Ride-type rice transplanter

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 relates to a riding-type rice transplanter capable of automatically controlling the steering of a traveling machine body.

Background Art

[0002] A conventional work vehicle is described in, for example, Patent Document 1 below. This work vehicle includes a traveling machine body having traveling devices (referred to as "front wheels" and "rear wheels" in Patent Document 1), a work device for performing work on a farm field (referred to as a "seedling planting work device" in Patent Document 1), and a steering unit capable of steering the traveling devices (referred to as a "power steering valve", "power steering cylinder", "automatic control valve", etc. in Patent Document 1). Further, this work vehicle includes a receiving device for acquiring position information by a satellite positioning system (referred to as a "GPS receiver" in Patent Document 1), and a control unit for controlling the steering unit so that the traveling machine body travels straight based on the acquired position information (referred to as a "controller" in Patent Document 1). 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] In addition, Patent Document 2 below describes a measurement unit in which a receiving device for acquiring position information by a satellite positioning system and an inertial measurement device for measuring inertial information are integrated.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the position information obtained from the receiving device by the satellite positioning system may have a large deviation from the actual position. In such a case, with the work vehicle described in Patent Document 1 above, it has been difficult to accurately perform the work by the working device using the automatic steering control of the traveling body.

[0006] Also, in a situation where radio wave interference or the like is likely to occur, the amount of information of the position information obtained by the receiving device becomes insufficient, and it has been difficult to perform the automatic steering control of the traveling body itself.

[0007] For this reason, in the work vehicle described in Patent Document 1 above, as described in Patent Document 2, a measurement unit in which a receiving device that obtains position information by a satellite positioning system and an inertial measurement device that measures inertial information are integrated is mounted, and based on the position information obtained by the receiving device and the inertial information measured by the inertial measurement device, the automatic steering control of the traveling body is performed, and it has been considered to further improve the accuracy of the work by the working device.

[0008] An object of the present invention is to provide a riding type rice transplanter capable of accurately performing work by a working device using automatic steering control of a traveling body.

Means for Solving the Problems

[0009] The work vehicle of the present invention includes a body having a seat and a traveling device and a seedling planting device connected to the rear of the body, a steering unit capable of steering the traveling device, a receiving device that obtains position information by a satellite positioning system, a generation unit that generates a target line for the aircraft to travel along, and a control unit that controls the steering unit so that the aircraft travels along the target line based on the position information, and at least a part of the body is located behind the front end of the seat outside the seat in the width direction of the body. The aircraft has a spare seedling storage device, the spare seedling storage device includes a plurality of spare seedling placement tables, and can be switched between a first state in which the plurality of spare seedling placement tables are arranged in the vertical direction of the aircraft and a second state in which the plurality of spare seedling placement tables are arranged in the front-rear direction of the aircraft. In the second state of the spare seedling storage device, the rear end side of the last spare seedling placement table among the plurality of spare seedling placement tables is located behind the front end of the seat in a side view. In the above configuration, it is preferable to provide a handrail erected upward from the body portion outside the seat in the width direction of the body and behind the spare seedling storage device. In the above configuration, it is preferable that the front end portion of the handrail is located in front of the rear end portion of the seat. In the above configuration, in the second state of the spare seedling storage device, it is preferable that the rearmost spare seedling placement table overlaps with the seat in a side view. In the above configuration, in the second state of the spare seedling storage device, it is preferable that the rear end side portion of the rearmost spare seedling placement table enters the entrance and exit of the operation unit. The work vehicle of the present invention has a seat and a traveling device a machine body having the same, a seedling planting device connected to the rear part of the machine body, a steering unit capable of steering the traveling device, a receiving device that acquires position information by a satellite positioning system, a generation unit that generates a target line for the aircraft to travel along, and a control unit that controls the steering unit so that the aircraft travels along the target line based on the position information, and is provided with at least a part of the machine body in front of the rear end portion of the seat outside the seat in the width direction of the machine body. The aircraft has a spare seedling storage device, the spare seedling storage device includes a plurality of spare seedling placement tables, and can be switched between a first state in which the plurality of spare seedling placement tables are arranged in the vertical direction of the aircraft and a second state in which the plurality of spare seedling placement tables are arranged in the front-rear direction of the aircraft. In the second state of the spare seedling storage device, the rear end side of the last spare seedling placement table among the plurality of spare seedling placement tables is located behind the front end of the seat in a side view. . In the above configuration, it is preferable that the front end portion of the handrail erected upward from the machine body portion outside the seat in the width direction of the machine body is located in front of the rear end portion of the seat. In the above configuration, it is preferable that, separately from the spare seedling storage device, there is provided a spare seedling table on which spare seedlings can be placed, and the spare seedling table is configured to be position-changeable between a use position for use and a storage position for storage. In the above configuration, the machine body has front wheels and rear wheels, and it is preferable that the front end portion of the receiving device is located in front of the front end portion of the front wheels. In the above configuration, it is preferable that the front end portion of the receiving device is located behind the front end portion of the machine body. The work vehicle of the present invention includes a traveling machine body having a traveling device, a steering unit capable of steering the traveling device, a receiving device that acquires position information by a satellite positioning system, an inertial measurement device, and a control unit that controls the steering unit based on information from the receiving device and information from the inertial measurement device. A bonnet provided at the front portion of the traveling machine body is provided, a frame extending above the bonnet is provided, and the receiving device and the inertial measurement device are supported by the frame at the same location in the traveling machine body. In addition, the work vehicle of the present invention includes a traveling body having a traveling device, a steering unit capable of steering the traveling device, a receiving device that acquires position information by a satellite positioning system, a secondary inertial measurement device that detects the inclination of the traveling 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 at the same location on the traveling body. In addition, the work vehicle of the present invention includes a traveling body having a traveling device, a working device that performs work on a farm field, a steering unit capable of steering the traveling device, 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 for the traveling body to travel, and a control unit that controls the steering unit so that the traveling body travels along the target line based on the position information and the inertial information, and the receiving device and the inertial measurement device are arranged at different locations on the traveling body.

