JP2017195906A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of running a running vehicle body rectilinearly in the high degree of precision thereby to improve an operation accuracy.SOLUTION: A work vehicle comprises: a seedling planting part 50 arranged at the back of a running vehicle body 2 for performing operations in a farm field; a receiving antenna 121 arranged in the running vehicle body 2 for acquiring positional information; a gyro sensor 115 for detecting the variation of the direction of travel of the running vehicle body 2; an automatic steering apparatus 110 for operating a handle 32 to keep the running vehicle body 2 in a rectilinear direction; and an inclination sensor 116 for detecting the longitudinal inclination of the running vehicle body 2. The automatic steering apparatus 110 is actuated on the basis of the detection values of the receiving antenna 121 and the gyro sensor 115, and corrects the interval of the longitudinal position information for detecting the inclination of the elevation direction to be widened when the inclination sensor 116 detects the inclination of an elevation direction, and the longitudinal position information for detecting the inclination of an elevation direction to be narrowed when the inclination sensor 116 detects the inclination of the elevation direction.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a work vehicle that travels while working on a farm field.

  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. Work accuracy such as crop harvesting accuracy and field tillage accuracy is improved, and 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 seedling planting accuracy, crop harvesting accuracy such as rice, and tillage accuracy in the field is lowered.

  The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle in which a traveling vehicle body can travel straight ahead with high accuracy and work accuracy can be improved.

  In order to solve the above-described problems and achieve the object, a work vehicle according to claim 1 of the present invention includes a traveling vehicle body (2) including a traveling device (8) that travels in a field, and the traveling vehicle body (2 ), A steering member (32) for steering operation, a working device (50) disposed on the rear portion of the traveling vehicle body (2) and performing work on a farm field, and disposed on the traveling vehicle body (2). The position information acquisition device (121) that acquires information at predetermined intervals, the direction change detection member (115) that detects a change in the traveling direction of the traveling vehicle body (2), and the steering member (32) are operated to An automatic steering device (110) for maintaining the traveling vehicle body (2) in a straight traveling direction, and an inclination detection member (116) for detecting the forward / backward inclination of the traveling vehicle body (2), the automatic steering device (110) comprising: The position information acquisition device (121) and the direction change detection The position information before detecting the inclination in the elevation direction and the elevation direction when the inclination detection member (116) detects the inclination in the elevation direction of the airframe, based on the detection value of the material (115). When the inclination detection member (116) detects the inclination in the depression direction of the airframe, the distance before the detection of the depression in the depression direction is corrected. The correction is performed so that a gap between the position information and the position information after detecting the inclination in the depression direction is narrowed.

  The invention according to claim 2 is the work vehicle according to claim 1, further comprising a rolling frame (82) and a rolling actuator (84) disposed on a frame of the work device (50), A rolling mechanism (80) for rotating the work device (50) in the left-right direction is provided. The direction change detection member (115) detects a tilt in the left-right direction of the traveling vehicle body (2), and the rolling mechanism ( 80) is characterized in that the rolling actuator (84) is operated in accordance with the inclination angle of the traveling vehicle body (2) detected by the direction change detecting member (115).

  According to a third aspect of the present invention, in the work vehicle according to the first or second aspect, the position information acquisition devices (121) are disposed on both the left and right sides of the traveling vehicle body (2), respectively, Among the position information acquisition devices (121), one of the position information acquisition devices (121) acquires information from the main position information transmission device, and the other position of the left and right position information acquisition devices (121). The information acquisition device (121) acquires information from the auxiliary position information transmission device, compares the position information acquired by the left and right position information acquisition devices (121), and performs the automatic operation according to the difference in the position information. The steering device (110) is operated.

  According to a fourth aspect of the present invention, in the work vehicle according to any one of the first to third aspects, the position information acquisition device (121) is disposed before and after the traveling vehicle body (2). Among the front and rear position information acquisition devices (121), one of the position information acquisition devices (121) acquires information from a main position information transmission device, and of the front and rear position information acquisition devices (121), The other position information acquisition device (121) acquires information from the auxiliary position information transmission device, compares the position information acquired by the previous and subsequent position information acquisition devices (121), and determines the difference in the position information. In addition, the automatic steering device (110) is operated.

  According to a fifth aspect of the present invention, in the work vehicle according to the third or fourth aspect, an elevating link mechanism (40) disposed at a rear portion of the traveling vehicle body (2) and elevating the work device (50). ), A pitching frame (161), and a pitching actuator (165), the pitching device (160) disposed in the elevating link mechanism (40) and changing the front / rear tilt angle of the working device (50). A vehicle speed detecting member (23) for detecting the vehicle speed of the traveling vehicle body (2), and the traveling vehicle body (2) is tilted in an elevation angle or depression angle direction from the position information of the position information acquisition device (121). When it is determined that the pitching actuator (165) is operated in accordance with the vehicle speed detected by the vehicle speed detection member (23), the work device (50) is tilted forward. Or wherein the to tilted backward.

  According to a sixth aspect of the present invention, in the work vehicle according to any one of the first to fifth aspects, the work detection member (58) for detecting the operation of the work device (50), and the position information An elevating mechanism (123) that changes the vertical position of the acquisition device (121), and the elevating mechanism (123) is configured to detect the position when the work detection member (58) detects the operation of the work device (50). The information acquisition device (121) is lowered.

  According to a seventh aspect of the present invention, in the work vehicle according to the second aspect, the steering member (32) is provided with a steering detection member (112) for detecting a steering amount and a steering direction. When the steering detection member (112) detects the steering of the steering member (32), the rolling mechanism (80) corresponds to the steering amount of the steering member (32) detected by the steering detection member (112). The rolling actuator (84) is operated with an operation amount to roll the work device (50) in the same direction as the steering direction detected by the steering detection member (112).

  In the work vehicle according to claim 7, when the steering detection member (112) detects the operation of the steering member (32) for a predetermined time or more in the work vehicle according to claim 7, The vehicle speed of the traveling vehicle body (2) is reduced.

  The work vehicle according to claim 1 is a position information acquisition device (at a place where the airframe is inclined in the elevation angle direction) by performing a correction to widen the position information interval between the two points acquired before and after the aircraft is inclined in the elevation angle direction. 121), it is possible to prevent the traveling vehicle body (2) from being misidentified as being stopped or moving backward due to the displacement of the position information acquired in step 121). Further, in a place where the aircraft is inclined in the depression direction, the position information acquired by the position information acquisition device (121) is corrected by performing a correction that narrows the interval of the position information between the two points acquired before and after the inclination in the depression direction. Due to the deviation, it is possible to prevent erroneous detection that the traveling vehicle body (2) is traveling at a speed higher than the actual traveling speed. As a result, the traveling vehicle body can travel straight with high accuracy and work accuracy can be improved.

  In addition to the effect of the invention of claim 1, the work vehicle according to claim 2 rolls the work device (50) in accordance with the inclination angle of the traveling vehicle body (2) detected by the direction change detection member (115). By doing so, the working device (50) can always be in a horizontal posture when working on an inclined ground. Thereby, the working accuracy of the working device (50) can be improved more reliably. Further, the direction change detection member (115) used for the automatic steering control in the automatic steering device (110) is used for the inclination detection of the traveling vehicle body (2), so that the work device (50) is leveled by the rolling mechanism (80). In the case of maintaining the posture, the number of parts can be reduced.

  In addition to the effect of the invention of claim 1 or 2, the work vehicle according to claim 3 compares the position information acquired by the left and right position information acquisition devices (121), and automatically steers according to the difference in position information. By operating the device (110), the fine inclination of the traveling vehicle body (2) can be corrected by the automatic steering device (110). As a result, it is possible to improve straight running performance and work accuracy more reliably. Further, since the left and right position information acquisition devices (121) acquire position information from different position information transmission devices, the left and right position information of the traveling vehicle body (2) can be acquired more accurately. Control of the straight traveling posture by the automatic steering device (110) can be performed more accurately.

In addition to the effect of the invention according to any one of claims 1 to 3, the work vehicle according to claim 4 compares position information acquired by the position information acquisition devices (121) provided before and after the airframe. Thus, the automatic steering device (110) can be operated based on a plurality of pieces of position information.
Thereby, since the shift | offset | difference of the driving | running | working vehicle body (2) with respect to a rectilinear direction can be suppressed, a rectilinear traveling property and work precision can be improved. In addition, even if the steering position of the automatic steering device (110) is slightly deviated from the straight traveling direction, it is possible to immediately correct the traveling direction, thereby preventing traveling in a direction slightly deviating from the straight traveling. be able to.

  According to a fifth aspect of the present invention, in addition to the effect of the third or fourth aspect of the present invention, the work vehicle (50) is pitched in accordance with the inclination and the traveling speed of the traveling vehicle body (2), so that The front-rear inclination angle of the work device (50) can be adjusted to an appropriate position. Thereby, work accuracy can be improved more reliably.

  In addition to the effect of the invention according to any one of claims 1 to 5, the work vehicle according to claim 6 is a position information acquisition device when traveling while performing planting work by the work device (50). By lowering the vertical position of (121), the separation distance of the position information acquisition device (121) from the position of the center of gravity of the traveling vehicle body (2) can be suppressed. Thereby, since the position of the position information acquisition device (121) becomes difficult to swing, the position information acquired by the position information acquisition device (121) can be acquired with high accuracy. As a result, it is possible to improve straight running performance and work accuracy more reliably.

  In addition to the effect of the invention of claim 2, the work vehicle according to claim 7 rolls the work device (50) in the same direction as the steering direction of the steering member (32), so that the traveling vehicle (2) Since the rotation of the work device (50) due to the change in the traveling direction can be offset, the work posture of the work device (50) can be appropriately maintained with respect to the field. Thereby, work precision can be improved. Further, when the working device (50) is rolled, in order to make the operation amount of the rolling actuator (84) correspond to the operation amount of the steering member (32), work due to excessive or insufficient rolling amount of the working device (50). A reduction in accuracy can be prevented.

