CN115136775A - Working vehicle - Google Patents

Abstract

Provided is a work vehicle, which improves work efficiency. A work vehicle according to an embodiment includes: a running vehicle body; a seedling transplanting part arranged on the running vehicle body; and a control device that controls a steering angle of a steering wheel of the traveling vehicle body and causes the traveling vehicle body to travel autonomously. The control device can execute a travel assist function of automatically and linearly moving the traveling vehicle body and transplanting seedlings to a field by using the seedling transplanting part and a turning assist function of turning the traveling vehicle body without transplanting the seedlings by using the seedling transplanting part as autonomous traveling. The control device is capable of executing a travel assist function and a turning assist function during manual travel in which the vehicle travels by an operation of an operator.

Description

Working vehicle

Technical Field

The present invention relates to a work vehicle.

Background

Conventionally, a work vehicle is known in which an operation device is held at a straight travel position and a traveling vehicle body automatically travels straight (see, for example, patent document 1).

Patent document 1: japanese patent laid-open publication No. 2016-245254

The work vehicle is considered to perform autonomous traveling such as manual traveling and automatic straight traveling based on an operation by an operator. However, in the work vehicle using the above-described technology, there is room for improvement in terms of improvement in work efficiency during manual travel.

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object thereof is to provide a seedling transplanter which improves the work efficiency.

In order to solve the above problems and achieve the object, a work vehicle 1 according to one embodiment includes: a running vehicle body 2; a seedling transplanting part 4 arranged on the traveling vehicle body 2; and a control device 100 that controls the steering angle of the steered wheels 10 of the traveling vehicle body 2 and causes the traveling vehicle body 2 to travel autonomously. As autonomous traveling, the control device 100 can perform a traveling assist function of automatically linearly traveling the traveling vehicle body 2 and transplanting seedlings to a field by the seedling planting unit 4, and a turning assist function of turning the traveling vehicle body 2 without transplanting seedlings by the seedling planting unit 4. The control device 100 can execute the travel assist function and the turning assist function at the time of manual travel in which the vehicle travels by an operation of the operator.

Effects of the invention

According to one embodiment, the work vehicle can improve work efficiency.

Drawings

Fig. 1 is a side view showing a work vehicle.

Fig. 2 is a plan view showing the work vehicle.

Fig. 3 is a block diagram showing a control system centering on a control device of the seedling transplanter.

Fig. 4 is a diagram illustrating a method of setting a work area for teaching travel according to the embodiment.

Fig. 5 is a flowchart illustrating the manual travel process according to the embodiment.

Description of the reference symbols

1. Seedling transplanter (working vehicle)

2. Traveling vehicle body

4. Seedling transplanting part

10. Front wheel (steering wheel)

11. Rear wheel

35. Steering wheel

45. Automatic linear advancing change-over switch

46. Autonomous driving change-over switch

48. Automatic turning change-over switch

91. Steering amount sensor

100. Controller (control device)

170. Remote control device (remote controller)

Detailed Description

(outline of work vehicle)

First, an outline of the work vehicle 1 according to the embodiment will be described with reference to fig. 1 and 2.

Fig. 1 is a side view showing a work vehicle 1. Fig. 2 is a plan view showing work vehicle 1.

In the following description, the front-rear direction is a traveling direction in which the work vehicle 1 travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the work vehicle 1 is a direction from the operator's seat 41 toward the steering wheel 35 (steering device) during straight traveling (see fig. 1 and 2).

The left-right direction is a direction horizontally orthogonal to the front-rear direction, and defines the left and right directions toward the "front" side. That is, in a state where an operator (also referred to as an operator) is seated on the operator seat 41 and faces forward, the left-hand side is "left" and the right-hand side is "right".

The vertical direction is the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are orthogonal to each other. The directions are defined for convenience of explanation, and the present invention is not limited by these directions.

In the embodiment, the working vehicle 1 will be described as a riding type seedling transplanter 1 having a seedling planting unit 4 as a field working device and receiving seedlings in a field. As shown in fig. 1 and 2, the seedling transplanter 1 is provided with a seedling planting unit 4 capable of ascending and descending for planting seedlings into a field via a lifting link mechanism 3 on the rear side of a traveling vehicle body 2.

A main body portion of the fertilizer application device 5 is disposed on the rear upper side of the traveling vehicle body 2. In addition, when the work vehicle 1 is not the seedling transplanter 1, a seeding device or the like for supplying seeds may be provided as the work device.

The running vehicle body 2 is a four-wheel drive vehicle having left and right front wheels 10 and rear wheels 11 as driving wheels. A transmission case 13 for transmitting a driving force to the seedling planting portion 4 and the like, and a hydraulic continuously variable transmission 14 for outputting the driving force supplied from an engine 30, that is, rotation generated by the engine 30 to the transmission case 13 are provided on the front side of a main frame 15 constituting a vehicle body frame of the traveling vehicle body 2.

The continuously variable Transmission 14 is a hydrostatic continuously variable Transmission called HST (hydraulic Static Transmission). Next, a case where the continuously variable transmission device is the HST 14 will be described.

A sub-transmission mechanism 16 is provided in the transmission case 13, and the sub-transmission mechanism 16 switches the traveling mode of the traveling vehicle body 2 between the on-road traveling in the high-speed mode and the seedling transplanting in the low-speed mode. Front wheel endboxes 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support portions that can change the steering direction of the left and right front wheel endboxes 10a, respectively.

Further, rear wheel gear boxes 11a are attached to the left and right sides of a rear frame 22 (see fig. 2) provided in the lateral direction on the rear side of the main frame 15, and rear wheels 11 are attached to left and right rear axles 11b projecting outward from the rear wheel gear boxes 11a, respectively.

Further, left and right link support frames 23 that support the elevation link mechanism 3 are provided to protrude upward on the upper portion of the rear frame 22. A pair of right and left lower link arms 24 are provided between the right and left lower sides of the right and left link support frames 23. A lift cylinder 25 that operates by hydraulic pressure is provided between the left and right of the left and right lower link arms 24.