[0010] According to the present invention, a receiving device that acquires position information by a satellite positioning system and an inertial measurement device that measures inertial information are arranged at different locations on the traveling body. Therefore, for example, the receiving device can be arranged at a location where the shaking is relatively large to improve the acquisition accuracy of the position information of the receiving device, and the inertial measurement device can be arranged at a location where the shaking is relatively small to reduce the error of the inertial information measured by the inertial measurement device. That is, both the accuracy of the position information acquired by the receiving device and the accuracy of the inertial information measured by the inertial measurement device are improved, and the characteristics of both the receiving device and the inertial measurement device can be utilized. As a result, it becomes possible to perform steering control of the steering unit using high-precision position information and inertial information, and the traveling body can be accurately automatically steered so that the traveling body and the working device travel along the target line. Therefore, according to the present invention, it becomes possible to accurately perform the work by the working device using the automatic steering control of the traveling body.

[0011] In the above configuration, It is preferable that the inertial measurement device is disposed at a position near the center in the longitudinal direction among the total lengths in the longitudinal direction of the traveling machine body and the working device.

[0012] According to this configuration, a position near the center in the longitudinal direction among the total lengths in the longitudinal direction of the traveling machine body and the working device is, for example, a position located near the yaw axis that is the turning center of the entire traveling machine body and the working device. By disposing the inertial measurement device at such a position, the error of the inertial information measured by the inertial measurement device is reduced, and it becomes easier to accurately measure the inertial information.

[0013] In the above configuration, It is preferable that the inertial measurement device is attached to an attachment member located near the rear axle of the traveling device.

[0014] According to this configuration, the attachment member located near the rear axle of the traveling device is less likely to sway during the traveling of the traveling machine body. By attaching the inertial measurement device to such an attachment member, the error of the inertial information measured by the inertial measurement device is reduced, and it becomes easier to accurately measure the inertial information.

[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 tables on which spare seedlings for supplying the seedling planting device can be placed, a pair of left and right spare seedling frames that support the spare seedling tables, a connecting frame that is connected across the upper portions of the left and right spare seedling frames, and are provided, It is preferable that the receiving device is attached to the connecting frame.

[0016] According to this configuration, since the receiving device is attached to the connecting frame installed at a relatively high position that connects the left and right spare seedling frames supporting the spare seedling table, the receiving device can be arranged in a place with few shielding objects that block radio waves. As a result, it is less likely that the position information acquired by the receiving device will be interrupted. Also, since the spare seedling frame and the connecting frame are relatively likely to sway during traveling, for example, the detection accuracy of the azimuth in the traveling direction of the aircraft body based on the position information acquired by the receiving device can be improved.

[0017] In the above configuration, it is preferable that the connecting frame can be changed between a use state in which the receiving device is located above the upper end of the spare seedling frame and a storage state in which the connecting frame is turned upside down with respect to the use state and the receiving device is located below the upper end of the spare seedling frame.

[0018] According to this configuration, by setting the connecting frame to the use state, the receiving device is positioned at a location higher than the upper end of the spare seedling frame, so the radio wave reception sensitivity during use of the receiving device can be improved. On the other hand, by setting the connecting frame to the storage state, it is positioned at a location lower than the upper end of the spare seedling frame. Therefore, for example, when storing the aircraft body in a storage shed or the like, the receiving device does not get in the way, and inconveniences such as hitting the receiving device against the upper part of the entrance of the storage shed can be avoided.

[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 around a left-right axis along the left-right direction and fixable in position in the use state and the storage state.

