Title of invention: Agricultural vehicle, automatic driving control program, recording medium recording automatic driving control program, automatic driving control method
Technical field
[0001]
The present invention relates to an agricultural vehicle that performs agricultural work while automatically driving at least part of a farm.
Background technology
[0002]
The agricultural vehicle according to Patent Document 1 travels using a non-working travel route and the field working device that involve changing the direction of the traveling body based on topographical data of the farm field, the entrance position of the farm field, the exit position of the farm field, and the working width. A route calculation unit that calculates a travel route including a work travel route for work, and an automatic travel control unit that automatically travels based on the calculated travel route and satellite positioning data. At that time, the field is divided into an outer peripheral area and a central area located inside the outer peripheral area, and work on the outer peripheral area is performed by traveling around, and work on the central area is performed by straight traveling and U-turn traveling (circling traveling). is done by repeating When automatic travel is difficult, or when the operator desires special travel, automatic travel is stopped and manual travel is performed.
[0003]
In the agricultural work vehicle according to Patent Document 2, teaching travel, which is manual work travel, is performed in a straight line from the first position where the switch is operated by the driver to the second position where the switch is operated again. The azimuth of the reference line connecting the first position and the second position is calculated as the reference azimuth, and by pressing the automatic steering switch after running the U-turn, straight work travel is performed with automatic steering to maintain the reference azimuth. In other words, when the reference direction is calculated in the first teaching run, this agricultural vehicle then performs field work by running a U-turn with manual steering and running straight with automatic steering to maintain the reference direction. .
prior art documents
patent literature
[0004]
Patent Document 1: Japanese Patent Application Laid-Open No. 2015-112071
Patent Document 2: Japanese Patent Application Laid-Open No. 2017-112962
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0005]
Even an agricultural vehicle that automatically steers along a target route set in advance in a field, as disclosed in Patent Document 1, must rely on manual steering in areas where field conditions are poor. In such manual steering running, the semi-automatic running as disclosed in Patent Document 2, that is, the direction change by U-turn and the positioning for the next straight running are performed manually, and the steering is relatively simple. Advantageously, straight-ahead travel is carried out with automatic steering using a reference line. However, automatic steering using a reference line requires teaching travel from the first position to the second position, which involves operating a switch, in order to obtain the reference line (reference direction). Such teaching travel during work is troublesome work.
[0006]
In view of this situation, there is a demand for agricultural vehicles that can easily shift to automatic driving using reference lines even during automatic steering driving along a set target route.
Means to solve problems
[0007]
A first agricultural work vehicle according to the present invention includes an aircraft position calculation unit that calculates an aircraft position based on satellite positioning, a travel route management unit that manages a travel route for automatically traveling on a farm, the aircraft position and the travel a first automatic steering unit that automatically steers the aircraft based on the route, and a second automatic steering unit that automatically steers the aircraft based on the set teaching route.
[0008]
According to this configuration, when the steering control by the first automatic steering unit capable of automatically steering all the travel routes is interrupted, the automatic steering is performed based on the travel information obtained in the teaching travel, which is the previous travel. It is possible to shift to steering control by the second automatic steering unit. Therefore, in order to start steering control in the conventional second automatic steering unit, teaching travel is performed to acquire a reference line at the time of transition of steering control from the first automatic steering unit to the second automatic steering unit. no longer needed. As a result, the steering control by the first automatic steering section can be easily shifted to the steering control by the first automatic steering section. Such a feature is convenient when the steering control by the first automatic steering section is abruptly shifted to the steering control by the second automatic steering section in order to deal with work traveling in farm conditions that have locally deteriorated. be.
[0009]
A second agricultural work vehicle according to the present invention includes an aircraft position calculation unit that calculates an aircraft position based on satellite positioning, a travel route management unit that manages a travel route for automatically traveling the farm, the aircraft position and the a first automatic steering unit that automatically steers the aircraft based on the travel route; a second steering unit that automatically steers the aircraft so as to maintain the orientation of the reference line defined by at least two points; and the travel route management. storing the travel route managed by the unit as the reference line, and storing the travel locus during travel by the first automatic steering unit from the automatic steering by the first automatic steering unit to the second automatic steering unit a reference line management unit that reads and sets the reference line from the reference line management unit when shifting to automatic steering.