An upper link arm 26 is provided above the lift cylinder 25, and constitutes the lift link mechanism 3 as a parallel link mechanism. Further, the other end sides of the right and left lower link arms 24, the lift cylinder 25, and the upper link arm 26, which are connected at one end to the traveling vehicle body 2 side, are attached to the front part of the seedling planting part 4.

Further, an engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission 21 and the HST 14. The rotational power transmitted to the transmission case 13 is divided into traveling power and external extraction power after being shifted by the sub-transmission mechanism 16 in the transmission case 13.

The rotational power of the engine 30 is transmitted to a hydraulic pump, not shown. The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see fig. 3) of the steering wheel 35, the lift cylinder 25, and the like.

The external extraction power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the transplanting clutch case 27 provided at the rear portion of the traveling vehicle body 2, and is transmitted from the transplanting clutch case 27 to the seedling transplanting portion 4 via the transplanting transmission shaft 67.

On the other hand, left and right drive shafts 42 are provided at the rear of the transmission 13. The rotational power from the engine 30 is transmitted to the right and left rear wheel gearboxes 11a via the gearbox 13 and the drive shaft 42.

Further, a side clutch 44 (see fig. 3) for opening and closing power transmission to the left and right drive shafts 42 is disposed on the transmission direction upstream side of the left and right drive shafts 42. As shown in fig. 1, a side clutch pedal 43a for opening and closing a left and right side clutch 44 is provided on a lower front side and a left and right side of the operator's seat 41.

When the steering wheel 35 is operated to perform turning travel after the side clutch 44 is turned off by depressing the turn-inside side clutch pedal 43a of the left and right side clutch pedals 43a, the drive rotation of the turn-inside rear wheel 11 can be completely cut off.

A hood 39 is provided at an upper front portion of the traveling vehicle body 2, and a control panel 38 for operating each portion is disposed at an upper portion of the hood 39. The control panel 38 is provided with a monitor 86 (see fig. 3) and the like.

Further, a steering wheel 35 for steering the traveling vehicle body 2, a shift lever 36 for operating the HST 14 and the seedling planting unit 4, a sub-shift lever 37 for operating the sub-transmission mechanism 16, and the like are provided on the cover 39.

Further, an openable and closable front cover 40 is provided on the front side of the cover 39. The front cover 40 is provided therein with a fuel tank, a battery, and a link mechanism for rotating the left and right front wheels 10 and the lower portions of the left and right front wheel end boxes 10a in steering of the steering wheel 35. The front wheels 10 are, for example, steered wheels that are steered in accordance with the steering of the steering wheel 35.

An engine cover 30a that covers the upper and side portions of the engine 30 is provided above the engine 30 on the rear side of the hood 39, and an operator seat 41 on which an operator sits is provided on the upper portion of the engine cover 30 a.

A fertilizer application device 5 is provided behind the operator's seat 41 and on the rear end side of the main frame 15. The driving force of the fertilizer application device 5 is transmitted by a fertilizer transmission mechanism provided so as to face the fertilizer application device 5 from left and right sides of left and right rear wheel gear boxes 11a.

The engine cover 30a and the hood 39 have substantially horizontal footsteps 33 formed on both left and right sides of the lower portion thereof. As shown in fig. 2, a part of the step plate 33 is in a grid shape, and even if mud attached to shoes and the like of an operator who steps on the step plate 33 falls, the fallen mud and the like fall on a field.

As shown in fig. 2, a rear pedal 330 is connected to the rear of the step plate 33. It is preferable that the surface of the rear step 330 is subjected to, for example, an anti-slip process in which a plurality of protrusion patterns are formed so that the foot does not slip easily during work.

In addition, a preliminary seedling stage 50 is provided on the front side and both the left and right sides of the traveling vehicle body 2, and a plurality of preliminary seedling stages 52 are arranged on the seedling stage support columns 51 of the preliminary seedling stage 50 at vertically spaced intervals, so that working materials such as seedlings and fertilizer bags to be supplied to the seedling planting unit 4 can be placed thereon.

Further, a seedling box 53 for loading seedlings to be planted in a field is attached to the rear end portion of the lifting link mechanism 3 together with a slide mechanism for sliding the box in the right-left direction. In the seedling box 53, seedling separation fences 54 that are vertically long are arranged at predetermined intervals in the left-right direction. A seedling planting device 55 for grasping the loaded seedlings and planting the seedlings in a field is disposed below the seedling box 53.

The seedling transplanting device 55 simultaneously transplants 8 rows, which are the same number of transplanting operation lines divided by the seedling partition columns 54, and 4 transplanting transmission boxes 56 are disposed below the seedling boxes 53 at intervals, and transplanting rotors 57 are mounted on both left and right sides of the transplanting transmission boxes 56, and the transplanting rotors 57 rotate to take seedlings from the transplanting rods 58 and transplant the seedlings into a field.

The fertilizer applying device 5 divides the fertilizer applying hoppers 70 storing fertilizer into the same number as the number of working lines of the seedling planting part 4 (8 lines in the example shown in fig. 2). Further, since the 8-row fertilizer hoppers 70 are long in the left-right direction, the convenience of putting and removing fertilizer is reduced, and therefore, the fertilizer hoppers divided into 4 rows may be arranged in the left-right direction, so-called side-fertilizing structure.

A feeder 71 for feeding a predetermined amount of fertilizer is provided at the lower part of the fertilizer hopper 70 for every 1 line. Below the sending-out device 71, a ventilation duct 72 through which a conveyance wind for moving the fertilizer passes is provided in the left-right direction. A fertilizing hose 73 for guiding fertilizer to the vicinity of the seedling planting position of the seedling planting section 4 is provided below the delivery device 71. A blower 74 is provided at one end of the ventilation duct 72, and the blower 74 is operated by a blower electric motor 76 to generate a blowing air.