[0020] According to this configuration, since the connecting frame is rotatable around the left-right axis, it is easy to change the state of the connecting frame between a use 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 is detachable from the left and right preliminary seedling frames.

[0022] According to this configuration, since the connecting frame is detachable, when the receiving device is not used, the connecting frame in the use state can be removed from the preliminary seedling frame, the connecting frame can be put into the storage state, and attached to the preliminary 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, since the connector portion for connecting the harness in the receiving device extends outward in the left - right direction from the receiving device, for example, compared with the case where the connector portion extends forward from the receiving device, it is less likely that the connector portion of the receiving device will be hit by obstacles such as tree branches approaching from the front during traveling.

[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 for protecting the connector portion is provided.

[0026] According to this configuration, it will be preferably protected by the guard member so that obstacles such as tree branches do not collide with the connector portion during traveling.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[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-type rice transplanter (an example of a "work vehicle"), which is a rice transplanting paddy field work vehicle among agricultural work vehicles, is provided with a traveling body C (corresponding to the body) having a traveling device A and a work device for performing work on the field. The work device of the rice transplanter is a seedling planting device W capable of planting seedlings on the field. Note that the arrow F shown in FIG. 2 is the "front" of the traveling body C, the arrow B is the "rear" of the traveling body C, the arrow L is the "left" of the traveling body C, and the arrow R is the "right" of the traveling body C.

[0029]

[0030] As shown in FIGS. 1 to 3, an openable and closable bonnet 12 is provided at the front part of the traveling body C. An engine 13 is provided inside the bonnet 12. At the tip position of the bonnet 12, a rod-shaped center mascot 14 for confirming an index line LN (see FIG. 6) is provided. 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 strut frame 16 is erected at the front part of the body frame 15.

[0031] 〔Regarding the seedling planting device〕 As shown in Fig. 1, the seedling planting device W is vertically movably connected to the rear end of the traveling body C via a link mechanism 21 that moves up and down by the telescopic operation of a lifting cylinder 20 composed of a hydraulic cylinder.

[0032] As shown in Figs. 1 and 2, the seedling planting device W includes four transmission cases 22, rotary cases 23 rotatably supported on the left and right sides of the rear part of each transmission case 22, a pair of rotary planting arms 24 provided at both ends of each rotary case 23, a plurality of leveling floats 25 for leveling the field surface, a seedling placing table 26 on which a mat-shaped seedling for planting is placed, and the like. That is, the seedling planting device W is configured in an 8-row planting type.

[0033] The thus configured seedling planting device W rotates each rotary case 23 by the power transmitted from the transmission case 22 while driving the seedling placing table 26 to reciprocate horizontally left and right, and alternately takes out seedlings from the lower part of the seedling placing table 26 by each planting arm 24 and plants them on the field surface.

[0034] 〔Regarding the spare seedling table〕 As shown in Figs. 1 to 3, on the left and right sides of the bonnet 12 in the traveling body C, there are a plurality (for example, four) of normal spare seedling tables 28 on which spare seedlings for replenishing the seedling planting device W can be placed (corresponding to the spare seedling table) , and one rail-type spare seedling table 29 (corresponding to a spare seedling storage device) on which spare seedlings for replenishing the seedling planting device W can be placed. Further, on the left and right sides of the bonnet 12 in the traveling body C, there are a pair of left and right spare seedling frames 30 that support each normal spare seedling table 28 and the rail-type spare seedling table 29, and a connecting frame 31 that is connected across the upper parts of the left and right spare seedling frames 30. The connecting frame 31 has a U-shaped shape in a front view. The left and right end portions of the connecting frame 31 are respectively connected to the upper parts of the left and right spare seedling frames 30 via connecting brackets 32.

[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 field surface are provided on the left and right sides of the seedling planting device W, respectively. The left and right marker devices 33 are each configured to be operable between an operating posture in which they are in contact with the field surface and form index lines LN on the field surface as the traveling machine body C travels, and a storage posture in which they are separated upward from the field surface.

[0036] As shown in FIG. 1, each of the left and right marker devices 33 includes a marker arm 34 supported by the seedling planting device W so as to be swingable vertically, and a rotating body 35 having a plurality of convex portions in the circumferential direction and supported at the tip of the marker arm 34 so as to be freely rotatable. Further, a marker electric motor (not shown) for operating the left and right marker devices 33 in the operating posture and the storage posture is provided. By assuming the operating posture, each marker device 33 causes the rotating body 35 to roll on the ground as the steering of the traveling machine body C is performed, and forms a dotted index line LN (see FIG. 6) in a top view.

