JPH09145367A - Work management system for working truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lessen the burden of work management on a worker and to perform the auxiliary work for working truck (e.g. seedling supply for rice planting truck) accurately. SOLUTION: A fixed station R receiving a carrier signal from GPS satellites 2 transmits carrier phase information to a working truck V. Body position of working truck V at current time is determined from the positional variation, i.e., an inertial navigation positional data, and a GPS data based on the carrier phase information at the fixed station R and double phase difference information at a mobile station I1 on the working truck V side. Means for managing the working truck V to operate within a predetermined working range designates an auxiliary work point of an auxiliary working truck based on body position detection information and work progress information.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle work management apparatus provided with work management means for managing a work vehicle to work in a predetermined work area based on scheduled work information.

[0002]

2. Description of the Related Art In the work management system for a work vehicle described above, for example, an operator who runs a work vehicle for rice planting and performs the work based on scheduled work information checks the progress of the work at the work site. For example, work progress information is recorded in a recording means (such as a work management means) such as a book in which scheduled work information is written in advance, and work management is performed so that seedlings are planted in a predetermined area of the field. Was there.

[0003]

However, in the above-mentioned conventional technique, it is necessary for the worker to manage the progress of the work in the field while referring to the scheduled work information, and the management work is troublesome. It is easy to misjudge the progress of the work due to inadequate recording or carelessness when restarting after suspension of seedlings.For example, even though seedlings should be supplied, seedling supply is forgotten and seedlings are halfway in the field. There was a risk that a shortage would occur.

The present invention has been made in view of the above circumstances, and an object thereof is to reduce the burden of work management by an operator and to assist the work vehicle in order to solve the problems of the above-mentioned conventional techniques. (For example, seedling replenishment for a rice planting work vehicle) can be accurately performed.

[0005]

According to the structure of claim 1 of the present invention, a fixed station installed at a reference position on the ground side receives a carrier signal from a GPS satellite, and the fixed station carries the carrier signal. Phase information is transmitted to the work vehicle side. on the other hand,
On the side of the work vehicle, the carrier signal from the GPS satellite is received and the transmission information from the fixed station is received, and the dual position obtained from the carrier phase information at the mobile station and the carrier phase information at the fixed station is received. Based on the phase difference information, the position of the work vehicle with respect to the reference position is obtained as time-series GPS position data at predetermined time intervals, and the position change amount of the work vehicle is obtained as time-series inertial navigation position data at predetermined time intervals. GPS position data obtained from the current time and set time before,
Further, the vehicle body position in the work area of the predetermined range of the work vehicle at the current time is obtained from the inertial navigation position data at the current time. Then, the work management means for managing the work vehicle to work in the work area based on the scheduled work information is based on the scheduled work information, the detected vehicle body position information, and the work progress information of the work vehicle. Then, the auxiliary work point is instructed to the auxiliary work vehicle in order to perform the auxiliary work on the work vehicle.

Therefore, according to the structure of claim 1, the GPS
While accurately detecting the position of the work vehicle based on the double phase difference information of the carrier signal from the satellite, the position detection by the GPS with the detection delay was compensated by the inertial navigation system with immediacy to detect the position in real time. Based on the body position information of the work vehicle, the scheduled work information and the work progress information, the auxiliary work vehicle is accurately instructed about the auxiliary work point.
Compared to the conventional method in which the worker manages the work while keeping a record, the work management burden is lightened, and at the same time, it is possible to avoid forgetting to perform auxiliary work due to carelessness. A work management device for a work vehicle is obtained.

According to the second aspect of the present invention, in the first aspect, the work vehicle side transmits the actual work information regarding the work, and the work management means is based on the transmitted actual work information. The work progress information is determined, and the auxiliary work vehicle is instructed to the auxiliary work point based on the determined work progress information and the scheduled work information and the vehicle body position detection information.

Therefore, the work of the work vehicle is compared with the one in which the work progress information is determined not based on the actual work information from the work vehicle side but based on, for example, the traveling distance determined from the vehicle body position detection information. The progress information can be more accurately discriminated on the basis of the actual detection information on the work vehicle and the like, and the auxiliary work point can be accurately indicated, so that the preferable means of the constitution of the above-mentioned claim 1 can be obtained.

According to a third aspect of the present invention, according to the first or second aspect, based on the scheduled work information and the vehicle body position detection information, the work vehicle automatically travels along the planned travel route in the work site. The traveling is controlled.

Therefore, the work load on the worker can be further reduced as compared with, for example, one in which the worker manually drives the work vehicle to travel along the planned travel route.
Therefore, the preferable means of the constitution of claim 1 or 2 can be obtained.

According to a fourth aspect of the present invention, in the first, second, or third aspect, the auxiliary work vehicle receives the carrier signal from the GPS satellite and receives the transmission information from the fixed station. The position of the auxiliary work vehicle within the work site is detected based on the dual phase difference information obtained from the carrier phase information at the mobile station on the auxiliary work vehicle side and the carrier phase information at the fixed station. The current position of the vehicle and the auxiliary work point for the work vehicle are displayed.