[0010]
According to this configuration, when the steering control by the first automatic steering unit capable of automatically steering the vehicle including cornering is interrupted and the steering control is shifted to the steering control by the second automatic steering unit that maintains the heading in straight running, As the reference line necessary for steering control by the second automatic steering unit, the travel route used during automatic straight travel by the first automatic steering unit is diverted. Therefore, the teaching run for acquiring the reference line, which is required for steering control in the conventional second automatic steering unit, is not necessary. As a result, the steering control by the first automatic steering section can be easily shifted to the steering control by the first automatic steering section. This configuration is also convenient when the steering control by the first automatic steering section is abruptly shifted to the steering control by the second automatic steering section in order to deal with work traveling in locally deteriorated farm conditions.
[0011]
A third agricultural work vehicle according to the present invention includes an aircraft position calculation unit that calculates an aircraft position based on satellite positioning, a travel route management unit that manages a travel route for automatically traveling on a farm, the aircraft position and the travel a first automatic steering unit that automatically steers the aircraft based on a path; a second automatic steering unit that automatically steers the aircraft so as to maintain the orientation of a reference line defined by at least two points; A portion of the travel locus during travel by the steering unit is stored as the reference line in the reference line storage unit, and the reference line is stored when the automatic steering by the first automatic steering unit shifts to the automatic steering by the second automatic steering unit. a reference line management unit that reads and sets a line from the reference line storage unit.
[0012]
In this configuration, when the steering control by the first automatic steering unit capable of automatically steering including cornering is interrupted and the steering control is shifted to the steering control by the second automatic steering unit that maintains the heading in straight running, the second automatic steering unit is used. As the reference line necessary for steering control by the automatic steering section, the traveling locus during automatic straight traveling by the first automatic steering section is diverted. Therefore, the teaching run for acquiring the reference line, which is required for steering control in the conventional second automatic steering unit, is not necessary. With this configuration as well, the steering control by the first automatic steering section, which is performed to deal with work traveling in locally deteriorated farm conditions, etc., can be easily shifted to the steering control by the first automatic steering section.
[0013]
It should be noted that the term "straight running" used in the present invention does not mean only straight running, but also includes curved running with a large radius of curvature.
[0014]
In many agricultural works on farms using agricultural vehicles, the farm surface to be worked is divided into an outer peripheral area and a central area located inside the outer peripheral area. It is performed while repeating turning travel (mainly U-turn travel). In this case, the turning travel takes place in the outer peripheral region. Work in the peripheral area is carried out by running in a circular motion along boundary objects such as ridges and farm roads. An agricultural vehicle such as a combine harvester that performs harvesting work first travels in the outer peripheral area, and then travels in the central area. A rice transplanter, a fertilizer applicator, a chemical sprayer, and the like first travel for work in the central area, and then travel for work in the outer peripheral area. In such work travel, many relatively long straight routes are set even in work travel by the first automatic steering unit, so the linear travel trajectory used as the reference line can be easily obtained. For this reason, in a preferred embodiment of the present invention in the first agricultural vehicle, the farm is divided into an outer peripheral area and a central area located inside the outer peripheral area, and work on the outer peripheral area is carried out in a circular motion. and the work on the central area is performed by repeating straight traveling in the central area and turning traveling in the outer peripheral area, and the reference line management unit is provided for the straight traveling in the central area. is stored in the reference line storage unit as the reference line. Similarly, in a preferred embodiment of the present invention in the second agricultural work vehicle, the farm is divided into an outer peripheral area and a central area located inside the outer peripheral area, and work on the outer peripheral area is performed by traveling around the farm. The work on the central area is performed by repeating straight traveling in the central area and turning traveling in the outer peripheral area, and the reference line management unit controls the traveling of the straight traveling in the central area. The trajectory is stored in the reference line storage unit as the reference line.
[0015]
On farms with convex and concave areas, it is divided into areas where automatic steering with the same pattern is easy, and areas where the timing of turning is difficult because the distance to travel straight varies depending on the travel route. In such a farm, control by the first autopilot is used in the former area, but control by the second autopilot is more convenient in the latter area. In the steering control by such a second automatic steering unit, the aircraft heading is maintained during straight running, and the timing of turning and turning are often left to the driver. For this reason, in one preferred embodiment of the present invention, the first automatic steering unit is capable of automatic steering in both the straight running in the central region and the turning in the outer peripheral region. , the second automatic steering section maintains the machine body orientation in the straight running in the central region, and controls the transition timing from the straight running to the turning running in the outer peripheral region and from the turning running to the straight running. transition timing is determined manually.