[0037] [Regarding the operation unit] As shown in FIGS. 1 to 3, an operation unit 40 for performing various operation operations is provided at the center of the traveling machine body C. The operation unit 40 includes a driver's seat 41 (corresponding to a seat) on which a driver can sit, a control tower 42, a steering handle 43 constituted by a manual steering wheel for steering the front wheels 10, a main shift lever 44 capable of switching between forward and reverse and changing the traveling speed, an operation lever 45, and the like. The driver's seat 41 is provided at the center of the traveling machine body C. The control tower 42 is operably provided with the steering handle 43, the main shift lever 44, the operation lever 45, and the like. A boarding step 46 is provided at the foot portion of the operation unit 40. Auxiliary steps 47 are provided at the left and right outer positions of the boarding step 46. On both the left and right sides of the bonnet 12, boarding steps 48 are provided as boarding and alighting passages that are continuous with the boarding step 46 without a step. The left and right spare seedling frames 30 are respectively arranged on the lateral outer sides of the boarding steps 48.

[0038] [Regarding the operation lever] The operation lever 45 shown in FIGS. 2 and 3 is provided on the lower right side of the steering handle 43. Although not shown in detail, the operation lever 45 is configured to be operable in the cross directions of a neutral position, an upper raising position, a lower lowering position, a rear right marker position, and a front left marker position, and is biased to the neutral position.

[0039] When the operation lever 45 is operated to the raising position, a planting clutch (not shown) is operated to the disengaged state, the seedling planting device W rises, and the left and right marker devices 33 (see FIG. 1) are operated to the stored posture. When the operation lever 45 is operated to the lowering position, the planting clutch (not shown) is operated to the disengaged state, the left and right marker devices 33 are operated to the stored posture, and the seedling planting device W descends. When the central leveling float 25 contacts the field surface, the seedling planting device W contacts the field surface and stops.

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

[0041] The operator's cab 42 of the operation unit 40 is provided with a pressure-operated automatic steering switch 50 (see FIG. 5). The automatic steering switch 50 is configured to be able to perform the switching operation of turning on and off the automatic steering of the steering unit U. Further, the main transmission lever 44 is provided with a registration switch 52 (see FIG. 5) for registering the teaching direction TA (see FIG. 6) used for the automatic steering control of the steering unit U. The registration switch 52 is provided with a pressure-operated first registration button 52A and a pressure-operated second registration button 52B.

[0042] 〔Regarding the steering unit〕 As shown in FIG. 4, the steering unit U includes the above-described steering handle 43, a steering operation shaft 54 interlockingly connected to the steering handle 43, a pitman arm 55 that swings as the steering operation shaft 54 rotates, left and right connection mechanisms 56 interlockingly connected to the pitman arm 55, a steering motor 58, a gear mechanism 57 for interlockingly connecting the steering motor 58 to the steering operation shaft 54, and the like.

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

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

[0045] 〔Regarding the Measurement Unit with a Receiver and the Inertial Measurement Device〕 As shown in FIGS. 1 to 3 and FIG. 5, the traveling body C is provided with a measurement unit 61 having a receiver 63 that acquires position information by a satellite positioning system and a sub-inertial measurement device 64 that can mainly detect the inclination (pitch angle, roll angle) of the traveling body C, and a main inertial measurement device 62 that measures inertial information.

[0046] The main inertial measurement device 62 and the sub-inertial measurement device 64 are each constituted by an IMU (Inertial Measurement Unit).

[0047] The measurement unit 61 having the receiving device 63 and the secondary inertial measurement device 64 and the primary inertial measurement device 62 are arranged at different locations on the traveling aircraft C. Further, the measurement unit 61 having the receiving device 63 and the secondary inertial measurement device 64 and the primary inertial measurement device 62 are arranged on the left-right center line CL of the traveling aircraft C.

[0048] In the above satellite positioning system (GNSS: Global Navigation Satelite System), a typical example is GPS (Global Positioning System). GPS measures the position of the receiving device 63 using a plurality of GPS satellites orbiting the earth's atmosphere, a control station for tracking and controlling the GPS satellites, and the receiving device 63 provided in the object (traveling aircraft C) to be positioned. The receiving device 63 is used to acquire the position information of the traveling aircraft 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 arranged at the front position of the traveling aircraft C (particularly, in front of the front wheels 10). Therefore, when the traveling direction of the traveling aircraft C is changed, the displacement amount in the left-right direction is larger at the front position of the traveling aircraft C than at the rear end position of the traveling aircraft C, and the change in the own aircraft position NM of the traveling aircraft C acquired by the receiving device 63 can be detected with high sensitivity.

[0050] As shown in FIG. 3 and the like, the connecting frame 31 can be changed between a use state S1 in which the measurement unit 61 having the receiving device 63 is located above the upper end of the spare seedling frame 30 and a storage state S2 in which the measurement unit 61 having the receiving device 63 is turned upside down with respect to the use state S1 and the receiving device 63 is located below the upper end of the spare seedling frame 30. To add an explanation, the connecting frame 31 is rotatable around the left-right axis X along the left-right direction and is supported by the left and right spare seedling frames 30 so that it can be fixed in position in each of the use state S1 and the storage state S2 by the connecting bracket 32.

