Automatic steering system for work vehicles

Abstract

To further easily set a route of automatic steering.SOLUTION: Position information acquisition means acquires the position information of a traveling machine body 5. Route setting means sets a plurality of round-trip routes 201 which are arranged in parallel with a reference azimuth at prescribed intervals, and an external peripheral route 202 extending in a direction intersecting with the reference azimuth. Turn detection means detects at least either of a turn start point P and a turn finish point Q of the traveling machine body 5 between the adjacent round-trip routes on the basis of the position information of the traveling machine body 5 by the position information acquisition means. Then, the route setting means acquires a plurality of end points of the plurality of round-trip routes 201 at one field end on the basis of the detection of at least either of the turn start point P and the turn finish point Q of the traveling machine body 5 by the turn detection means, and sets the external peripheral route 202 so as to progress along a direction in which the plurality of end points are aligned.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an automatic steering system for a work vehicle that automatically steers a traveling base of a work vehicle. [Background technology]

[0002] Conventionally, a proposal has been made for a worker to obtain the turning position of a work vehicle equipped with a GPS device, and obtain a position connecting adjacent turning positions as the edge of a ridge along the ridge (Patent Document 1).

[0003] In addition, an agricultural work vehicle has been proposed that acquires position information of the traveling body as it travels around a work area, and acquires the shape of the work area (edge ​​of the field) based on this position information (Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-4798 A [Patent Document 2] JP 2017-127291 A Summary of the Invention [Problem to be solved by the invention]

[0005] It is desirable to more easily set an automatic steering route. [Means for solving the problem]

[0007] Books The invention relates to an automatic steering system for a work vehicle that automatically steers a traveling machine body when the traveling machine body of a work vehicle travels back and forth in a field by repeatedly turning at the edge of the field, and when traveling along the outer periphery of the field after the end of the reciprocating travel, A position information acquisition means for acquiring position information of the traveling machine body; A reference orientation setting means for setting a reference orientation when the traveling body travels back and forth in a farm field; a route setting means for setting a plurality of round-trip routes arranged at predetermined intervals parallel to the reference direction and a periphery route extending in a direction intersecting the reference direction; A steering means for steering the traveling machine body so that the traveling machine body travels along any one of the plurality of round trip paths and the outer circumferential path; A switching means for switching between forward and reverse movement of the traveling machine body; A switching detection means for detecting a point where the traveling body is switched to reverse after being moved forward to the edge of the field based on the position information of the traveling body by the position information acquisition means, The route setting means acquires a plurality of switching points between forward and reverse of the traveling machine body by the switching detection means, and sets the outer periphery route so as to follow the direction in which the acquired plurality of switching points are arranged. The present invention relates to an automatic steering system for a work vehicle.

[0008] For example, a round trip end detection means is provided for detecting the end of the round trip travel of the traveling machine body based on the position information of the traveling machine body by the position information acquisition means, The route setting means sets the outer circumferential route after the reciprocation end detection means detects the end of the reciprocating travel of the traveling body.

[0010] For example, an input means capable of inputting the type of the work vehicle is provided, the route setting means sets, as the periphery route, a line connecting the plurality of switching points or a line obtained by adding a predetermined value to an approximation line of the plurality of switching points; The predetermined value is automatically set based on the type of the work vehicle inputted by the input means. Effect of the Invention

[0012] Claim 1According to the present invention, multiple switching points where the traveling body is moved forward to the edge of the field and then switched to reverse are obtained, and a perimeter route is set along the direction in which the multiple switching points obtained are lined up, so that the perimeter route can be set regardless of the shape of the field, making it easier to set an automatic steering route.

[0013] Claim 2 According to the present invention, the outer perimeter path is set after the end of the traveling body's reciprocating travel is detected, so the calculation load for setting the outer perimeter path can be reduced and the outer perimeter path can be set more accurately.

[0015] Claim 3 According to the present invention, the predetermined values ​​for setting the perimeter route are automatically set by inputting the type of work vehicle, so that the perimeter route can be easily set according to the type of work vehicle. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a plan view showing a rice transplanter to which the present invention can be applied. [Diagram 2] Side view. [Diagram 3] 1A and 1B show an operation panel, in which (A) is a perspective view and (B) is a partially enlarged front view. [Figure 4] Block diagram showing the control part of the rice transplanter. [Diagram 5] FIG. 4 is a plan view showing a field scene of automatic steering in the first mode. [Figure 6] FIG. 4 is a plan view showing multiple round trip paths in the first mode. [Figure 7] FIG. 4 is a flow diagram showing teaching travel control. [Figure 8] FIG. 4 is a plan view illustrating setting of a periphery route in the first mode. [Figure 9] FIG. 4 is a flow diagram showing periphery path generation control in a first mode. [Figure 10] FIG. 4 is a plan view showing a field scene of automatic steering in the second mode. [Figure 11]FIG. 13 is a diagram to explain the setting of the outer perimeter path in the second mode, where (A) shows the dimensions of the traveling machine body, (B) is a plan view of one edge of the field, and (C) is an enlarged plan view of a portion of (B). [Figure 12] FIG. 11 is a flow diagram showing periphery path generation control in a second mode. [Figure 13] 11A and 11B are plan views showing operation screens in which model information is automatically input and in which model information is manually input. [Figure 14] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in Figs. 1 and 2, a riding type rice transplanter 1 as a working vehicle has a traveling body 5 supported by front wheels 2 and rear wheels 3 as a traveling device, and a planting work machine 7 is supported at the rear of the traveling body 5 via a lifting link mechanism 6 so that it can be raised and lowered. An engine covered with a bonnet 9 is mounted at the front of the traveling body 5, and spare seedling trays 10 are arranged on both the left and right sides of the engine. The rear of the traveling body 5 is a driver's seat 11, and a seat 12 on which an operator can sit is arranged in front of the driver's seat, and a steering handle 13, a main speed change lever 15, an auxiliary speed change lever 16, a work machine operation lever 17, various switches, a display panel, etc. are arranged. The steering handle 13 is connected to the front wheels 2 by a steering device 4 arranged at the bottom of the traveling body 5. The front wheels 2 are steered according to the steering angle of the steering handle 13 by the operator's steering operation of the steering handle 13. In this embodiment, the steering handle 13 and the steering device 4 constitute a steering section S that steers the traveling body 5.