Therefore, as compared with the case where only the auxiliary work point is displayed without detecting the position of the auxiliary work vehicle, the driver of the auxiliary work vehicle immediately knows the positional relationship with respect to the auxiliary work point and the auxiliary work vehicle is detected. Can be swiftly traveled to the auxiliary work point, and the preferred means of the constitution of claim 1, 2 or 3 can be obtained.

According to the structure of claim 5, in the above claim 1, 2, 3 or 4, the scheduled work information is input to the work management means provided on the ground side, and the input scheduled work is performed. The information is transmitted to the work vehicle side, the actual work information is transmitted from the work vehicle side to the work management means, and the scheduled work information and the work progress information are displayed on the work management means side.

Therefore, for example, when the work management means is provided on the work vehicle, the worker on the ground side can perform the scheduled work information and the work while avoiding the inconvenience such as the complicated structure of the work vehicle and the heavy weight. The work can be easily managed by looking at the progress information.
Alternatively, a suitable means having the configuration of 4 can be obtained.

According to a sixth aspect of the present invention, in the first, second, third, fourth or fifth aspect, the inertial navigation position data when the work vehicle travels between two points whose distances are known in advance. The bias characteristic of the output data of the inertial navigation position data is determined from the relationship between the distance detection value by the integrated value and the distance between the above two points, and the inertial navigation position data is used to cancel the bias characteristic of the output data of the inertial navigation position data. The corrected data is used as time-series inertial navigation position data.

Therefore, for example, when the bias characteristic of the output data of the inertial navigation position data is not corrected, the position detection information of the work vehicle is advanced according to the bias characteristic of the output data of the inertial navigation position data. As compared with the case where an error occurs on the direction side (or the opposite side), such an error in vehicle body position detection can be surely erased to more accurately detect the vehicle body position at the current time. Suitable measures of the construction of claims 1, 2, 3, 4 or 5 are obtained.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION In the following, an embodiment of the present invention will be described in which a work vehicle V for planting rice as a work vehicle automatically travels along a planned travel route in a field while receiving seedling supply from ridges. The case of performing the planting work will be described with reference to the drawings. Here, the range including the fields and the ridges is the work site.

As shown in FIGS. 1 and 2, for example, a local horizontal coordinate system E (east direction), N (north direction), H in which the horizontal direction with respect to the gravity direction at that point is expressed as east-west and north-south directions.
It is installed at a reference position on the ground side whose position is known with high accuracy (in the height direction from the center of the earth), and at least 4
A GPS receiving antenna 19a for the fixed station R that receives a spread spectrum modulated radio wave (carrier signal) from each GPS satellite 2, and a GPS that processes the received signal of the GPS receiving antenna 19a to obtain carrier phase information. Receiver 1
9 and a data transmitter 20 as a ground-side communication means having a data transmission antenna 20a for transmitting carrier phase information (GPS fixed station data) at a fixed station output from the GPS receiver 19 are provided. There is.

On the other hand, the work vehicle V has a GP for the mobile station I1 which receives radio waves (carrier signals) from the GPS satellites 2.
S reception antenna 17a and its GPS reception antenna 17
A GPS receiver 17 for processing the received signal of a to obtain carrier wave phase information at the mobile station I1, and a data receiving antenna 18a for receiving transmission information of the ground side transmitter 20 (carrier wave phase information at the fixed station R). And a data receiver 18 as a working vehicle side communication means. The above GPS
The receiving antenna 17a and the data receiving antenna 18a are
It is installed above a spare seedling storage shelf 30 described later.

Then, as shown in FIG. 2, the GPS receiver 17 is used to obtain the carrier phase information at the mobile station I1 and the carrier phase information at the fixed station R received by the data receiver 18. A GPS position data calculating means 102 for obtaining the position of the mobile station I1, that is, the position of the work vehicle V with respect to the reference position, that is, the fixed station R, as time-series position data at a predetermined time interval (one second interval) based on the double phase difference information. It is configured.

That is, in detecting the position of the work vehicle V based on the GPS reception data, it takes time (for example, about 2 seconds) to measure the carrier phase at each receiving station, communicate the phase information, and calculate the double phase difference. ), It is not possible to detect the position of the work vehicle V at the current time only with the GPS reception data. Therefore, as described above, the position of the work vehicle V is set in a time series at a predetermined time interval (1 second interval). It is obtained as GPS position data, that is, position data with a measurement time label.
Therefore, the time-series GPS position data at intervals of 1 second is data corresponding to the position of the work vehicle V 2 seconds before, and this position data and the GPS clock in units of 1 second are output from the GPS receiver 17. To be done.

The GPS clock in units of 1 second is input to the synchronization signal generator 21, and the synchronization signal generator 21 has the same interval as the output of the GPS position data synchronized with the GPS clock as shown in FIG. A clock for capturing INS position data, which will be described later, including a clock and a clock with a time interval shorter than that (for example, 0.1 second intervals) is generated and output.

Here, the outline of the double phase difference information will be described. Two carrier signal signals from two different satellites 2 are used.
Each of the two receiving stations (fixed station R and mobile station I1) receives and obtains two phase differences corresponding to each satellite 2, and the phase difference obtained by combining these two phase differences is the double phase difference. This eliminates the influence of the phase disturbance of the transmission signal on each satellite 2 and the influence of the synchronization deviation of the clock for phase measurement of each receiving station, and finally,
Accurate phase difference information with less influence of errors on the satellite side and the receiving station side can be obtained. Incidentally, a position vector r described later
In order to determine 1, in practice, three independent double phase differences will be determined based on each carrier signal from four different satellites 2.