As shown in fig. 1 and 2, a central floating body 62C that slides in contact with the field surface and 2 side floating bodies 62L and 62R on the left and right sides are provided below the seedling planting part 4 so as to be rotatable about the axis. In addition, the air conditioner is provided with a fan, the center float 62C and the left and right side floats 62L, 62R may be collectively referred to as a float 62.

Further, below the seedling planting part 4, a leveling rotator 63 for leveling unevenness of the field surface is provided on the front side of the floating body 62. Further, the driving force is transmitted from the rear wheel gear box 11a on the other left and right side to the flat rotary body 63 via the rotary body transmission shaft 63 a.

As shown in fig. 1, the seedling planting unit 4 is provided with markers 65 on both left and right sides, and one of the left and right sides of the marker 65 is in contact with the field surface to form a groove as a traveling target in the next working row (next step). When the left and right sides of the left and right scribers 65 are grounded, the other side is separated upward, when the seedling planting part 4 is raised during turning, the left and right sides are separated upward together, and when the seedling planting part 4 is lowered after turning, the left and right sides are separated upward and the other side is grounded.

As shown in fig. 1 and 2, a center marker 66 that is vertically long is provided in the right and left center portions of the running vehicle body 2 and in front of the hood 39. By aligning the center marker 66 with the grooves formed in the field by the left and right scribers 65, running can be performed in alignment with the working position of the immediately preceding working line, and the working accuracy can be improved, thereby preventing occurrence of non-working.

In some cases, the guide line formed by the left and right scribers 65 is buried immediately depending on the soil quality of the field, and the object traveling straight may disappear. In this case, the left and right side scribers 19 provided on the front side of the left and right scribers 65 may be used. That is, the left and right side scribers 19 are moved in the outer direction, and the side scribers 19 are positioned above the planted seedlings, so that the planting operation can be performed in accordance with the planting of the seedlings in the previous operation row.

Further, as shown in fig. 1, the seedling transplanter 1 has a position acquiring device 150. The position acquiring device 150 acquires the current position and orientation of the seedling transplanter 1. The position acquisition device 150 includes a Positioning unit such as a position sensor, a GPS (Global Positioning System), a GNSS (Global Navigation Satellite System), or the like. The position acquisition device 150 may be constituted by a plurality of devices. The position acquisition device 150 may include a camera or an ultrasonic sensor, and may acquire a turning position in the field and detect a distance to the turning position.

For example, the position acquisition device 150 receives positioning information from the positioning unit, generates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and direction. The position acquisition device 150 is attached to the mounting stay 59, for example, and is disposed above the traveling vehicle body 2.

The straight travel control program and the turning control program generated based on the position information of the position acquisition device 150 are stored in different places. The linear travel Control program is stored in, for example, an Electronic Control Unit (ECU) 100a in the position acquisition device 150, and the turning Control program is stored in, for example, a turning Control ECU 100b housed in the hood 39. The straight-traveling control ECU 100a and the turning control ECU 100b are included in a control device 100 (see fig. 3) described later. The straight-driving control ECU 100a and the turning control ECU 100b may be stored in the same ECU.

(seedling transplanter control system)

Next, a control system of the seedling transplanter 1 will be described with reference to fig. 3. Fig. 3 is a block diagram showing a control system centering on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and includes a control device (hereinafter, referred to as a controller) 100 for controlling each part.

The controller 100 includes a Processing Unit including a CPU (Central Processing Unit), a Memory Unit including a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output Unit, which are connected to each other and can transmit and receive signals. A computer program or the like for controlling the seedling transplanter 1 is stored in the storage unit. The controller 100 functions by reading out a computer program or the like stored in the storage unit.

The controller 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81 and 82, an interposed clutch operating solenoid 83, a side clutch operating solenoid 84, an HST motor 85, a scribe lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle valve that adjusts the intake air amount of the engine 30. The hydraulic control valve 81 controls the expansion and contraction operation of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The insertion clutch operating solenoid 83 operates the insertion clutch 27 a.

The side clutch operating solenoid 84 operates the side clutch 44, and the side clutch 44 switches the power transmission state to the rear wheel 11 (see fig. 1). The side clutches 44 are provided to the left and right rear wheels 11, respectively, and 2 side clutch operation solenoids 84 are provided corresponding to the respective side clutches 44.

The HST motor 85 changes the tilt angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14. The steering motor 95 is a motor as follows: when the automatic turning control is performed, the steering wheel 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see fig. 1), is driven. The steering motor 95 rotates the steering wheel 35. The scribe lifting motor 87 lifts and lowers the scribe 65.

The differential lock switching motor 96 is a motor as follows: the operation and the stop of the differential lock mechanism 97 (hereinafter referred to as a differential lock mechanism) that rotates the left and right traveling wheels, specifically, the left and right front wheels 10, at the same rotational speed are switched. The differential lock mechanism 97 is turned on, and thereby the left and right running wheels rotate at the same rotational speed.

The controller 100 is connected with a rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, and the like as detection devices. The number of the rotation speed sensors 90 is 2 corresponding to the left and right rear wheels 11, and detects the rotation speed of each of the left and right rear wheels 11. The rotation speed sensor 90 may detect the rotation speed of the left and right front wheels 10.

The steering amount sensor 91 detects the steering amount (steering angle) of the front wheels 10, which is the operation amount of the steering wheel 35 as the steering device. The steering amount sensor 91 is provided on a shaft coupled to a steering arm, for example. The steering amount is detected in each of the left and right directions using, as a reference value, a value at which the steering wheel 35 is at a predetermined straight-line travel position. The tilt sensor 92 detects the tilt of the traveling vehicle body 2, that is, the tilt angle.

Signals are input to the controller 100 as operation signals from the shift lever 36, the sub-shift lever 37, the autonomous travel switch 46, the implanted portion raising/lowering switch 47, the automatic straight travel switch 45, the automatic turning switch 48, the scriber automatic raising/lowering switch 49, and the like.