[0018] Furthermore, line drawing markers 18 are arranged on the left and right sides of the traveling body 5 so as to be freely movable between a use position and a storage position. The line drawing markers 18 open to the left and right from the storage position shown in FIG. 1, and can be moved to a use position located a predetermined distance from the center (central planting position) of the rice transplanter 1 (planting work machine 7). For example, when the traveling body 5 is caused to travel with the line drawing marker 18 on either the left or right side positioned at the use position, a line is drawn parallel to the movement direction of the traveling body 5 at a predetermined distance from the center of the traveling body 5. This line becomes the target line when the traveling body 5 turns and follows the next route.

[0019] The running body 5 has two stays 19 extending upward on the left and right sides in front of the driver's seat 11, and two GPS receivers 21, 21 are arranged equally spaced from the center of the body on a horizontal bar 20 that connects the upper parts of the stays in the width direction.These two GPS receivers 21 can detect the position of the rice transplanter 1, and can also determine the current forward direction of the running body 5 depending on whether the left or right receiver is on the left or right side in relation to the front-to-rear direction, which is defined as the straight line perpendicular to the line connecting the two receivers.

[0020] In front of the driver's seat 11, as shown in FIG. 3, an operation panel 23 is arranged, and the operation panel includes an AB point input section 25 having a start point A point registration switch 25a and an end point B point registration switch 25b, an automatic steering mode selection section 26 having an automatic steering switch 26d for switching between ON and OFF states of both automatic straight ahead and automatic turning, a work mode switch 27 for switching between work modes including a first mode (normal) and a second mode (head-over backwards) described later, and various lamps for indicating the operating state of the above switches and the state of the traveling machine body 5 during automatic straight ahead traveling and automatic turning traveling, such as on a target line, are arranged, and each lamp is lit up when each switch is in an ON state, etc. In addition, various switches and lamps in such an operation panel 23 are also displayed on the operation screen of a tablet 32 ​​as shown in FIG. 13 described later. Various settings and operations can also be performed by touching the screen of the tablet 32.

[0021] As shown in FIG. 4, the traveling machine body 5 is provided with a GNSS (Global Positioning System) unit 30 as a position information acquisition means and a control unit 31 as a control unit, and the GNSS unit 30 and the control unit 31 communicate with each other via a CAN. The GNSS unit 30 receives reference (position) information (21a) and orientation (forward direction) information (21b) from the GPS receiver 21, receives information from a tablet (mobile terminal, navigation software) 32, and receives information from an RTK base station (correction information output device) 33 via a correction signal receiving device 35, correcting the information from the GPS receiver 21. The tablet 32 ​​has an operation instruction function, a status display function, a navigation function, and the like. In this embodiment, as described later, the tablet 32 ​​sets the inner and outer periphery routes of the field scene. However, the control unit 31 or the GNSS unit 30 may set the inner and outer periphery routes of the field scene. In this embodiment, the rice transplanter 1 including the GNSS unit 30 and the tablet 32 ​​configure a work vehicle automatic steering system 100.

[0022] The control unit 31 receives signals from the start point A registration switch 25a, end point B registration switch 25b, automatic steering switch 26d, and work mode switch 27 of the operation panel 23, as well as a shift signal from the main shift lever 15, an auxiliary shift and forward / reverse signals from the auxiliary shift lever 16, a turning angle signal from a steering angle sensor 38 by the steering wheel 13, a vehicle speed signal from a vehicle speed sensor 36, and a travel distance signal of the traveling machine from a rotation sensor 37 as a measuring means for measuring a travel distance. In addition, the control unit 31 outputs an automatic steering signal for automatically steering (automatically controlling) the steering wheel 13 to a steering motor 39 as a steering means, and also outputs it to an alarm buzzer 40 and an alarm display unit 41.

[0023] [Automatic steering in the field] Next, a field scene of automatic steering of this embodiment will be described with reference to Fig. 5. In the work vehicle automatic steering system 100 of this embodiment, the traveling machine body 5 of the rice transplanter 1 as a work vehicle is automatically steered when the traveling machine body 5 travels back and forth in the field 200 by repeatedly turning at the edge of the field, and when traveling along the outer periphery of the field after completing the back and forth travel. That is, as shown in Fig. 5, a round trip route (inner periphery route) 201 is set on the inner periphery of the field 200, and an outer periphery route 202 is set outside the round trip route 201, and the traveling machine body 5 travels independently in a straight line on each route to perform work such as planting.