The position detection of the work vehicle V based on the three double phase difference information by the GPS position data calculating means 102 will be specifically described. First, the work vehicle V is positioned at a position that is known with high accuracy in the local horizontal coordinate systems E, N, H, and the GPS receivers 17, 19 on the mobile station I1 side and the fixed station R side are positioned. The three double phase differences are calculated from the reception information of the above, and the relative position between the fixed station R and the work vehicle V is known, and thus the uncertainty of an integral multiple of the carrier wavelength included in the above double phase difference information ( Integer bias) is established. Next, as shown in FIG. 5, the position vector r1 from the fixed station R to the work vehicle V is obtained from the three double phase difference information when the work vehicle V is moved to an unknown point in the field F. , Reference position of fixed station R and position vector r1 obtained above
From this, the position of the work vehicle V is determined.

Further, as shown in FIG. 2, the work vehicle V has a geomagnetic direction indicator S4 as a direction detecting means for detecting the body direction of the work vehicle V, and a three-dimensional body (front and rear of the vehicle) of the work vehicle V.
A gyro device S5 that detects an angular velocity about each axis in the lateral width and the vertical direction, and an accelerometer S that detects acceleration of the work vehicle V in each of the three dimensions (front and rear of the vehicle body, lateral width, and the vertical direction).
6 are provided. Then, the GPS receiver 17
GPS position data with measurement time from, and a clock for capturing INS data from the synchronization signal generator 21,
Geomagnetic compass S4, gyro device S5 and accelerometer S6
Each detection information of No. is input to the position data calculator 22.

Here, the inertial navigation for obtaining the position change amount of the work vehicle V as time-series inertial navigation data at predetermined time intervals by utilizing the geomagnetic compass S4, the gyro device S5, the acceleration sensor S6 and the position data calculator 22. System INS
Is configured. The inertial navigation data (hereinafter, referred to as INS position data) is, specifically, a position change amount of the work vehicle V, that is, a position change amount within a predetermined measurement time interval (for example, 0.1 seconds) is a predetermined time interval ( It is obtained as data with a measurement time label of, for example, 0.1 seconds.

Then, as shown in FIG. 2, using the position data calculator 22, a set time (1
Second) GPS position data before and the inertial navigation position data (INS position data) at the current time obtained by the inertial navigation system INS, the vehicle body position of the work vehicle V at the current time in the field F. The vehicle body position detecting means 103 for determining

That is, the body position of the work vehicle at the present time is obtained by interpolating the INS position data having immediacy with respect to the GPS position data having a detection delay. Specifically, the position data calculator 22 determines whether or not the GPS position is determined by the position detection timing state (clock signal shown in FIG. 3).
The time when the position data was measured (1 second interval) or the time at a finer time interval (0.1 second interval)
The work vehicle V is positioned in real time while distinguishing between the two. Hereinafter, description will be given based on FIG.

First, a supplementary explanation will be given with reference to FIG. The upper line in the figure represents the time of the GPS clock at 1 second intervals, and t
0 is the current time, t-4, t-3, t-2, t-1, t +
1 indicates 4 seconds before, 3 seconds before, 2 seconds before, 1 second before, and 1 second after t0. Further, the lower line represents the time at which the upper GPS clock is divided into ten equal parts and the INS position data is taken in at 0.1 second intervals. As described above, since there is a delay of about 2 seconds from the reception of the satellite signal to the acquisition of the GPS position data, the latest GPS position data at the current time t0 is at the time t-2. This is called GPS position data of (t-2), since it is data based on the received satellite signals.

First, the calculation of the current position at the time (for example, t0) when the GPS position data is measured will be described. At time t0 when the GPS position data is measured, the GPS position data of (t-3) and the G of (t-2) are measured.
When the gyro angle data at each time of the PS position data is captured and the difference between the two gyro angle data is within the required measurement accuracy (that is, it can be regarded as a linear motion), (t-
The INS position data from the time of 3) to the time of (t-2) is added to the GPS position data of (t-3) to obtain the position data of (t-2), and this (t -2) The position bias data and the GPS position data (t-2) are used to find the bias of the INS acceleration,
The speed error of INS from the time (t-3) to the time (t-2) is output. Then, the speed error of this INS is (t
-2) is added to or subtracted from the speed at time to correct the speed, and (t-
The moving distance by INS from the time of 2) to the current time t0 is recalculated, and the moving distance within this time is integrated (t-
It is added to the GPS position data in 2) to obtain the current position of the work vehicle V at the current time t0.

On the other hand, when the difference in the rotation angle according to the gyro angle data is equal to or higher than the required measurement accuracy (that is, the vehicle body is rotating), the speed is not corrected and the time (t-2) is passed to the current time. The distance traveled by INS up to t0 is integrated, and this is added to the GPS position data of (t-2),
The current position of the work vehicle V at the present time t0 is set.

