JP2016042857A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of causing a vehicle body to run in a straight line with a high degree of precision, and improving operation accuracy compared with a conventional work vehicle.SOLUTION: A work vehicle includes: a receiving antenna 121 for acquiring positional information from a GPS at a predetermined interval; a gyro sensor 115 for detecting a change in a travelling direction from a vehicle body 2; an automatic steering apparatus 110 for operating a steering wheel 32 to keep the vehicle body 2 in a straight line direction; and a control device 150 for actuating the automatic steering apparatus 110 based on the detection of the receiving antenna 121 and the gyro sensor 115, and stopping the automatic steering apparatus 110 when the positional information acquisition interval becomes longer or shorter within a predetermined time.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a work vehicle such as a tractor for agriculture, construction, and transportation.

  Some recent work vehicles that travel while performing work on a field or the like have improved traveling accuracy in order to perform appropriate work. For example, in the work vehicles described in Patent Literature 1 and Patent Literature 2, the steering direction is automatically advanced by automatically steering the steering wheel based on the change in position coordinates by GPS (Global Positioning System) and the operation angle of the aircraft. Is equipped with a function to correct the direction of travel of the aircraft. As a result, in these work vehicles, the operator can visually observe the front of the aircraft and operate the handle appropriately to advance the aircraft without correcting the traveling direction. In addition, the operator can concentrate on operations other than the handle operation, so that operability and work efficiency are improved.

JP2013-74815A JP 2005-71142 A

  However, position information based on GPS or the like varies minutely depending on the traveling speed of the aircraft or the inclination of the field. Therefore, if the position information is acquired uniformly, position information different from the actual position of the aircraft is acquired. May end up. At this time, there is a problem that the automatic steering is corrected even though the vehicle is actually going straight, and the aircraft moves in a direction deviating from the straight running direction. In addition, depending on the vehicle speed, coordinates that can be regarded as stopping or traveling backwards may be obtained, and in this case, automatic steering will not operate and the traveling direction remains deviated from the straight traveling direction. You may run. As a result, there is a problem that work accuracy such as planting accuracy of seedlings, harvesting accuracy of crops such as seedlings, and tilling accuracy of the field is lowered.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work vehicle that can travel a traveling vehicle body with high accuracy and can improve work accuracy more than before. .

The above-described problem can be solved by the following solution means.
That is, the invention described in claim 1 includes a traveling vehicle body (airframe) (2) provided with a traveling device that travels in a field, a steering member (handle) (32) for steering the traveling vehicle body (2), and a traveling vehicle body (2 ) Position information acquisition device (receiving antenna) that acquires position information from GPS at a predetermined interval in a work vehicle provided with a work device (50) that performs work on a farm field including a seedling planting unit, a seeding device, and a rotary ) (121), a direction change detecting member (gyro sensor or angular velocity sensor) (115) for detecting a change in the traveling direction from the traveling vehicle body (2), and a steering member (32) to operate the traveling vehicle body (2 ) Is maintained in the straight direction, and the automatic steering device (110) is operated based on the detection of the position information acquisition device (121) and the direction change detection member (115) within a predetermined time (example) : 1 The acquisition interval of the position information in two seconds) spreads, or narrowed when a working vehicle, characterized in that an automatic steering device (control device having a control arrangement to stop 110) (150).

  According to the second aspect of the present invention, the control device (150) has the position information of the airframe (2) when the work device (50) is in the working state (= downward) (downward position information after the airframe is turned), If the position information of the current traveling vehicle body (airframe) (2) is separated from the work start position by a predetermined distance (eg, 25 to 50 cm) in the left-right direction, the automatic steering device (110) The work vehicle according to claim 1, further comprising a control configuration for stopping the vehicle, decelerating the traveling speed, or stopping the traveling.

  The invention according to claim 3 is provided with a steering mechanism for turning the front wheel (10) of the traveling vehicle body (2) to the left and right, a control seat (28) on which an operator gets on, and an operator on the control seat (28). A seating detection member (pressure sensor) (130) for detection is provided, a torque detection member (torque sensor) (117) is provided in the automatic steering device (110), and the seating detection member (130) is provided in the control device (150). The work vehicle according to claim 1 or 2, wherein when the torque detection member (117) detects overtorque or operation lock in a non-detection state, the traveling speed is reduced.

  In the invention according to claim 4, when the swing width of the automatic steering device (110) generated by the steering mechanism is detected by the torque detection member (117), the control device (150) detects the current position based on the detected swing width. The work vehicle according to claim 3, wherein the steering amount of the automatic steering device (110) is changed based on the difference between the information and the position information of the straight traveling position.

  The invention according to claim 5 is provided with an unevenness detecting member (131) for automatically detecting the unevenness of the farm field and automatically changing the work height of the work device (50), and a lifting link for raising and lowering the work device (50) by hydraulic pressure ( 41) and the lifting / lowering device (40) are provided in the traveling vehicle body (2), and the control device (150) determines that the current field depth is deep when the torque detected by the torque detection member (117) is equal to or greater than a predetermined value. Judgment, the traveling speed is reduced, the working device (50) is automatically lowered, and the elevation detecting device (40) automatically raises and lowers only when the unevenness detecting member (131) detects a large angle change. The work vehicle according to claim 4, further comprising a control configuration in which the automatic elevation is performed after a predetermined time (e.g., 0.5 to 1 second) has elapsed after detection of the unevenness detecting member (131). is there.

  According to the sixth aspect of the present invention, the steering member (32) is provided with an automatic steering cancellation member (automatic steering cancellation switch) (132), and the control device (150) operates the automatic steering cancellation member (132). The work vehicle according to any one of claims 1 to 5, wherein automatic steering is canceled when the steering member (32) is operated.

  According to the seventh aspect of the present invention, a display device (141) is provided on the front side of the traveling vehicle body (2) with respect to the control seat (28) and at the center in the left-right direction of the traveling vehicle body (2), and the display device (141). The position information and the theoretical straight-ahead work position are located at the center display position (141a) indicating straight traveling, or the shift display positions (141b, 141c shifted to the left or right side from the center display position). A plurality of display members (LEDs) that indicate whether the vehicle is in a straight line, a central display position (141a) indicating straight traveling, and a shift display position (141b, 141c) in the horizontal direction from the central display position (141a), The work vehicle according to any one of claims 1 to 6, wherein the work vehicles are configured to perform different displays.

  According to the first aspect of the present invention, when the acquisition interval of the position information by the position information acquisition device (121) widens or narrows within a predetermined time (eg, 1-2 seconds), sudden acceleration / deceleration occurs. Since the steering member (32) can be prevented from being cut during acceleration / deceleration by stopping the automatic steering device (110), the traveling vehicle body (airframe) (2) is greatly shaken to deviate from the straight direction. Therefore, the straight traveling accuracy of the traveling vehicle body (2) is improved as compared with the prior art.

  In this way, since the airframe (2) is not greatly shaken, the operator can be prevented from being shaken on the vehicle body, so that the operator's maneuvering work or other work is prevented from being obstructed, and the work efficiency of the work vehicle is reduced. And safety is improved over the prior art.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the automatic steering device (110) is stopped when the traveling vehicle body (2) is separated from the start of work by a predetermined distance in the left-right direction. Or, by decelerating or stopping the airframe (2), it is possible to interrupt the erroneous work travel by automatic steering and allow the operator to perform a return operation, so that the work device (50) is not working. Thus, the work accuracy and work efficiency of the work device (50) are improved as compared with the prior art.

  In addition, since the work device (50) can be prevented from working again at the place where the work has been performed once, the work efficiency of the work device (50) is improved and the consumption of work materials (eg, seedlings, fertilizers, drugs, etc.) is reduced. Is planned.