[0016]
In the present invention, there is a function to store at least part of the travel locus during travel by the first automatic steering unit. In particular, since the travel locus during straight running is used as a reference line (reference direction) for automatic steering by the second automatic steering section, it is necessary to store the travel locus. However, when the agricultural vehicle moves to the next farm, the travel trajectory in the next farm will also be different, so the stored travel trajectory is no longer necessary. Therefore, in one preferred embodiment of the present invention, the reference line stored in the reference line storage unit is deleted at the timing of leaving the farm.
[0017]
An automatic travel control program according to the present invention is an automatic travel control program for an agricultural work vehicle, and manages an aircraft position calculation function for calculating an aircraft position based on satellite positioning and a travel route for automatically traveling a farm. A travel route management function, a first automatic steering function that automatically steers the aircraft based on the aircraft position and the travel route, and a second automatic steering function that automatically steers the aircraft based on the set teaching route.
[0018]
A recording medium recording an automatic travel control program according to the present invention is a recording medium recording an automatic travel control program for an agricultural vehicle, and includes an aircraft position calculation function for calculating an aircraft position based on satellite positioning, and a farm. A traveling route management function that manages a traveling route for automatic traveling, a first automatic steering function that automatically steers the aircraft based on the aircraft position and the traveling route, and a second automatic steering function that automatically steers based on the set teaching route. an automatic steering function;
[0019]
An automatic travel control method according to the present invention is an automatic travel control method for an agricultural vehicle, and includes an aircraft position calculation step of calculating an aircraft position based on satellite positioning, and managing a travel route for automatically traveling a farm. A travel route management step, a first automatic steering step of automatically steering the aircraft based on the aircraft position and the travel route, and a second automatic steering step of automatically steering the aircraft based on the set teaching path.
Brief description of the drawing
[0020]
[Fig. 1] A side view of a rice transplanter as an example of an agricultural vehicle.
[Fig. 2] Fig. 2 is an explanatory diagram showing area division of an agricultural field in which travel routes are set. [Fig.
[Fig. 3] Fig. 3 is an explanatory diagram for explaining a circular running route set in an outer peripheral area and running of a rice transplanter. [Fig.
[Fig. 4] Fig. 4 is an explanatory diagram for explaining the reciprocating travel route set in the central area and the travel of the rice transplanter.
5 is a functional block diagram showing a control system of the rice transplanter; FIG.
[Fig. 6] Fig. 6 is an explanatory diagram showing the flow of data when shifting from the first steering mode to the second steering mode.
[Fig. 7] Fig. 7 is an explanatory diagram showing another example of the flow of data when shifting from the first steering mode to the second steering mode.
MODE FOR CARRYING OUT THE INVENTION
[0021]
As an embodiment of the agricultural vehicle according to the present invention, a riding-type rice transplanter will be taken up and explained below. This rice transplanter applies seedlings (planting work) and fertilizer (fertilization work) as agricultural materials to a field, which is an example of a farm, while traveling. In this specification, unless otherwise specified, the term "front" means forward with respect to the longitudinal direction of the aircraft (running direction), and the term "rear" means rearward with respect to the longitudinal direction of the aircraft (running direction). Further, the left-right direction or the lateral direction means the body transverse direction (body width direction) orthogonal to the body longitudinal direction. "Upper" or "lower" refers to the positional relationship in the vertical direction (vertical direction) of the fuselage and indicates the relationship at ground level.
[0022]
Fig. 1 is a side view of the rice transplanter. The rice transplanter is a riding type and has a four-wheel-drive traveling body (hereinafter referred to as a body 1). The machine body 1 includes a parallel quadruple link type link mechanism 11 connected to the rear part of the machine body 1 so as to be able to swing up and down, a hydraulic lifting cylinder 11 a that drives the link mechanism 11 to swing, A seedling planting device 3 (an example of an agricultural material administration device) connected in a rollable manner, a fertilizing device 4 extending from the rear end of the machine body 1 to the seedling planting device 3, and the like are provided.
[0023]
The machine body 1 is equipped with wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as mechanisms for running. The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The engine 13 and the continuously variable transmission 14 are mounted on the front portion of the airframe 1 . Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B and the like via the continuously variable transmission 14 and the like.
[0024]
As an example, the seedling planting device 3 is configured in an eight-row planting format. The seedling planting device 3 includes a seedling platform 31, a planting mechanism 32 for eight rows, and the like. This seedling planting device 3 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown). Alternatively, it is possible to change to a form of specific row planting by turning the clutch on and off one row at a time.
[0025]
The seedling placement table 31 is a pedestal on which 8 rows of mat-like seedlings are placed. The seedling mounting table 31 reciprocates in the horizontal direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the vertical feeding mechanism 33 moves the seedling mounting table 31 upward each time the seedling mounting table 31 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed at a predetermined pitch toward the lower end of the seedling placement table 31.例文帳に追加The eight planting mechanisms 32 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 32 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling placement table 31 by power from the machine body 1, and plants it in the muddy part after leveling.
