JP-2026076249-A - Mobile work machine

Abstract

[Problem] To provide a mobile work machine that can accurately set a target movement path adjacent to the work trajectory of the mobile work machine. [Solution] The system includes a mobile machine C that travels across the field, a work device W that performs work on the field, and a control unit capable of automatic turning control to a target movement path LM2 for subsequent processes. When transitioning from the target movement path LM to the target movement path LM2 for subsequent processes, the control unit can perform automatic turning control. After reaching the end of the target movement path LM, the system reverses along the target movement path, and then the control unit automatically starts automatic turning control. [Selection Diagram] Figure 8

Inventors

• 宮本 惇平
• 高瀬 竣也
• 久保田 祐樹
• 石見 憲一

Assignees

• 株式会社クボタ

Dates

Publication Date

20260511

Application Date

20260121

Claims (1)

1. A vehicle that travels across the field, A work device for performing work on the field, It is equipped with a control unit capable of automatic turning control to a target travel path for subsequent processes, When transitioning from the target travel path to the target travel path for the subsequent process, the control unit can perform the automatic turning control. A mobile work machine that, after reaching the end of the target travel path, reverses along the target travel path, and then the automatic turning control by the control unit is automatically initiated.

Description

This invention relates to a mobile work machine comprising: a mobile body for traveling in a field; a work device for performing work in the field; and a path setting unit for setting a target travel path for work travel while the mobile body travels and performs work with the work device. For example, Patent Document 1 discloses a work vehicle equipped with a traveling body (referred to as "traveling vehicle body C" in the document), a work device for performing work on a field (referred to as "seedling planting device W" in the document), and a route setting unit (referred to as "68" in the document) for setting a target movement path that the traveling body should travel. The route setting unit is configured to set a teaching path corresponding to the target path to be automatically steered by teaching travel, and also to set multiple target movement paths parallel to the teaching path. Japanese Patent Publication No. 2017-123804 This is an overall side view of the rice transplanter.This is an overall plan view of the rice transplanter.This is a front view of a rice transplanter.This is a diagram showing the steering and steering unit.This is a control configuration cylinder.This is a plan view diagram illustrating the operation of the automatic steering control system across the entire rice paddy field.This is an explanatory diagram illustrating automatic steering control using an inertial measurement unit.This is an explanatory diagram showing the setting of target movement paths for subsequent processes.This is an explanatory diagram illustrating automatic turning control at the edge of a field.This is an explanatory diagram illustrating automatic turning control at the edge of a field.This is an explanatory diagram illustrating automatic turning control at the edge of a field.This is an explanatory diagram illustrating the correction of positional deviations in automatic steering control.This is an explanatory diagram showing the display unit.This is an explanatory diagram showing another embodiment of setting the target movement path for the subsequent process.This is an explanatory diagram showing another embodiment of setting the target movement path for the subsequent process.This is an explanatory diagram showing another embodiment of setting the target movement path for the subsequent process. [Basic configuration of a mobile work machine] Embodiments of the present invention will be described based on the drawings. Here, a riding-type rice transplanter will be used as an example of a mobile implement of the present invention. As shown in Figure 2, in this embodiment, arrow F is the front side of the mobile implement C, arrow B is the rear side of the mobile implement C, arrow L is the left side of the mobile implement C, and arrow R is the right side of the mobile implement C. As shown in Figures 1 to 3, the riding-type rice transplanter is equipped with a traveling body C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11, and a seedling planting device W as a working device capable of planting seedlings in the field. The pair of left and right steering wheels 10 are located on the front side of the traveling body C and are configured to allow the direction of the traveling body C to be freely changed, while the pair of left and right rear wheels 11 are located on the rear side of the traveling body C. The seedling planting device W is connected to the rear end of the traveling body C so as to be able to move up and down via a link mechanism 21 that moves up and down by the extension and retraction of a lifting hydraulic cylinder 20. The front of the mobile unit C is equipped with an openable bonnet 12. At the tip of the bonnet 12 is a rod-shaped center mascot 14, which serves as a guide for following the indicator line (not shown) drawn on the field by the marker device 33. The mobile unit C is equipped with a body frame 15 extending in the front-to-back direction, and a support frame 16 is erected at the front of the body frame 15. The engine 13 is housed inside the bonnet 12. Although not described in detail, the power from the engine 13 is transmitted to the steering wheels 10 and rear wheels 11 via an HST (hydrostatic continuously variable transmission) (not shown) mounted on the aircraft. The power after gear shifting is then transmitted to the seedling planting device W via an electric motor-driven planting clutch (not shown). As shown in Figures 1 and 2, the seedling planting device W is equipped with four transmission cases 22, eight rotating cases 23, a leveling float 25, a seedling tray 26, and a marker device 33. The rotating cases 23 are rotatably supported on the left and right rear sides of each transmission case 22. Each rotating case 23 is equipped with a pair of rotary planting arms 24 at both ends. The leveling floats 25 are used to level the field surface and are provided in multiples on the seedling planting device W. Mat-shaped