  According to the invention described in claim 3, in addition to the effect of the invention described in claim 1 or 2, overtorque or operation lock is applied to the automatic steering device (110) in a state where the operator is away from the control seat (28). When it occurs, the traveling speed is automatically decelerated, so that the steering of the front wheels is limited due to the influence of the soil soil and the like, and it is possible to inform the operator that the automatic steering device (110) is under load. Damage to the automatic steering device (110) is prevented.

  In addition, the use of the automatic steering device (110) makes it possible to prompt the operator to operate the steering wheel in a section where it is difficult to travel straight ahead, so that the straight traveling is less likely to be disturbed and the traveling accuracy is improved as compared with the prior art.

  According to the invention described in claim 4, in addition to the effect of the invention described in claim 3, the automatic steering device (110) is operated by subtracting the amount that the steering mechanism is swung by the grounding resistance, so that it is slightly from the straight direction. Therefore, it is possible to prevent the vehicle from being automatically steered in the direction deviated to the right, so that it is possible to accurately travel straight ahead, and the work accuracy is improved as compared with the prior art.

  According to the invention described in claim 5, in addition to the effect of the invention described in claim 4, when the depth of the field is determined from the torque detected by the torque detection member (117), and the field is determined to be deep By reducing the traveling speed, the working range when the automatic steering device (110) corrects the traveling direction of the airframe can be narrowed, so that the working range at a position deviating from the straight traveling is reduced. Work accuracy is improved over the prior art.

  In addition, when it is determined that the farm field is deep, the traveling speed is reduced and the work device (50) is automatically lowered, so that the work accuracy is reduced due to the space between the work device (50) and the farm scene being too large. , Preventing work from being performed.

  In addition, the working height of the working device (50) is changed only when the unevenness detecting member (131) in the field detects a large angle change, and the working device (50) is automatically raised and lowered after a predetermined time has elapsed. Thus, the work height of the work device (50) is prevented from being frequently changed, the work height becomes appropriate, and the work accuracy is improved as compared with the prior art.

  According to the invention of claim 6, in addition to the effect of the invention of any one of claims 1 to 5, the steering member (32) is operated in a state in which the automatic steering release member (132) is operated. When the automatic steering is released, it is possible to prevent the automatic steering from being released due to an accidental malfunction or failure. Therefore, the straight-ahead control may be released without the operator's knowledge. The accuracy of work is improved compared to the prior art.

  According to the seventh aspect of the present invention, the currently displayed work position is the center display position (141a) indicating the theoretical straight-ahead work position, or is shifted to either side in the left-right direction from the center display position (141a). Depending on the position of the misalignment display (141b, 141c), the user should be able to judge the misalignment. If the misalignment continues too much, the automatic steering device (110) is stopped, so that the vehicle can travel straight and the work accuracy is improved. Improved from the prior art.

1 is a side view of a work vehicle according to an embodiment of the present invention. FIG. 2 is a plan view of the work vehicle shown in FIG. 1. It is the sectional view on the AA line of FIG. FIG. 4 is a detailed view of FIG. 3B. It is CC sectional view taken on the line of FIG. It is a DD line arrow line view of FIG. It is a functional block diagram of the apparatus which the work vehicle of FIG. 1 has. It is a front view of the display apparatus which the work vehicle of FIG. 1 has. It is a block diagram of the engine cooling pump of the work vehicle of FIG.

Hereinafter, an embodiment of a work vehicle according to the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment.
FIG. 1 is a side view of a work vehicle according to the present embodiment. FIG. 2 is a plan view of the work vehicle shown in FIG. In the following description, the front / rear and left / right direction standards define the front / rear and left / right directions based on the traveling direction of the vehicle body as viewed from the control seat of the work vehicle. A work vehicle 1 according to this embodiment, which is an example of a work vehicle, includes a traveling vehicle body 2 on which an operator can board. The traveling vehicle body 2 has a pair of left and right front wheels 4 and a pair of left and right rear wheels 5, and is a four-wheel drive vehicle in which each wheel is driven during traveling. Thereby, the traveling vehicle body 2 can travel on a farm field or a road. In addition, a seedling planting section 50 that can be moved up and down by a seedling planting section lifting mechanism 40 is disposed at the rear of the traveling vehicle body 2 as a working device that performs work in a farm field.

  The traveling vehicle body 2 includes a main frame 7 disposed substantially at the center of the vehicle body, an engine 10 mounted on the main frame 7, and power for transmitting the power of the engine 10 to the drive wheels and the seedling planting unit 50. And a transmission device 15. The engine 10 and the power transmission device 15 constitute a traveling device 8 that is a device for traveling on a farm field or a road. Further, in this work vehicle according to the present embodiment, the power generated by the engine 10 that is a power source is not only used for moving the traveling vehicle body 2 forward and backward, but also for driving the seedling planting unit 50. Heat engines such as diesel engines and gasoline engines are used.

  Further, the engine 10 is arranged at a substantially center in the left-right direction of the traveling vehicle body 2 and in a state of protruding upward from a floor step 26 on which an operator puts his / her foot when getting on. Further, the floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10 and is mounted on the main frame 7. The mud can be dropped on the field. A rear step 27 that also serves as a fender for the rear wheel 5 is provided behind the floor step 26. The rear step 27 has an inclined surface that is inclined upward as it goes rearward, and is disposed on each of the left and right sides of the engine 10.

  The engine 10 protrudes upward from the floor step 26 and the rear step 27, and an engine cover 11 that covers the engine 10 is disposed in a portion protruding from these steps. That is, the engine cover 11 covers the engine 10 in a state of protruding upward from the floor step 26 and the rear step 27.

  Further, the traveling vehicle body 2 is provided with a control seat 28 on which an operator is seated on the upper portion of the engine cover 11, and in front of the control seat 28 and at the front center portion of the traveling vehicle body 2 is a control unit. 30 is disposed. The control unit 30 is arranged in a state of protruding upward from the floor surface of the floor step 26 and divides the front side of the floor step 26 into left and right. The control seat 28 is provided with a seating sensor 130 (see FIG. 7), which is a seating detection member that detects the seating of the operator. The pressure sensor 130 is constituted by a pressure sensor and is disposed in the seating surface of the control seat 28, and detects the operator's seating by detecting the pressure when the operator is seated. It is possible.

  A front cover 31 that can be opened and closed is provided at the front of the control unit 30. In addition, an operation lever and the like for operating the operation device, instruments, and a handle 32 are disposed on the upper portion of the control unit 30. The handle 32 is provided as a steering member for steering the traveling vehicle body 2 by an operator steering the front wheel 4, and the front wheel 4 can be steered via an operation device or the like in the control unit 30. It is possible. In addition, as the operation lever, a shift lever 35 that is a shift operation member that switches between forward and backward travel of the traveling vehicle body 2 and a traveling output, and a sub traveling operation that switches the traveling speed of the traveling vehicle body 2 to a speed corresponding to the traveling place. Sub-transmission levers 38, which are members, are disposed on the right and left sides of the machine body.

  In addition, on the portions of the floor step 26 located on the left and right sides of the control unit 30, a spare seedling stage 65 on which a replenishment seedling is placed is arranged. The preliminary seedling stage 65 is rotatably supported by a support shaft (vertical shaft) protruding from the floor surface of the floor step 26, and is rotated by a worker's hand or a rotating member such as an electric motor. Is possible.