[0024] Specifically, the peripheral path 202 is set in a headland 203 where the rice transplanter 1 turns at the end of the multiple reciprocating paths 201, along a direction intersecting the reciprocating paths 201. Hereinafter, a method for setting such reciprocating paths 201 and the peripheral path 202 will be described.

[0025] [Setting multiple round trip routes in the first mode] First, the multiple round trip routes 201 are set by teaching travel control. The method of setting the multiple round trip routes 201 in the first mode and the second mode described below is basically the same, and each round trip route 201 is set by teaching travel control. Here, the setting of the multiple round trip routes 201 in the first mode (normal mode) will be described.

[0026] First, as shown in FIG. 6, the rice transplanter 1 is entered from the entrance 210 of the field 200, and then turned along the ridges 211 and 212, for example, at the deepest position relative to the entrance 210. Then, the rice transplanter 1 is moved backward until the rear end of the planting implement 7 is located at the ridge 213 on the lower side of FIG. 6. This operation is performed, for example, by the operator visually. Furthermore, by operating a button or the like (not shown), the rice transplanter 1 automatically advances a predetermined headland distance from the ridge 213. This predetermined headland distance is measured by the rotation sensor 37. In the case of this embodiment, as described later, two straight peripheral routes 202 are set on the headland 203, so that the distance for setting two peripheral routes 202 (two planting revolutions) plus the ridge margin is the predetermined headland distance. Note that there may be one peripheral route 202.

[0027] When the rice transplanter 1 reaches a predetermined headland distance from the ridge 213, the control unit 31 automatically operates the planting work machine 7 in response to a command from the tablet 32 ​​as a mark forming means, and performs planting only once (single-point planting). The mark forming means may be the control unit 31. The point where this single-point planting is performed becomes a mark (target) when the operator turns the rice transplanter 1 at the edge of the field shown in the lower part of FIG. 6. In this way, a mark is formed when the operator turns the traveling body 5 at the edge of the field, so that the accuracy of the turning position of the traveling body can be improved, and the calculation accuracy of the outer circumferential path 202 described later can also be improved. The single-point planting may be performed manually by the operator.

[0028] Next, the rice transplanter 1 is advanced from the lower side to the upper side of FIG. 6, approximately parallel to the ridge 212 on the right side of FIG. 6. At this time, of the line drawing markers 18 on the left and right sides of the traveling body 5, the left line drawing marker 18 is positioned at the use position, and a target line is drawn on the left side. Then, the rice transplanter 1 is turned at the upper position of FIG. 6, and the rice transplanter 1 is retreated until the rear end of the planting work machine 7 is positioned at the ridge 211 on the upper side of FIG. 6, as in the above-mentioned case. Then, by operating a button not shown, the rice transplanter 1 automatically advances a predetermined headland distance from the ridge 211. When the rice transplanter 1 reaches a predetermined headland distance from the ridge 213, the control unit 31 automatically operates the planting work machine 7 in response to a command from the tablet 32, and planting is performed only once (single-point planting). The point where this single-point planting was performed becomes a mark when the operator turns the rice transplanter 1 at the edge of the field on the upper side of FIG. 6. In this embodiment, this position is referred to as point A. Note that point A may be marked in advance on the field scene.

[0029] The rice transplanter 1 aligns the planting center position with point A, and adjusts the traveling direction so that it is parallel to the horizontal ridge and faces the previously marked point B. In this state, as shown in FIG. 7, teaching travel control is performed. That is, the operator presses the start point A point registration switch 25a to register point A (S1), and starts teaching travel in which the rice transplanter travels in one direction while performing planting work. At this time, of the line drawing markers 18 on the left and right of the traveling body 5, the right line drawing marker 18 is positioned in the use position, and a target line is drawn on the right side. When the planting center position of the rice transplanter 1 reaches point B, the operator sees this and presses the end point B point registration switch 25b to register point B (S2). In addition, the planting distance can be stored in advance in the tablet 32 ​​or control unit 31, the planting distance of the rice transplanter can be measured using the rotation sensor 37, and the position where the planting distance reaches the above-mentioned planting distance can be set as the end point B, and the operator can press the point B registration switch 25b.

[0030] Then, the reference line Lk0 is calculated (set) as a reference orientation that is a reference orientation (direction) when performing planting work from the registered point A to point B (S3). Furthermore, parallel to the reference line Lk0, the planting width is calculated to calculate (set) travel target lines (virtual lines) Lk1 (first straight path), Lk2 (second straight path), Lk3, . . . , Lkn as multiple straight paths (round trip paths 201) for the next process and thereafter (S4). The process of step S3 for setting the reference orientation is performed by the tablet 32 ​​as a reference orientation setting means, and the process of step S4 for setting the multiple straight paths is also performed by the tablet 32 ​​as a path setting means. In this embodiment, such teaching travel control sets multiple round trip paths 201 (travel target lines Lk1 (first straight path), Lk2 (second straight path), Lk3, . . . , Lkn) that are parallel to the reference orientation and arranged at a predetermined interval. The reference direction setting means and the route setting means may be the control unit 31 or the GNSS unit 30.