[0026]
The seedling planting device 3 is equipped with a seedling amount adjustment function for adjusting the amount of seedlings taken by the planting mechanism 32 . The planting mechanism 32 passes through a seedling outlet formed in a guide rail that slides and guides the lower end of the seedling platform 31 to take out and plant one seedling. The seedling amount is adjusted by vertically changing the position of the seedling mounting base 31 and the guide rail that slides and guides the lower end of the seedling mounting base 31 .
[0027]
As shown in FIG. 1, the fertilizing device 4 includes a horizontally long hopper 41, a feeding mechanism 42, an electric blower 43, a plurality of fertilizing hoses 44, and a grooving device 45 provided for each row. . The hopper 41 stores granular or powdery fertilizer. The delivery mechanism 42 is operated by the power transmitted from the engine 13 and delivers two rows of fertilizer from the hopper 41 by a predetermined amount. This fertilizing device 4 has a delivery amount adjustment function for changing the amount of fertilizer delivered by the delivery mechanism 42 .
[0028]
The blower 43 operates with electric power from a battery (not shown) mounted on the machine body 1, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 42 toward the muddy surface of the field. The fertilizing device 4 can be switched between an operating state in which the fertilizer stored in the hopper 41 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 43 or the like.
[0029]
Each fertilizing hose 44 guides the fertilizer conveyed by the conveying wind to each grooving device 45. Each grooving device 45 is provided on each leveling float 15 . Each grooving device 45 ascends and descends together with each leveling float 15, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work traveling in which each leveling float 15 touches the ground.
[0030]
The airframe 1 is equipped with an operating section 20 on the rear side. The driving unit 20 enables the steering wheel 21 for steering the front wheels, the main transmission (lever, pedal, etc.) 22 for adjusting the vehicle speed by performing the gear shifting operation of the continuously variable transmission 14, and the gear shifting operation of the sub transmission. A sub gear shift lever 23, a work operation lever 25 that enables the up/down operation of the seedling planting device 3 and switching of the operating state, etc., and a touch panel that displays various information to notify the operator and accepts input of various information. and a driver's seat 16 for an operator. Furthermore, a preliminary seedling frame 17 for storing preliminary seedlings is provided in front of the operating section 20 .
[0031]
The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by turning the steering wheel 21. A steering motor M1 is also connected to the steering mechanism, and the steering angle of the front wheels 12A is adjusted by operating the steering motor M1 based on a steering signal during automatic running. Further, a shift operation motor M2 is also provided for automatically operating the main transmission 22. During automatic running, the shift operation motor M2 operates based on a shift signal, thereby shifting the continuously variable transmission 14. position is adjusted.
[0032]
The travel route used in seedling planting work (an example of field work) using this rice transplanter will be described below. As shown in FIG. 2, a farm field is divided into an outer peripheral area where a round trip route is set and a central area where a round trip route is set. The rice transplanter first carries out seedling planting work on the central region along the reciprocating travel route, and then carries out seedling planting work on the outer peripheral region along the circular travel route.
[0033]
Fig. 3 shows the circular driving route. The circular traveling route consists of a linear circular route extending parallel to the boundary line (bank) of the field, and a turning route incorporating forward and backward movement to connect the linear circular routes. In FIG. 3, the circular straight route is given the reference R1, and the turning route is given the reference R2. FIG. 4 shows a round trip route. The reciprocating travel route consists of a large number of straight routes substantially parallel to each other and turning routes (U-turn routes) connecting the straight routes. In each straight path, seedling planting starts from the planting start position US and ends at the planting end position UF. In FIG. 4, the straight route is given R3, and the turning route is given R5. In FIGS. 3 and 4, the transition route for transitioning from the round trip route to the round trip route is denoted by R4. In the example here, the transition path is similar to the turning path. Further, in FIGS. 3 and 4, the working width of the rice transplanter is indicated by W, and the entrance/exit GA of the rice transplanter to the field is drawn with oblique lines. FIG. 4 shows a starting guide route (marked with reference numeral R6) from the entrance/exit GA to the travel start position S of the round-trip travel route. The turning route, turning route, start guidance route, and transition route are indicated by dotted lines because the rice transplanter travels without performing work until the work on the reciprocating travel route is completed. Since the rice transplanter travels on the circular straight route and the straight route while performing work, these routes are indicated by solid lines.