Next, when the current time is a time with a finer time interval between the measurement times of the GPS position data, the integrated value of the moving distance by the INS from the time of the latest GPS position data to the current time. Is added to the latest GPS position data as the current position of the work vehicle V.

The structure of the steering control of the work vehicle V will be described. As shown in FIGS. 1 and 4, the vehicle 5 is driven in a lowered position to the rear of the vehicle body 5 having a pair of left and right front wheels 3 and rear wheels 4. A seedling planting device 6 that is switchable between a ground working state and a non-working state other than this is provided so as to be able to move up and down and stop driving. The front and rear wheels 3 and 4 are configured such that the pair of left and right wheels can be steered independently, and hydraulic cylinders 7 and 8 for steering and electromagnetic control valves 9 and 10 are provided. That is, a two-wheel steering system in which only one of the front wheel 3 or the rear wheel 4 is steered, a four-wheel steering system in which the front and rear wheels 3, 4 are steered in the opposite phase and at the same angle, and the front and rear wheels 3, 4 in the same phase In addition, it is possible to select and use three types of steering systems, that is, a parallel steering system that steers at the same angle. In addition, when traveling straight along each work stroke, only the front wheels 3 are steered.
It is performed in the form of wheel steering.

In FIG. 4, E is an engine and 11 is an engine E.
A hydraulic continuously variable transmission that shifts the output from the vehicle to drive each of the front and rear wheels 3 and 4 at the same time; 12 is an electric motor for gear shifting operation; 13 is a hydraulic cylinder for raising and lowering the planting device 6;
14 is its control valve, 15 is an electromagnetically operated planting clutch for intermittently driving the planting device 6 by the engine E,
Reference numeral 16 denotes a control device using a microcomputer for controlling the traveling of the work vehicle V, the operation of the planting device 6, and the like, and based on the detection information by various sensors described below and the data about the work process stored in advance, The transmission motor 12, the control valves 9, 10, 14 and the planting clutch 15 are controlled respectively.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 4, steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor R3 that uses a potentiometer to indirectly detect the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11 and an encoder S3 that counts the number of revolutions of the output shaft of the transmission 11 to detect the traveling distance. It is provided.

Using the control device 16, the work vehicle V is moved to the farm field F based on the scheduled work information and the vehicle body position information of the vehicle body position detecting means 103 transmitted from the work management device 70 on the ground side described later. A travel control unit 101 is configured to control the vehicle to automatically travel along each of the plurality of work strokes L as the planned travel route set therein. That is, as shown in FIG. 5, the work vehicle V first positions the respective work steps L juxtaposed in the lateral direction in the rectangular field F along the longitudinal direction of the field on the rightmost end side in the figure. Work process L
Starting the traveling from the start position St of each work stroke L
Along a straight line, the work travels to the end of the stroke, turns 180 degrees from the end to the beginning of the adjacent work stroke L, and turns, and this time travels in the opposite direction of the work stroke L. By repeating the round trip, the entire range of the field F is automatically traveled.

Specifically, in the straight running along each work stroke L, the vehicle body position x in the lateral direction with respect to the proper steering position in each work stroke is determined from the detection information of the vehicle body position detecting means 103, Based on the vehicle body position information, information on the vehicle body direction φ with respect to the work stroke L, and information on the steering angle θ of the front wheels 3 (this is detected by the steering angle detection sensor R1), Front wheels 3 at the set target steering angle θs
Steering control. Note that k1, k2, and k3 are predetermined gain coefficients.

[0038]

[Formula 1] θs = k1 · x + k2 · φ + k3 · θ

Then, the control device 16 moves the work vehicle V from the end of each work stroke toward the start of the next adjacent work stroke, as shown in FIG. 180 degrees of turning motion is started after traveling straight for a predetermined distance a from the starting point e of turning motion, and paths e to f reaching a final point f of turning motion through a predetermined turning section g are set as desired turning trajectories. Rotate.

Next, the construction of the work vehicle V for planting seedlings and supplying seedlings will be described. As shown in FIG. 6, the planting device 6 includes a plurality of planting mechanisms 34 arranged side by side in the lateral direction of the machine body, a seedling platform 35 for supplying matting seedlings to the planting mechanism 34 while reciprocating in the lateral direction of the machine body, and grounding. The float 36 and the like are provided. In order to store the preliminary seedlings, a plurality of shelf boards 32 are attached to a shelf frame 31 at the center of the vehicle body so as to be aligned in the vehicle body lateral width and the vertical direction, and
A seedling receiving section 50 on the front side of the vehicle body and a seedling replenishing section 40 on the rear side of the vehicle body are provided, and the seedling receiving section 50 receives a preliminary seedling W in a seedling transfer case K from a seedling feeding device B described later. The spare seedling W is automatically stored by the seedling supply unit 40 on the shelf 32 of the spare seedling storage shelf 30, and the spare seedling W stored in the spare seedling storage shelf 30 is seeded by the seedling supply unit 40 by the seedling device 6. The seedlings 35 are automatically replenished, and the seedling transfer case K emptied by the seedling replenishment is returned from the seedling receiving section 50 to the seedling feeder B.