[0031] [Setting the peripheral route in the first mode] Next, the setting of the outer periphery path 202 in the first mode described in FIG. 5 will be described with reference to FIG. 8 and FIG. 9. The setting of the outer periphery path 202 in the first mode is performed by detecting at least one of the turning start point and the turning end point of the traveling body 5 between adjacent round-trip paths. That is, the tablet 32, which is also a turning detection means, detects at least one of the turning start point and the turning end point of the traveling body 5 between adjacent round-trip paths based on the position information of the traveling body 5 by the GNSS unit 30. The turning detection means may be the control unit 31 or the GNSS unit 30. In the case of this embodiment, both the turning start point and the turning end point are detected, but only the turning start point or only the turning end point may be detected. Then, based on the detection of at least one of the turning start point and the turning end point of the traveling body 5, the tablet 32 ​​acquires multiple end points of the multiple round-trip paths 201 at one edge of the field, and sets the outer periphery path so as to follow the direction in which the multiple end points are arranged. The specific details will be explained below.

[0032] As described above, after setting a plurality of round-trip routes 201 by the teaching travel control, automatic steering control is performed along the plurality of round-trip routes 201. Specifically, the operator operates the automatic steering switch 26d on the operation panel 23 or tablet 32 ​​shown in FIG. 3 to turn on the automatic steering. At this time, the operator operates the work mode switch 27 to set the work mode to "normal". In this state, the lamp indicating the work mode state is turned off. At this time, by the above-mentioned teaching travel control, the rice transplanter 1 advances from point A to point B while performing planting work, and the operator has turned the rice transplanter 1 toward the next target line using the target target, which was previously planted at a predetermined headland distance from the ridge 213, as a landmark.

[0033] Furthermore, when the rice transplanter 1 turns, the tablet 32 ​​detects the turning start point and the turning end point of the rice transplanter 1 based on the position information of the traveling body 5 by the GNSS unit 30. Specifically, the tablet 32 ​​detects the bending of the travel path from the change in the coordinates of the traveling body 5 by the GNSS unit 30, and stores, for example, the point where the bending starts as the turning start point and the point where the bending ends as the linearization end point in a storage unit of the tablet 32.

[0034] With reference to Fig. 8, the flow of Fig. 9 will be described. When performing generation control of the outer peripheral path 202 (outer peripheral virtual line generation control (normal)) in the normal mode of this embodiment, first, the position data (travel data) of the multiple round trip paths (inner peripheral paths) 201 are stored in chronological order (S101). That is, as described above, planting work is performed while performing teaching travel control from point A to point B, and when automatic steering is turned ON, as shown in Fig. 8, straight-line control is executed to control the steering handle 13 so that the traveling machine body 5 travels straight along the travel target line (straight-line path, virtual lines Lk1, Lk2,..., Lkn) by the control of the steering motor 39 by the control unit 31 based on the command of the tablet 32.

[0035] The planting work progresses while the traveling body 5 travels straight by straight-line control, and the operator turns the rice transplanter 1 at the end of each target line toward the next target line, and each time, the tablet 32 ​​detects the turning start point P and turning end point Q of the rice transplanter 1 based on the position information of the traveling body 5 from the GNSS unit 30 and stores them in the memory unit (S102). This operation is performed for all of the multiple round-trip routes 201 (S103).

[0036] The tablet 32, which is also a round trip end detection means, can detect the end of the round trip travel of the traveling body 5 based on the position information of the traveling body 5 by the GNSS unit 30. That is, the end of travel of all the round trip routes 201 is detected from the change in the coordinates of the traveling body 5 (S104). For example, as shown in FIG. 8, after the travel of all the round trip routes 201 is completed, the traveling body 5 moves directly toward the outer peripheral route 202 and turns to the right side of FIG. 8. For this reason, for example, the end of planting work on the multiple round trip routes (inner peripheral routes) 201 can be detected by detecting the direction of the traveling body 5 at a certain angle with respect to the current direction of the traveling body 5 for a predetermined time or a predetermined distance. That is, the end of work on the inner peripheral route is detected by detecting the direction change of the traveling body 5.

[0037] Alternatively, the end of work on the inner route may be detected by detecting travel for a predetermined time or a predetermined distance outside the pillow turning point, in other words, by detecting the start of outer periphery work. Alternatively, the end of work on the inner route may be detected by detecting a transition from the travel pattern of the inner route to the travel pattern of the outer periphery route 202 using an algorithm capable of recognizing the travel pattern of the traveling machine body 5. The round trip end detection means may be the control unit 31 or the GNSS unit 30.

[0038] When the end of the work on the inner periphery path (inner periphery work) is detected in S104, an approximation line of the outer periphery path 202 is calculated from the turning start point P and the turning end point Q of all the round trip paths 201 stored in the memory unit (S105). The approximation line is a line connecting multiple end points of multiple round trip paths 201 at one edge of the field, or an approximation line obtained by approximating multiple end points using the least squares method or the like. Then, the tablet 32 ​​sets a line obtained by adding a predetermined value to this approximation line as the outer periphery path (target travel line (virtual line) for the outer periphery planting work) 202 (S106). That is, the tablet 32 ​​acquires multiple end points of multiple round trip paths 201 at one edge of the field based on the detection of at least one of the turning start point P and the turning end point Q of the traveling body 5, and sets the outer periphery path 202 so as to follow the direction in which the multiple end points are lined up.

[0039] Here, as shown in FIG. 8, if the width of the planting work machine 7 is H and the ridge is D, the predetermined value is 1 / 2H for the first route of the outer peripheral route 202, and HD for the second route. If there is no ridge, the second route is the first route plus H. In this embodiment, a line connecting multiple end points of the multiple round trip routes (inner peripheral routes) 201 or an imaginary line intersecting the multiple round trip routes 201 from an approximation line is set as the outer peripheral route (travel target line) 202. As a result, it becomes possible to perform planting work (outer peripheral work) by automatic steering along the travel target line on the outer peripheral route 202 as with the inner peripheral route.