  In addition to the effect of the invention of claim 7, the work vehicle according to claim 8 is a work device that is being corrected in the straight direction in order to reduce the vehicle speed when the steering time of the steering member (32) is long. The work range of (50) can be shortened. Thereby, when working with the work device (50), the range in which the work is performed with the work position shifted can be narrowed, so that the work accuracy can hardly be lowered.

FIG. 1 is a side view of a seedling transplanter according to an embodiment. FIG. 2 is a plan view of the seedling transplanter shown in FIG. 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. 6 is a DD arrow view of FIG. FIG. 7 is a functional block diagram of an apparatus included in the seedling transplanter shown in FIG. FIG. 8 is a modified example of the seedling transplanter according to the embodiment, and is a side view showing a state in which the receiving antenna is arranged in front of and behind the traveling vehicle body. FIG. 9 is a plan view of the seedling transplanter shown in FIG. FIG. 10 is a modified example of the seedling transplanter according to the embodiment, and is a side view in the vicinity of a seedling planting portion when a pitching device is provided. FIG. 11 is a flowchart showing control for correcting the interval of the position information acquired in accordance with the inclination of the field. FIG. 12 is a flowchart showing the rolling control of the seedling planting unit interlocked with the inclination of the traveling vehicle body by the gyro sensor. FIG. 13 is a flowchart showing control for operating the automatic steering device based on the difference in position information acquired by the left and right receiving antennas. FIG. 14 is a flowchart showing control for operating the automatic steering device based on the difference in position information acquired by the front and rear receiving antennas. FIG. 15 is a flowchart illustrating control for changing the pitching posture of the seedling planting unit based on the difference in position information acquired by the front and rear receiving antennas. FIG. 16 is a flowchart showing the rolling control of the seedling planting unit in conjunction with the steering amount of the handle. FIG. 17 is a flowchart showing control for reducing the traveling speed based on the operation time of the automatic steering device. FIG. 18 is a flowchart showing control for stopping the automatic steering device when the deviation between the actual travel position and the theoretical travel position predicted is too large.

  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. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

Embodiment
FIG. 1 is a side view of a seedling transplanter according to an embodiment. FIG. 2 is a plan view of the seedling transplanter shown in FIG. In the following description, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the control seat of the seedling transplanter. A seedling transplanter 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. Moreover, in this seedling transplanter 1 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 or backward, but also for driving the seedling planting unit 50. And 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. Further, the control seat 28 is provided with a pressure-sensitive 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 seedling transplanter 1 according to the present embodiment, the upper surface of the traveling vehicle body 2 is disposed. As viewed from the front side 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.

  In addition, a seedling planting part lifting mechanism 40 that is a lifting link mechanism for raising and lowering the seedling planting part 50 is disposed at the rear part of the traveling vehicle body 2. The seedling planting part lifting mechanism 40 includes a lifting link device 41, and the seedling planting unit 50 is attached to the traveling vehicle body 2 via the lifting link device 41. 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.

  In addition, the seedling planting unit 50 can plant a range in which a seedling is planted in a plurality of sections or a plurality of rows. In the seedling transplanting machine 1 according to the present embodiment, the seedling is planted in six sections. The seedling planting part 50 is provided. The seedling planting unit 50 includes a seedling planting device 60, a seedling placement table 51, and a float 47. 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 seedling transplanter 1 according to the present embodiment includes three planting transmission cases 64, and thereby includes six rows of planted bodies 61.

  In addition, the float 47 slides on the farm scene along with the movement of the traveling vehicle body 2 to level the ground. The center float 48 located in the center of the seedling planting part 50 in the left-right direction of the traveling vehicle body 2 and the left-right direction Side floats 49 located on both sides of the seedling planting part 50 in FIG.

  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 seedling transplanter 1 moves straight forward in the field and then moves straight forward on 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, and it becomes easy to perform a straight-ahead operation at the next planting work position, thereby 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 a hose 74 and a blower 73 that is a wind-up device for transferring the fertilizer in the fertilizer hose 74 to the seedling planting part 50 side by supplying the conveying wind to the fertilizer 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. And a groove producing device 76 for dropping the fertilizer into a fertilizer groove formed in the vicinity of the side of the seedling planting strip.

  Moreover, the seedling transplanting machine 1 according to the present embodiment includes a rolling mechanism 80 that rotates the seedling planting unit 50 about the longitudinal axis 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 on the longitudinal axis of the machine body, and the lower end side is connected to a rolling shaft 81 that supports the seedling planting part 50 so as to be slidable 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 around 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 center position sensor 106 and a maximum peristaltic position sensor 107. Among these, 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 turning 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.

  Further, the seedling transplanter 1 according to this embodiment includes a GPS control device 120 (see FIG. 7) that acquires position information of the seedling transplanter 1 by GPS (Global Positioning System). A receiving antenna 121 constituting the GPS control 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 includes two receiving antennas 121 arranged on the left and right sides of the traveling vehicle body 2, respectively, and antenna frames 124 connected to a spare seedling stage support 66, which is a support for supporting the spare seedling support 65, respectively. It is attached.

  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 extending in the left-right direction of the machine body and two frame vertical portions 126 extending downward from both ends of the frame horizontal portion 125. 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.

  The two receiving antennas 121 are both attached to the frame horizontal portion 125. Specifically, the two receiving antennas 121 are attached to the upper surface of the frame horizontal portion 125 at positions near different ends in the length direction of the frame horizontal portion 125. ing. Thus, the two receiving antennas 121 are respectively disposed on the left and right sides of the center of the traveling vehicle body 2 in the left-right direction of the vehicle body, and are disposed on both the left and right sides of the traveling vehicle body 2, respectively.

  Further, the left and right frame vertical portions 126 are respectively provided with lifting cylinders 127 that are extendable in the direction in which the frame vertical portion 126 extends. The lifting cylinder 127 can be expanded and contracted by hydraulic pressure, so that the frame vertical portion 126 can both expand and contract. When the full length of the frame vertical portion 126 expands and contracts, the position of the frame horizontal portion 125 to which the receiving antenna 121 is attached is also changed in the vertical direction of the machine body. Therefore, the antenna frame 124 and the lifting cylinder 127 are connected to the receiving antenna 121. The raising / lowering mechanism 123 which changes the up-and-down position is comprised.

  FIG. 7 is a functional block diagram of an apparatus included in the seedling transplanter shown in FIG. The seedling transplanter 1 according to the present embodiment can control each part by electronic control. For this reason, the seedling transplanter 1 includes a controller 150 that controls each part. The controller 150 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a RAM (Random Access Memory), and an input / output unit, which are connected to each other and exchange signals with each other. It is possible. The storage unit stores a computer program for controlling the seedling transplanter 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 telescopic cylinder 127 provided on the antenna frame 124, and the like are connected.

  Further, as the sensors connected to the controller 150, the rear wheel rotation sensor 23, the work clutch sensor 58, the center position sensor 106, the maximum swing position sensor 107, the gyro sensor 115, the tilt sensor 116, and the pressure sensor 130 are connected. ing. 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 seedling transplanter 1 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. For this reason, the automatic steering device 110 applies an arbitrary rotational force to the handle 32 to rotate the handle 32, and a steering detection member provided on the handle 32 to detect the steering amount and the steering direction. A handle potentiometer 112. 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 the position information or coordinate information of the seedling transplanter 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. It has become. The GPS control device 120 has a receiving antenna 121 that receives a signal from an artificial satellite used in GPS in order to acquire the position information of the seedling transplanter 1 by using GPS in this way.

  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 And a worker-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 seedling transplanter 1 according to the present embodiment has the above configuration, and the operation thereof will be described below. During operation of the seedling transplanter 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.

  The power generated by the engine 10 is used for traveling the vehicle body 2 and planting work at the seedling planting unit 50 as described above. The controller 150 uses a torque sensor or the like to check the load status of the engine 10. When monitoring and detecting that the engine 10 is overloaded, an instruction to lower the output is issued. Thereby, it is suppressed that the engine 10 continues driving | running with an overload.

  In addition, the seedling transplanter 1 according to the present embodiment performs steering by the automatic steering device 110 while acquiring the position information of the seedling transplanter 1 by the GPS control device 120 when performing planting work in the field. It is possible to perform planting work while going straight. Specifically, the seedling transplanter 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 seedling transplanter 1 on the earth at a predetermined time interval. Get every.

  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 planting seedlings, the position information acquired by the receiving antenna 121 is used as information for causing the traveling body 2 to travel straight ahead by the automatic steering device 110. However, in order to improve the accuracy of the position information, the information is acquired by the receiving antenna 121. The position information is corrected as necessary. For example, the position information acquired by the receiving antenna 121 is corrected based on the front / rear inclination of the traveling vehicle body 2 detected by the inclination sensor 116.

  That is, the position information acquired by the receiving antenna 121 is acquired as two-dimensional coordinates on the ground surface. However, since the receiving antenna 121 is disposed above the traveling vehicle body 2 by the antenna frame 124, the traveling vehicle body 2 Is tilted, the antenna frame 124 is also tilted. In this case, since the position of the receiving antenna 121 when viewed from above moves, the position information acquired by the receiving antenna 121 changes even if the position of the traveling vehicle body 2 does not change. Therefore, when the tilt sensor 116 detects that the traveling vehicle body 2 is tilted, the position information is corrected based on the detected forward / backward tilt of the traveling vehicle body 2.

  Specifically, as shown in FIG. 11, when the tilt sensor 116 detects the tilt of the aircraft in the elevation direction, the position information before detecting the tilt in the elevation direction and the tilt in the elevation direction are detected. The position information is corrected so that the interval with the subsequent position information is widened. That is, when the posture changes in a direction in which the traveling vehicle body 2 is tilted forward and upward, the antenna frame 124 is tilted in a direction to tilt backward. For this reason, since the receiving antenna 121 attached to the antenna frame 124 moves rearward, the position information acquired by the receiving antenna 121 is acquired as information positioned rearward of the actual position of the traveling vehicle body 2. Is done. Therefore, when the tilt of the aircraft in the elevation angle direction is detected, the position information acquired in the tilted state is corrected in a direction to shift forward, thereby widening the interval with the position information before the elevation angle tilt is detected. Thus, accurate position information is acquired.