The autonomous traveling changeover switch 46 is a switch for changing over whether or not autonomous traveling is performed. Specifically, the autonomous travel switch 46 is a switch for switching the travel mode to the autonomous travel mode or the manual travel mode. For example, when the autonomous traveling changeover switch 46 is ON (ON), the traveling mode is set to the autonomous traveling mode. When the autonomous travel changeover switch 46 is OFF, the travel mode is set to the manual travel mode. When the autonomous travel switch 46 is turned on, the automatic straight travel switch 45 and the automatic turning switch 48 are turned on. That is, when the running mode is the autonomous running mode, the automatic straight-traveling changing switch 45 and the automatic turning changing switch 48 can be changed to "off" by the operation of the operator even when the running mode is temporarily turned to "on".

The transplanting unit raising/lowering switch 47 is a switch for switching whether or not to raise/lower the seedling transplanting unit 4. The planting portion raising and lowering switch 47 is changed to the "up" and "down" positions.

When the transplanting unit elevation switch 47 is at the "up" position, the seedling transplanting unit 4 is raised to a predetermined non-operation position, and the seedling transplanting device 55 is brought into a non-operation state in which it is stopped. When the transplanting unit lift switch 47 is in the "down" position, the seedling transplanting unit 4 is lowered to a predetermined operation position, and the seedling transplanting device 55 is operated. That is, the transplanting portion elevating switch 47 is a switch for detecting the operation state of the seedling transplanting portion 4. In addition, a switch for detecting the operation state of the seedling planting part 4 may be additionally provided.

The scribe automatic raising/lowering switch 49 is a switch for switching whether or not to automatically raise/lower the scribe 65 in conjunction with the steering amount of the front wheel 10, which is the operation amount of the steering wheel 35. When the marker automatic raising/lowering switch 49 is on, control is executed to automatically raise/lower the marker 65 in conjunction with the steering amount. On the other hand, when the marker automatic raising/lowering switch 49 is off, the control for automatically raising/lowering the marker 65 in conjunction with the steering amount is not performed.

The automatic linear travel switch 45 is a switch for switching whether or not automatic linear travel can be performed. When the automatic linear travel switch 45 is turned "on", a travel assist function described later is enabled, and automatic linear travel can be performed. When the automatic straight-line travel changeover switch 45 is turned "off", the travel assist function is disabled and the automatic straight-line travel cannot be performed.

The automatic turning changeover switch 48 is a switch for changing over whether or not automatic turning can be executed. When the automatic turning changeover switch 48 is turned "on", a turning assist function described later is enabled, and automatic turning can be performed. When the automatic turn changeover switch 48 is turned "off", the turn assist function is disabled and the automatic turn cannot be executed. When the automatic turning changeover switch 48 is turned "off", the automatic turning is not performed even if the condition for performing the automatic turning is satisfied.

Further, current position information of the traveling vehicle body 2 and the like are input from the position acquisition device 150 to the controller 100. The controller 100 executes an autonomous travel mode in which the traveling vehicle body 2 performs work while traveling automatically.

In addition, various information is input to the controller 100 from a remote operation device 170 (hereinafter referred to as a "remote controller"). For example, various information is input from the remote controller 170 to the controller 100 via the receiver 180 (see fig. 1). The receiver 180 is attached to the attachment stay 59 (see fig. 1), for example, and is disposed above the front side of the traveling vehicle body 2. In addition, a plurality of receivers 180 may be provided.

The remote controller 170 can remotely operate the seedling transplanter 1. The remote control 170 may be a terminal device such as a smartphone. The remote controller 170 transmits a control signal corresponding to an operation by an operator. The remote controller 170 is communicably connected to the controller 100 by short-range wireless communication such as Wi-fi (registered trademark) or BLE (registered trademark) Low Energy, but is not limited to this, and may be communicably connected via a communication network or the like in addition to or instead of the short-range wireless communication.

The remote controller 170 may include a positioning unit such as an orientation sensor, a GPS, or a GNSS. The remote controller 170 may also transmit location information of the remote controller 170 to the controller 100.

The remote controller 170 may be provided in plurality. That is, the controller 100 may be able to acquire position information of each remote controller 170 from a plurality of remote controllers 170.

(autonomous driving mode)

Here, the autonomous traveling (automatic traveling) of the seedling transplanter 1 in the field will be described. The controller 100 (see fig. 3) has the following autonomous travel mode: the steering wheel 35 (see fig. 3) is operated by controlling the steering motor 95 (see fig. 3) while feeding back the steering amount of the front wheels 10 (see fig. 1). The autonomous traveling mode includes an automatic straight traveling mode and an automatic turning mode.

The automatic straight traveling mode is the following mode: the steering motor 95 is controlled so that the traveling vehicle body 2 follows a predetermined linear travel path, and the traveling vehicle body travels linearly. In the automatic linear travel mode, seedlings are planted in the field by the seedling planting section 4, and the traveling vehicle body 2 performs linear travel regardless of the operation of the operator. That is, the travel assist function of automatically advancing the traveling vehicle body 2 linearly and transplanting seedlings to a field is enabled, and the travel assist function is executed.

The automatic turning mode is as follows: when the traveling vehicle body 2 reaches a predetermined turning position, the seedling planting unit 4 stops planting seedlings, and controls the steering motor 95 so that the traveling vehicle body 2 follows a predetermined turning path to turn. The predetermined turning position is set using, for example, a travel distance of a process in which a work is performed, position information on the process in which the work is performed, and the like.

In the automatic turning mode, for example, the seedling planting unit 4 is raised to be in a non-operating state, and the traveling vehicle body 2 turns irrespective of the operation by the operator. That is, the turning assisting function for turning the traveling vehicle body 2 by not transplanting seedlings in the seedling transplanting portion 4 is effective, and the turning assisting function is executed.