The power transmission device 15 includes a hydraulic continuously variable transmission 16 that is a transmission for shifting the driving force transmitted from the engine 10, and a belt type that transmits power from the engine 10 to the hydraulic continuously variable transmission 16. And a power transmission mechanism 17. Among these, the hydraulic continuously variable transmission 16 is configured as a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). For this reason, the hydraulic continuously variable transmission 16 generates hydraulic pressure by a hydraulic pump that is driven by power from the engine 10, and converts this hydraulic pressure into mechanical force (rotational force) by a hydraulic motor and outputs it. Thereby, the hydraulic continuously variable transmission 16 converts the power generated by the engine 10 into a force that causes the traveling vehicle body 2 to travel.

  At that time, the hydraulic continuously variable transmission 16 can change the forward and backward travel and the traveling speed of the traveling vehicle body 2 by changing the direction and the rotational speed of the rotational force. By changing the output and output direction of the hydraulic continuously variable transmission 16, it is possible to operate the forward and backward travel and the traveling speed of the traveling vehicle body 2.

  The hydraulic continuously variable transmission 16 is disposed in front of the engine 10 and below the floor surface of the floor step 26. In the work vehicle 1 according to the present embodiment, the hydraulic continuously variable transmission 16 extends from the upper surface of the traveling vehicle body 2. As seen, it is arranged in front of the engine 10.

  The belt-type power transmission mechanism 17 includes a pulley attached to the output shaft of the engine 10, a pulley attached to the input shaft of the hydraulic continuously variable transmission 16, a belt wound around both pulleys, A tension pulley for adjusting the tension of the belt. As a result, the belt-type power transmission mechanism 17 can transmit the power generated by the engine 10 to the hydraulic continuously variable transmission 16 via the belt.

  Further, the power transmission device 15 is transmitted to the hydraulic continuously variable transmission 16 via the belt-type power transmission mechanism 17 and transmits the driving force from the engine 10 shifted by the hydraulic continuously variable transmission 16 to each part. It has a mission case 18 as a device. The transmission case 18 has a sub-transmission mechanism (not shown) for switching the working speed of the traveling vehicle body 2 when traveling on the road or planting, and is attached to the front portion of the main frame 7. The auxiliary transmission lever 38 can switch the traveling speed of the traveling vehicle body 2 by operating the auxiliary transmission mechanism in the mission case 18. The transmission case 18 shifts the output from the engine 10 transmitted via the belt-type power transmission mechanism 17 and the hydraulic continuously variable transmission 16 by the auxiliary transmission mechanism in the transmission case 18, and The power can be output separately for the driving power to the rear wheel 5 and the driving power to the seedling planting section 50.

  Among these, a part of the driving power can be transmitted to the front wheel 4 via the left and right front wheel final cases 21, and the rest can be transmitted to the rear wheel 5 via the left and right rear wheel gear cases 22. Yes. The left and right front wheel final cases 21 are disposed on the left and right sides of the mission case 18, respectively. The left and right front wheels 4 are connected to the left and right front wheel final cases 21 via axles. Further, the front wheel final case 21 is driven in accordance with the steering operation of the handle 32 and can steer the front wheel 4. Similarly, the rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles. On the other hand, the driving power is transmitted to a planting clutch (not shown) provided at the rear portion of the traveling vehicle body 2, and is transmitted to the seedling planting unit 50 by a planting transmission shaft (not shown) when the planting clutch is engaged. Is done.

  The seedling planting part lifting mechanism 40 for raising and lowering the seedling planting part 50 provided at the rear part of the traveling vehicle body 2 has a lifting link device 41, and the seedling planting unit 50 uses the lifting link device 41. It is attached to the traveling vehicle body 2 via. The lifting link device 41 includes a parallel link mechanism 42 that connects the rear portion of the traveling vehicle body 2 and the seedling planting portion 50. The parallel link mechanism 42 has an upper link and a lower link, and these links are rotatably connected to a rear-view portal-type link base frame 43 erected at the rear end of the main frame 7. The other end side of each link is rotatably connected to the seedling planting part 50, so that the seedling planting part 50 is connected to the traveling vehicle body 2 so as to be movable up and down.

  The seedling planting part lifting mechanism 40 has a hydraulic lifting cylinder 44 that expands and contracts by hydraulic pressure, and the seedling planting part 50 can be lifted and lowered by the expansion and contraction operation of the hydraulic lifting cylinder 44. The seedling planting part raising / lowering mechanism 40 can raise the seedling planting part 50 to the non-working position or lower it to the ground work position (ground planting position) by the raising / lowering operation.

  The seedling planting unit 50 can plant a seedling in a plurality of sections or a plurality of rows. In the work vehicle 1 according to the present embodiment, so-called six-row planting in which seedlings are planted in six sections. It is the seedling planting part 50. The seedling planting unit 50 includes a seedling planting device 60, a seedling placement table 51, and floats 48 and 49. Among these, the seedling mounting base 51 is provided as a seedling mounting member for loading a plurality of seedlings on the rear part of the traveling vehicle body 2, and the seedling mounting bases for the number of planting strips partitioned in the left-right direction of the traveling vehicle body 2. It has a surface 52, and a mat-like seedling with soil can be placed on each seedling placement surface 52. Thereby, it is not necessary to return the seedling prepared outside the field every time the seedling placed on the seedling placing stand 51 is planted, and continuous work can be performed, so that the work efficiency is improved.

  The seedling planting device 60 is disposed below the seedling placement table 51 and supported by a planting support frame 55 that is a frame of the seedling planting unit 50 disposed on the front side of the seedling placement table 51. Has been. The seedling planting device 60 is a device that takes the seedlings placed on the seedling placement stand 51 from the seedling placement stand 51 and places the seedlings on the field, and has a planting transmission case 64 and a planting body 61. Yes. Among these, the planting body 61 is configured so as to be able to take seedlings from the seedling mounting table 51 and plant them in the field, and the planting transmission case 64 can supply driving force to the planting body 61. It is possible.

  Specifically, the planting transmission case 64 is configured to be able to supply the power transmitted from the engine 10 to the seedling planting unit 50 to the planting body 61, and the planting body 61 is connected to the planting transmission case 64. It is connected to be rotatable. In addition, the planting body 61 is rotatably connected to the planting transmission case 64 while supporting the planting basket 62 so as to rotate the planting basket 62 that takes seedlings from the seedling mounting table 51 and plantes them in the field. And a rotary case 63.

  The rotary case 63 includes an inconstant speed transmission mechanism (not shown) that can be rotated while changing the rotation speed when the implantation rod 62 is rotated by the driving force transmitted from the planting transmission case 64. ing. Thereby, at the time of rotation of the planting body 61, the planting basket 62 can rotate, changing a rotational speed with the rotation angle with respect to the rotary case 63. FIG.

  The seedling planting device 60 configured as described above is arranged for every two strips, that is, each of the plurality of seedling planting devices 60 is assigned a planting strip. Each planting transmission case 64 is provided with two planted bodies 61 so as to be rotatable, that is, two planting transmission cases 64 are provided with two rotary cases 63 on both sides in the lateral direction of the body. It is connected to. The seedling planting device 60 included in the work vehicle 1 according to the present embodiment includes three planting transmission cases 64, and thus includes six rows of planted bodies 61.

  In addition, the float slides on the farm scene along with the movement of the traveling vehicle body 2, and the center float 48 positioned at the center of the seedling planting portion 50 in the left-right direction of the traveling vehicle body 2, It has side floats 49 located on both sides of the seedling planting part 50.

  Further, a leveling rotor 67 for leveling the agricultural field is provided on the front side of the lower position of the seedling planting unit 50. The leveling rotor 67 is configured to be rotatable by the output from the engine 10 transmitted through the rear wheel gear case 22.