  On the contrary, when the inclination sensor 116 detects the inclination of the aircraft in the depression direction, the interval between the position information before detecting the depression in the depression direction and the position information after detecting the depression in the depression direction is an interval. The position information is corrected so as to be narrowed. That is, when the posture changes in a direction in which the traveling vehicle body 2 tilts forward and downward, the antenna frame 124 tilts in a direction that falls forward. For this reason, since the receiving antenna 121 attached to the antenna frame 124 moves forward, the position information acquired by the receiving antenna 121 is acquired as information positioned ahead of the actual position of the traveling vehicle body 2. Is done. Therefore, when the inclination of the aircraft in the depression direction is detected, the position information acquired in the inclined state is corrected in the direction to shift backward, thereby narrowing the interval with the position information before detecting the depression in the depression direction. Thus, accurate position information is acquired.

  As described above, the receiving antenna 121 for acquiring the position information is arranged such that the two receiving antennas 121 are disposed on the left and right sides of the traveling vehicle body 2, but by acquiring the separate information with the two receiving antennas 121, Get highly accurate position information. For example, as a transmitting device that transmits position information acquired by two receiving antennas 121, a GPS satellite group that transmits main position information is a main position information transmitting device, and a GPS satellite group that transmits auxiliary position information is When the relay antenna is an auxiliary position information transmission device, information from both devices is acquired by separate reception antennas 121. Some GPS satellites may be the same in the GPS satellite group including the main position information transmission device and the GPS satellite group including the auxiliary position information transmission device.

  That is, of the left and right receiving antennas 121, one receiving antenna 121 acquires information from a main position information transmitting device that is a GPS satellite group, and the other receiving antenna 121 transmits auxiliary position information such as an auxiliary GPS satellite group. Get information from the device. Furthermore, the position information acquired by the left and right receiving antennas 121 is compared with each other, and the automatic steering device 110 is operated by the controller 150 according to the difference in the position information. For example, as shown in FIG. 13, when the traveling vehicle body 2 is oriented obliquely with respect to the straight traveling path stored in the information storage terminal 140, the position information acquired by the left and right receiving antennas 121 is a straight traveling path. It is acquired as information on a different position with respect to the direction. For this reason, in this case, the automatic steering device 110 is operated in the direction in which the handle 32 is steered so that the difference between the two pieces of position information becomes small.

  When working in the field, the traveling vehicle body 2 travels while acquiring position information with the receiving antenna 121 as described above. When the work clutch sensor 58 detects the operation of the seedling planting unit 50, the lifting mechanism 123 receives the signal. The antenna 121 is lowered. That is, when the work clutch sensor 58 detects that power is transmitted to the seedling planting unit 50, the controller 150 contracts the two lifting cylinders 127 included in the lifting mechanism 123. When the two lifting cylinders 127 are contracted, the total length of the two frame vertical portions 126 is shortened, so that the position of the frame horizontal portion 125 is lowered, and the position of the receiving antenna 121 attached to the frame horizontal portion 125 is also lowered. At the time of planting work in the seedling planting unit 50, the traveling vehicle body 2 is caused to travel straight by the automatic steering device 110 with the receiving antenna 121 lowered.

  As shown in FIG. 17, when the steering potentiometer 112 detects the operation of the handle 32 by the steering motor 111 for a predetermined time or more while the traveling vehicle body 2 is traveling straight by the automatic steering device 110, the controller By controlling the throttle motor 12 and the like of the engine 10 at 150, the vehicle speed of the traveling vehicle body 2 is reduced. That is, operating the steering wheel 32 with the steering motor 111 for a long time indicates that the traveling vehicle body 2 is significantly deviated from the straight traveling direction. For this reason, in this case, by reducing the vehicle speed, the range of planting work performed in a state where the traveling vehicle body 2 is deviated from the straight traveling direction is reduced.

  If the tilt sensor 116 detects the front-back tilt of the traveling vehicle body 2 while the traveling vehicle body 2 is traveling straight by the automatic steering device 110, the controller 150 performs control so that the traveling vehicle body 2 is not accelerated or decelerated. That is, when the traveling vehicle body 2 tilts forward or backward, the vehicle speed does not change and remains constant.

  As shown in FIG. 18, when the traveling body 2 is traveling straight by the automatic steering device 110, if the actual traveling path for the target straight traveling path exceeds the set allowable range, the controller 150 Stops the traveling of the traveling vehicle body 2 and displays on the display unit of the information storage terminal 140 that the traveling road is greatly deviated from the target. If the actual runway deviates significantly from the target, an alarm is given by the information storage terminal 140 instead of stopping the run to notify the operator that the runway is deviating from the target. Good.

  In addition, at the time of seedling planting work, the seedling planting work is performed by the rolling mechanism 80 in a state where the seedling planting unit 50 is horizontal with respect to the field scene. Specifically, as shown in FIG. 12, the gyro sensor 115 detects the lateral inclination of the traveling vehicle body 2, and the rolling mechanism 80 operates in accordance with the inclination angle of the traveling vehicle body 2 detected by the gyro sensor 115. The motor 84 is activated. Thereby, the seedling planting part 50 rotates around the rolling shaft 81 and becomes horizontal with respect to the farm field.

  As described above, when the posture of the seedling planting unit 50 is adjusted by the rolling mechanism 80, the horizontal inclination of the traveling vehicle body 2 is detected using the position information acquired by the left and right receiving antennas 121. That is, when the traveling vehicle body 2 is inclined in the left-right direction, the distance between the left and right receiving antennas 121 is reduced. For this reason, when the distance between the positional information acquired by the left and right receiving antennas 121 is small, it can be determined that the traveling vehicle body 2 is inclined in the left-right direction. When the orientation of the seedling planting unit 50 is adjusted by the rolling mechanism 80, the degree of inclination of the traveling vehicle body 2 is estimated based on the respective position information acquired by the left and right receiving antennas 121 in this way, and the gyro sensor Together with the detection value at 115, the inclination angle of the traveling vehicle body 2 is estimated with high accuracy, and the orientation of the seedling planting unit 50 is adjusted.

  Further, when the handle potentiometer 112 detects the steering of the handle 32, the rolling mechanism 80 rolls the seedling planting unit 50 in the same direction as the steering direction. That is, as shown in FIG. 16, when the handle potentiometer 112 detects steering of the handle 32, the rolling mechanism 80 operates the electric motor 84 with an operation amount corresponding to the steering amount of the handle 32 detected by the handle potentiometer 112. Thereby, the rolling mechanism 80 rolls the seedling planting part 50 in the same direction as the steering direction detected by the handle potentiometer 112 at an angle corresponding to the steering amount. Note that the rolling mechanism 80 is stopped by the horizontal detection of the gyro sensor 115.

  The seedling transplanter 1 according to the above-described embodiment is configured to correct the reception antenna 121 by widening the position information interval between two points acquired before and after the aircraft body tilts in the elevation angle direction when the aircraft body tilts in the elevation angle direction. It is possible to prevent the traveling vehicle body 2 from being misidentified as being stopped or moving backward due to the displacement of the position information acquired in step (b). In addition, when the aircraft is tilted in the depression direction, the position information obtained between the two points acquired before and after the depression in the depression direction is corrected so that the distance between the two points is reduced. It is possible to prevent erroneous detection that the vehicle body 2 is traveling at a speed higher than the actual traveling speed. As a result, the traveling vehicle body 2 can be traveled straight with high accuracy, and the work accuracy performed by the seedling planting unit 50, that is, the seedling planting accuracy can be improved.

  In addition, by rolling the seedling planting unit 50 in accordance with the inclination angle of the traveling vehicle body 2 detected by the gyro sensor 115, the seedling planting unit 50 can be always in a horizontal posture when working on an inclined land. As a result, the working accuracy of the seedling planting unit 50 can be improved more reliably. Further, by using the gyro sensor 115 used for the automatic steering control in the automatic steering device 110 for the inclination detection of the traveling vehicle body 2, the number of parts when the seedling planting part 50 is maintained in the horizontal posture by the rolling mechanism 80 is determined. Reduction can be achieved.

  Further, by comparing the position information acquired by the left and right receiving antennas 121 and operating the automatic steering device 110 according to the difference in the position information, the automatic steering device 110 can correct the fine tilt of the traveling vehicle body 2. it can. As a result, it is possible to improve straight running performance and work accuracy more reliably. Further, the left and right receiving antennas 121 can acquire the position information from the different position information transmitting devices, whereby the left and right position information of the traveling vehicle body 2 can be acquired more accurately. As a result, the straight traveling posture control by the automatic steering device 100 can be performed more accurately.

  In addition, when traveling while performing planting work by the seedling planting unit 50, the distance between the receiving antenna 121 and the center of gravity of the traveling vehicle body 2 can be suppressed by lowering the vertical position of the receiving antenna 121. Can do. As a result, the position of the receiving antenna 121 is difficult to shake, so that the position information acquired by the receiving antenna 121 can be acquired with high accuracy. As a result, it is possible to improve straight running performance and work accuracy more reliably.

  In addition, by rolling the seedling planting part 50 in the same direction as the steering direction of the handle 32, the rotation of the seedling planting part 50 due to the change in the traveling direction of the traveling vehicle body 2 can be offset. The working posture of the planting unit 50 can be appropriately maintained with respect to the field. Thereby, work precision can be improved. Further, when the seedling planting part 50 is rolled, the electric motor 84 of the rolling mechanism 80 is operated with an operation amount corresponding to the operation amount of the handle 32. A reduction in work accuracy can be prevented.

  Further, when the operation time of the handle 32 is long, the vehicle speed is reduced, so that the working range of the seedling planting unit 50 during correction in the straight traveling direction can be shortened. As a result, when the work is performed at the seedling planting unit 50, the range in which the work is performed in a state where the work position is shifted can be narrowed, so that the work accuracy can be hardly lowered.

[Modification]
In the seedling transplanting machine 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 other than the gyro sensor 115. 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.