[0051] As shown in FIG. 1, FIG. 3, etc., by setting the connecting frame 31 to the use state S1, the receiving device 63 is supported at a high position by the connecting frame 31 and the spare seedling frame 30. Therefore, as the traveling body C travels, due to the deflection of the spare seedling frame 30 and the connecting frame 31, the receiving device 63 is likely to sway, and the own vehicle position NM and the own vehicle azimuth NA of the traveling body C based on the position information acquired by the receiving device 63 can be accurately detected. Further, by setting the connecting frame 31 to the use state S1, the receiving device 63 is positioned at the uppermost position in the traveling body C, so that the radio wave reception sensitivity of the receiving device 63 can be increased, and radio wave interference is less likely to occur in the receiving device 63.

[0052] As shown in FIG. 2 and FIG. 3, the receiving device 63 of the measurement 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 measurement unit 61. The harness 66 is routed along the connecting frame 31 and the spare seedling frame 30. Further, a guard member 68 for protecting 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] As shown in FIG. 1, the main inertial measurement device 62 is arranged at a position near the center in the front-rear direction among the entire lengths in the front-rear direction of the traveling body C and the seedling planting device W. To add an explanation, the main inertial measurement device 62 is arranged near the turning center in the traveling direction of the traveling body C (the axis of the yaw axis of the traveling body C).

[0054] Specifically, at the rear part of the traveling body C, a rear axle frame 73 is provided that rotatably supports a rear axle 72 that transmits driving force to the rear wheels 11. The rear axle frame 73 is a member having rigidity located near the rear axle 72 of the traveling device A. The main inertial measurement device 62 is attached to the rear axle frame 73.

[0055] Adding an explanation, as shown in FIGS. 1 and 2, the main inertial measurement device 62 is located near the seedling planting device W. Further, the main inertial measurement device 62 is located below the rear side of the driver's seat 41.

[0056] As shown in FIG. 5, the main inertial measurement device 62 is mainly provided with a gyro sensor 70 capable of detecting the angular velocity of the yaw angle (turning angle of the traveling body C) of the traveling body C, and an acceleration sensor 71 capable of detecting accelerations in three mutually orthogonal axial directions. That is, the inertial information measured by the main inertial measurement device 62 includes the azimuth change information detected by the gyro sensor 70 and the position change information detected by the acceleration sensor 71. As described above, since the main inertial measurement device 62 is arranged near the turning center in the traveling direction of the traveling body C, it is possible to greatly suppress the integration error of the azimuth change information generated in the gyro sensor 70, and the detection accuracy of the position change information by the acceleration sensor 71 becomes high.

[0057] 〔Regarding the control configuration〕 As shown in FIG. 5, the traveling body C is provided with a control device 75 that controls the automatic steering of the steering unit U. The control device 75 includes 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 for traveling the traveling body C, a state detection unit 82, and a control unit 83 that controls the steering unit U so that the traveling body C travels along the target line LM based on the position information and the inertial information.

[0058] Information such as a receiving device 63, a sub-inertial measurement device 64, a gyro sensor 70, an acceleration sensor 71, a steering angle sensor 60, an automatic steering switch 50, and a registration switch 52 in the main inertial measurement device 62 is input to the control device 75.

[0059] The information storage unit 76 is configured to store the position information acquired from the receiving device 63 at each time.

[0060] The teaching memory unit 77 is configured to calculate the teaching direction TA using the position information of two points among the 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 of turning of the traveling body C and the 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 to start the automatic steering control of the traveling body C.

[0063] The information correction unit 80 is configured to perform correction processing based on the integrated error of the information detected by the gyro sensor 70 among the inertial information measured by the main inertial measurement device 62, the position information acquired by the receiving device 63, and the information measured by the sub-inertial measurement device 64 each time the automatic steering control of the traveling body C is started.

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

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

[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] 〔Regarding Automatic Steering Control〕 As an example, the case of performing a seedling planting operation in a rectangular paddy field in a top view will be described. As shown in FIG. 6, first, the traveling machine body C is positioned at a certain 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, with the seedling planting device W raised and the leveling float 25 grounded, the traveling machine body C is driven straight along the straight shape at the edge of the ridge on the side from the first position Q1, and after moving to the second position Q2 near the opposite ridge edge, the second registration button 52B (see FIG. 5) of the registration switch 52 is operated. Thereby, a teaching direction TA, which is the 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 start of the turning of the traveling machine body C is detected by the steering angle sensor 60, the seedling planting device W, the leveling float 25, and the marker device 33 are automatically raised from the field surface. When the turning of the traveling machine body C ends, 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 where the operation input of the automatic steering switch 50 is not accepted until a certain time has elapsed after the turning end position Q3 of the traveling machine body C is detected and until the deviation angle between the own machine azimuth NA and the teaching direction TA is within a predetermined range. That is, while the state of the traveling machine body C is in the dead zone, even if the automatic steering switch 50 is operated, the automatic steering control is not started. While the state of the traveling machine body C is in the dead zone, the driver can manually steer the steering unit U so that the index line LN coincides with the line of sight looking at the tip of the center mascot 14 to align the position of the traveling machine body C.