As shown in FIG. 7, the seedling replenishing device B is a transporting vehicle T which travels to a replenishing point at the edge of the ridge (point indicated by X in FIG. 5).
The seedling container 60, which is installed on the cargo bed of the carrier and accommodates a large number of seedling transfer cases K arranged side by side in the front and rear and up and down directions of the carrier T, moves the front side of the seedling container 60 in the vehicle body width and up and down directions to obtain a predetermined seedling. A take-out mechanism 61 for taking out the containing transfer case K,
The seedling transfer case K from the take-out mechanism 61 is used as a seedling storage unit 6
0, a belt conveyor 62 that sends the seedling transfer case K from the belt conveyor 62 and sends out the seedling transfer case K from the belt conveyor 62 toward the lateral outer side of the bed, and the seedling transfer case K from the output table 63 to the rice transplanter side. Transport to the seedling receiving section 50 of the
It is composed of a conveyor section 64 for transporting an empty seedling transfer case K from 0 to the transport vehicle T side. The conveyor unit 64 is configured as a belt conveyor that is rotatable around the longitudinal axis on the base end side, changes the extension angle, and is expandable and contractible. Here, the carrier T
Corresponds to a replenishment work vehicle that performs auxiliary work (seedling replenishment work) on the work vehicle V.

As shown in FIG. 6, the seedling receiving portion 50 on the side of the rice transplanter has upper and lower two-stage belt conveyor devices 51 and 52 whose rear end is inserted into the shelf frame of the preliminary seedling storage shelf 30, and the belts. The conveyor connecting device 53 is located on the front side of the vehicle body of the conveyor devices 51 and 52. Then, when the conveyor section 64 on the side of the carrier is connected to the conveyor connecting device 53, the belt conveyor device 6 in two stages above and below the conveyor section 64
4a, 64b and both belt conveyor devices 51, 52 on the seedling receiving section 50 side are connected in a state where the seedling transfer case K can be delivered, and the belt conveyor device 51 on the upper stage of the seedling receiving section 50 is on the upper stage of the conveyor unit 64. Belt conveyor device 6
4a receives the transfer case K containing seedlings, and the seedling supply unit 40
6, the lower belt conveyor device 52 of the seedling receiving section 50 sends the empty transfer case K from the seedling supply table 41 to the lower belt conveyor device 64b of the conveyor unit 64.

As shown in FIG. 8, the seedling supply table 41
Receives and supports the seedling transfer case K with the bottom plate portion 41a,
The side wall portion 41b and the locking claw 42 that can be engaged and disengaged by the air cylinder CY1 are supported so as not to fall off. Then, the electric motor M is used to transfer the seedling transfer case K.
The electric motor (not shown) is operated to approach the seedling receiving section 50 side by 2 or the like, and is laterally moved by the electric motor M1 or the like shown in FIG. 6 to move the seedling transfer case K into or out of the spare seedling storage shelf 30. And the like, the front side of the seedling placing table 35 is moved forward and downward in order to replenish the seedling to a predetermined one of a plurality of seedling placing portions arranged in the lateral direction of the vehicle body of the seedling placing table 35 of the planting device 6. While moving in the lateral direction, the air cylinder CY2 moves closer to the seedling placing table 35 side, and the air cylinder CY3 raises and swings toward the seedling placing table 35 side.

As shown in FIG. 8, a spare seedling storage shelf 30
In addition, a case detection switch S1 for detecting the presence or absence of the seedling transfer case K on each shelf 32 and a seedling detection switch S2 for detecting the presence or absence of the spare seedling W on each shelf 32 are provided, and as shown in FIG. The information of both the detection switches S1 and S2 and a switch (not shown) for detecting that the seedling amount in each seedling placing portion of the seedling placing base 35 has reached a set amount that requires seedling supply is the control device 16 described above. Has been entered in. On the other hand, the control device 16 outputs drive signals for the electric motors M1, M2 and the air cylinders CY1, CY2, CY3. As a result, when the amount of seedlings on the seedling placing table 35 is reduced to the above set amount, the seedling replenishing section 40 automatically operates the seedling replenishing table 41 to move the preliminary seedling storage shelf 30 from the shelf board 32 having the preliminary seedlings. The transfer case K containing seedlings is taken out, and seedlings are supplied to the seedling placing section of the seedling placing table 35 where the seedling amount is small,
The empty seedling transfer case K is returned to the original shelf board 32 of the spare seedling storage shelf section 30. Further, as the seedling receiving section 50 receives the seedling-containing transfer case K, the seedling supply section 40 automatically operates the seedling supply table 41 to store the empty seedling transfer case K in the spare seedling storage shelf section 30. The empty seedling transfer case K is taken out from the existing shelves 32 and sent to the seedling receiving section 50, and the seedling-containing transfer case K is received from the seedling receiving section 50 to the empty shelf 32 of the preliminary seedling storage shelf section 30. Store.

As shown in FIGS. 7 and 9, the carrier T
The GPS receiving antenna 24a for the auxiliary work vehicle side mobile station I2 for receiving the carrier signal from the GPS satellite and its G
The GPS receiver 24 for processing the reception signal of the PS reception antenna 24a to obtain the carrier wave phase information in the auxiliary work vehicle side mobile station I2 and the data reception antenna 23a for receiving the transmission information of the ground side data transmitter 20. A data receiver 23 is provided as an auxiliary work vehicle-side communication means provided.