[0034]
Fig. 5 shows a control block diagram of the control system of this rice transplanter. The control system of the rice transplanter consists of a control device 100 that controls various operations of the rice transplanter and a general-purpose terminal 9 that can exchange data with the control device 100 . Signals from the positioning unit 8 , the mode switching manual operation tool group 27 , the travel sensor group 28 , and the work sensor group 29 are input to the control device 100 . A control signal from the control device 100 is output to the traveling equipment group 1A and the work equipment group 1B.
[0035]
The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 (aircraft orientation). The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 .
[0036]
The traveling device group 1A includes, for example, a steering motor M1 and a shift operation motor M2, and the steering angle is adjusted by controlling the steering motor M1 based on a control signal from the control device 100. The vehicle speed is adjusted by controlling the shift operation motor M2.
[0037]
The work equipment group 1B includes, for example, an elevating cylinder 11a for adjusting the elevation of the seedling planting device 3, a seedling amount adjusting device for adjusting the amount of seedlings taken by the planting mechanism 32, and a fertilizer feeding amount by the feeding mechanism 42. It includes equipment for adjusting the amount of feeding, and equipment for controlling the on/off control of each clutch.
[0038]
This rice transplanter has a first automatic steering mode and a second automatic steering mode. In the first automatic steering mode, the machine body 1 is automatically steered based on the machine position obtained by satellite positioning and the travel route set in the field. In the second automatic steering mode, the aircraft 1 is automatically steered so that the orientation of the reference line defined by at least two points coincides with the orientation of the aircraft 1 . Of course, the airframe 1 can be steered manually (manual steering mode). Such steering mode switching may be automatically performed by the control device 100 , but is normally performed by manual operation of the mode switching manual operation tool group 27 . The mode switching manual operation tool group 27 includes a plurality of levers and switches. For example, regarding traveling in the central region, in the first automatic steering mode, all of straight travel and turning travel for direction change are performed by automatic steering with the set straight travel route and turning route as targets. On the other hand, in the second automatic steering mode, the azimuth of the reference line is used as the target of the aircraft azimuth, and the straight traveling is performed by automatic steering. Turning in the second automatic steering mode is manually steered including its start timing and end timing. At that time, the transition timing from straight travel to turning travel (turning travel start timing) and the transition timing from turning travel to straight travel (turn travel end timing) are manually set using the mode switching manual operation tool group 27. It is determined. When the vehicle shifts from turning travel to straight travel, automatic steering is resumed from that position with the direction of the reference line as the target of the aircraft direction.
[0039]
The travel sensor group 28 includes various sensors that detect states such as the steering angle, vehicle speed, engine speed, and set values ​​for them. The work sensor group 29 includes various sensors for detecting the states of the link mechanism 11 , the seedling planting device 3 and the fertilizing device 4 .
[0040]
The control device 100 includes a travel control unit 6, a work control unit 51, a body position calculation unit 52, a travel route management unit 53, a travel locus generation unit 54, a reference line management unit 55, and a reference line storage unit 56. .
[0041]
The travel control unit 6 includes an automatic travel control unit 6A, a manual travel control unit 6B, and a control management unit 6C. The automatic travel control unit 6A includes a first automatic steering unit 61 that executes automatic steering in the first automatic steering mode.and a second automatic steering unit 62 that performs automatic steering in the second automatic steering mode. In the first automatic steering mode, based on the lateral deviation and azimuth deviation calculated by comparing the target travel route set by the travel route management unit 53 and the aircraft position calculated by the aircraft position calculation unit 52, A steering control amount is calculated so that the lateral deviation and the azimuth deviation are reduced. In the second automatic steering mode, the steering control amount is calculated so as to maintain the orientation of the reference line defined by at least two points. The second automatic steering unit 62 acquires a reference line by a transition command output from a predetermined operation tool in the mode switching manual operation tool group 27, and starts the second automatic steering mode. In other words, the driver operates the operating tool when the machine body 1 is in a position suitable for the next round-trip straight travel after passing the direction change travel (row alignment). After that, the airframe 1 is automatically steered so as to maintain the bearing of the reference line. In the manual travel mode, the manual travel control unit 6B controls the steering motor M1 based on the amount of operation of the steering wheel 21. FIG.
[0042]
The control management unit 6C selects one of the first automatic steering mode, the second automatic steering mode, and the manual driving mode based on a signal from the mode switching manual operation tool group 27 or the like.
[0043]
The work control unit 51 automatically controls the work equipment group 1B based on a program given in advance during automatic travel, and controls the work equipment group 1B based on the driver's operation during manual travel.