  In the seedling transplanter 1 described above, the two receiving antennas 121 included in the GPS control device 120 are disposed on the left and right sides of the traveling vehicle body 2, but the receiving antenna 121 is disposed at a position other than this. Also good. FIG. 8 is a modified example of the seedling transplanter according to the embodiment, and is a side view showing a state in which the receiving antenna is arranged in front of and behind the traveling vehicle body. FIG. 9 is a plan view of the seedling transplanter shown in FIG. For example, as shown in FIGS. 8 and 9, the reception antenna 121 included in the GPS control device 120 may have two reception antennas 121 arranged in front of and behind the traveling vehicle body 2. In this case, the antenna frame 124 is appropriately configured so that the two receiving antennas 121 can be disposed at two positions near the front end and near the rear end of the traveling vehicle body 2 at a position near the center in the left-right direction of the aircraft. .

  As described above, when the two receiving antennas 121 are arranged at the front and rear of the traveling vehicle body 2, the two receiving antennas 121 receive information from the main position information transmitting device among the front and rear receiving antennas 121. The other receiving antenna 121 obtains information from the auxiliary position information transmitting device. As a result, the two receiving antennas 121 acquire information from both the main position information transmitting apparatus and the auxiliary position information transmitting apparatus using separate receiving antennas 121.

  Furthermore, as shown in FIG. 14, the position information acquired by the front and rear receiving antennas 121 is compared, and the automatic steering device 110 is operated by the controller 150 in accordance with the difference in position information. For example, when the traveling vehicle body 2 is oriented in an oblique direction with respect to the straight traveling path stored in the information storage terminal 140, the position information acquired by the front and rear receiving antennas 121 is the position along the straight traveling path. It is acquired as information on different positions. For this reason, in this case, the automatic steering device 110 is operated in a direction in which the steering wheel 32 is steered so that the two pieces of position information become positions along the straight traveling path.

  As described above, the two receiving antennas 121 are arranged in front of and behind the traveling vehicle body 2, and the automatic steering device 110 is operated based on a plurality of pieces of position information by comparing the position information acquired by the two receiving antennas 121 respectively. Can be made. Thereby, since the shift | offset | difference of the traveling vehicle body 2 with respect to the rectilinear direction can be suppressed, rectilinear travel performance and work accuracy can be improved. Further, even if the steering position of the automatic steering device 110 is slightly deviated from the straight traveling direction, the traveling direction can be corrected immediately, so that it is possible to prevent the vehicle from traveling in a direction slightly deviated from the straight traveling. it can.

  Further, in the seedling transplanting machine 1 described above, the posture of the seedling planting unit 50 can be adjusted by the rolling mechanism 80, but the seedling planting unit 50 can adjust the posture by other than the rolling mechanism 80. It may be configured as follows. FIG. 10 is a modified example of the seedling transplanter according to the embodiment, and is a side view in the vicinity of a seedling planting portion when a pitching device is provided. As a configuration for adjusting the posture of the seedling planting unit 50, for example, as shown in FIG. 10, a pitching device 160 that changes the front and rear inclination angle of the seedling planting unit 50 may be provided. The pitching device 160 includes a connection bracket 161 that is a pitching frame and a pitching cylinder 165 that is a pitching actuator, and is arranged in the seedling raising / lowering mechanism 40.

  Specifically, the connection bracket 161 is disposed on the front side of the planting support frame 55, and a parallel link mechanism 42 included in the seedling planting part lifting mechanism 40 is connected to the connection bracket 161. Of the upper link and the lower link of the parallel link mechanism 42, the lower link 176, which is the lower link, is connected to the parallel link mechanism 42 by a hinge pin 177 so as to be rotatable. Further, the upper link 171 that is the upper link of the parallel link mechanism 42 is connected to the connection bracket 161 by a hinge pin 172 at a position above the position where the hinge pin 177 of the lower link 176 is connected to the connection bracket 161. Yes. Specifically, the connecting bracket 161 is formed with a long hole 162 in a substantially arc shape extending in the front-rear direction of the machine body above the part where the hinge pin 177 of the lower link 176 is located, and the upper link 171. The hinge pin 172 is connected to the connection bracket 161 by entering the long hole 162.

  The pitching cylinder 165 is a cylinder that expands and contracts by hydraulic pressure. The main body side is connected to the upper link 171 and the rod side is connected to the connection bracket 161.

  The pitching device 160 configured in this manner is connected with the hinge pin 177 of the lower link 176 as a fulcrum while the hinge pin 172 of the upper link 171 moves in the long hole 162 of the connection bracket 161 by expanding and contracting the pitching cylinder 165. The bracket 161 rotates. Since the connection bracket 161 is connected to the planting support frame 55 and is provided integrally with the seedling planting part 50, the seedling planting part 50 is also integrated when the connection bracket 161 is rotated. And turn.

  As a result, the pitching device 160 expands and contracts the pitching cylinder 165 regardless of the raising / lowering state of the seedling planting unit 50 in the seedling planting unit lifting mechanism 40, thereby using the hinge pin 177 of the lower link 176 as a fulcrum. The part 50 can be rotated. That is, the pitching device 160 can adjust the posture of the seedling planting unit 50 in the pitching direction.

  As described above, the pitching device 160 that can adjust the posture of the seedling planting unit 50 adjusts the inclination of the seedling planting unit 50 according to the inclination of the traveling vehicle body 2, and thereby the seedling planting unit 50. It is possible to improve the working accuracy in For example, as shown in FIG. 15, when it is determined from the position information acquired by the receiving antenna 121 that the traveling vehicle body 2 is inclined in the elevation angle or depression direction, the pitching device 160 is detected by the rear wheel rotation sensor 23. The pitching cylinder 165 is operated in accordance with the vehicle speed, and the seedling planting part 50 is tilted forward or backward. As described above, the pitching device 160 adjusts the front / rear inclination angle of the seedling planting unit 50 with respect to the farm scene to an appropriate position by pitching the seedling planting unit 50 according to the inclination and traveling speed of the traveling vehicle body 2. be able to. As a result, the working accuracy can be improved more reliably.

  Moreover, although the traveling vehicle body 2 can travel with four wheels, the front wheel 4 and the rear wheel 5, it may be configured to change the tread of the wheel. For example, when traveling on a sloping ground where the traveling vehicle body 2 is inclined in the left-right direction, the traveling vehicle body 2 can be prevented from slipping off on the sloping ground by widening the treads of the front wheels 4 and the rear wheels 5. Moreover, when expanding the tread of a wheel, it is preferable to extend to the side where the crop etc. are not arrange | positioned in the left-right direction of the body.

  Moreover, in embodiment mentioned above, although demonstrated using the seedling transplanter 1 as an example of a working vehicle, things other than the seedling transplanter 1 may be sufficient as a working vehicle. The working vehicle 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 provided at the rear of the traveling vehicle body.

DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Traveling vehicle body 4 Front wheel 5 Rear wheel 7 Main frame 8 Traveling device 10 Engine 11 Engine cover 12 Throttle motor 15 Power transmission device 23 Rear wheel rotation sensor (vehicle speed detection member)
28 Control seat 30 Control section 32 Handle (steering member)
40 Seedling planting mechanism elevating mechanism (elevating link mechanism)
41 Elevating link device 42 Parallel link mechanism 47 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 64 planting transmission case 65 spare seedling stage 67 rotor for leveling 68 line drawing marker 70 fertilizer 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)
120 GPS controller 121 Receiving antenna (position information acquisition device)
123 Elevating Mechanism 124 Antenna Frame 125 Frame Horizontal Part 126 Frame Vertical Part 127 Elevating Cylinder 135 Separation Detection Member 140 Information Storage Terminal 150 Controller 160 Pitching Device 161 Connecting Bracket (Pitching Frame)
165 Pitching cylinder (pitching actuator)

  The present invention relates to a work vehicle that travels while working on a farm field.

  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. Work accuracy such as crop harvesting accuracy and field tillage accuracy is improved, and 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 seedling planting accuracy, crop harvesting accuracy such as rice, and tillage accuracy in the field is lowered.

  The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle in which a traveling vehicle body can travel straight ahead with high accuracy and work accuracy can be improved.

To solve the above problems and achieve the object, a first aspect of the present invention includes a vehicle body (2) having a traveling device (8) which runs field, to steering operation of the vehicle body (2) A steering member (32) , a working device (50) disposed at the rear of the traveling vehicle body (2) and performing work on a farm field, and position information for acquiring positional information of the traveling vehicle body (2) at predetermined intervals. An acquisition device (121) , a direction change detection member (115) that detects a change in the traveling direction of the traveling vehicle body (2) , and an automatic steering that maintains the traveling direction in a straight traveling direction by operating the steering member (32). Device (110), and the automatic steering device (110) operates based on the detected values of the position information acquisition device (121) and the direction change detection member (115) , and is positioned on the traveling vehicle body (2). Antenna to which information acquisition device (121) is attached A frame (124) is provided, and the antenna frame (124) includes a frame vertical portion (126) capable of changing the vertical position of the position information acquisition device (121), and the vertical position of the position information acquisition device (121). It is set as the work vehicle characterized by having comprised so that adjustment is possible .

In the invention according to claim 2, the antenna frame (124) includes a pair of left and right frame vertical portions (126), and a frame extension extending in the left-right direction of the fuselage above the left and right frame vertical portions (126). The left and right frame vertical portions (126) are configured to include the traveling vehicle body (2) via a rotating portion (128) that rotates the left and right frame vertical portions (126) in the left-right direction of the body. 2. The work vehicle according to claim 1, wherein the work vehicle is configured so as to be vertically expanded and contracted by an elevating cylinder (127) .