Double phase difference information obtained from the carrier phase information at the auxiliary work vehicle side mobile station I2 and the carrier phase information at the fixed station R received by the data receiver 23 using the GPS receiver 24. Based on the above, the auxiliary work vehicle position detecting means 104 for detecting the position of the auxiliary work vehicle side mobile station I2 with respect to the fixed station R, that is, the position of the transport vehicle T in the work site is configured. Specifically, as in the case of the work vehicle V described above, first, the uncertainty (integer value bias) of an integral multiple of the carrier wavelength included in the double phase difference information is first determined, and then as shown in FIG. And the position vector r from the fixed station R to the carrier T
2 is obtained, and the reference position of the fixed station R and the position vector r2
The position of the carrier T is determined from the. Here, since the transport vehicle T is in the stopped state until the seedling supply instruction is given, the GPS
The delay in position detection (about 2 seconds) does not pose a problem, and the position of the transport vehicle T at the current time can be obtained only from the GPS position data. Then, the GPS position data from the GPS receiver 24 is input to the control device 25 of the transport vehicle T.

The seedling supply point information is input to the control device 25 via the data receiver 27 which receives the transmission information from the work management device 70, which will be described later, and the auxiliary work vehicle position detection means 104 receives the seedling supply point information. The display drive information for the image display device 26 as position display means for displaying the current position of the transport vehicle T detected by the above and the instructed seedling supply point (auxiliary work point) is output. The image display device 2
6 is composed of a liquid crystal flat display or the like,
It is installed in the driving section of the transport vehicle T or the like.

As shown in FIG. 10, on the ground side, a work management device 70 utilizing a microcomputer as a work management means for managing the work vehicle V to work in a work area within a predetermined range based on the scheduled work information. An information input device 71 configured by using a keyboard or the like as information input means for inputting scheduled work information to the work management device 70.
And a data transmitter / receiver 72 having an antenna 72a as a management-side communication means for transmitting the scheduled work information to the work vehicle V side and receiving actual work information regarding work from the work vehicle V side, and the information. An image display device 73 is provided as information display means for displaying scheduled work information input by the input device 71 and work progress information described later. The work management device 70 stores the scheduled work information, the actual work information from the work vehicle V, and the work progress information in the memory 70.
a.

On the other hand, as shown in FIG. 4, the work vehicle V receives a scheduled work information transmitted from the work management device 70, and a transceiver as work information transmitting means for transmitting the actual work information. 28 is provided, and the transmission / reception information of the transceiver 28 is input to the control device 16. Then, the work management apparatus 70 determines work progress information relating to the progress of work in the work vehicle V based on the actual work information transmitted from the transceiver 28 on the work vehicle V side, and the scheduled work information, Based on the vehicle body position information of the vehicle body position detecting means 103 and the work progress information, an auxiliary work point (seedling supply point) is instructed to the transport vehicle T.

Here, as the scheduled work information, the position and size of the field F (given, for example, by the position coordinates of the four corners), the arrangement of the work process L in the field and the traveling sequence thereof, and the field to be planted. Information such as range is entered. Further, as the actual work information, information such as the seedling consumption state (seedling storage amount), the distance traveled from the start of the work, and the fuel consumption state is transmitted.
As work progress information, the need for seedling replenishment, the replenishment point for that, the need for fuel replenishment, etc. are determined.

Next, the operation of the control device 16 of the work vehicle V will be described with reference to the flowcharts shown in FIGS. In the main flow (FIG. 11), when the work vehicle V starts the automatic travel of the first work stroke L, the work vehicle V performs steering control based on the position detection information by the time-series GPS position data and the INS position data, and the planting start position. When arriving at, the planting device 6 is lowered and the drive is started to start the planting work.

Then, the vehicle travels toward the end of the stroke while performing the planting work, and transmits actual work information regarding the work as appropriate. When the point e at the end of the stroke is reached, the planting device 6 is stopped and raised. If it is determined that the work is completed based on the number of times of turning, the traveling is stopped and the entire process is completed. When the work is not finished, if the work management device 70 side has transmitted that it is the seedling supply point, the traveling is stopped and the operation waits until the supply completion information is received. When the seedling supply is completed, the direction of the vehicle body at the turning start point is detected by the direction sensor S4, and after going straight for a predetermined distance from that point, the steering is switched from two wheels to four wheels to the start end of the next stroke. A 180 degree turning motion is performed. When the turning is completed, the steering is switched from the four wheels to the two wheels, and steering control based on the position detection information based on the GPS reception data and the INS position data is performed while the next work process L is performed.
Start work run for planting seedlings along.

In the steering control process (FIG. 12), time-series GPS position data and INS position data are respectively taken in, and the vehicle body position x of the working vehicle V at the current time is calculated from the both data, and the azimuth is also calculated. The sensor S4 detects the vehicle body direction φ, and further detects the steering angle θ of the front wheels 3. Then, the target steering angle θs is set and the front wheels 3 are steered.

Next, the operation of the control device 25 of the auxiliary work vehicle (transport vehicle T) will be described with reference to the flow chart shown in FIG. 13. GPS position detection is performed, and the work management device 70 supplies seedlings. Judging whether or not the information of the point is transmitted, if there is an instruction of seedling replenishment, display the own car body position and seedling replenishment point, if there is no instruction of seedling replenishment,
Display only your own body position.