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

[0071] In addition, in FIG. 6, for the sake of illustration, the index line LN formed by the marker device 33 and the target line LM are slightly shifted. However, in reality, 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. Therefore, the target line LM is generated so as to substantially coincide with the index line LN.

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

[0073] During the automatic steering control of the traveling body C, when there is no angular deviation (misalignment angle) between the own-ship azimuth NA and the teaching direction TA and no distance deviation (misalignment distance) between the own-ship position NM and the target line LM, the steering unit U is not steered. Also, during the automatic steering control of the traveling body C, when there is an angular deviation (misalignment angle) between the own-ship azimuth NA and the teaching direction TA and no distance deviation (misalignment distance) between the own-ship position NM and the target line LM, the steering unit U is steered in a direction to eliminate the angular deviation (misalignment angle) between the own-ship azimuth NA and the teaching direction TA. Also, during the automatic steering control of the traveling body C, when there is an angular deviation (misalignment angle) between the own-ship azimuth NA and the teaching direction TA and there is a distance deviation (misalignment distance) between the own-ship position NM and the target line LM, the steering unit U is steered in a direction to eliminate the angular deviation (misalignment angle) between the own-ship azimuth NA and the teaching direction TA. Also, during the automatic steering control of the traveling body C, when there is no angular deviation (misalignment angle) between the own-ship azimuth NA and the teaching direction TA and there is a distance deviation (misalignment distance) between the own-ship position NM and the target line LM, the steering unit U is steered in a direction to eliminate the distance deviation (misalignment distance) between the own-ship position NM and the target line LM. Thereby, the traveling body C will travel accurately along the target line LM.

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

[0075] When the traveling body C approaches the edge of the ridge, the driver operates the automatic steering switch 50, stopping the automatic steering control of the traveling body C and switching to manual steering. Then, a turning operation is similarly performed at the edge of the ridge, and the same operation is repeated to plant seedlings in the field. As a result, the driver does not need to manually operate the steering wheel 43 during the planting of seedlings in the field by the seedling planting device W, and the seedling planting work can be carried out more accurately and easily.

[0076] 〔Regarding the setting of the own machine position〕 As shown in Fig. 7, although the receiving device 63 is arranged at the front of the traveling body C, the own machine position NM serving as the reference for data processing is set not at the actual installation position of the receiving device 63 but at a position near the main inertial measurement device 62. The setting of the own machine position NM serving as the reference for data processing is determined based on the distance between the receiving device 63 and the location where the own machine position NM is set, and the own machine azimuth NA calculated based on the receiving device 63 and the main inertial measurement device 62. Since it is desired to travel accurately along the target line LM by the seedling planting device W, by setting the own machine position NM in the vicinity of the seedling planting device W in this way, the automatic steering control of the traveling body C can be performed so that the seedling planting device W travels accurately along the target line LM.

[0077] 〔Regarding the relationship between the spare seedling frame, the normal spare seedling table, and the rail - type spare seedling table〕 As shown in Fig. 3, each of the left and right spare seedling frames 30 is provided with a fixing portion 85 fixed to the support strut frame 16, an inclined portion 86 extending upward from the fixing portion 85 and inclined toward the left and right inner sides, and a vertical portion 87 extending upward from the inclined portion 86. That is, the vertical portion 87 of the spare seedling frame 30 is offset by a predetermined distance D toward the left and right inner sides with respect to the support strut frame 16 and the fixing portion 85 of the spare seedling frame 30.

[0078] As shown in FIGS. 1 to 3, a plurality of normal spare seedling tables 28 are each supported by a spare seedling frame 30 so as to be swingable about a longitudinal axis Y that inclines inwardly in the left-right direction as it goes forward along the longitudinal portion 87 of the spare seedling frame 30. The normal spare seedling table 28 is in a horizontal posture E1 (use position) and a vertical posture E2 (storage position) and is configured to be able to change its posture.

[0079] As shown in FIGS. 1 to 3, when the normal spare seedling table 28 is in the horizontal posture E1, the placement surface of the normal spare seedling table 28 becomes substantially horizontal. On the other hand, when changing the normal spare seedling table 28 from the horizontal posture E1 to the vertical posture E2, each normal spare seedling table 28 is swung about the longitudinal axis Y to be vertical. As a result, each normal spare seedling table 28 in the vertical posture E2 becomes a compact state in the left-right direction closer to the longitudinal portion 87 side of the spare seedling frame 30.