Further, as shown in fig. 4, teaching travel for traveling on the 3 sides La to Lc of the field by the operation of the operator is performed, and thereby a work area for executing the autonomous traveling mode is set. Fig. 4 is a diagram illustrating a method of setting a work area for teaching travel according to the embodiment.

For example, when the travel is started by operating a work area setting button (not shown), the position information of the traveling vehicle body 2 is recorded as the start point of the side La, and the position information of the traveling vehicle body 2 during travel is recorded. When the steering wheel 35 is turned by a predetermined angle or more by the operator, the end point of the side La is recorded, and the side La is set. Further, position information of the traveling vehicle body 2 at the start of the side Lb is recorded. The predetermined turning angle is a preset value and is an angle at which it can be determined that the traveling vehicle body 2 turns along the ridge.

Further, when the steering wheel 35 is turned by the operator by a predetermined turning angle or more after the traveling vehicle body 2 travels straight, the end point of the side Lb is recorded, and the side Lb is set. Further, position information of the running vehicle body 2 at the start of the side Lc is recorded.

When the work area setting button is operated after the traveling vehicle body 2 travels straight, the position information of the traveling vehicle body 2 is recorded as the end point of the side Lc, and the side Lc is set. The work area is set by setting 3 sides La to Lc.

In a field in which a working area is set, an autonomous travel mode can be executed. For example, in the field, the automatic linear travel can be performed along a linear travel path parallel to the side La or the side Lc. Further, when the turning is performed near the ridge on the side Lb, the automatic turning can be performed. When teaching a turn around the edge of a field not traveling, that is, near the ridge on the side facing the edge Lb, the turn can be performed by remote control operation.

In addition, when the teaching travel is completed and the work area is set, the seedling transplanter 1 can travel by the operation of the operator and transplant seedlings to the field even when the travel mode is the manual travel mode.

When the travel mode is the manual travel mode and the seedling transplanter 1 is caused to travel by the operation of the operator, the seedling transplanter 1 performs the automatic linear travel when the automatic linear travel switch 45 is turned on. That is, even if the traveling mode is the manual traveling mode, the seedling transplanter 1 can perform the traveling assist function.

Further, when the travel mode is the manual travel mode and the seedling transplanter 1 is caused to travel by the operation of the operator, the seedling transplanter 1 can perform automatic turning when the automatic turning changeover switch 48 is turned "on". That is, even if the traveling mode is the manual traveling mode, the seedling transplanter 1 can perform the turning assistance function.

When the running mode is changed from the autonomous running mode to the manual running mode, the controller 100 stores running information for causing the running vehicle body 2 to run autonomously. For example, the controller 100 stores information about a straight traveling path and information about a turning path. When the travel mode is the manual travel mode, the travel assist function and the turning assist function can be executed based on the stored travel information.

(Manual running treatment)

Next, the manual travel process according to the embodiment will be described with reference to fig. 5. Fig. 5 is a flowchart illustrating the manual travel process according to the embodiment.

The controller 100 determines whether or not the automatic straight travel switch 45 is turned on during travel in the manual travel mode (S100).

When the automatic linear travel switch 45 is turned on (yes in S100), the controller 100 enables the travel assist function (S101). When the automatic linear travel switching switch 45 is off (no in S100), the controller 100 advances the process to step S102.

The controller 100 determines whether the automatic turn changeover switch 48 is turned "on" (S102).

When the automatic turn switch 48 is turned "on" (yes in S102), the controller 100 activates the turn assist function (S103). When the automatic turning changeover switch is turned off (no in S102), the controller 100 ends the current process.

In this way, even if the running mode is the manual running mode, the running assist function and the turning assist function can be activated by the operation of the automatic straight-line travel switch 45 and the automatic turning switch 48, and the respective assist functions can be executed.

The seedling transplanter 1 has a traveling vehicle body 2, a seedling planting section 4, and a controller 100. The seedling planting part 4 is arranged on the traveling vehicle body 2. The controller 100 controls the steering angle of the front wheels 10 of the traveling vehicle body 2 to cause the traveling vehicle body 2 to travel autonomously. As autonomous traveling, the controller 100 can perform a traveling assist function of automatically linearly traveling the traveling vehicle body 2 and transplanting seedlings to a field by the seedling planting unit 4, and a turning assist function of turning the traveling vehicle body 2 without transplanting seedlings by the seedling planting unit 4. The controller 100 can execute a travel assist function and a turning assist function during manual travel in which the vehicle travels by an operation of an operator.

Thus, the seedling transplanter 1 can execute at least one of the travel assist function and the turning assist function even when the travel mode is the manual travel mode. Therefore, the operator can easily perform the work in the field. That is, the seedling transplanter 1 can improve the working efficiency.

The controller 100 stores running information for executing autonomous running when the running mode is changed from the autonomous running mode to the manual running mode.

Thus, when the seedling transplanter 1 executes the travel assist function and the turning assist function in the manual travel mode, it is possible to execute each assist based on the stored travel information.

(modification example)

The seedling transplanter 1 can set the conditions for accepting seedlings to be accepted in the field. The transplanting conditions include the amount of seedlings to be harvested, the depth of transplanting, and the height of the leveling rotating body 63. The insertion condition can be set by the remote controller 170. For example, the insertion condition can be changed from a predetermined initial state. The predetermined initial state may be set at factory shipment or may be set by an operator or the like.

The seedling transplanter 1 resets the transplanting conditions to a predetermined initial state when the transplanting conditions are changed from the predetermined initial state, and the seedling transplanter autonomously travels and turns a corner. For example, the seedling transplanter 1 resets the transplanting conditions to a predetermined initial state when turning with the turning assist function. The timing to reset to the predetermined initial state is timing at which the traveling vehicle body 2 reaches the turning start position, timing at which the traveling vehicle body 2 ends turning, timing at which the next process is performed with respect to the work start position, and the like.