Next, the operation of the work management apparatus 70 will be described based on the flowchart shown in FIG. First, in the information input mode, the information input device 71 inputs the scheduled work information, and the input information is displayed on the display device 73. In the communication mode with the work vehicle V, the process of transmitting the scheduled work information to the work vehicle V side and the process of receiving the actual work information of the work vehicle V side are performed. Then, the work progress information is determined, and the scheduled work information and the work progress information are displayed on the display device 7.
In addition to displaying in 3, the seedling supply point information is displayed when the need for seedling supply is determined as work progress information.
Send to

[Other Embodiment] GPS position data and IN
The configuration for obtaining the vehicle body position of the work vehicle based on the S position data is not limited to the configuration shown in the above embodiment, and various configurations are possible in consideration of conditions such as detection characteristics and errors of each data. . Hereinafter, one other embodiment will be described with reference to FIG. That is, the vehicle body position detecting means 103
Are the two points p0 and p1 where the distance of the work vehicle V is known in advance.
Inertial navigation position data Δq1, Δq2 by the inertial navigation system INS when traveling (straight running)
The value of the distance obtained by integrating Δq3 ... Δqn ... is compared with the distance between the two points p0 and p1 to determine the bias characteristic of the output data of the inertial navigation system INS, and the inertial navigation is performed. The vehicle body position is detected in a state in which the bias characteristic of the output data of the system INS is canceled. In FIG. 15, assuming that the two points p0 and p1 are along the x-axis, the distance between them is given by the difference xp1-xp0 between the x-coordinates of the two points. Therefore, the deviation of the INS output data is expressed by the following equation. The bias coefficient α representing the characteristic is obtained. Σ represents the sum of all Δqn from Δq1 to arrival of p1. Here, if there is no bias, α = 1, and in order to cancel the bias characteristic, for example, a value obtained by multiplying the output data of the inertial navigation system INS with the reciprocal 1 / α of α as a correction coefficient is used for the position detection INS. Use as position data.

[0057]

## EQU2 ## α = ΣΔqn / (xp1-xp0)

The structure of the inertial navigation system INS is not limited to that of the above embodiment. For example, the acceleration sensor S6
Alternatively, a wheel tachometer for detecting the number of rotations of the wheels of the work vehicle may be used, and the number of rotations of the wheels may be counted according to the time interval of position measurement to obtain the movement amount of the work vehicle.

In the above embodiment, the work management means 70 determines the work progress information based on the real work information (such as the remaining seedling amount) from the work vehicle V. However, the real work from the work vehicle V is not always necessary. There is no need to be based on information, for example, the work vehicle V
Even if the traveling distance of the work vehicle V in the field is known from the vehicle body position information, and the work progress information is determined based on the seedling consumption information determined from the traveling distance information and the work schedule information. Good.

In the above embodiment, the auxiliary work vehicle (transport vehicle T)
Also, the radio wave signal from the GPS satellite is received to detect its own vehicle body position, and both the vehicle body position and the auxiliary work point (replenishment point) are displayed. However, based on the received signal from the GPS satellite, It is not always necessary to detect the position by means of the above, and only the auxiliary work point may be displayed.

Although the work management means 70 is provided on the ground side in the above embodiment, it is not always necessary to provide it on the ground side, and it may be provided, for example, on the work vehicle V or the auxiliary work vehicle. In the case of providing the work vehicle V, the management side communication means 72 for transmitting the scheduled work information to the work vehicle V side and receiving the actual work information from the work vehicle V side becomes unnecessary, and when it is provided in the auxiliary work vehicle. In addition, the work management means 70 supplies the seedling supply point information to the auxiliary work vehicle V.
Eliminates the need to send to the side.

In the above-mentioned embodiment, the case where the work vehicle is the work vehicle V for rice planting is illustrated, but it is also applicable to work vehicles for agricultural work other than rice planting and various work vehicles other than farm work. The specific configuration of each part at that time is appropriately changed according to the purpose and working conditions of the work vehicle.

In the above embodiment, the case where the auxiliary work vehicle is the transport vehicle T for supplying seedlings to the work vehicle V for rice planting has been exemplified, but the auxiliary work vehicle is not limited to this.
For example, when the work vehicle is a combine for cutting and harvesting, it may be a grain collection device that collects the grain stored in the combine or a refueling vehicle that refuels the work vehicle.

In the above-mentioned embodiment, the traveling control means 101 for controlling the moving vehicle V to automatically travel along the planned traveling route in the work site is provided.
The driver may manually operate.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a schematic side view showing a work vehicle, an auxiliary work vehicle, and a fixed station.

FIG. 2 is a block diagram showing a control configuration for detecting the position of a work vehicle.

FIG. 3 is a time chart showing the timing of detecting the position of the work vehicle.

FIG. 4 is a block diagram showing a control configuration of a work vehicle.

FIG. 5 is a schematic plan view showing a planned traveling route of the work vehicle and auxiliary work points.

FIG. 6 is a side view showing a seedling supply, storage, and planting structure of a work vehicle.

FIG. 7 is a perspective view showing a work vehicle and a seedling supply device.