Further, the invention according to claim 3, wherein the position information acquisition device (121) are each disposed on left and right sides of the frame extensions (125), of the left and right of the position information acquisition device (121, 121) , one of the positional information acquiring unit (121) acquires information from the primary position information transmission apparatus, of the left and right of the position information acquisition device (121, 121), the other of the position information acquisition unit (121) The information is acquired from the auxiliary position information transmitting device, the position information acquired by the left and right position information acquiring devices (121, 121) is compared, and the automatic steering device (110) is operated according to the difference in the position information. A work vehicle according to claim 1 or 2, wherein

According to a fourth aspect of the present invention, the position information acquisition device (121) is disposed before and after the traveling vehicle body (2) , and the antenna frame (124) is disposed at a front end of the traveling vehicle body (2). The front and rear position information acquisition devices (121, 121 ) are each configured to be capable of supporting the vicinity and the rear end, and one of the front and rear position information acquisition devices (121, 121 ) is the position information acquisition device (121). ) Acquires information from the main position information transmitting device, and the other position information acquiring device (121) of the preceding and following position information acquiring devices (121, 121) acquires information from the auxiliary position information transmitting device. claims and compares the position information with each other the position information acquisition device before and after (121, 121) is acquired, and wherein the actuating the automatic steering device (110) in accordance with the difference in position information Or the working vehicle according to 2.

The invention described in Claim 5, before Symbol working device at the rear of the lift link mechanism for raising and lowering (50) (41) provided in said vehicle body (2), the working device to the elevating link mechanism (41) A pitching device (160) for changing the front / rear inclination angle of (50) and a vehicle speed detection member (23) for detecting the vehicle speed of the traveling vehicle body (2 ) are provided, and the elevating link mechanism (41) is an upper link (171) and a lower link (176), and the pitching device (160) has a pitching frame (161) provided in the working device (50) and expands and contracts to change the front / rear inclination angle of the working device (160). A pitching actuator (165) to be changed is formed, and the pitching frame (161) is connected to the lower hinge pin (177) and the lower hinge pin (177). An arc-shaped elongated hole (162) formed above the position to be attached is rotatably mounted via an upper hinge pin (172) provided in the upper link (171), and the pitching actuator (165) is When it is connected to the upper link (171) and the pitching frame (161) and it is determined from the position information of the position information acquisition device (121) that the traveling vehicle body (2) is inclined in the elevation angle or depression angle direction. The method according to claim 3 or 4, wherein the pitching actuator (165) is operated in accordance with a vehicle speed detected by the vehicle speed detection member (23) to change a front-rear inclination angle of the work device (50). The work vehicle is as described.

The first related invention relating to the first to fifth aspects of the present invention is to detect a work detection member (58) for detecting the operation of the work device (50) and a forward / backward inclination of the traveling vehicle body (2). When the tilt detection member (116) detects a tilt in the elevation angle direction of the airframe, the tilt detection member (116) includes a lifting mechanism (123) that changes the vertical position of the position information acquisition device (121). The inclination detection member (116) detects the inclination in the depression direction of the airframe by correcting the gap between the position information before detecting the inclination in the elevation angle and the position information after detecting the inclination in the elevation angle. The position information acquisition device (121) corrects the distance between the position information before detecting the depression in the depression direction and the position information after detecting the depression in the depression direction, and the position information acquisition device (121) (116) Are arranged in the left-right direction, one acquires main position information, the other acquires auxiliary position information, and the elevating mechanism (123) has the work detection member (58) connected to the work device. When the operation of (50) is detected, the two position information acquisition devices (121, 121) are respectively lowered .

The second related invention has a rolling frame (82) and a rolling actuator (84) disposed on the frame of the working device (50), and rotates the working device (50) in the left-right direction. A rolling mechanism (80) is provided, and the direction change detecting member (115) detects a lateral inclination of the traveling vehicle body (2). The rolling mechanism (80) includes the direction change detecting member (115). The rolling actuator (84) is operated in accordance with the detected inclination angle of the traveling vehicle body (2) .

In the third related invention, the steering member (32) is provided with a steering detection member (112) for detecting a steering amount and a steering direction, and the rolling mechanism (80) includes the steering detection member. When (112) detects the steering of the steering member (32), the rolling actuator (165) is operated with an operation amount corresponding to the detected steering amount of the steering member (32), and the steering detection member (112) is detected. The work device (50) is rolled in the same direction as the steering direction detected in (1) .
In a fourth related invention, when the steering detection member (112) detects the operation of the steering member (32) for a predetermined time or more, the vehicle speed of the traveling vehicle body (2) is reduced. Features.

According to the first aspect of the present invention , the vertical position (126) of the position information acquisition device (121) is lowered by the vertical frame portion (126), so that the position information acquisition device (121) is separated from the center of gravity of the traveling vehicle body (2). Can be suppressed. Thereby, since it becomes difficult for the position information acquisition device (121) to shake, the position information to be acquired can be acquired with high accuracy, and straight traveling performance and work accuracy can be improved.

According to the invention of claim 2 , in addition to the effect of the invention of claim 1, the vertical position of the position information acquisition device (121) can be changed by expansion and contraction of the elevating cylinder (127).
Further, the left and right frame vertical portions (126) can be rotated in the left-right direction of the machine body by the rotating portion (128).

According to the invention of claim 3 , in addition to the effect of the invention of claim 1 or 2, the position information acquired by the left and right position information acquisition devices (121) is compared, and the automatic steering device (110 ) Can be corrected by the automatic steering device (110) for the fine inclination of the traveling vehicle body (2). As a result, it is possible to improve straight running performance and work accuracy more reliably.
Further, since the left and right position information acquisition devices (121) acquire position information from different position information transmission devices, the left and right position information of the traveling vehicle body (2) can be acquired more accurately. Control of the straight traveling posture by the automatic steering device (110) can be performed more accurately.

According to the invention of claim 4 , in addition to the effect of the invention of claim 1 or 2 , based on a plurality of position information by comparing the position information acquired by the position information acquisition device (121) provided before and after the aircraft, respectively. Thus, the automatic steering device (110) can be operated. Thereby, since the shift | offset | difference of the driving | running | working vehicle body (2) with respect to a rectilinear direction can be suppressed, a rectilinear traveling property and work precision can be improved.
In addition, even if the steering position of the automatic steering device (110) is slightly deviated from the straight traveling direction, it is possible to immediately correct the traveling direction, thereby preventing traveling in a direction slightly deviating from the straight traveling. be able to.

According to the invention of claim 5 , in addition to the effect of the invention of claim 3 or 4, by operating the pitching actuator (165), the pitching frame (161) has the lower hinge pin (176) as a pivot point and the upper hinge pin. Since it can rotate within the range of the arc-shaped long hole (162) into which (172) is inserted, the front and rear inclination angle of the work device (50) with respect to the farm scene can be set to an appropriate angle.
Further, by pitching the work device (50) in accordance with the inclination and the running speed of the traveling vehicle body (2), the front and rear inclination angle of the work device (50) with respect to the farm scene can be adjusted to an appropriate position. Thereby, work accuracy can be improved more reliably.

In addition to the first to fifth aspects of the present invention , according to the first related invention, in a place where the aircraft tilts in the elevation angle direction, correction is performed to widen the position information interval between the two points acquired before and after the aircraft tilts in the elevation angle direction. Accordingly, it is possible to prevent the traveling vehicle body (2) from being misidentified as being stopped or moving backward due to the displacement of the position information acquired by the position information acquisition device (121).
Further, in a place where the aircraft is inclined in the depression direction, the position information acquired by the position information acquisition device (121) is corrected by performing a correction that narrows the interval of the position information between the two points acquired before and after the inclination in the depression direction. Due to the deviation, it is possible to prevent erroneous detection that the traveling vehicle body (2) is traveling at a speed higher than the actual traveling speed. As a result, the traveling vehicle body can travel straight with high accuracy and work accuracy can be improved .

Further, according to the second related invention, the work device (50) is rolled in accordance with the inclination angle of the traveling vehicle body (2) detected by the direction change detection member (115), so that the work device can be operated at the time of working on the slope. (50) can always be in a horizontal posture. Thereby, the working accuracy of the working device (50) can be improved more reliably. Further, the direction change detection member (115) used for the automatic steering control in the automatic steering device (110) is used for the inclination detection of the traveling vehicle body (2), so that the work device (50) is leveled by the rolling mechanism (80). In the case of maintaining the posture, the number of parts can be reduced .

Further, according to the third related invention, the work device (50) caused by the change of the traveling direction of the traveling vehicle body (2) is caused by rolling the work device (50) in the same direction as the steering direction of the steering member (32). Therefore, the working posture of the working device (50) can be maintained appropriately with respect to the field. Thereby, work precision can be improved.
Further, when the working device (50) is rolled, in order to make the operation amount of the rolling actuator (84) correspond to the operation amount of the steering member (32), work due to excessive or insufficient rolling amount of the working device (50). A reduction in accuracy can be prevented .
Further, according to the fourth related invention, when the steering time of the steering member (32) is long, the vehicle speed is decreased, so that the work range of the work device (50) while being corrected in the straight traveling direction can be shortened. . Thereby, when working with the work device (50), the range in which the work is performed with the work position shifted can be narrowed, so that the work accuracy can hardly be lowered.

FIG. 1 is a side view of a seedling transplanter according to an embodiment. FIG. 2 is a plan view of the seedling transplanter shown in FIG. 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. 6 is a DD arrow view of FIG. FIG. 7 is a functional block diagram of an apparatus included in the seedling transplanter shown in FIG. FIG. 8 is a modified example of the seedling transplanter according to the embodiment, and is a side view showing a state in which the receiving antenna is arranged in front of and behind the traveling vehicle body. FIG. 9 is a plan view of the seedling transplanter shown in FIG. FIG. 10 is a modified example of the seedling transplanter according to the embodiment, and is a side view in the vicinity of a seedling planting portion when a pitching device is provided. FIG. 11 is a flowchart showing control for correcting the interval of the position information acquired in accordance with the inclination of the field. FIG. 12 is a flowchart showing the rolling control of the seedling planting unit interlocked with the inclination of the traveling vehicle body by the gyro sensor. FIG. 13 is a flowchart showing control for operating the automatic steering device based on the difference in position information acquired by the left and right receiving antennas. FIG. 14 is a flowchart showing control for operating the automatic steering device based on the difference in position information acquired by the front and rear receiving antennas. FIG. 15 is a flowchart illustrating control for changing the pitching posture of the seedling planting unit based on the difference in position information acquired by the front and rear receiving antennas. FIG. 16 is a flowchart showing the rolling control of the seedling planting unit in conjunction with the steering amount of the handle. FIG. 17 is a flowchart showing control for reducing the traveling speed based on the operation time of the automatic steering device. FIG. 18 is a flowchart showing control for stopping the automatic steering device when the deviation between the actual travel position and the theoretical travel position predicted is too large.