Thus, the seedling transplanter 1 can set planting conditions suitable for each operation path (straight travel path) by the remote controller 170, for example, to plant seedlings.

The seedling transplanter 1 may be configured to be capable of changing whether or not to reset the transplanting conditions to the initial state according to the turning. For example, whether or not the vehicle is reset to the initial state in accordance with the turning may be changed by remote control operation.

Thus, in the working path (straight traveling path) in which the state of the field is regarded as the same, when the setting is made such that the transplanting conditions are not reset, the seedling transplanter 1 can transplant seedlings under the set transplanting conditions. Therefore, the operator can save the labor and time for setting the insertion condition.

The predetermined initial state may be set during autonomous traveling. Thus, the seedling transplanter 1 can set the transplanting conditions suitable for the field as a predetermined initial state.

The seedling transplanter 1 may delete a part of the edges La to Lc of the field obtained by the teaching travel in response to the operation of the remote controller 170 or the operation of the buttons provided on the traveling vehicle body 2.

For example, when the controller 100 runs along the side Lb of the field and acquires the side Lb, information on the side Lb is deleted by a button operation. Thus, the seedling transplanter 1 can easily correct the sides during teaching.

When a new side corresponding to the deleted side is acquired by teaching travel, the controller 100 sets a work area by connecting the new side to the side connected to the deleted side.

Thus, the seedling transplanter 1 can easily correct the sides during teaching and set the work area.

The controller 100 may delete a part of the sides La to Lc after acquiring the 3 sides La to Lc.

For example, when a plurality of buttons, for example, 2 buttons, of the remote controller 170 are simultaneously pressed, deletion of the edge is performed. Thereby, the seedling transplanter 1 can suppress erroneous deletion of the sides.

In the seedling transplanter 1, by pressing a dedicated button provided in the seedling transplanter 1, the position information included in the sides is displayed as a point on the monitor 86. Further, by pressing a jog dial (jog dial) provided in the monitor 86, dots displayed on the monitor 86 can be erased, and the edge can be deleted.

In the seedling transplanter 1, the priority order of operation is set. For example, the priority order is, in order from high to low, the stop of the seedling transplanter 1 by manual operation, the operation of the seedling transplanter 1 by manual operation, the stop by the remote controller 170, and the operation by the remote controller 170.

Thus, the seedling transplanter 1 can improve the safety against the operator riding on the seedling transplanter 1.

The priority order of the operation may be, in order from the top to the bottom, the stop of the seedling transplanter 1 by the manual operation, the stop by the remote controller 170, the operation of the seedling transplanter 1 by the manual operation, or the operation by the remote controller 170. Thus, the seedling transplanter 1 is stopped with priority, and the safety of the operator riding on the seedling transplanter 1 can be improved by the seedling transplanter 1.

The seedling transplanter 1 may also transmit the presence or absence of an input based on manual operation to the remote controller 170. When the manual operation is prioritized, the manual operation priority is displayed on the remote controller 170. The display method may be a display or an indicator. This allows the remote controller 170 to confirm the priority of the manual operation.

The seedling transplanter 1 may also receive and display the presence or absence of an input based on the remote controller 170. The display method may be a display or an indicator. The display method may be the lighting of a warning lamp or the like. Further, it is preferable that the display is displayed in the vicinity of the input portion for manual operation so as to be able to confirm the operation in the manual operation.

Further, the operation by the remote controller 170 may be delayed from the display by the seedling transplanter 1. This can prevent the operator of the seedling transplanter 1 from performing unexpected operations, and improve the safety of the operator.

It may be so constituted that a home button (home button) is provided in the remote controller 170 and the seedling transplanter 1 is automatically returned to the vicinity of the remote controller 170 by the input of the home button. Thus, the seedling transplanter 1 can automatically return to the place of the holder having the remote controller 170 by the operation of the remote controller 170.

In the remote controller 170, an error display is performed based on a signal transmitted from the seedling transplanter 1. For example, when the seedling transplanter 1 detects the soft or hard state of the field and determines that the field is soft, the determination result is displayed on the remote controller 170. Thus, the holder having the remote controller 170 can adjust the insertion depth to be deeper, for example.

The remote controller 170 unlocks the lock by inputting a dedicated code before the operation input. If the locking is not released, the remote controller 170 cannot transmit the operation input to the seedling transplanter. In addition, even before the lock is released, a signal can be received from the seedling transplanter 1.

The seedling transplanter 1 may be configured to receive or not receive a signal transmitted from the remote controller 170. For example, the seedling transplanter 1 can be set to refuse to receive a signal transmitted from the remote controller 170. This can prevent the operator of the seedling transplanter 1 from performing unexpected operations, thereby improving the safety of the operator.

As turning methods of the seedling transplanter 1, there are a turning turn (12479125401253131back) which turns directly from straight traveling, and a back turn (124961248312463.

When the running mode is the manual running mode, the automatic turning changeover switch 48 is on, and the lever operation for turning is performed by the operator during the straight running, a turning assist function based on the steering turning is performed. Further, when the running mode is the manual running mode, the automatic turning changeover switch 48 is on, and the changeover steering from the straight running to the reverse running is performed, the controller 100 executes the turning assist function by the reverse turning.

Thus, the selection of the turning method using the turning support function can be performed without a button operation. Therefore, the selection of the turning method is easy.

When the turning assist is executed, the controller 100 automatically corrects the steering amount of the steering wheel 35. For example, the controller 100 counts the rotation speed of the rear wheel 11 on the outside of the turn from the start of the turn to the completion of the turn in the turn immediately before. Then, the controller 100 automatically corrects the steering amount of the steering wheel 35 so that the counted rotation speed coincides with the rotation speed in the set turning path.

Thus, even in the present and subsequent turning, the turning by the turning support can be executed along the set turning path without performing the correction operation by the operator or the like. Therefore, the seedling transplanter 1 can improve the field applicability when performing the turning assistance.