  In addition, on both the left and right sides of the seedling planting part 50, there are provided drawing markers 68 for forming a line that is a guide in the traveling direction on the next planting line. That is, the line drawing marker 68 draws a mark on the field when the work vehicle 1 moves straight forward in the field and then moves forward at the edge of the field. The drawing marker 68 is operated by a marker motor 69 (see FIG. 7), and is configured so that the left and right drawing markers 68 can be switched each time the traveling vehicle body 2 turns. The left and right drawing markers 68 are replaced by a controller 150 (see FIG. 7) to which a marker motor 69 is connected. That is, the controller 150 is also provided as a marker switching device that alternately switches the left and right drawing markers 68 between the activated state and the inactivated state when the traveling vehicle body 2 turns. As shown in FIGS. 1 and 2, the drawing action portions of the left and right drawing markers 68 are provided with a plurality of protrusions on the outer periphery of the disk and are rotatably attached to the rod portion. The grounding resistance can surely form a line on the farm scene, making it easy to perform a straight-ahead operation at the next planting work position and improving work efficiency.

  Further, a fertilizer application device 70 is mounted behind the control seat 28 in the traveling vehicle body 2. The fertilizer 70 is a storage hopper 71 that stores fertilizer, a feeding device 72 that feeds the fertilizer supplied from the storage hopper 71 by a set amount, and a fertilizer that is a fertilization passage that supplies the fertilizer fed by the feeding device 72 to the field. It has the hose 74 and the blower 73 which is a wind-up apparatus which transfers the fertilizer in the fertilization hose 74 to the seedling planting part 50 side by supplying conveyance wind to the fertilization hose 74. Furthermore, the fertilizer application device 70 is disposed below the seedling planting unit 50, is provided with a fertilizer guide 75 to which fertilizer is transferred by the fertilizer hose 74, and is provided on the front side of the fertilizer guide 75, and is transferred by the fertilizer hose 74. It has a grooving device 76 for dropping the fertilizer that has been applied into a fertilization groove formed in the vicinity of the side of the seedling planting strip.

  In addition, the work vehicle 1 according to the present embodiment includes a rolling mechanism 80 that rotates the seedling planting unit 50 about an axis in the longitudinal direction of the machine body. 3 is a cross-sectional view taken along the line AA in FIG. 4 is a detailed view of FIG. 3B. 5 is a cross-sectional view taken along the line CC of FIG. The rolling mechanism 80 includes a vertical frame 82 that is a rolling frame disposed on the planting support frame 55 and an electric motor 84 that is a rolling actuator. Specifically, the planting support frame 55 includes left and right support members 56 that are positioned on both sides in the left and right direction of the body and extend in the up and down direction of the body, and the vertical frame 82 is formed between the left and right support members 56. Between and in the vicinity of the center in the left-right direction of the airframe, the airframe is arranged extending in the vertical direction.

  The vertical frame 82 extends to the longitudinal axis of the machine body, and the lower end side is connected to a rolling shaft 81 that is a shaft that supports the seedling planting portion 50 so as to be swingable in the lateral direction of the machine body. A support plate 83 is fixed to the upper portion of the vertical frame 82 by welding, and the electric motor 84 is attached to the support plate 83 with bolts. A small-diameter drive gear 86 is mounted on the rotational drive shaft 85 of the electric motor 84 so as to be driven to rotate forward and backward.

  The support plate 83 is provided with a large-diameter driven gear 88 that is rotatable about a rotation shaft 87 and meshes with a drive gear 86 that is attached to the rotation drive shaft 85 of the electric motor 84. . Thereby, the driven gear 88 is configured to rotate while reducing the rotational drive of the electric motor 84. Further, the base end portion of the rolling drive pin 90 is fixed to the driven gear 88 by welding, and the distal end portion of the rotating gear 95 is provided on the support plate 83 so as to be rotatable about the pivot shaft 91. Is fitted in the long hole 96.

  At the swinging tip portion of the pivot arm 95, one end of each of the left and right tension springs 100 arranged on the left and right sides of the support plate 83 in the left and right direction of the body, that is, the inner side of the left and right tension spring 100 in the left and right direction of the body. Each end located is engaged. Further, the other ends of the left and right tension springs 100, that is, the respective end portions of the left and right tension springs 100 located on the outer side in the left and right direction of the machine body are engaged with the left and right support members 56 of the planting support frame 55. For this reason, the rotation arm 95 swings in the LR direction by forward / reverse rotation of the rotation drive shaft 85 of the electric motor 84, and the seedling planting part 50 is moved with respect to the traveling vehicle body 2 via the left and right tension springs 100. Thus, the seedling planting part 50 can be rotated about the rolling shaft 81.

  In addition, the seedling planting unit 50 performs a planting operation while the seedling placement table 51 reciprocates left and right during seedling planting work. For this reason, the center of gravity of the seedling planting part 50 greatly fluctuates left and right when the seedling placement table 51 is located at the center, when it is located at the right end, and when it is located at the left end, and the control by the rolling mechanism 80 is appropriate. It may become difficult to go to. For this reason, in the rolling mechanism 80, one end of each of the correction left and right tension springs 101 disposed on the left and right sides of the support plate 83 in the left and right direction of the body, that is, the correction left and right tension springs 101 is provided at the tip of the support plate 83. The respective end portions located on the inner side in the left-right direction of the body are engaged. Further, the other ends of the left and right correction left and right tension springs 101, that is, the respective end portions of the correction left and right tension springs 101 located on the outer side in the left and right direction of the machine body are engaged with the seedling placement table 51 of the seedling planting unit 50. doing. As a result, when the seedling mounting table 51 is moving near the left end and near the right end, the weight of the seedling mounting table 51 tends to be lowered due to the weight of the seedling mounting table 51. However, the right and left tension springs 101 for correction act in the direction of pulling up the side on which the seedling placing table 51 moves and becomes stubborn, and can perform an appropriate rolling operation.

  The rolling mechanism 80 includes a horizontal sensor 105, a center position sensor 106, and a maximum swing position sensor 107. Among these, the horizontal sensor 105 can detect the horizontal inclination of the seedling planting unit 50 with respect to the horizontal as a change in the electrical signal. The rolling mechanism 80 can bring the seedling planting part 50 into a horizontal posture by operating the electric motor 84 forward and backward in accordance with the detection value of the horizontal sensor 105.

  The center position sensor 106 is a sensor for detecting the position of the driven gear 88 in order to stop the rotating arm 95 at the left and right center position. The result of detection by the center position sensor 106 as to whether or not the turning arm 95 is in the left-right center position is used for various controls such as when rolling control is stopped. Further, the maximum swing position sensor 107 is a sensor for detecting the position of the driven gear 88 in order to stop the rotating arm 95 at the left and right maximum swing position. When the maximum swing position sensor 107 detects that the rotating arm 95 is in the left and right maximum swing position, the electric motor 84 is stopped, and further rolling operation in the left and right direction is stopped.

  In addition, the work vehicle 1 according to the present embodiment includes a GPS control device 120 (see FIG. 7) that acquires position information of the work vehicle 1 by GPS (Global Positioning System). A receiving antenna 121 constituting the device 120 is provided. The receiving antenna 121 is provided as a position information acquisition device that acquires position information on the earth at predetermined intervals by acquiring GPS coordinates at predetermined time intervals. The receiving antenna 121 is attached to an antenna frame 124 that is connected to a spare seedling stage support 66 that is a support for supporting the preliminary seedling stage 65.

  6 is a DD arrow view of FIG. The antenna frame 124 is formed in a gate shape with the lower side open, and two lower ends of the gate shape are connected to the left and right auxiliary seedling support columns 66. That is, the antenna frame 124 includes a frame horizontal portion 125 that extends in the left-right direction of the body and two frame vertical portions 126 that extend downward from both ends of the frame horizontal portion 125, and the lower end of the frame vertical portion 126 is It is connected to the preliminary seedling support column 66. The vertical frame portion 126 and the preliminary seedling support column 66 are connected by a rotating portion 128 whose axial direction extends in the longitudinal direction of the machine body. It is connected to the preliminary seedling support column 66 so as to be rotatable in the direction.