[0044]
The aircraft position calculation unit 52 calculates the map coordinates (body position) of the aircraft 1 based on the satellite positioning data sequentially sent from the positioning unit 8 .
[0045]
In this embodiment, the general-purpose terminal 9 is provided with a field information storage unit 91, a travel route map generation unit 92, and a travel route generation unit 93. The field information storage unit 91 stores field information such as planted seeds, field entrance (exit) positions, seedling replenishment possible positions, and the like. The traveling route map generating unit 92 generates a traveling locus (teaching route) obtained by causing the machine body 1 to travel (teaching traveling) along the outermost periphery of the outer peripheral area of ​​the field (see FIG. 2), that is, along the boundary line with the ridge. Based on, the outer dimensions of the field are calculated. The travel route generation unit 93 divides the farm field into an outer peripheral region and a central region based on the outer dimensions of the farm field, and creates a circular travel route for traveling in the outer peripheral region and a round trip travel route for traveling in the central region. Generate.
[0046]
The travel route management unit 53 receives and manages the travel route generated by the travel route generation unit 93 from the general-purpose terminal 9, and sequentially sets the target travel route for automatically traveling in the first steering mode in the field.
[0047]
The travel locus generation unit 54 generates at least a partial travel locus of the aircraft 1 based on the aircraft position calculated by the aircraft position calculation unit 52 . Particularly, in this embodiment, the running locus generator 54 sequentially generates a running locus for running along the straight route (indicated by R3 in FIG. 4) set in the central region, and performs the second steering. It is stored in the reference line storage unit 56 as the reference line used in the mode.
[0048]
The reference line management unit 55 reads the reference line necessary for steering in the second automatic steering mode from the reference line storage unit 56 when shifting from the first automatic steering mode to the second automatic steering mode, and performs the second automatic steering mode. 62.
[0049]
Next, the flow of data when shifting from the first steering mode to the second steering mode will be explained using FIG. In addition, as shown in FIG. 4, it is assumed that the rice transplanter is performing seedling planting work by traveling back and forth in the central area of ​​the field.
[0050]
First, for automatic travel in the first steering mode, the travel route management unit 53 provides the first automatic steering unit 61 with a travel route serving as the travel target route (#a1), and the body position calculation unit 52 calculates the body position. It is given to the first automatic steering unit 61 (#a2). The first automatic steering section 61 calculates a position deviation and a heading deviation based on the given travel route and aircraft position (#a3), and generates a first steering signal that reduces these deviations. , to the traveling equipment group 1A (#a4).
[0051]
The aircraft position is also given to the travel locus generator 54 (#b1). The running locus generator 54 generates a running locus based on the body positions that are sequentially received (#b2). At this time, the travel locus obtained in traveling the straight route in the central area is stored in the reference line storage unit 56 as the reference line used in the second automatic steering mode (#b3).
[0052]
The control management unit 6C that manages travel control acquires travel state signals from the travel sensor group 28, acquires work state signals from the work sensor group 29, and acquires operation signals from the mode switching manual operation tool group 27 (# c1). Based on these data, the control management unit 6C generates a first automatic ON signal requesting the start of steering in the first automatic steering mode and a first automatic OFF signal requesting the suspension of steering in the first automatic steering mode. is given to the first automatic steering unit 61 (#c2), and a second automatic ON signal requesting the start of steering in the second automatic steering mode and a second automatic OFF signal requesting the suspension of steering in the second automatic steering mode are provided. A signal is given to the second automatic steering unit 62 (#c3). Further, the control management unit 6C gives a transition command to the reference line management unit 55 when shifting from the first automatic steering mode to the second automatic steering mode (#c4).
[0053]
The output of the transition command by the control management unit 6C and the output of the second automatic ON signal are performed at the same timing, whereby the second automatic steering unit 62 performs automatic steering in the second automatic steering mode. First, upon receiving the transition command, the reference line management unit 55 reads the reference line from the reference line storage unit 56 and gives it to the second automatic steering unit 62 (#d1). The second automatic steering unit 62 receives the aircraft position from the aircraft position calculation unit 52 (#d2). A reference line is set at the position of the aircraft at the timing when the transition command is received. The second automatic steering unit 62 calculates a position deviation and a heading deviation based on the reference line and the body position (#d3), generates a second steering signal that reduces these deviations, and Output to group 1A (#d4).
[0054]
During manual travel, a manual operation signal output from the travel sensor group 28 and the like is given to the manual travel control unit 6B (#e1). The manual travel control unit 6B generates a manual steering signal based on the manual operation signal and outputs it to the travel equipment group 1A (#e2).