Further, the controller 100 may automatically correct the steering amount of the steering wheel 35 during the current turn based on the rotation speed of the rear wheel 11 on the outer side of the turn from the start of the turn to the completion of the turn during the previous turn.

Therefore, the seedling transplanter 1 can correct the steering amount of the steering wheel 35 in the current turn according to the turn information at the ridge on the same side, and can improve the turning precision.

The seedling transplanter 1 may be additionally provided with an operation switch and a turntable for performing a driving assistance function, a turning assistance function, and each turning method in the case where the driving mode is the manual driving mode.

For example, the operation switch and the dial can switch (i) not to execute each assist function, (ii) to execute only the travel assist function, (iii) to perform the steering turn of the turning assist function on the basis of the travel assist function, (iv) to perform the post-turn of the turning assist function on the basis of the travel assist function, and (v) to shift to the autonomous travel mode. Thereby, the seedling transplanter 1 can suppress the complication of the operation system.

In the seedling transplanter 1, the operation states (activated state, deactivated state) of the respective auxiliary functions are displayed on the monitor 86. Thus, the operator can easily confirm the operation state of each auxiliary function.

The seedling transplanter 1 may be configured to be movable to a work start place in the work area by automatic travel. In this case, the seedling transplanter 1 can travel to the operation start point regardless of the angle difference between the direction of the operation start point and the current direction of the traveling vehicle body 2.

The seedling transplanter 1 may be prohibited from traveling to the operation start point when the angle difference between the direction of the operation start point and the direction of the current traveling vehicle body 2 is not within a predetermined angle. In this case, when the angle difference falls within the predetermined angle difference, the vehicle starts traveling toward the work start point.

The seedling transplanter 1 may turn a corner a plurality of times (for example, 2 times) and travel to the operation start point when the angle difference between the direction of the operation start point and the direction of the current travel vehicle body 2 is not within a predetermined angle.

The seedling transplanter 1 may also preset an operation path in the operation area, and search for an actual travel path according to the distance between the operation path and the travel vehicle body 2. Thus, the seedling transplanter 1 can search the travel path without matching the direction of the work path with the direction of the current position.

The seedling transplanter 1 may set a search area for searching the work path and automatically travel along the work path detected in the set search area. The search area is set so as to extend toward the inside of the curve, for example, with the current position of the traveling vehicle body 2 as the center.

Thus, the seedling transplanter 1 can search the working path with high accuracy when the field is in an over-steered state.

The search area may be set so as to extend toward the inside of the curve and toward the front, for example, with the current position of the traveling vehicle body 2 as the center. Thus, the seedling transplanter 1 can search the operation path with high accuracy. The search area may be set so as to extend toward the inside of the curve and toward the rear, for example, with the current position of the traveling vehicle body as the center. Thus, the seedling transplanter 1 can avoid skipping 1 operation path.

The seedling transplanter 1 may be provided with a travel route without providing a specific area. Thereby, the seedling transplanter 1 can switch the path at an intermediate place, for example.

The seedling transplanter 1 has accumulated data of past operations in the field, and when the seedling transplanter is traveling at a place where the differential lock mechanism 97 is operated and a place where the forced four-wheel drive function is operated due to a slip in the previous operation, the differential lock mechanism 97 and the forced four-wheel drive function are automatically operated before the slip occurs.

The past work accumulation data is recorded as travel data (position information, vehicle speed information, steering angle information, and the like) of the work vehicle, and is transmitted to the cloud or the mobile device. Further, the place where the differential lock mechanism 97 operates and the place where the forced four-wheel drive function operates may be displayed on the map of the management system.

When the seedling transplanter 1 deviates from the straight traveling path during autonomous traveling, the deviated position is treated as the end of the deviated track path. When the seedling transplanter 1 deviates from the straight traveling path during autonomous traveling, a position traced back by a predetermined distance from the deviated position is set as the deviated position. Thus, the seedling transplanter 1 can suppress the gap when transplanting seedlings again.

In addition, when the seedling transplanter 1 deviates from the straight traveling path, a position where a certain number of seedlings are retrieved from the deviated position may be set as the deviated position. Thereby, the seedling transplanter 1 can start transplanting seedlings again from a position in consideration of the amount of speed.

The seedling transplanter 1 may also perform autonomous traveling according to the planted path information on the basis of the work vehicle information and the direction information. Thus, the seedling transplanter 1 can avoid skipping 1 operation path.

The seedling transplanter 1 may specify the setting of the working area by using the teaching points. Thus, the seedling transplanter 1 can reduce the processing load of the memory and data. The seedling transplanter 1 may set the operation area without performing inter-pulling on the point coordinates. Thus, the seedling transplanter 1 can set the working area with high accuracy. The seedling transplanter 1 may also interpolate the point coordinates to set the operation area by means of an approximate polygon when the memory is insufficient.

The seedling transplanter 1 stops the traveling vehicle body 2 when the inclination angle detected by the inclination sensor 92 is equal to or larger than a predetermined inclination angle. The predetermined inclination angle is set in advance. A plurality of predetermined inclination angles may be provided. For example, the predetermined tilt angle includes a 1 st predetermined tilt angle and a 2 nd tilt angle. The 2 nd prescribed inclination angle (e.g., 20 degrees) is larger than the 1 st prescribed inclination angle (e.g., 10 degrees).

When the inclination angle is 1 st or more predetermined inclination angle in the vicinity of the ridge of the field, the seedling transplanter 1 stops the traveling vehicle body 2. When the inclination angle is not less than the 2 nd predetermined inclination angle in the vicinity of the center of the field, the seedling transplanter 1 stops the traveling vehicle body 2.

Thus, the seedling transplanter 1 can be prevented from stopping near the center of the field and from sinking.