  Of the left and right frame vertical portions 126, one frame vertical portion 126 is provided with a telescopic cylinder 127 that can expand and contract in the direction in which the frame vertical portion 126 extends. The full length of the telescopic cylinder 127 can be expanded and contracted by hydraulic pressure, so that the frame vertical portion 126 on the side where the telescopic cylinder 127 is provided can be expanded and contracted. Further, the receiving antenna 121 is attached to the frame horizontal portion 125, and specifically, is attached to the upper surface of the frame horizontal portion 125 at a position near the center in the length direction of the frame horizontal portion 125.

  FIG. 7 is a functional block diagram of an apparatus included in the work vehicle shown in FIG. The work vehicle 1 according to the present embodiment can control each part by electronic control. For this reason, the work vehicle 1 includes a controller 150 that controls each part. The controller 150 is provided with a processing unit having a CPU and the like, a storage unit such as a RAM, and an input / output unit, which are connected to each other and can exchange signals with each other. The storage unit stores a computer program for controlling the work vehicle 1. The controller 150 is connected to actuators such as a motor and sensors for acquiring information on each part.

  For example, the controller 150 includes, as actuators, a throttle motor 12 that increases or decreases the rotational speed of the engine 10 by operating a throttle (not shown) that adjusts the intake air amount of the engine 10, and a marker motor that operates the drawing marker 68. 69, the electric motor 84 of the rolling mechanism 80, the elevating cylinder 127 provided on the antenna frame 124, and the like are connected.

  The sensors connected to the controller 150 include a rear wheel rotation sensor 23, a work clutch sensor 58, a horizontal sensor 105, a center position sensor 106, a maximum swing position sensor 107, a gyro sensor 115, a tilt sensor 116, a pressure sensitive sensor. A sensor 130 is connected. Among these, the rear wheel rotation sensor 23 is provided as a vehicle speed detection member that detects the vehicle speed of the traveling vehicle body 2 by detecting the rotation speed of the rear wheel 5. The work clutch sensor 58 is provided as a work detection member that detects the operation of the seedling planting unit 50 by detecting the connection state of a clutch (not shown) that transmits power to the seedling planting unit 50. . The gyro sensor 115 is provided as a direction change detection member that detects a change in the traveling direction of the traveling vehicle body 2. The tilt sensor 116 is provided as a tilt detection member that detects the front-rear tilt of the traveling vehicle body 2.

  The work vehicle 1 also includes an automatic steering device 110, a GPS control device 120, an information storage terminal 140, and a separation detection member 135, which are connected to a controller 150. Among these, the automatic steering device 110 can maintain the traveling vehicle body 2 in the straight traveling direction by operating the handle 32. Therefore, the automatic steering apparatus 110 includes a steering motor 111 that rotates the handle 32 by applying an arbitrary rotational force to the handle 32, and a handle potentiometer 112 that detects the rotation angle of the handle 32. . The steering motor 111 and the handle potentiometer 112 operate the handle 32 by rotating the rotation axis of the handle 32, detecting the rotation angle of the rotation axis of the handle 32, and rotating the handle 32. It is possible to detect the angle.

  Further, the GPS control device 120 can acquire position information or coordinate information of the work vehicle 1 on the earth by using GPS, and the position information acquired by the GPS control device 120 can be transmitted to the controller 150. ing. In order to acquire the position information of the work vehicle 1 by using the GPS as described above, the GPS control device 120 includes a receiving antenna 121 that receives a signal from an artificial satellite used in the GPS.

  In addition, the information storage terminal 140 includes a display unit that displays information, an input operation unit that performs various input operations, and a storage unit that stores information. Among these, a display part and an input operation part may be comprised separately, and may be comprised integrally by the touchscreen type display. Further, the storage unit of the information storage terminal 140 stores position information of one or a plurality of farm fields and position information at the time of previous work on the farm fields.

  The separation detection member 135 can detect separation between the operator and the control seat 28. The reception member 136 on the control seat 28 disposed on the control seat 28 and the operator It has an operator-side transmission member 137 to be carried. The receiving member 136 and the transmitting member 137 perform wireless communication. When the receiving member 136 receives a signal transmitted from the transmitting member 137, the separation detecting member 135 is connected between the operator and the control seat 28. The separation is detected wirelessly. The controller 150 is connected to the receiving member 136 of the separation detecting member 135 configured as described above.

  The work vehicle 1 according to the present embodiment is configured as described above, and the operation thereof will be described below. During operation of the work vehicle 1, traveling of the traveling vehicle body 2 and planting of seedlings placed on the seedling placement table 51 are performed by the power generated by the engine 10. This planting operation was placed on the seedling placement table 51 by rotating the planting basket 62 while the entire planted body 61 of the seedling planting device 60 was rotated in a direction in which the rotation axis was in the horizontal direction. The seedlings are sequentially picked up by the planting basket 62, and the taken seedlings are gradually planted in the field. At that time, by reciprocating the seedling placement table 51 in the lateral direction of the machine body within the range of the width of the machine body in the lateral direction of one line to be placed on the seedling placement table 51, each seedling planting device 60 can A seedling is taken out from the part corresponding to each seedling planting device 60 in the mounting table 51 and planted in the field. That is, each seedling planting device 60 takes out a seedling from a portion corresponding to a predetermined strip of the seedling mounting table 51, and plants the seedling on the predetermined strip. At the time of planting work, the seedlings are planted in a plurality of rows by traveling in the field with the traveling vehicle body 2 while operating the seedling planting device 60 in this manner.

  When the traveling vehicle body 2 travels, the power generated by the engine 10 is transmitted to the belt-type power transmission mechanism 17 and is transmitted from the belt-type power transmission mechanism 17 to the hydraulic continuously variable transmission 16. Is converted into a desired rotation speed, rotation direction, and torque and output. The power output from the hydraulic continuously variable transmission 16 is transmitted to the mission case 18, where the mission case 18 has a rotational speed suitable for the traveling speed when traveling on the road or a rotational speed suitable for the traveling speed when planting seedlings. The gears are shifted and output to the front wheel 4 side and the rear wheel 5 side. A part of the power output from the mission case 18 is also transmitted to the seedling planting unit 50 side and used for planting work in the seedling planting unit 50.

  In addition, when the work vehicle 1 according to the present embodiment performs planting work in a farm field, the position information of the work vehicle 1 is acquired by the GPS control device 120 and is steered by the automatic steering device 110, thereby moving straight ahead. Planting work can be done while. Specifically, the work vehicle 1 receives a signal from an artificial satellite used in GPS by the receiving antenna 121 of the GPS control device 120, thereby obtaining the position information of the work vehicle 1 on the earth at predetermined time intervals. get.

  The information storage terminal 140 stores information on a straight traveling path that is a traveling path for efficiently performing planting work in the field, and the controller 150 stores information on the straight traveling path stored in the information storage terminal 140, The position information acquired by the receiving antenna 121 is compared, and the automatic steering device 110 is controlled.

  The control of the automatic steering device 110 is such that the steering angle is detected by the handle potentiometer 112 so that the position information acquired by the receiving antenna 121 is along the information of the straight running path stored in the information storage terminal 140, and further, the gyro sensor While detecting a change in the traveling direction of the traveling vehicle body 115 at 115, the steering motor 111 is operated to perform steering. Thereby, the traveling vehicle body 2 is caused to travel along the straight traveling path stored in the information storage terminal 140. In other words, the automatic steering device 110 operates based on the detection values of the receiving antenna 121 and the gyro sensor 115 and causes the traveling vehicle body 2 to travel straight along the straight traveling path stored in the information storage terminal 140.