[0080] The rail-type spare seedling table 29 shown in FIGS. 1 to 3 is provided with a front placement table 88 (corresponding to a spare seedling placement table), a central placement table 89 (corresponding to a spare seedling placement table), and a rear placement table 90 (corresponding to a spare seedling placement table). The central placement table 89 is fixed to the support column frame 16 via a pair of support brackets 91. The front placement table 88 is connected to the front end portion of the central placement table 89 so as to be swingable about a front horizontal axis P1 along the left-right direction. The rear placement table 90 is connected to the rear end portion of the central placement 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 table 29 is configured to be able to change its state between a deployed state F1 (corresponding to the second state) and a folded state F2 (corresponding to the first state). When the rail-type spare seedling table 29 is in the deployed state F1, with the central placement table 89 as the center, the front placement table 88 is deployed on the front side of the central placement table 89, and the rear placement table 90 is deployed on the rear side of the central placement table 89. That is, when the rail-type spare seedling table 29 is in the deployed state F1, the front placement table 88, the central placement table 89, and the rear placement table 90 are arranged in order from front to back.

[0081] As shown in FIG. 1, when changing the rail - type spare seedling table 29 from the deployed state F1 to the folded state F2, the front mounting table 88 is swung around the front horizontal axis P1 located at the front end of the central mounting table 89, and the front mounting table 88 is folded and positioned above the central mounting table 89. Then, the rear mounting table 90 is swung around the rear horizontal axis P2 located at the rear end of the central mounting table 89, and the rear mounting table 90 is positioned above the central mounting table 89. Thereby, the rail - type spare seedling table 29 can be made into a compact folded state F2 in the front - rear direction.

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

[0083] That is, as can be understood from FIGS. 1 to 3, in addition to offsetting the vertical portion 87 of the spare seedling frame 30 by a predetermined distance D to the left and right inside with respect to the support strut frame 16 and the fixed portion 85 of the spare seedling frame 30, a plurality of normal spare seedling tables 28 are changed to a vertical posture E2 in a compact state in the left - right direction closer to the vertical portion 87 side of the spare seedling frame 30 so as to be offsettable to the left and right inside. As a result, the rail - type spare seedling table 29 can be changed from the deployed state F1 to the folded state F2 without interference with the spare seedling frame 30 or the normal spare seedling tables 28. Also, by making a plurality of normal spare seedling tables 28 offsettable to the left and right inside, for example, the overall left - right width of the traveling machine body C can be made smaller than when offsetting the rail - type spare seedling table 29 to the left and right outside.

[0084] 〔Alternative Embodiment〕 Hereinafter, an alternative embodiment of the present invention will be described. Each of the following alternative embodiments may be applied to the above - described embodiment in combination as long as there is no contradiction. Note that the scope of the present invention is not limited to the content of these embodiments.

[0085] (1) In the above-described embodiment, mainly, automatic steering control of the traveling aircraft C is performed based on inertial information measured by the main inertial measurement device 62, and the inertial information measured by the main inertial measurement device 62 is corrected based on position information acquired by the receiving device 63. However, the present invention is not limited to this. For example, mainly, automatic steering control of the traveling aircraft C may be performed based on position information acquired by the receiving device 63, and the position information acquired by the receiving device 63 may be corrected based on inertial information measured by the main inertial measurement device 62.

[0086] (2) In the above-described embodiment, an example is shown in which the connecting frame 31 is supported by the left and right spare seedling frames 30 so as to be rotatable around the left and right axis X along the left and right direction and fixable in position in the use state S1 and the storage state S2. However, the present invention is not limited to this. For example, it 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 then attached to the spare seedling frame 30 again, so that the connecting frame 31 is in the storage state S2.

[0087] (3) In the above-described embodiment, an example is shown in which the receiving device 63 is fixed at a certain position. However, the present invention is not limited to this. 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 aircraft C in a state of being movable along the front-rear direction. Thereby, by moving the receiving device 63 between two points on the rail member 100, it is possible to obtain based on the own azimuth NA of the traveling aircraft C and the position information of the two points acquired by the receiving device 63 while the traveling aircraft C remains stopped.

[0088] (4) In the above-described embodiment, an example is given in which only one receiving device 63 is provided, but the present invention is not limited to this. For example, two or more receiving devices 63 may be provided. By doing so, even when the traveling aircraft C is stopped, it is possible to obtain the own aircraft azimuth NA of the traveling aircraft C based on the position information acquired by one receiving device 63 and the position information acquired by another receiving device 63.