  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. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

Embodiment
FIG. 1 is a side view of a seedling transplanter according to an embodiment. FIG. 2 is a plan view of the seedling transplanter shown in FIG. In the following description, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the control seat of the seedling transplanter. A seedling transplanter 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. Moreover, in this seedling transplanter 1 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 or backward, but also for driving the seedling planting unit 50. And 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. Further, the control seat 28 is provided with a pressure-sensitive 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 seedling transplanter 1 according to the present embodiment, the upper surface of the traveling vehicle body 2 is disposed. As viewed from the front side 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.

  In addition, a seedling planting part lifting mechanism 40 that is a lifting link mechanism for raising and lowering the seedling planting part 50 is disposed at the rear part of the traveling vehicle body 2. The seedling planting part lifting mechanism 40 includes a lifting link device 41, and the seedling planting unit 50 is attached to the traveling vehicle body 2 via the lifting link device 41. 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.

  In addition, the seedling planting unit 50 can plant a range in which a seedling is planted in a plurality of sections or a plurality of rows. In the seedling transplanting machine 1 according to the present embodiment, the seedling is planted in six sections. The seedling planting part 50 is provided. The seedling planting unit 50 includes a seedling planting device 60, a seedling placement table 51, and a float 47. 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 seedling transplanter 1 according to the present embodiment includes three planting transmission cases 64, and thereby includes six rows of planted bodies 61.

  In addition, the float 47 slides on the farm scene along with the movement of the traveling vehicle body 2 to level the ground. The center float 48 located in the center of the seedling planting part 50 in the left-right direction of the traveling vehicle body 2 and the left-right direction Side floats 49 located on both sides of the seedling planting part 50 in FIG.

  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 seedling transplanter 1 moves straight forward in the field and then moves straight forward on 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, and it becomes easy to perform a straight-ahead operation at the next planting work position, thereby 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 a hose 74 and a blower 73 that is a wind-up device for transferring the fertilizer in the fertilizer hose 74 to the seedling planting part 50 side by supplying the conveying wind to the fertilizer 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. And a groove producing device 76 for dropping the fertilizer into a fertilizer groove formed in the vicinity of the side of the seedling planting strip.

  Moreover, the seedling transplanting machine 1 according to the present embodiment includes a rolling mechanism 80 that rotates the seedling planting unit 50 about the longitudinal axis 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 on the longitudinal axis of the machine body, and the lower end side is connected to a rolling shaft 81 that supports the seedling planting part 50 so as to be slidable 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 around 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 center position sensor 106 and a maximum peristaltic position sensor 107. Among these, 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 turning 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.

  Further, the seedling transplanter 1 according to this embodiment includes a GPS control device 120 (see FIG. 7) that acquires position information of the seedling transplanter 1 by GPS (Global Positioning System). A receiving antenna 121 constituting the GPS control 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 includes two receiving antennas 121 arranged on the left and right sides of the traveling vehicle body 2, respectively, and antenna frames 124 connected to a spare seedling stage support 66, which is a support for supporting the spare seedling support 65, respectively. It is attached.

  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 extending in the left-right direction of the machine body and two frame vertical portions 126 extending downward from both ends of the frame horizontal portion 125. 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.

  The two receiving antennas 121 are both attached to the frame horizontal portion 125. Specifically, the two receiving antennas 121 are attached to the upper surface of the frame horizontal portion 125 at positions near different ends in the length direction of the frame horizontal portion 125. ing. Thus, the two receiving antennas 121 are respectively disposed on the left and right sides of the center of the traveling vehicle body 2 in the left-right direction of the vehicle body, and are disposed on both the left and right sides of the traveling vehicle body 2, respectively.

  Further, the left and right frame vertical portions 126 are respectively provided with lifting cylinders 127 that are extendable in the direction in which the frame vertical portion 126 extends. The lifting cylinder 127 can be expanded and contracted by hydraulic pressure, so that the frame vertical portion 126 can both expand and contract. When the full length of the frame vertical portion 126 expands and contracts, the position of the frame horizontal portion 125 to which the receiving antenna 121 is attached is also changed in the vertical direction of the machine body. Therefore, the antenna frame 124 and the lifting cylinder 127 are connected to the receiving antenna 121. The raising / lowering mechanism 123 which changes the up-and-down position is comprised.

  FIG. 7 is a functional block diagram of an apparatus included in the seedling transplanter shown in FIG. The seedling transplanter 1 according to the present embodiment can control each part by electronic control. For this reason, the seedling transplanter 1 includes a controller 150 that controls each part. The controller 150 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a RAM (Random Access Memory), and an input / output unit, which are connected to each other and exchange signals with each other. It is possible. The storage unit stores a computer program for controlling the seedling transplanter 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 telescopic cylinder 127 provided on the antenna frame 124, and the like are connected.

  Further, as the sensors connected to the controller 150, the rear wheel rotation sensor 23, the work clutch sensor 58, the center position sensor 106, the maximum swing position sensor 107, the gyro sensor 115, the tilt sensor 116, and the pressure sensor 130 are connected. ing. 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 seedling transplanter 1 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. For this reason, the automatic steering device 110 applies an arbitrary rotational force to the handle 32 to rotate the handle 32, and a steering detection member provided on the handle 32 to detect the steering amount and the steering direction. A handle potentiometer 112. 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 the position information or coordinate information of the seedling transplanter 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. It has become. The GPS control device 120 has a receiving antenna 121 that receives a signal from an artificial satellite used in GPS in order to acquire the position information of the seedling transplanter 1 by using GPS in this way.

  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 And a worker-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 seedling transplanter 1 according to the present embodiment has the above configuration, and the operation thereof will be described below. During operation of the seedling transplanter 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.

  The power generated by the engine 10 is used for traveling the vehicle body 2 and planting work at the seedling planting unit 50 as described above. The controller 150 uses a torque sensor or the like to check the load status of the engine 10. When monitoring and detecting that the engine 10 is overloaded, an instruction to lower the output is issued. Thereby, it is suppressed that the engine 10 continues driving | running with an overload.

  In addition, the seedling transplanter 1 according to the present embodiment performs steering by the automatic steering device 110 while acquiring the position information of the seedling transplanter 1 by the GPS control device 120 when performing planting work in the field. It is possible to perform planting work while going straight. Specifically, the seedling transplanter 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 seedling transplanter 1 on the earth at a predetermined time interval. Get every.

  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 planting seedlings, the position information acquired by the receiving antenna 121 is used as information for causing the traveling body 2 to travel straight ahead by the automatic steering device 110. However, in order to improve the accuracy of the position information, the information is acquired by the receiving antenna 121. The position information is corrected as necessary. For example, the position information acquired by the receiving antenna 121 is corrected based on the front / rear inclination of the traveling vehicle body 2 detected by the inclination sensor 116.

  That is, the position information acquired by the receiving antenna 121 is acquired as two-dimensional coordinates on the ground surface. However, since the receiving antenna 121 is disposed above the traveling vehicle body 2 by the antenna frame 124, the traveling vehicle body 2 Is tilted, the antenna frame 124 is also tilted. In this case, since the position of the receiving antenna 121 when viewed from above moves, the position information acquired by the receiving antenna 121 changes even if the position of the traveling vehicle body 2 does not change. Therefore, when the tilt sensor 116 detects that the traveling vehicle body 2 is tilted, the position information is corrected based on the detected forward / backward tilt of the traveling vehicle body 2.

  Specifically, as shown in FIG. 11, when the tilt sensor 116 detects the tilt of the aircraft in the elevation direction, the position information before detecting the tilt in the elevation direction and the tilt in the elevation direction are detected. The position information is corrected so that the interval with the subsequent position information is widened. That is, when the posture changes in a direction in which the traveling vehicle body 2 is tilted forward and upward, the antenna frame 124 is tilted in a direction to tilt backward. For this reason, since the receiving antenna 121 attached to the antenna frame 124 moves rearward, the position information acquired by the receiving antenna 121 is acquired as information positioned rearward of the actual position of the traveling vehicle body 2. Is done. Therefore, when the tilt of the aircraft in the elevation angle direction is detected, the position information acquired in the tilted state is corrected in a direction to shift forward, thereby widening the interval with the position information before the elevation angle tilt is detected. Thus, accurate position information is acquired.

  On the contrary, when the inclination sensor 116 detects the inclination of the aircraft in the depression direction, the interval between the position information before detecting the depression in the depression direction and the position information after detecting the depression in the depression direction is an interval. The position information is corrected so as to be narrowed. That is, when the posture changes in a direction in which the traveling vehicle body 2 tilts forward and downward, the antenna frame 124 tilts in a direction that falls forward. For this reason, since the receiving antenna 121 attached to the antenna frame 124 moves forward, the position information acquired by the receiving antenna 121 is acquired as information positioned ahead of the actual position of the traveling vehicle body 2. Is done. Therefore, when the inclination of the aircraft in the depression direction is detected, the position information acquired in the inclined state is corrected in the direction to shift backward, thereby narrowing the interval with the position information before detecting the depression in the depression direction. Thus, accurate position information is acquired.

  As described above, the receiving antenna 121 for acquiring the position information is arranged such that the two receiving antennas 121 are disposed on the left and right sides of the traveling vehicle body 2, but by acquiring the separate information with the two receiving antennas 121, Get highly accurate position information. For example, as a transmitting device that transmits position information acquired by two receiving antennas 121, a GPS satellite group that transmits main position information is a main position information transmitting device, and a GPS satellite group that transmits auxiliary position information is When the relay antenna is an auxiliary position information transmission device, information from both devices is acquired by separate reception antennas 121. Some GPS satellites may be the same in the GPS satellite group including the main position information transmission device and the GPS satellite group including the auxiliary position information transmission device.