  At the time of seedling planting work, the automatic steering device 110 makes the traveling vehicle body 2 travel straight on the basis of the position information of the work vehicle 1 acquired at predetermined intervals by the GPS control device 120 as described above. The interval for acquiring the position information is changed according to the vehicle speed of the traveling vehicle body 2. For example, when the vehicle speed detected by the rear wheel rotation sensor 23 is 1.0 to 1.6 km / h or more, the cycle for acquiring the position information is shortened, and the vehicle speed detected by the rear wheel rotation sensor 23 is 0. When the speed is less than 0.5 to 0.9 km / h, the cycle for acquiring the position information is lengthened.

  When the steering amount in the automatic steering device 110 is regulated in this way, the steering amount is regulated not based on the vehicle speed but based on the steering speed when steering is performed by the automatic steering device 110. May be. That is, when the steering speed in the automatic steering device 110 is slow, it indicates that the vehicle speed is also slow. In this case, the regulation of the steering amount is moderated or the regulation of the steering amount is not performed. On the other hand, when the steering speed in the automatic steering device 110 is high, it indicates that the vehicle speed is also high. In this case, the control of the steering amount is strengthened, and the angle at which the steering can be performed is reduced.

  In this embodiment, a receiving antenna (position information acquisition device) 121 that acquires position information from the GPS at predetermined intervals, a gyro sensor (direction change detection member) 115 that detects a change in the traveling direction from the traveling vehicle body 2, and a steering wheel (steering). Member) 34 is operated to maintain the traveling vehicle body 2 in the straight traveling direction. Therefore, the automatic steering device 110 is operated based on detection of the receiving antenna 121 and the gyro sensor 115 within a predetermined time ( (Example: 1-2 seconds) A control configuration is provided in the control device 150 to stop the automatic steering device 110 when the position information acquisition interval widens or narrows.

  Therefore, when the position information acquisition interval by the receiving antenna 121 is widened or narrowed within a predetermined time (for example, 1-2 seconds), it is considered that sudden acceleration / deceleration has occurred, and the automatic steering device 110 is stopped. Since it is possible to prevent the steering wheel 34 from being cut during acceleration / deceleration, it is possible to prevent the traveling vehicle body (airframe) 2 from swinging greatly and deviating from the straight traveling direction, and the straight traveling accuracy of the traveling vehicle body 2 is higher than that of the prior art. improves.

  In this way, since the airframe 2 does not shake greatly, it is possible to prevent the operator from being shaken on the vehicle body 2 and to prevent the operator's maneuvering operation or other work from being hindered. Safety is improved over the prior art.

  Further, the position information of the machine body 2 (the lowered position information after turning the machine body) when the work device 50 is in the working state (= lowered) is compared with the current position information, and the current position of the traveling vehicle body (machine body) 2 is compared. Controls a control configuration that stops the automatic steering device 110, decelerates the traveling speed, or stops traveling when the information is separated from the work start position by a predetermined distance (eg, 25 to 50 cm) in the left-right direction. The device 150 is provided.

Therefore, when the traveling vehicle body 2 is separated from the start of work by a predetermined distance in the left-right direction, the erroneous steering operation by automatic steering is interrupted by stopping the automatic steering device 110, decelerating the vehicle body 2, or stopping traveling. Since the operator can perform the return operation, the section in which the work device 50 is not working can be kept short, and the work accuracy and work efficiency of the work vehicle 1 are improved as compared with the prior art.
In addition, since it is possible to prevent the work device 50 from working again at the place where the work has been performed once, the work efficiency of the work device 50 can be improved and the consumption of work materials (eg, seedlings, fertilizers, drugs, etc.) can be reduced.

  In the present embodiment, a steering mechanism that rotates the front wheel 4 of the traveling vehicle body 2 to the left and right is provided, and a control seat 28 on which the operator gets on and a pressure sensor (seat detection member) 130 that detects the operator on the control seat 28 travels. Provided in the vehicle body 2, the automatic steering device 110 is provided with a torque sensor (torque detection member) 117, and the torque sensor 117 detects overtorque or operation lock when the pressure sensor 130 is not detected in the control device 150. A control configuration for reducing the traveling speed is provided.

For this reason, when an overtorque or an operation lock occurs in the automatic steering device 110 in a state where the operator is away from the control seat 28, the automatic steering device 110 automatically decelerates, so that the steering of the front wheels is affected by the soil condition of the field. The operator can be informed that the automatic steering device 110 is in a situation where a load is imposed on the automatic steering device 110, and thus the automatic steering device 110 is prevented from being damaged.
In addition, the use of the automatic steering device 110 makes it possible to prompt the operator to operate the steering wheel in a section where it is difficult to travel straight ahead, so that straight travel is less likely to be disturbed, and traveling accuracy is improved over the prior art.

In addition, for example, if the automatic steering device 110 is operated in a state where the steering of the front wheels 4 is restricted due to the soil quality of the farm field, the load may be damaged, but if the operator is away from the control unit 30, the work is performed. The vehicle 1 is not aware of the conditions that cause the load. Therefore, when the automatic steering device 110 is overtorque or locked, the automatic steering device 110 is automatically decelerated.

  Further, when the operation frequency of the handle 32 for rotating the front wheel 4 to the left and right becomes equal to or higher than a certain value, the traveling vehicle body 2 is decelerated by reducing the output by reducing the trunnion opening of the hydraulic continuously variable transmission 16. Further, when the total angle for steering the handle 32 to the left and right within a predetermined time (eg, 5 to 10 seconds) exceeds a predetermined angle, the trunnion opening of the hydraulic continuously variable transmission 16 is decreased. By reducing the output, the traveling vehicle body 2 is decelerated.

  Thereby, since the distance which moves the position which shifted | deviated from the rectilinear position can be shortened until it returns the driving | running | working vehicle body 2 to a theoretical driving | running | working position, a rectilinear advance precision improves and work precision improves.

  The gyro sensor 115 (see FIG. 8) installed in the automatic linear advance set 6 can detect the angle in the direction of 360 degrees (corresponding to all pitching, rolling, and yawing), and detects the gyro sensor 115. When the angle in the rolling direction fluctuates by a predetermined value or more, it is determined that either the left or right side of the traveling vehicle body 2 has risen too much, and the trunnion opening of the hydraulic continuously variable transmission 16 is reduced to reduce the output. Thus, the traveling vehicle body 2 is decelerated.

  As a result, when the traveling vehicle body 2 is greatly inclined to the left or right due to ground resistance or the like, the traveling speed automatically decreases, so that the operator notices abnormally and is prevented from traveling at a high speed in an excessively inclined state, Work safety and work accuracy are improved.

  When the handle potentiometer (not shown) for detecting the operation angle of the handle 32 is not less than a predetermined angle (for example, 15 to 30 degrees) over a certain time (for example, 3 to 10 seconds), the automatic steering device The controller 150 cancels the operating state of the automatic steering device 110 or determines that the vehicle is traveling along the arcuate portion of the modified field that does not require the control 110 or is traveling along the arc locus, or hydraulic pressure. The output of the continuously variable transmission 16 is lowered to stop traveling.

  Thereby, the automatic steering device 110 operates at a place where work is performed while drawing a special trajectory, and the work trajectory can be prevented from being disturbed instead of being corrected to straight running, so that operability and work accuracy are improved.

Further, even if the operator forgets to turn off the automatic steering device 110, the cancel operation is automatically performed, so that the operability and work accuracy due to the forgetting to cut are prevented.
Further, when the swing width of the automatic steering device 110 generated by the steering mechanism is detected by the torque sensor 117, the control device 150 automatically performs the control based on the difference between the current position information and the position information of the straight traveling position based on the detected swing width. The steering amount of the steering device 110 can be changed.