[0089] (5) In the above-described embodiment, an example is given in which the connector portion 67 extends outward in the left-right direction from the side surface portion of the receiving device 63, but the present invention is not limited to this. For example, the connector portion 67 may extend upward from the upper surface portion of the receiving device 63, downward from the lower surface portion of the receiving device 63, forward from the front surface portion of the receiving device 63, or rearward from the rear surface portion of the receiving device 63. In this case, it is preferable that the 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-described embodiment, an example is given in which the guard member 68 is attached to the support plate 65, but the present invention is not limited to this. For example, the guard member 68 may be attached to the receiving device 63 itself.

[0091] (7) In the above-described embodiment, an example is given in which the planting device W is provided as the working device, but the present invention is not limited to this. For example, as the working device, in addition to the planting device W, a fertilizer application device, a chemical spraying device, or the like may be provided.

Industrial Applicability

[0092] The present invention can be used not only in the above-described riding-type rice transplanter equipped with a planting device as the working device, but also in, for example, a riding-type direct seeder which is a paddy field working vehicle equipped with a seeding device as the working device, a tractor equipped with a plow or the like as the working device, or a combine or the like which is an agricultural working vehicle equipped with a harvesting unit or the like as the working device, or a construction working vehicle equipped with a bucket or the like as the working device.

Explanation of Reference Numerals

[0093] 10: Front wheel 11: Rear wheel 28: Normal spare seedling table (spare seedling table) 29: Rail - type seedling standby table (seedling standby storage device) 40: Driving unit 41: Driver's seat (seat) 63: Receiving device 81: Generation unit 83: Control unit 88: Front placement table (seedling standby placement table) 89: Central placement table (seedling standby placement table) 90: Rear placement table (seedling standby placement table) A: Traveling device C: Traveling body (body) E1: Lateral posture (use position) E2: Vertical posture (storage position) U: Steering unit W: Seedling planting device LM: Target line

Claims

1. An airframe having a seat and a traveling device, a seedling planting device connected to the rear part of the airframe, a steering unit capable of steering the traveling device, a receiving device that acquires position information by means of a satellite positioning system, a generating unit that generates a target line for traveling the airframe, and a control unit that controls the steering unit so that the airframe travels along the target line based on the position information, outside the seat in the width direction of the airframe, at least a part of the airframe is located behind the front end of the seat, the airframe has a spare seedling storage device, the spare seedling storage device includes a plurality of spare seedling placement tables, and can be switched between a first state in which the plurality of spare seedling placement tables are arranged in the vertical direction of the airframe and a second state in which the plurality of spare seedling placement tables are arranged in the front-rear direction of the airframe, In the second state of the spare seedling storage device, a side part at the rear end of the last (counting from the rear) spare seedling placement table is located behind the front end of the seat in side view, a riding type rice transplanter.

2. The riding type rice transplanter according to claim 1, further comprising a handrail erected upward from the airframe part outside the seat in the width direction of the airframe and behind the spare seedling storage device.

3. The riding type rice transplanter according to claim 2, wherein a front end part of the handrail is located in front of a rear end part of the seat.

4. The riding type rice transplanter according to any one of claims 1 to 3, wherein in the second state of the spare seedling storage device, the last (counting from the rear) spare seedling placement table overlaps with the seat in side view.

5. The riding type rice transplanter according to any one of claims 1 to 4, wherein in the second state of the spare seedling storage device, the side part at the rear end of the last (counting from the rear) spare seedling placement table enters the boarding and alighting opening of the driving part.

6. An airframe having a seat and a traveling device, a seedling planting device connected to the rear part of the airframe, a steering unit capable of steering the traveling device, a receiving device that acquires position information by means of a satellite positioning system, a generating unit that generates a target line for traveling the airframe, and a control unit that controls the steering unit so that the airframe travels along the target line based on the position information, outside the seat in the width direction of the airframe, at least a part of the airframe is located in front of a rear end part of the seat, the airframe has a spare seedling storage device, The spare seedling storage device includes a plurality of spare seedling placement tables, and can be switched between a first state in which the plurality of spare seedling placement tables are arranged in the vertical direction of the machine body and a second state in which the plurality of spare seedling placement tables are arranged in the front-rear direction of the machine body. A riding-type rice transplanter in which, in the second state of the spare seedling storage device, the rear end side portion of the last spare seedling placement table among the plurality of spare seedling placement tables is located behind the front end portion of the seat in a side view.

7. The riding-type rice transplanter according to claim 6, wherein a front end portion of a handrail erected upward from a machine body portion outside the seat in the width direction of the machine body is located in front of a rear end portion of the seat.

8. Separately from the spare seedling storage device, a spare seedling table on which spare seedlings can be placed is provided. The riding-type rice transplanter according to any one of claims 1 to 7, wherein the spare seedling table is configured to be position-changeable between a use position for use and a storage position for storage.

9. The machine body has front wheels and rear wheels. The riding-type rice transplanter according to any one of claims 1 to 8, wherein a front end portion of the receiving device is located in front of a front end portion of the front wheels.

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

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