[0040] The working route of the rice transplanter 1 in a field scene when the outer circumferential route 202 is set in the first mode described above will be described with reference to FIG. 5. The working routes are in the order of (1) the inner circumferential route, (2) the second outer circumferential route from the inside, and (3) the first outer circumferential route from the inside in FIG. 5. To be more specific, first, as described above in FIG. 6, the rice transplanter 1 is moved to point A. Then, as described above in FIG. 6, the rice transplanter 1 travels along the multiple round trip routes (inner circumferential routes) 201 while performing planting work (1).

[0041] When the work on the multiple reciprocating paths 201 is completed, the rice transplanter 1 is then turned toward the second path 202a of the outer peripheral path 202, and the rice transplanter 1 is moved backward until the rear end of the planting work implement 7 is located at the left ridge 214 in FIG. 5. Then, from this position, the rice transplanter 1 travels while performing planting work along the second path (target travel line) 202a of the outer peripheral path calculated as described above. After traveling along the second path 202a of the outer peripheral path 202 on the upper side of FIG. 5, the rice transplanter 1 is turned downward along the path 220a on the right side of the multiple reciprocating paths 201, and the rice transplanter 1 is moved backward until the rear end of the planting work implement 7 is located at the upper ridge 211 in FIG. 5. Then, from this position, the rice transplanter 1 travels while performing planting work along the path 220a downward, and then turns toward the second path 202b of the lower outer peripheral path 202. Next, the rice transplanter 1 is moved backward until the rear end of the planting implement 7 is located at the ridge 212 on the right side of Fig. 5, and travels from this position along the second path 202b on the lower side. Next, the rice transplanter 1 turns upward along the left path 220b of the multiple reciprocating paths 201, and is moved backward until the rear end of the planting implement 7 is located at the ridge 213 on the lower side of Fig. 5. Then, from this position, it travels upward along the path 220b while performing planting work (2).

[0042] Next, the rice transplanter 1 turns toward the first path 202c of the upper peripheral path 202, and moves backward until the rear end of the planting work implement 7 is located at the left ridge 214 of FIG. 5, and travels from this position along the first upper path 202c while performing planting work. After traveling along the first path 202c of the upper peripheral path 202 of FIG. 5, the rice transplanter 1 turns downward along the path 221a that is more inward than the right path 220a of the multiple reciprocating paths 201, and moves backward until the rear end of the planting work implement 7 is located at approximately the end of the range planted on the upper path 202a. Then, from this position, the rice transplanter 1 travels downward along the path 221a while performing planting work, and turns toward the first path 202d of the lower peripheral path 202. Next, the rice transplanter 1 is moved backward until the rear end of the planting implement 7 is located at approximately the end of the range planted on the right path 220a, and travels from this position along the first lower path 202d. Next, the rice transplanter 1 turns upward along the path 221b, which is more inward than the left path 220b of the multiple reciprocating paths 201, and travels backward until the rear end of the planting implement 7 is located at approximately the end of the range planted on the lower path 202b. Then, from this position, the rice transplanter 1 travels upward along the path 221b while performing planting work (3). After traveling along the path 221b, the rice transplanter 1 is exited from the entrance 210 to the outside of the farm field 200.

[0043] In addition, the travel of the routes 220a, 220b, 221a, and 221b along the left and right and up and down of the multiple round-trip routes 201 may be performed, for example, by an operator manually steering the traveling machine body 5 to travel while performing planting work, or a target line may be drawn using the line drawing marker 18 while traveling on both the left and right ends of the multiple round-trip routes 201, and the route 220a, 220b, 221a, and 221b on both the left and right sides of the multiple round-trip routes 201 may also be set in advance when setting the target travel lines of the multiple round-trip routes 201 by performing teaching travel control.

[0044] [Setting the peripheral route in the second mode] Next, the setting of the outer periphery path 202 in the second mode will be described with reference to Figures 10 to 13. The setting of the outer periphery path 202 in the first mode was performed by detecting at least one of the turning start point and the turning end point of the traveling body 5 between adjacent round trip paths, but the setting of the outer periphery path 202 in the second mode is performed by bringing the front wheels 2 of the rice transplanter 1 into contact with the edge of the paddy field, acquiring multiple work positions of the planting work machine 7 at that time as switching points (thrust positions) described later, and setting the outer periphery path 202 based on the multiple switching points.

[0045] 1 corresponds to a switching means for switching between forward and reverse of the traveling body 5. In the second mode, the tablet 32 ​​acquires a plurality of switching points between forward and reverse of the traveling body 5 by the main speed change lever 15, and sets the outer periphery route 202 along the direction in which the acquired plurality of switching points are aligned.

[0046] A specific description will be given. The operator operates the work mode switch 27 on the operation panel 23 or tablet 32 ​​shown in FIG. 3 to set the work mode to "dontsuki back". In this state, the lamp indicating the work mode state is lit. In this embodiment, hitting the front wheels 2 of the rice transplanter 1 against the edge of the field is called "dontsuki", and moving the rice transplanter 1 backward from this state is called "dontsuki back". Therefore, the second mode is also called dontsuki back mode, and the second mode is expressed as "dontsuki back" in the drawings.