  That is, of the left and right receiving antennas 121, one receiving antenna 121 acquires information from a main position information transmitting device that is a GPS satellite group, and the other receiving antenna 121 transmits auxiliary position information such as an auxiliary GPS satellite group. Get information from the device. Furthermore, the position information acquired by the left and right receiving antennas 121 is compared with each other, and the automatic steering device 110 is operated by the controller 150 according to the difference in the position information. For example, as shown in FIG. 13, when the traveling vehicle body 2 is oriented obliquely with respect to the straight traveling path stored in the information storage terminal 140, the position information acquired by the left and right receiving antennas 121 is a straight traveling path. It is acquired as information on a different position with respect to the direction. For this reason, in this case, the automatic steering device 110 is operated in the direction in which the handle 32 is steered so that the difference between the two pieces of position information becomes small.

  When working in the field, the traveling vehicle body 2 travels while acquiring position information with the receiving antenna 121 as described above. When the work clutch sensor 58 detects the operation of the seedling planting unit 50, the lifting mechanism 123 receives the signal. The antenna 121 is lowered. That is, when the work clutch sensor 58 detects that power is transmitted to the seedling planting unit 50, the controller 150 contracts the two lifting cylinders 127 included in the lifting mechanism 123. When the two lifting cylinders 127 are contracted, the total length of the two frame vertical portions 126 is shortened, so that the position of the frame horizontal portion 125 is lowered, and the position of the receiving antenna 121 attached to the frame horizontal portion 125 is also lowered. At the time of planting work in the seedling planting unit 50, the traveling vehicle body 2 is caused to travel straight by the automatic steering device 110 with the receiving antenna 121 lowered.

  As shown in FIG. 17, when the steering potentiometer 112 detects the operation of the handle 32 by the steering motor 111 for a predetermined time or more while the traveling vehicle body 2 is traveling straight by the automatic steering device 110, the controller By controlling the throttle motor 12 and the like of the engine 10 at 150, the vehicle speed of the traveling vehicle body 2 is reduced. That is, operating the steering wheel 32 with the steering motor 111 for a long time indicates that the traveling vehicle body 2 is significantly deviated from the straight traveling direction. For this reason, in this case, by reducing the vehicle speed, the range of planting work performed in a state where the traveling vehicle body 2 is deviated from the straight traveling direction is reduced.

  If the tilt sensor 116 detects the front-back tilt of the traveling vehicle body 2 while the traveling vehicle body 2 is traveling straight by the automatic steering device 110, the controller 150 performs control so that the traveling vehicle body 2 is not accelerated or decelerated. That is, when the traveling vehicle body 2 tilts forward or backward, the vehicle speed does not change and remains constant.

  As shown in FIG. 18, when the traveling body 2 is traveling straight by the automatic steering device 110, if the actual traveling path for the target straight traveling path exceeds the set allowable range, the controller 150 Stops the traveling of the traveling vehicle body 2 and displays on the display unit of the information storage terminal 140 that the traveling road is greatly deviated from the target. If the actual runway deviates significantly from the target, an alarm is given by the information storage terminal 140 instead of stopping the run to notify the operator that the runway is deviating from the target. Good.

  In addition, at the time of seedling planting work, the seedling planting work is performed by the rolling mechanism 80 in a state where the seedling planting unit 50 is horizontal with respect to the field scene. Specifically, as shown in FIG. 12, the gyro sensor 115 detects the lateral inclination of the traveling vehicle body 2, and the rolling mechanism 80 operates in accordance with the inclination angle of the traveling vehicle body 2 detected by the gyro sensor 115. The motor 84 is activated. Thereby, the seedling planting part 50 rotates around the rolling shaft 81 and becomes horizontal with respect to the farm field.

  As described above, when the posture of the seedling planting unit 50 is adjusted by the rolling mechanism 80, the horizontal inclination of the traveling vehicle body 2 is detected using the position information acquired by the left and right receiving antennas 121. That is, when the traveling vehicle body 2 is inclined in the left-right direction, the distance between the left and right receiving antennas 121 is reduced. For this reason, when the distance between the positional information acquired by the left and right receiving antennas 121 is small, it can be determined that the traveling vehicle body 2 is inclined in the left-right direction. When the orientation of the seedling planting unit 50 is adjusted by the rolling mechanism 80, the degree of inclination of the traveling vehicle body 2 is estimated based on the respective position information acquired by the left and right receiving antennas 121 in this way, and the gyro sensor Together with the detection value at 115, the inclination angle of the traveling vehicle body 2 is estimated with high accuracy, and the orientation of the seedling planting unit 50 is adjusted.

  Further, when the handle potentiometer 112 detects the steering of the handle 32, the rolling mechanism 80 rolls the seedling planting unit 50 in the same direction as the steering direction. That is, as shown in FIG. 16, when the handle potentiometer 112 detects steering of the handle 32, the rolling mechanism 80 operates the electric motor 84 with an operation amount corresponding to the steering amount of the handle 32 detected by the handle potentiometer 112. Thereby, the rolling mechanism 80 rolls the seedling planting part 50 in the same direction as the steering direction detected by the handle potentiometer 112 at an angle corresponding to the steering amount. Note that the rolling mechanism 80 is stopped by the horizontal detection of the gyro sensor 115.

  The seedling transplanter 1 according to the above-described embodiment is configured to correct the reception antenna 121 by widening the position information interval between two points acquired before and after the aircraft body tilts in the elevation angle direction when the aircraft body tilts in the elevation angle direction. It is possible to prevent the traveling vehicle body 2 from being misidentified as being stopped or moving backward due to the displacement of the position information acquired in step (b). In addition, when the aircraft is tilted in the depression direction, the position information obtained between the two points acquired before and after the depression in the depression direction is corrected so that the distance between the two points is reduced. It is possible to prevent erroneous detection that the vehicle body 2 is traveling at a speed higher than the actual traveling speed. As a result, the traveling vehicle body 2 can be traveled straight with high accuracy, and the work accuracy performed by the seedling planting unit 50, that is, the seedling planting accuracy can be improved.

  In addition, by rolling the seedling planting unit 50 in accordance with the inclination angle of the traveling vehicle body 2 detected by the gyro sensor 115, the seedling planting unit 50 can be always in a horizontal posture when working on an inclined land. As a result, the working accuracy of the seedling planting unit 50 can be improved more reliably. Further, by using the gyro sensor 115 used for the automatic steering control in the automatic steering device 110 for the inclination detection of the traveling vehicle body 2, the number of parts when the seedling planting part 50 is maintained in the horizontal posture by the rolling mechanism 80 is determined. Reduction can be achieved.

  Further, by comparing the position information acquired by the left and right receiving antennas 121 and operating the automatic steering device 110 according to the difference in the position information, the automatic steering device 110 can correct the fine tilt of the traveling vehicle body 2. it can. As a result, it is possible to improve straight running performance and work accuracy more reliably. Further, the left and right receiving antennas 121 can acquire the position information from the different position information transmitting devices, whereby the left and right position information of the traveling vehicle body 2 can be acquired more accurately. As a result, the straight traveling posture control by the automatic steering device 100 can be performed more accurately.

  In addition, when traveling while performing planting work by the seedling planting unit 50, the distance between the receiving antenna 121 and the center of gravity of the traveling vehicle body 2 can be suppressed by lowering the vertical position of the receiving antenna 121. Can do. As a result, the position of the receiving antenna 121 is difficult to shake, so that the position information acquired by the receiving antenna 121 can be acquired with high accuracy. As a result, it is possible to improve straight running performance and work accuracy more reliably.

  In addition, by rolling the seedling planting part 50 in the same direction as the steering direction of the handle 32, the rotation of the seedling planting part 50 due to the change in the traveling direction of the traveling vehicle body 2 can be offset. The working posture of the planting unit 50 can be appropriately maintained with respect to the field. Thereby, work precision can be improved. Further, when the seedling planting part 50 is rolled, the electric motor 84 of the rolling mechanism 80 is operated with an operation amount corresponding to the operation amount of the handle 32. A reduction in work accuracy can be prevented.

  Further, when the operation time of the handle 32 is long, the vehicle speed is reduced, so that the working range of the seedling planting unit 50 during correction in the straight traveling direction can be shortened. As a result, when the work is performed at the seedling planting unit 50, the range in which the work is performed in a state where the work position is shifted can be narrowed, so that the work accuracy can be hardly lowered.

[Modification]
In the seedling transplanting machine 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. 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.

  In the seedling transplanter 1 described above, the two receiving antennas 121 included in the GPS control device 120 are disposed on the left and right sides of the traveling vehicle body 2, but the receiving antenna 121 is disposed at a position other than this. Also good. FIG. 8 is a modified example of the seedling transplanter according to the embodiment, and is a side view showing a state in which the receiving antenna is arranged in front of and behind the traveling vehicle body. FIG. 9 is a plan view of the seedling transplanter shown in FIG. For example, as shown in FIGS. 8 and 9, the reception antenna 121 included in the GPS control device 120 may have two reception antennas 121 arranged in front of and behind the traveling vehicle body 2. In this case, the antenna frame 124 is appropriately configured so that the two receiving antennas 121 can be disposed at two positions near the front end and near the rear end of the traveling vehicle body 2 at a position near the center in the left-right direction of the aircraft. .

  As described above, when the two receiving antennas 121 are arranged at the front and rear of the traveling vehicle body 2, the two receiving antennas 121 receive information from the main position information transmitting device among the front and rear receiving antennas 121. The other receiving antenna 121 obtains information from the auxiliary position information transmitting device. As a result, the two receiving antennas 121 acquire information from both the main position information transmitting apparatus and the auxiliary position information transmitting apparatus using separate receiving antennas 121.

  Furthermore, as shown in FIG. 14, the position information acquired by the front and rear receiving antennas 121 is compared, and the automatic steering device 110 is operated by the controller 150 in accordance with the difference in position information. For example, when the traveling vehicle body 2 is oriented in an oblique direction with respect to the straight traveling path stored in the information storage terminal 140, the position information acquired by the front and rear receiving antennas 121 is the position along the straight traveling path. It is acquired as information on different positions. For this reason, in this case, the automatic steering device 110 is operated in a direction in which the steering wheel 32 is steered so that the two pieces of position information become positions along the straight traveling path.