The seedling transplanter 1 may stop the traveling vehicle body 2 when the inclination angle is equal to or larger than a predetermined inclination angle in the vicinity of the ridge of the field. In addition, the seedling transplanter 1 may decelerate the traveling vehicle body 2 without stopping the traveling vehicle body 2 when the inclination angle becomes equal to or larger than a predetermined inclination angle in the vicinity of the center portion of the field. For example, the seedling transplanter 1 sets the speed of the traveling vehicle body 2 to a predetermined low speed.

Thus, the seedling transplanter 1 can be prevented from stopping near the center of the field and from sinking.

The seedling transplanter 1 may decelerate the traveling vehicle body 2 when the inclination angle is equal to or larger than a predetermined inclination angle in the vicinity of the ridge of the field. When the inclination angle is equal to or greater than a predetermined inclination angle in the vicinity of the ridge of the field, the seedling transplanter 1 decelerates the traveling vehicle body 2. Further, even if the inclination angle is equal to or larger than the predetermined inclination angle in the vicinity of the center portion of the field, the seedling transplanter 1 does not decelerate the traveling vehicle body 2.

Thus, the seedling transplanter 1 can suppress riding on ridges and also suppress sinking into underdrains in the center of the field.

The seedling transplanter 1 can also be prohibited from autonomously traveling at the ridge side.

The seedling transplanter 1 may be provided with a human detection sensor, and the traveling vehicle body 2 is decelerated or stopped when a human is detected by the human detection sensor. The motion sensor is attached to the attachment stay 59, for example, and is positioned above the traveling vehicle body 2. The human detection sensor has directivity, and detects the presence or absence of a human in a predetermined range in front of the traveling vehicle body 2.

The detection range of the human detection sensor may be physically limited by attaching a cover, for example. Thus, the seedling transplanter 1 can detect the presence or absence of a person in a predetermined range in front of the traveling vehicle body 2, for example, by means of a highly versatile human detection sensor.

Further, the cover may move in conjunction with the steering wheel 35. The seedling transplanter 1 may also rotate a mounting stay 59 on which a human detection sensor is mounted. Thereby, for example, the detection range is changed in conjunction with the steering wheel 35. Therefore, the seedling transplanter 1 can detect a person at the turning destination in advance.

The seedling transplanter 1 may be configured such that a part of the mounting stay 59 on which the human detection sensor is mounted is rotated by 180 degrees in the front-rear direction. For example, a part of the mounting stay 59 is rotated by a motor in conjunction with the HST operation. Further, a part of the mounting stay 59 may be rotated in conjunction with the steering arm. Thus, the seedling transplanter 1 rotates a part of the mounting stay 59 toward the rear when retreating, thereby enabling to detect the front and rear persons by the 1 person sensor.

The seedling transplanter 1 restarts from a turning path when it stops in the middle of a straight traveling path by autonomous traveling with the traveling assist function. The seedling transplanter 1 may restart from the route closest to the current position of the traveling vehicle body 2 when the seedling transplanter is stopped in the middle of the straight traveling route by autonomous traveling by the traveling assist function. The seedling transplanter 1 may also display the planted path in the monitor 86 and start the predetermined path again.

The seedling transplanter 1 may be configured such that the initial straight travel path in the working area is not parallel to the side La, for example.

The seedling transplanter 1 may be configured to be capable of adjusting the interval between the round travels when the round travels along the ridge a plurality of times, for example, 2 times in the field.

The seedling transplanter 1 may also be configured to generate a path in autonomous travel, a straight traveling path, and a turning path, and to be able to detect a decrease in fertilizer, seedlings, and fuel. The seedling transplanter 1 does not shift to automatic travel when it is close to a ridge side where seedlings and the like are replenished in a field and when the transplanting operation of seedlings in the next step cannot be performed due to shortage of materials such as the seedlings. In this case, the transplanting operation area at the current time is displayed on at least one of the monitor 86 of the seedling transplanter 1, the monitor of the remote controller 170, and the mobile device. This allows the operator to check the consumption of the material and the working area at the time of replenishment of the material.

The working area is calculated using the operating state (on state and off state) of the ridge clutch of each unit, the operating state (on state and off state) of the insertion clutch 27a, the rotation speed of the front wheels 10, the rotation speed of the rear wheels 11, and the positional information.

Those skilled in the art can easily derive more effects and modifications. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

Claims (6)

1. A working vehicle is characterized in that,

the work vehicle includes: a traveling vehicle body (2); a seedling transplanting part (4) arranged on the traveling vehicle body (2); and a control device (100) for controlling the steering angle of the steering wheel of the traveling vehicle body (2) and causing the traveling vehicle body (2) to travel autonomously,

the control device (100) can execute a travel assisting function of automatically advancing the traveling vehicle body (2) linearly and transplanting seedlings to a field by the seedling transplanting part (4) and a turning assisting function of turning the traveling vehicle body (2) without transplanting seedlings by the seedling transplanting part (4) as the autonomous traveling,

the driving assistance function and the turning assistance function can be executed at the time of manual driving in which driving is performed by an operation of an operator.

2. The work vehicle according to claim 1,

the control device (100) stores travel information for executing the autonomous travel when the autonomous travel is changed to the manual travel.

3. The work vehicle according to claim 1 or 2,

the control device (100) can change the transplanting conditions for transplanting seedlings to the field according to the operation of the remote controller (170),

when the traveling vehicle body (2) is turned by the turning assist function, the transplanting conditions of the seedlings changed according to the operation of the remote controller (170) are reset to an initial state.

4. The work vehicle according to any one of claims 1 to 3,

the control device (100) sets the autonomous travel work area by performing teaching travel along 3 sides of a field.

5. The work vehicle according to claim 4,

the control device (100) can delete a part of the information of the side of the field obtained by the teaching travel according to the operation of a remote controller (170) or the operation of a button provided on the traveling vehicle body (2).

6. The work vehicle according to claim 5,

the control device (100) sets the work area by connecting a new side to a side connected to the deleted side when acquiring the new side corresponding to the deleted side by the teaching travel.

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