FIG. 8 is a side view showing the seedling supply operation.

FIG. 9 is a block diagram showing a control configuration of an auxiliary work vehicle.

FIG. 10 is a block diagram showing the control configuration of the work management apparatus.

FIG. 11 is a flowchart of control operation of the work vehicle.

FIG. 12 is a flowchart of steering control of the work vehicle.

FIG. 13 is a flowchart of control operation of an auxiliary work vehicle.

FIG. 14 is a flowchart of control operation of the work management device.

FIG. 15 is a plan view showing a traveling locus for obtaining a bias characteristic of vehicle body position detection according to another embodiment.

[Explanation of symbols]

 V work vehicle 70 work management means R fixed station 20 ground side communication means I1 mobile station 18 work vehicle side communication means 102 GPS position data calculation means INS inertial navigation system 103 vehicle body position detection means T auxiliary work vehicle 28 work information transmission means 101 travel Control means I2 Auxiliary work vehicle side mobile station 23 Auxiliary work vehicle side communication means 104 Auxiliary work vehicle position detection means 26 Position display means 71 Information input means 72 Management side communication means 73 Information display means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical display location G05D 1/02 G05D 1/02 P (72) Inventor Waku Terumitsu 1230, Mukayama, Naka-machi, Naka-gun, Ibaraki Prefecture Incorporated Agricultural growth management system research institute Mito plant (72) Inventor Hiroshi Saito 1230 Oomu Mukayama, Naka-machi, Naka-gun, Ibaraki prefecture Incorporated agricultural production growth management system institute Mito plant

Claims (6)

[Claims] 1. A work management device for a work vehicle, comprising work management means (70) for managing the work vehicle (V) so as to work in a work area within a predetermined range on the basis of scheduled work information. A fixed station (R) installed at a reference position on the side and receiving a carrier signal from a GPS satellite, and a ground side communication means (20) for transmitting carrier phase information at the fixed station (R) are provided. A mobile station (I1) for receiving a carrier signal from a GPS satellite on the work vehicle (V)
And a work vehicle side communication means (18) for receiving the transmission information of the ground side communication means (20), a carrier wave phase information at the mobile station (I1) and the work vehicle side communication means (18). A GPS position for obtaining the position of the work vehicle (V) with respect to the reference position as time-series GPS position data at predetermined time intervals based on the dual phase difference information obtained from the carrier phase information at the fixed station (R). The data calculating means (102), the inertial navigation system (INS) for obtaining the position change amount of the work vehicle (V) as time-series inertial navigation position data at predetermined time intervals, and the GPS position data calculating means (102). GPS position data before the set time from the current time and the inertial navigation system (INS),
A vehicle body position detection means (103) for obtaining a vehicle body position of the work vehicle (V) in the work site at the current time based on the inertial navigation position data at the current time is provided, and the work management means (70) is Auxiliary work vehicle (T) that assists the work vehicle (V) on the basis of the scheduled work information and the vehicle body position information and work progress information of the vehicle body position detection means (103) A work management device for a work vehicle configured to indicate a work point. 2. The work vehicle (V) is provided with work information transmission means (28) for transmitting actual work information regarding the work, and the work management means (70) is the work information transmission means (28). The work management device for a work vehicle according to claim 1, wherein the work progress information is configured to be discriminated based on actual work information transmitted from the work management device. 3. The work vehicle (V) is controlled so that the work vehicle (V) automatically travels along a planned travel route in the work site based on the planned work information and the vehicle body position detection information. The work management system for a work vehicle according to claim 1 or 2, further comprising a travel control means (101) for performing the operation. 4. The auxiliary work vehicle (T) receives a carrier signal from a GPS satellite, and the auxiliary work vehicle mobile station (I2) receives the transmission information from the ground communication means (20). From the carrier phase information at the vehicle side communication means (23) and the auxiliary work vehicle side mobile station (I2) and the carrier wave phase information at the fixed station (R) received by the auxiliary work vehicle side communication means (23). Auxiliary work vehicle position detection means (10) for detecting the position of the auxiliary work vehicle (T) in the work site based on the obtained double phase difference information.
4) and position display means (26) for displaying the current position of the auxiliary work vehicle (T) detected by the auxiliary work vehicle position detection means (104) and the auxiliary work point. The work management device for a work vehicle according to 1, 2, or 3. 5. The work management means (70) on the ground side.
An information input means (71) for inputting the scheduled work information to the work management means (70), transmitting the scheduled work information to the work vehicle (V) side, and the work vehicle (V) side A management-side communication means (72) for receiving the actual work information from the computer, and an information display means (73) for displaying the scheduled work information and the work progress information input by the information input means (71) are provided. The work management device for a work vehicle according to claim 1, 2, 3, or 4. 6. The inertial navigation position according to the inertial navigation system (INS) when the work vehicle (V) is driven between two points whose distances are known in advance. The distance value obtained by integrating the data,
The bias characteristic of the output data of the inertial navigation system (INS) is determined by comparing the distance between the two points, and the vehicle body position is determined in a state where the bias characteristic of the output data of the inertial navigation system (INS) is canceled. The work management device for a work vehicle according to claim 1, wherein the work management device is configured to perform the detection.