[0047] When performing planting work in a field scene in the second mode, as shown in FIG. 10, the rice transplanter 1 is entered from the entrance / exit 210 of the field 200 and positioned at point A. Then, as in the above-mentioned case, teaching travel control is performed from point A to point B. After reaching point B, the operator hits the front wheels 2 of the rice transplanter 1 against the ridge 213 on the lower side of FIG. 10 (abutting). In this state, the operator operates the main shift lever 15 to move the rice transplanter 1 backward. At this time, the tablet 32, which is also a switching detection means, detects that the rice transplanter 1 has moved backward based on the position information of the traveling body 5 from the GNSS unit 30. That is, the tablet 32 ​​detects the point (abutting position) where the traveling body 5 is moved forward to the ridge of the field 200 and then switched to reverse. The switching detection means may be the control unit 31 or the GNSS unit 30. When the rice transplanter 1 is thrust, the planting work machine 7 is operated to perform planting only once (single-point planting).

[0048] Since multiple round trip routes 201 are set by the above teaching travel control, the operator turns the rice transplanter 1 toward the next target travel line after the shove back. Then, the rice transplanter 1 travels with automatic steering while performing planting work toward the upper side of Fig. 10, and performs the shove back at the upper ridge 211 in the same manner as described above. At this time, too, the tablet 32 ​​detects that the rice transplanter 1 has retreated based on the position information of the traveling body 5 from the GNSS unit 30, and acquires the shove position.

[0049] Such a back-thrust operation will be described with reference to Figs. 11(B) and (C). Fig. 11 shows the back-thrust operation at the upper ridge 211, but the same applies to the lower ridge 213. Point R shown in Figs. 11(B) and (C) is the working position of the planting machine 7 when the planting machine 7 is back-thrust at the ridge 211, that is, the back-thrust position. As shown in Fig. 11(C), the rice transplanter 1 is moved backward from the back-thrust position to the turning start position. At this time, the tablet 32 ​​detects that the rice transplanter 1 has moved backward based on the position information of the traveling body 5 by the GNSS unit 30, acquires the switching point between forward and reverse of the rice transplanter 1 as the back-thrust position, and stores it in the memory unit. Then, the operator turns the rice transplanter 1 toward the next target traveling line and moves it to the turning end position shown by point S.

[0050] In addition, since turning is started after the rice transplanter 1 has retreated to the turning start position, turning is started after the rice transplanter 1 has traveled a certain distance from a traveling speed of 0. In other words, actual turning begins after the rice transplanter 1 has reached a predetermined speed. For this reason, the turning start position is located inside the thrust position, and the turning end position is located outside the turning start position. In the case of this embodiment, the turning start position shown in FIG. 11(C) is set so that the position where turning actually starts is the thrust position or in the vicinity of this position, and the turning end position is set to be approximately the same position as the thrust position in the vertical direction of FIG. 11(C).

[0051] The above-mentioned poking back is performed while traveling along multiple round trip routes 201, and multiple switching points between forward and reverse of the rice transplanter 1, i.e., poking positions, are obtained, and the multiple switching points (poking positions) are stored in the memory unit. Then, the tablet 32 ​​sets the outer periphery route 202 so that it follows the direction in which the multiple switching points (poking positions) are lined up. In the examples of Figures 10 and 11, there is one outer periphery route 202.

[0052] The second mode in which the outer periphery path 202 is set using such a push-back is described with reference to the flow diagram of Fig. 12. When performing generation control of the outer periphery path 202 (outer periphery virtual line generation control (pushing back)) in the push-back mode of this embodiment, first, the position data (travel data) of a plurality of round trip paths (inner periphery paths) 201 are stored in chronological order (S201). That is, as described above, planting work is performed while performing teaching travel control from point A to point B, and when automatic steering is turned ON, as shown in Fig. 10, straight-line control is executed to control the steering handle 13 so that the traveling machine body 5 travels straight along the travel target line (straight-line path, virtual lines Lk1, Lk2,..., Lkn) by the control of the steering motor 39 by the control unit 31 based on the command of the tablet 32.

[0053] The planting work progresses while the traveling body 5 travels straight by the straight-line control, and the operator raises the planting work machine 7 at the end of each target line, and the rice transplanter 1 is pushed against the ridge 211 or 213 to move the rice transplanter 1 backward. Each time, the tablet 32 ​​detects the switching point (thrust position) R of the rice transplanter 1 based on the position information of the traveling body 5 by the GNSS unit 30 and stores it in the memory unit. In this embodiment, the turning end point (turning end position) S is also detected based on the position information of the traveling body 5 by the GNSS unit 30 and stored in the memory unit (S202) as in the first mode. This operation is performed for all of the multiple round trip routes 201 (S203).

[0054] As in the first mode, the tablet 32 ​​detects the end of the round trip travel of the traveling body 5 based on the position information of the traveling body 5 by the GNSS unit 30 (S204). This detection is almost the same as in the first mode, but when detecting the start of the outer perimeter work and the end of the work on the inner perimeter route, this is done by detecting travel for a predetermined time or a predetermined distance outside the head-on position, not at the pillow turning point.

