving device is located rearward of a front end portion of the body.