[0055]
The reference line stored in the reference line storage unit 56 is deleted when the rice transplanter leaves the field.
[0056]
FIG. 7 illustrates a data flow different from the data flow described using FIG. The difference from FIG. 6 is that the reference line used in the second automatic steering mode is not based on the traveling locus generated by the traveling locus generating unit 54, but rather on the traveling route managed by the traveling route managing unit 53 (a straight line). route) is diverted. The travel route management unit 53 stores, as a reference line, a travel route for straight travel set by the body 1 for round trip travel in the central area in the reference line storage unit 56 (#z1).
[0057]
Here, the second automatic steering mode by the second automatic steering section 62 will be described in more detail. A start point and an end point are set as two points having a distance of a predetermined distance or more in a field, and a line defined by the start point and the end point is defined as a teaching line. This teaching line is used as the reference line described above. In the actual running in the second automatic steering mode, the lowering position of the seedling planting device 3, which is a working device connected to the machine body 1, to the field and the ascending/descending position from the field are set to the ridge edge area (distance from the ridge). area), and when the aircraft 1 approaches the furrow area due to traveling in the second automatic steering mode, the second automatic steering section 62 switches to manual operation from a predetermined distance or a predetermined time before the furrow area. Notify the driver. In order to continue the automatic straight running in the second automatic steering mode during this notification, the driver needs to keep pressing the corresponding switch of the mode switching manual operation tool group 27 . At this time, when switching from automatic straight driving in the second automatic steering mode to manual operation during this notification, the driver can press the corresponding switch in the mode switching manual operation group. The same switch may be used for the continuation of automatic straight running and the switch for manual operation. If no operation is performed during this notification, the aircraft 1 is forcibly stopped after a predetermined distance or a predetermined time. The switch for switching is provided around the handle post, above the forward/reverse operation tool such as the main transmission 22, and on an operation panel around the handle post. In this rice transplanter, the operating tool for switching from one state to another (for example, from automatic to manual or from manual to automatic in the second automatic steering mode) is preferably of a swing type, rotary type, or pressing type.
[0058]
Furthermore, when the automatic traveling by the first automatic steering unit 61 is completely finished, the aircraft 1 is completely stopped, and the control system enters a check-and-hold state in which no operation is accepted. In this restraint state, by operating the restraint state release operation tool for releasing the restraint state, manual traveling or traveling by the second automatic steering unit 62 becomes possible.
[0059]
[Another embodiment]
(1) In the above embodiment, when a transition command is output, the reference line management unit 56 reads the reference line from the reference line storage unit 56 and gives it to the second automatic steering unit 62 . Instead of this, a plurality of reference lines are stored in the reference line storage unit 56, and when a transition command is output, the acquired information (the travel route and the travel distance from which the reference line is based) is displayed on the touch panel of the general-purpose terminal 9. A configuration may be adopted in which the reference line is displayed along with the position of the trajectory, etc., and the operator selects the reference line to be used.
(2) In the above embodiment, the travel route map generation unit 92 and the travel route generation unit 93 are built in the general-purpose terminal 9, but they may be built in the control device 100. FIG. Furthermore, it may be constructed in an external management computer capable of exchanging data with the control device 100 .
(3) The automatic steering of the turning path by the first automatic steering unit 61 may be controlled to follow the generated turning path, or the steering angle may be determined in advance so as to form a predetermined turning path. You may perform by the control which uses.
(4) In the above embodiment, a rice transplanter is used as a work vehicle, but it may be an agricultural work vehicle such as a combine harvester, a tractor, a direct seeding machine, or a spraying (dispersing) management machine.
(5) The term steering in this application is used in a broad sense, and automatic steering includes automatic steering. The present invention can also be applied to such work vehicles.
(6) The present invention can also be applied to work traveling in which the working direction is limited to one direction, for example, in a field ridged by a combine harvester or the like.
(7) It may be configured as an automatic travel control program that causes a computer to realize the function of each member in the above embodiment. Further, it may be configured as a recording medium in which an automatic travel control program for causing a computer to realize the function of each member in the above embodiment is recorded. Moreover, it may be configured as an automatic travel control method that performs one or a plurality of steps that are performed by each member in the above embodiment.
[0060]
It should be noted that the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.
Industrial applicability
[0061]
The present invention is applicable to agricultural vehicles that can automatically travel.