  As described above, the automatic steering device 110 can be prevented from being automatically steered in a direction slightly deviated from the straight direction by operating the automatic steering device 110 by subtracting the amount of vibration caused by the grounding resistance. This makes it possible to improve work accuracy over the prior art.

  Furthermore, in the present embodiment, an unevenness detecting sensor 131 that detects unevenness in the field and automatically changes the working height of the working device 50 is provided, and the lifting link 41 and the lifting device 40 that lift and lower the working device 50 by hydraulic pressure are connected to the traveling vehicle body 2. When the torque detected by the torque sensor 117 is greater than or equal to a predetermined value, the control device 150 determines that the current field depth is deep, decelerates the traveling speed, automatically lowers the work device 50, and Only when the unevenness detecting sensor 131 detects a large angle change, the elevator 40 automatically moves up and down, and the automatic lifting is performed for a predetermined time after the detection by the unevenness detecting sensor 131 (for example, 0.5 to 1 second). Is provided after the elapse of time.

  For this reason, the depth of the field is determined from the torque detected by the torque sensor 117, and when it is determined that the field is deep, the traveling speed is decelerated so that the automatic steering device 110 corrects the traveling direction of the aircraft. Therefore, the working range at a position deviated from the straight traveling is reduced, and the working accuracy is improved as compared with the prior art.

  Further, when it is determined that the farm field is deep, the traveling speed is reduced and the work device 50 is automatically lowered, so that the work accuracy is reduced due to an excessively large distance between the work device 50 and the field scene, and the work is performed. It is prevented that it is not broken.

  In addition, the work height of the work device 50 is changed only when the unevenness detection sensor 131 in the field detects a large angle change, and the work device 50 is automatically raised and lowered after a lapse of a predetermined time, so that the work device is frequently operated. 50 working height changes are prevented, the working height is appropriate, and the working accuracy is improved over the prior art.

  Further, the shift lever 35 of the traveling vehicle body 2 is provided with an auto axle mechanism (not shown) that changes the throttle opening of the engine 10 in accordance with the operation amount. When the detected value of the torque sensor 117 exceeds a predetermined value, the linkage with the auto accelerator mechanism is ignored, and the throttle opening in accordance with the operation amount of a throttle operation member (not shown) for directly operating the throttle opening of the engine 10 is ignored. Degree.

Thereby, it is possible to prevent the traveling of the traveling vehicle body 2 from being hindered due to insufficient torque, so that the work is not interrupted and the work efficiency is improved.
Further, in order to increase the throttle opening of the engine 10, it is not necessary to operate the speed change lever 35 to the high speed side in a situation where it is not necessary to travel at high speed, so that it is possible to prevent the operability and work accuracy from being lowered and to travel. Rapid acceleration is prevented when the vehicle travels to a place where it can run even if the required torque is weak.

Further, when it is detected from the detected value of the torque sensor 117 that the robot has moved to a deep place in the field, the work device 50 is automatically lowered according to the set amount recorded in the control device 150.
Thereby, it is prevented that the space between the farm scene and the working device 50 is too large, the working accuracy is improved, or the working device 50 cannot work at all and the work is prevented from being redone later, and the working time is shortened. Is planned.

  In addition to the above, the hydraulic oil suddenly flows into the elevating hydraulic cylinder 127 or elevates by elevating the time from the hydraulic valve taking in and out the hydraulic oil until the elevating hydraulic cylinder 127 expands and contracts. The hydraulic oil is prevented from being discharged from the hydraulic cylinder 127 abruptly, and the work device 50 is prevented from descending at a high speed and hitting the farm scene, and the farm scene is damaged or the work device 50 is damaged.

  In addition, since the working device 50 can be prevented from rising at high speed and swinging up and down due to inertia when stopped, it is possible to prevent excessive vibrations from being applied to the machine body and the adhering mud of the farm field from being scattered around.

  Further, the control device 150 supplies hydraulic oil to the hydraulic valve when the rotation angle of the center float 48 detected by the float sensor (not shown) is larger than the normal angle, or Control to send out hydraulic oil discharge signal.

As a result, the working device 50 is automatically raised and lowered only when there is an unevenness in a large farm scene, so that the working device 50 is prevented from frequently moving up and down, and the working accuracy is improved.
Further, an automatic steering release switch (automatic steering release member) 132 is provided on the handle 32 or the handle post, and when the handle 32 is operated in a state where the automatic steering release switch 132 is operated by a human, the control device 150 performs automatic steering. It was set as the structure canceled.

  Since the automatic steering is released when the handle 32 is operated while the automatic steering release switch 132 is operated, it is possible to prevent the automatic steering from being released due to an accidental malfunction or failure. It is prevented that the straight-ahead control is canceled without knowing, and the working accuracy is improved as compared with the prior art.

If the handle post is tilted, it may be determined that a human is operating the handle 32 and the control device 150 cancels the automatic steering.
An automatic steering release switch 132 is provided at only one position on the handle 32 or the handle post, and the switch 132 is pushed when the handle 32 is operated. If the handle 32 is turned off with the switch 132 turned on, it can be determined that the operation is performed by a human, so that the operation of the automatic steering device 110 can be canceled.

  In the present embodiment, a display device 141 shown in FIG. 8 is provided in front of the traveling vehicle body 2 with respect to the control seat 28 and in the central portion in the left-right direction of the traveling vehicle body 2, and the acquired positional information is displayed on the display device 141. And a plurality of display members that display whether they are at the central display position 141a indicating the straight traveling from the theoretical straight work position, or at the shift display positions 141b and 141c that are shifted to the left or right side from the central display position 141a. LED) is provided, and a different color or the like is displayed at the center display position 141a indicating straight traveling and the shift display positions 141b and 141c in the left-right direction from the center display position.

  Therefore, the user moves straight depending on whether the work position currently displayed is the central display position 141a indicating the theoretical straight-ahead work position, or the shifted display positions 141b and 141c shifted to the left or right direction from the center display position. If the time deviation can be determined, and the deviation continues too much, the automatic steering is canceled and the vehicle can travel straight ahead, and the work accuracy is improved over the prior art.

  If the center mascot 9 is provided with a lamp that is turned on when the automatic steering device 110 is activated, it is possible to visually confirm the automatic straight traveling mode, the following rotation interlocking mechanism mode, and whether the seedling planting device 60 is turned on or off.

  In the turning interlocking mechanism mode, when the steering wheel 32 is operated and turning traveling is started, a signal is transmitted to the control device 150 by the automatic raising mechanism to actuate a hydraulic valve (not shown), and the lifting hydraulic cylinder 127 is moved. Then, the seedling planting part 50 is lifted and the rotation difference between the left and right rear wheel rotation sensors 23 is started, and the left and right rear wheel rotation sensors 23 are operated after the handle 32 is operated to the turning end side. When the rotational speed difference between the two is less than a certain value, the control device 150 operates a hydraulic valve (not shown) to contract the lifting hydraulic cylinder 127 to lower the seedling planting unit 50 and When the rotation speed reaches a predetermined rotation speed, the planting clutch is turned “on”.

  If the operator does not move for a long time with the automatic steering device 110 activated, it is determined that the operator is dozing, and a warning is issued or the seat vibrator is activated. However, a control configuration in which the traveling vehicle body 2 is stopped may be employed if it is not noticed.

  It should be noted that if the operator does not move for a long time, a pressure detection sensor is provided on the control seat 28, and if no change is detected in the sensor detection result for a predetermined time, it is determined that the operator is asleep. adopt.