[0055] When the end of the work on the inner periphery path (inner periphery work) is detected in S204, an approximation line of the outer periphery path 202 is calculated from the end points R and the turning end points Q of all the round trip paths 201 stored in the memory unit (S205). The approximation line is a line connecting multiple switching points (end points) at one end of the field, or an approximation line obtained by approximating multiple switching points using the least squares method or the like. Then, the tablet 32 ​​adds a predetermined value X to this approximation line and sets it as the outer periphery path (target travel line (virtual line) for the outer periphery planting work) 202 (S206). That is, the tablet 32 ​​acquires multiple end points R and turning end points Q of the traveling body 5, and sets the outer periphery path 202 so that it follows the direction in which the multiple end points R and turning end points Q are aligned. Note that the turning end position Q does not need to be included in the setting of the outer periphery path 202.

[0056] Here, the predetermined value is set based on the distance from the front wheels of the traveling body 5 to the work position of the planting machine 7, and the width of the planting machine 7. As shown in Fig. 11(A), if the width of the planting machine 7 is H, the distance from the front wheels 2 at the thrust position to the work position of the planting machine 7 is Lf, and the ridge width is D, the predetermined value X can be calculated by the following formula. X=Lf-(1 / 2)HD In addition, if there is no ridge, X=Lf-(1 / 2)H It becomes.

[0057] Here, the values ​​of Lf and H differ depending on the type (model) of the rice transplanter 1. For this reason, in this embodiment, as shown in Figures 13(A) and (B), the model can be input using the operation screen of the tablet 32 ​​as an input means, and settings according to the model can be made. On the screen of Figure 13(A), by selecting the model, Lf, H, and D are automatically set, and the predetermined value X is also automatically calculated.

[0058] For example, with 7 rows, if Lf = 2400mm, H = 2500mm, D = 30mm, then X = 2400-(1 / 2) x 2500-30 = 1120mm, and with 8 rows, if Lf = 2400mm, H = 2800mm, D = 30mm, then X = 2400-(1 / 2) x 2800-30 = 9700mm.

[0059] On the other hand, FIG. 13(B) is a custom screen where Lf, H, and D can be manually set. By inputting the values ​​of Lf, H, and D, the predetermined value X is automatically calculated. This allows for compatibility with models that are not registered in the tablet 32. In either screen of FIG. 13(A) or (B), tapping the execute button generates the perimeter route (perimeter virtual line) 202. As a result, the predetermined values ​​for setting the perimeter route 202 are automatically set by inputting the type of work vehicle, so that the perimeter route 202 can be easily set according to the type of work vehicle. The input means may be the operation panel 23.

[0060] In the second mode, a line connecting multiple switching points (push positions) or an imaginary line intersecting multiple round trip routes 201 from an approximation line is set as the outer periphery route (travel target line) 202. As a result, in the outer periphery route 202 as well, planting work (outer periphery work) can be performed by automatic steering along the travel target line, as in the inner periphery route. In addition, since multiple switching points for setting the outer periphery route 202 described above are obtained by abutting the front wheels 2 against the ridge, the line connecting the multiple switching points or the approximation line is a line that follows the shape of the ridge. Therefore, even if the shape of the field 200 is a special shape such as a polygon other than a rectangle or a square, it is possible to set the outer periphery route 202 suitable for the shape of the field 200.

[0061] When the outer peripheral path 202 is set in the second mode described above, the working path of the rice transplanter 1 in the field scene is as shown in Fig. 10. The working path is in the order of (1) inner peripheral path, and (2) outer peripheral path in Fig. 10. The specific working path is the same as that in Fig. 5, except that there is no path (3) as in the case described in Fig. 5, and the rice transplanter 1 exits from the entrance 210 to the outside of the field 200 after the path (2).

[0062] In the case of this embodiment, as described above, the setting of the outer periphery path 202 can be executed in the first mode or the second mode, and is performed by selecting one of these modes. The automatic steering control of this embodiment will be specifically described using the flow diagram of FIG. 14. First, when the automatic steering control is started, the tablet 32 ​​sets an arbitrary virtual line that is close to the current position of the rice transplanter 1 and close in direction to the work path as a target line (S301). The virtual line is the multiple round trip paths 201 and the outer periphery path 202 described above.

[0063] Next, the tablet 32 ​​judges whether the operation mode is the blunt back or not (S302). If the operation mode is not the blunt back (N in S302), the periphery path 202 is set in the first mode described in Fig. 9, that is, the periphery virtual line generation control (normal) is executed (S303). On the other hand, if the operation mode is the blunt back (Y in S302), the periphery path 202 is set in the second mode described in Fig. 12, that is, the periphery virtual line generation control (blunt back) is executed (S304).

[0064] When automatic steering is ON on the inner route (multiple round trip routes 201) or the outer route 202 (Y in S305), the tablet 32 ​​calculates the lateral deviation of the rice transplanter 1 from the target travel line based on the position information of the traveling body 5 from the GNSS unit 30, and compares the lateral deviation amount with a predetermined threshold value Dt (S306). Then, when the lateral deviation amount is greater than the predetermined threshold value Dt (N in S306), the rice transplanter 1 is automatically steered (S307, S308). Specifically, the tablet 32 ​​calculates a corrective steering angle θs from a comparison between the lateral deviation amount and the predetermined threshold value Dt (S307), and outputs the corrective steering angle θs to the steering motor 39 (S308).