Code explanation
[0062]
1: Aircraft
6: Travel control unit
6A: Automatic driving control unit
6B: Manual travel control unit
6C: Control Management Department
8: positioning unit
9: general-purpose terminal
27: Mode switching manual operation tool group
52: Aircraft position calculation unit
53: Driving route management department
54: Traveling trajectory generation unit
55: Reference line management department
56: Reference line storage unit
61: 1st automatic steering section
62: 2nd automatic steering unit
91: Field information storage unit
92: Driving route map generator
93: Driving route generation unit
100: control device
The scope of the claims
[Claim 1]
　The aircraft based on satellite positioning a body position calculation unit that calculates a position;
A driving route management department that manages the driving route for automatically driving the farm,
a first automatic steering unit that automatically steers the aircraft based on the aircraft position and the travel route;
An agricultural work vehicle equipped with a second automatic steering unit that automatically steers based on a set teaching route.
[Claim 2]
　Aircraft position calculation unit that calculates the position of the aircraft based on satellite positioning,
A driving route management department that manages the driving route for automatically driving the farm,
a first automatic steering unit that automatically steers the aircraft based on the aircraft position and the travel route;
a second automatic steering unit that automatically steers the aircraft so as to maintain the orientation of the reference line defined by at least two points;
The travel route managed by the travel route management unit is stored as the reference line in the reference line storage unit, and when the automatic steering by the first automatic steering unit is shifted to the automatic steering by the second automatic steering unit. and a reference line management unit that reads out and sets the reference line from the reference line storage unit.
[Claim 3]
　Aircraft position calculation unit that calculates the position of the aircraft based on satellite positioning,
A driving route management department that manages the driving route for automatically driving the farm,
a first automatic steering unit that automatically steers the aircraft based on the aircraft position and the travel route;
a second automatic steering unit that automatically steers the aircraft so as to maintain the orientation of the reference line defined by at least two points;
A part of the travel locus during travel by the first automatic steering unit is stored as the reference line in the reference line storage unit, and the automatic steering by the first automatic steering unit to the automatic steering by the second automatic steering unit is stored. and a reference line management unit that reads out and sets the reference line from the reference line storage unit at the time of transition.
[Claim 4]
The farm is divided into an outer area and a central area located inside the outer area,
The work on the outer peripheral area is performed by traveling around, and the work on the central area is performed by repeating straight traveling in the central area and turning traveling in the outer peripheral area,
The agricultural vehicle according to claim 2, wherein the reference line management unit stores the travel route for the straight travel in the central region as the reference line in the reference line storage unit.
[Claim 5]
The farm is divided into an outer area and a central area located inside the outer area,
The work on the outer peripheral area is performed by traveling around, and the work on the central area is performed by repeating straight traveling in the central area and turning traveling in the outer peripheral area,
The agricultural work vehicle according to claim 3, wherein the reference line management unit stores the travel locus of the straight running in the central area as the reference line in the reference line storage unit.
[Claim 6]
The first automatic steering section can automatically steer both the straight traveling in the central area and the turning traveling in the outer peripheral area, and the second automatic steering section can perform the straight traveling in the central area. 6. The method according to claim 4 or 5, wherein the machine body orientation is maintained during travel, and the transition timing from the straight travel to the turning travel in the outer peripheral region and the transition timing from the turning travel to the straight travel are determined manually. farm vehicle.
[Claim 7]
The agricultural vehicle according to any one of claims 1 to 6, wherein the reference line stored in the reference line storage unit is deleted at the timing of leaving the farm.
[Claim 8]
An automatic driving control program for agricultural vehicles,
　Aircraft position calculation function that calculates the position of the aircraft based on satellite positioning,
A driving route management function that manages the driving route for automatically driving the farm,
a first automatic steering function that automatically steers the aircraft based on the aircraft position and the travel route;
An automatic cruise control program that includes a second automatic steering function that automatically steers based on the set teaching route.
[Claim 9]
A recording medium that records an automatic driving control program for agricultural vehicles,
　Aircraft position calculation function that calculates the position of the aircraft based on satellite positioning,
A driving route management function that manages the driving route for automatically driving the farm,
a first automatic steering function that automatically steers the aircraft based on the aircraft position and the travel route;
A recording medium recording an automatic cruise control program including a second automatic steering function that automatically steers based on a set teaching route.
[Claim 10]
An automatic travel control method for agricultural vehicles,
　Aircraft position calculation step for calculating the position of the aircraft based on satellite positioning,
A driving route management step that manages the driving route for automatically driving the farm,
a first automatic steering step of automatically steering the aircraft based on the aircraft position and the travel route;
and a second automatic steering step of automatically steering based on the set teaching route.