Alternatively, a control configuration may be adopted in which when the operator is not seated on the control seat 28, the vehicle slowly decelerates and stops when the vehicle approaches the saddle.
If the traveling vehicle is taught beforehand with the field information including the start position and the end position, it can be seen that the vehicle has approached the edge of the field.

Also, if the operator wears a hat that detects brain waves, the danger can be promptly notified when he / she begins to sleep.
By making it possible to detect the viewpoint of where the operator is facing by wearing glasses, dangerous driving can be avoided.

  In the work vehicle (seedling transplanter) 1 described above, the gyro sensor 115 is used as a direction change detection member that detects a change in the traveling direction of the traveling vehicle body 2, but the direction change detection member is the gyro sensor 115. Others may be used. The direction change detection member may be, for example, an angular velocity sensor that detects an angular velocity during rotation. The direction change detection member may be in any form as long as it can detect a change in the traveling direction of the traveling vehicle body 2 regardless of the detection form.

  When the seedling transplanter 1 stops frequently for so-called seedling replenishment work, when the temperature at the time of seedling planting is low, the seedling transplanter 1 stops the radiator to supply the seedling placement table 51. The frequency of passing becomes too high, and the temperature of the cooling water supplied to the radiator for cooling the engine suddenly rises, so that overheating may occur depending on the work load and the work may be interrupted.

  Therefore, as shown in FIG. 9, the water pump 133 that feeds water to the radiator 134 for cooling the engine 10 is operated by an electric motor, and the engine 10 and the water pump 133 are started and stopped by the shift lever of the seedling transplanter 1. By linking with 35, fuel consumption can be improved by idling stop when seedling is placed on the seedling mounting table 51.

At this time, the water pump 133 is configured so that the flow rate of the cooling water can be adjusted in two steps according to the water temperature, so that the cooling loss is maintained by keeping the cooling water temperature at an appropriate temperature together with the electric cooling fan of the seedling transplanter 1. The fuel consumption can be improved.
Further, when the engine 10 is started, the water pump 133 is not moved, and the water pump 133 is moved after the engine 10 is started, so that the load at the time of starting can be reduced and the startability can be improved.

  In particular, the centrifugal pump type water pump 133 has the largest load during startup. Even if the water pump 133 is electrified, if it is started simultaneously with the engine 10, the load increases due to power generation. However, the startability is improved by reducing the load of the water pump at the start of the engine 10 with the above configuration.

  In the above-described embodiments, the seedling transplanter is used as an example of the work vehicle. However, the work vehicle 1 may be other than the seedling transplanter. The work vehicle 1 may be of any type as long as a working device such as a seeding device or a rotary that performs work on a farm is disposed at the rear of the traveling vehicle body.

DESCRIPTION OF SYMBOLS 1 Work vehicle 2 Traveling vehicle body 4 Front wheel 5 Rear wheel 7 Main frame 8 Traveling device 10 Engine 12 Throttle motor 15 Power transmission device 23 Rear wheel rotation sensor (vehicle speed detection member)
28 Steering seat 30 Steering part 32 Handle (steering member) 40 Seedling planting part lifting mechanism 48, 49 Float 50 Seedling planting part (working device)
51 Seedling placement stand 55 Planting support frame 56 Left and right support member 58 Work clutch sensor (work detection member)
60 seedling planting device 61 planted body 62 planting basket 63 rotary case 64 planting transmission case 65 spare seedling table 67 rotor for leveling 68 line drawing marker 70 fertilizer 71 hopper
72 Feeding device 73 Blower
80 Rolling mechanism 81 Rolling shaft
82 Vertical frame (rolling frame)
84 Electric motor (rolling actuator)
110 Automatic steering device 111 Steering motor
112 Handle potentiometer (steering detection member)
115 Gyro sensor (Direction change detection member)
116 Tilt sensor (Tilt detection member)
117 Torque sensor 120 GPS control device 121 Receiving antenna (position information acquisition device)
124 Antenna frame 125 Frame horizontal portion 126 Frame vertical portion 127 Telescopic cylinder 130 Pressure sensor (seat detection member)
131 Concavity and convexity sensor (Concavity and convexity detection member)
132 Automatic steering sensor (automatic steering release member)
133 Water pump 134 Radiator 135 Spacing detection member 136 Reception member 137 Transmission member 140 Information storage terminal 141 Display device 150 Controller

Claims (7)

In a farm field including a traveling vehicle body (2) having a traveling device that travels in the field, a steering member (32) for steering the traveling vehicle body (2), and a seedling planting unit, a seeding device, and a rotary at the rear of the traveling vehicle body (2). In a work vehicle provided with a work device (50) for performing
A position information acquisition device (121) for acquiring position information from the GPS at predetermined intervals;
A direction change detecting member (115) for detecting a change in the traveling direction from the traveling vehicle body (2);
An automatic steering device (110) for operating the steering member (32) to maintain the traveling vehicle body (2) in a straight direction;
The automatic steering device (110) is operated based on the detection of the position information acquisition device (121) and the direction change detection member (115), and the automatic steering device (if the position information acquisition interval widens or narrows within a predetermined time). 110) A work vehicle provided with a control device (150) provided with a control configuration for stopping 110). The control device (150) compares the position information of the airframe (2) when the work device (50) is in the working state with the current position information,
If the current position information of the traveling vehicle body (2) is more than a predetermined distance in the left-right direction, the automatic steering device (110) is stopped, the traveling speed is reduced, or the traveling is stopped. The work vehicle according to claim 1, further comprising a control configuration. A steering mechanism for rotating the front wheel (10) of the traveling vehicle body (2) left and right;
The operator seat (28) on which the operator is boarded is provided,
A seating detection member (130) for detecting an operator is provided on the control seat (28),
A torque detection member (117) is provided in the automatic steering device (110),
The control device (150) reduces the traveling speed when the torque detection member (117) detects an overtorque or an operation lock when the seating detection member (130) is in a non-detection state. Or the working vehicle of 2.   When the torque detection member (117) detects the swing width of the automatic steering device (110) generated by the steering mechanism, the control device (150) detects the current position information and the position information of the straight traveling position based on the detected swing width. The work vehicle according to claim 3, wherein the steering amount of the automatic steering device is changed based on the difference between the two. An unevenness detecting member (131) for detecting unevenness in the farm and automatically changing the working height of the work device (50) is provided.
An elevating link (41) for elevating and lowering the work device (50) by hydraulic pressure and an elevating device (40) are provided in the traveling vehicle body (2),
When the torque detected by the torque detection member (117) is equal to or greater than a predetermined value, the control device (150) determines that the current field depth is deep, decelerates the traveling speed, and automatically lowers the work device (50). In addition, only when the unevenness detecting member (131) detects a large change in angle, the ascending / descending device (46) performs automatic lifting / lowering, and the automatic lifting / lowering is performed for a predetermined time after the detection of the unevenness detecting member (131). The work vehicle according to claim 4, further comprising a control configuration that is performed after the elapse of time. An automatic steering release member (132) is provided on the steering member (32),
The control device (150) is configured such that when the steering member (32) is operated in a state where the automatic steering cancellation member (132) is operated, the automatic steering is released. The work vehicle according to claim 1. A display device (141) is provided on the front side of the traveling vehicle body (2) with respect to the control seat (28) and at the center in the left-right direction of the traveling vehicle body (2),
The display device (141) is located at the central display position (141a) indicating straight traveling from the acquired position information and the theoretical straight-ahead work position, or on either side in the left-right direction from the central display position (141a). A plurality of display members for displaying whether or not the display position is shifted (141b, 141c) are provided.
The display is different from each other at the center display position (141a) indicating straight traveling and the shift display positions (141b, 141c) in the left-right direction from the center display position (141a). The work vehicle according to any one of 1 to 6.

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