  As described above, the two receiving antennas 121 are arranged in front of and behind the traveling vehicle body 2, and the automatic steering device 110 is operated based on a plurality of pieces of position information by comparing the position information acquired by the two receiving antennas 121 respectively. Can be made. Thereby, since the shift | offset | difference of the traveling vehicle body 2 with respect to the rectilinear direction can be suppressed, rectilinear travel performance and work accuracy can be improved. Further, even if the steering position of the automatic steering device 110 is slightly deviated from the straight traveling direction, the traveling direction can be corrected immediately, so that it is possible to prevent the vehicle from traveling in a direction slightly deviated from the straight traveling. it can.

  Further, in the seedling transplanting machine 1 described above, the posture of the seedling planting unit 50 can be adjusted by the rolling mechanism 80, but the seedling planting unit 50 can adjust the posture by other than the rolling mechanism 80. It may be configured as follows. FIG. 10 is a modified example of the seedling transplanter according to the embodiment, and is a side view in the vicinity of a seedling planting portion when a pitching device is provided. As a configuration for adjusting the posture of the seedling planting unit 50, for example, as shown in FIG. 10, a pitching device 160 that changes the front and rear inclination angle of the seedling planting unit 50 may be provided. The pitching device 160 includes a connection bracket 161 that is a pitching frame and a pitching cylinder 165 that is a pitching actuator, and is arranged in the seedling raising / lowering mechanism 40.

Specifically, the connection bracket 161 is disposed on the front side of the planting support frame 55, and a parallel link mechanism 42 included in the seedling planting part lifting mechanism 40 is connected to the connection bracket 161. Of the upper link and the lower link of the parallel link mechanism 42, the lower link 176 that is the lower link is connected to the parallel link mechanism 42 by a hinge pin (lower hinge pin) 177 so as to be rotatable. The upper link 171 that is the upper link of the parallel link mechanism 42 is connected to the connecting bracket 161 at a position above the position where the hinge pin 177 of the lower link 176 is connected to the connecting bracket 161 by a hinge pin (upper hinge pin) 172. It is connected to. Specifically, the connecting bracket 161 is formed with a long hole 162 in a substantially arc shape extending in the front-rear direction of the machine body above the part where the hinge pin 177 of the lower link 176 is located, and the upper link 171. The hinge pin 172 is connected to the connection bracket 161 by entering the long hole 162.

  The pitching cylinder 165 is a cylinder that expands and contracts by hydraulic pressure. The main body side is connected to the upper link 171 and the rod side is connected to the connection bracket 161.

  The pitching device 160 configured in this manner is connected with the hinge pin 177 of the lower link 176 as a fulcrum while the hinge pin 172 of the upper link 171 moves in the long hole 162 of the connection bracket 161 by expanding and contracting the pitching cylinder 165. The bracket 161 rotates. Since the connection bracket 161 is connected to the planting support frame 55 and is provided integrally with the seedling planting part 50, the seedling planting part 50 is also integrated when the connection bracket 161 is rotated. And turn.

  As a result, the pitching device 160 expands and contracts the pitching cylinder 165 regardless of the raising / lowering state of the seedling planting unit 50 in the seedling planting unit lifting mechanism 40, thereby using the hinge pin 177 of the lower link 176 as a fulcrum. The part 50 can be rotated. That is, the pitching device 160 can adjust the posture of the seedling planting unit 50 in the pitching direction.

  As described above, the pitching device 160 that can adjust the posture of the seedling planting unit 50 adjusts the inclination of the seedling planting unit 50 according to the inclination of the traveling vehicle body 2, and thereby the seedling planting unit 50. It is possible to improve the working accuracy in For example, as shown in FIG. 15, when it is determined from the position information acquired by the receiving antenna 121 that the traveling vehicle body 2 is inclined in the elevation angle or depression direction, the pitching device 160 is detected by the rear wheel rotation sensor 23. The pitching cylinder 165 is operated in accordance with the vehicle speed, and the seedling planting part 50 is tilted forward or backward. As described above, the pitching device 160 adjusts the front / rear inclination angle of the seedling planting unit 50 with respect to the farm scene to an appropriate position by pitching the seedling planting unit 50 according to the inclination and traveling speed of the traveling vehicle body 2. be able to. As a result, the working accuracy can be improved more reliably.

  Moreover, although the traveling vehicle body 2 can travel with four wheels, the front wheel 4 and the rear wheel 5, it may be configured to change the tread of the wheel. For example, when traveling on a sloping ground where the traveling vehicle body 2 is inclined in the left-right direction, the traveling vehicle body 2 can be prevented from slipping off on the sloping ground by widening the treads of the front wheels 4 and the rear wheels 5. Moreover, when expanding the tread of a wheel, it is preferable to extend to the side where the crop etc. are not arrange | positioned in the left-right direction of the body.

  Moreover, in embodiment mentioned above, although demonstrated using the seedling transplanter 1 as an example of a working vehicle, things other than the seedling transplanter 1 may be sufficient as a working vehicle. The working vehicle 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 provided at the rear of the traveling vehicle body.

DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Traveling vehicle body 4 Front wheel 5 Rear wheel 7 Main frame 8 Traveling device 10 Engine 11 Engine cover 12 Throttle motor 15 Power transmission device 23 Rear wheel rotation sensor (vehicle speed detection member)
28 Control seat 30 Control section 32 Handle (steering member)
40 Seedling planting mechanism elevating mechanism (elevating link mechanism)
41 Elevating link device 42 Parallel link mechanism 47 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 64 planting transmission case 65 spare seedling stage 67 rotor for leveling 68 line drawing marker 70 fertilizer 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)
120 GPS controller 121 Receiving antenna (position information acquisition device)
123 Lifting mechanism 124 Antenna frame 125 Frame horizontal part 126 Frame vertical part 127 Lifting cylinder
128 rotation part 135 separation detection member 140 information storage terminal 150 controller 160 pitching device 161 connection bracket (pitching frame)
162 long hole 165 pitching cylinder (pitching actuator)
171 Upper link
172 hinge pin (upper hinge pin)
176 Lower Link
177 hinge pin (lower hinge pin)

Claims (7)

A traveling vehicle body that includes a traveling device that travels on a farm field, a steering member that steers the traveling vehicle body, a working device that is disposed at a rear portion of the traveling vehicle body, and that performs work on a farm field, and is disposed on the traveling vehicle body. A position information acquisition device that acquires position information at predetermined intervals, a direction change detection member that detects a change in the traveling direction of the traveling vehicle body, and an automatic steering that operates the steering member to maintain the traveling vehicle body in a straight traveling direction. A device, an inclination detection member that detects the front-rear inclination of the traveling vehicle body, a work detection member that detects the operation of the work device, and an elevating mechanism that changes the vertical position of the position information acquisition device,
The automatic steering device operates based on detection values of the position information acquisition device and the direction change detection member,
When the tilt detection member detects the tilt of the aircraft in the elevation direction, the interval between the position information before detecting the tilt in the elevation direction and the position information after detecting the tilt in the elevation direction is widened. To
When the inclination detection member detects the inclination of the aircraft in the depression direction, the interval between the position information before detecting the depression in the depression direction and the position information after detecting the depression in the depression direction is reduced. To
Two position information acquisition devices are arranged on the traveling vehicle body, one acquires main position information, the other acquires auxiliary position information,
2. The work vehicle according to claim 1, wherein the elevating mechanism lowers each of the two position information acquisition devices when the work detection member detects the operation of the work device. A rolling frame disposed on a frame of the working device and a rolling actuator, and provided with a rolling mechanism for rotating the working device in a horizontal direction;
The direction change detection member detects a lateral inclination of the traveling vehicle body, and the rolling mechanism operates the rolling actuator in accordance with the inclination angle of the traveling vehicle body detected by the direction change detection member. The work vehicle according to claim 1. The position information acquisition device is disposed on each of the left and right sides of the traveling vehicle body,
Of the left and right position information acquisition devices, one of the position information acquisition devices acquires information from the main position information transmission device, and of the left and right position information acquisition devices, the other position information acquisition device is an auxiliary device. Obtain information from the location information transmitter,
The work vehicle according to claim 1 or 2, wherein the position information acquired by the left and right position information acquisition devices are compared with each other, and the automatic steering device is operated according to the difference in the position information. The position information acquisition devices are respectively arranged before and after the traveling vehicle body,
Of the previous and subsequent position information acquisition devices, one of the position information acquisition devices acquires information from the main position information transmission device,
Among the position information acquisition apparatuses before and after, the other position information acquisition apparatus acquires information from the auxiliary position information transmission apparatus,
3. The work vehicle according to claim 1, wherein the position information acquired by the front and rear position information acquisition devices is compared, and the automatic steering device is operated in accordance with the difference in the position information. An elevating link mechanism that is disposed at the rear of the traveling vehicle body and elevates and lowers the working device, and includes a pitching frame and a pitching actuator, and is disposed in the elevating link mechanism to change the front and rear inclination angle of the working device. A pitching device, and a vehicle speed detection member that detects a vehicle speed of the traveling vehicle body,
When it is determined from the position information of the position information acquisition device that the traveling vehicle body is inclined in the elevation angle or depression direction, the pitching actuator is operated in accordance with the vehicle speed detected by the vehicle speed detection member, The work vehicle according to claim 3 or 4, wherein the work device is tilted forward or backward.   The steering member is provided with a steering detection member that detects a steering amount and a steering direction, and the rolling mechanism detects the steering detection member when the steering detection member detects steering of the steering member. 3. The operation device according to claim 2, wherein the rolling actuator is operated with an operation amount corresponding to a steering amount of the steering member, and the working device is rolled in the same direction as the steering direction detected by the steering detection member. Work vehicle.   The work vehicle according to claim 6, wherein when the steering detection member detects an operation of the steering member for a predetermined time or more, the vehicle speed of the traveling vehicle body is decreased.

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