[0065] The tablet 32 ​​also calculates the deviation of the direction of travel of the rice transplanter 1 from the target travel line and compares the direction deviation with a predetermined angle θt (S309). Even if the amount of lateral deviation is less than a predetermined threshold Dt (Y in S306), if the direction deviation is greater than the predetermined angle θt (N in S309), the rice transplanter 1 is automatically steered (S307, S308). If both S306 and S309 are Y, the tablet 32 ​​notifies either the notification buzzer 40 or the notification display unit 41 that the rice transplanter 1 is on the target line (S310).

[0066] As described above, in the first mode, the work vehicle automatic steering system 100 in this embodiment detects at least one of the turning start point and the turning end point while traveling on the multiple round trip routes 201, which are inner circumferential routes, based on the position information of the traveling body 5 by the GNSS unit 30, and acquires these points as multiple end points of the multiple round trip routes at one end of the field. Then, since the outer circumferential route 202 is set so as to follow the direction in which the multiple end points are lined up, the outer circumferential route 202 can be set without directly detecting the ridge, and the route of the automatic steering can be set more easily. Also, in this embodiment, when the rice transplanter 1 travels on the multiple round trip routes 201, which are inner circumferential routes, while performing planting work, the outer circumferential route 202 is automatically set. This reduces the workload of the operator.

[0067] In the second mode, the traveling body 5 is moved forward to the edge of the field 200 and then switched to reverse, and multiple switching points are acquired. That is, while traveling along the multiple round trip paths 201, which are the inner peripheral path, the rice transplanter 1 is made to pierce the edge of the field and then retreat. At this time, multiple piercing positions, which are switching points between forward and reverse of the rice transplanter 1, are acquired by detecting the retreat from the piercing position, i.e., piercing back, based on the position information of the traveling body 5 from the GNSS unit 30. Then, the outer peripheral path 202 is set so as to follow the direction in which the acquired multiple switching points (piercing positions) are lined up, so that the outer peripheral path 202 can be set regardless of the shape of the field 200, and the automatic steering path can be set more easily.

[0068] In addition, in this embodiment, the outer periphery path 202 is set after the end of the reciprocating travel of the traveling body 5 is detected, that is, after the travel of the multiple reciprocating paths 201 is completed. That is, in the first mode, the calculation of the outer periphery path 202 is performed after acquiring all the multiple end points of the multiple reciprocating paths 201, and in the second mode, after acquiring all the end positions during travel of the multiple reciprocating paths 201. Therefore, the calculation load can be lighter than when the calculation of the outer periphery path 202 is performed every time an end point or end position of the reciprocating path 201 is acquired. Also, the setting of the outer periphery path 202 as the target travel line can be performed more accurately.

[0069] That is, if a calculation is performed each time an end point or a final point is obtained, the number of calculations increases, and the calculation load increases. Also, if the number of calculations increases, there is a possibility that an error will increase each time a calculation is performed, and there is a risk that the target driving line cannot be set accurately. In contrast, as in the present embodiment, by calculating the outer circumferential route 202 after obtaining all end points of the inner circumferential route or all final points during driving on the inner circumferential route, the outer circumferential route 202 can be set with a single calculation, thereby reducing the calculation load and improving the accuracy of setting the outer circumferential route 202.

[0070] In the above embodiment, the riding type rice transplanter 1 is described as the work vehicle, but the work vehicle is not limited to this. The work vehicle may be, for example, another work vehicle such as a tractor or a combine harvester. [Explanation of symbols]

[0071] 1 Rice transplanter (work vehicle) 5 Running body 7 Planting machine (work machine) 15 Main shift lever (switching means) 30 GNSS unit (location information acquisition means) 31 Control Unit 32 tablet (input means, reference direction setting means, route setting means, rotation detection means, round trip end detection means, switching detection means, mark formation means) 39 Steering motor (steering means)

Claims

1. In a work vehicle automatic steering system, a traveling machine body of a work vehicle is automatically steered when the traveling machine body travels back and forth in a field by repeatedly turning at the edge of the field, and when the traveling machine body travels along the outer periphery of the field after the end of the back and forth travel, A position information acquisition means for acquiring position information of the traveling machine body; A reference orientation setting means for setting a reference orientation when the traveling body travels back and forth in a farm field; a route setting means for setting a plurality of round-trip routes arranged at predetermined intervals parallel to the reference direction and a periphery route extending in a direction intersecting the reference direction; A steering means for steering the traveling machine body so that the traveling machine body travels along any one of the plurality of round trip paths and the outer circumferential path; A switching means for switching between forward and reverse movement of the traveling machine body; A switching detection means for detecting a point where the traveling machine body is switched to reverse after being moved forward to the edge of the field based on the position information of the traveling machine body by the position information acquisition means, The route setting means acquires a plurality of switching points between forward and reverse of the traveling machine body by the switching detection means, and sets the outer periphery route so as to follow the direction in which the acquired plurality of switching points are arranged. An automatic steering system for a work vehicle.

2. A round trip end detection means for detecting the end of the round trip travel of the traveling machine body based on the position information of the traveling machine body by the position information acquisition means, The route setting means sets the outer periphery route after the end of the reciprocating travel of the traveling body is detected by the reciprocating end detection means.

2. The automatic steering system for a work vehicle according to claim 1.

3. An input means capable of inputting the type of the work vehicle is provided, the route setting means sets, as the periphery route, a line connecting the plurality of switching points or a line obtained by adding a predetermined value to an approximation line of the plurality of switching points; The predetermined value is automatically set based on the type of the work vehicle input by the input means.

2. The automatic steering system for a work vehicle according to claim 1.

Images