JP2018186760A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem that a conventional rice transplanter cannot be prohibited from performing automatic running control.SOLUTION: A rice transplanter is provided that comprises: a running unit 30 causing a vehicle body 10 to run; a planting device 100 fitted to the vehicle body 10 and planting rice seedling on an agricultural field; and a controller 300 performing automatic run control causing the vehicle body 10 to run automatically along a prescribed route, the rice transplanter is prohibited from performing automatic run control when planting work of rice seedlings is not performed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a work vehicle such as a rice transplanter.

  2. Description of the Related Art A rice transplanter including a traveling device for traveling a vehicle body and a planting device attached to the vehicle body for planting seedlings in a farm field is known (see, for example, Patent Document 1).

  Such a rice transplanter can execute automatic traveling control for automatically traveling the vehicle body along a predetermined route.

JP, 2006-010336, A

  By the way, the present inventor considers that it is desirable to prohibit automatic traveling control in some cases.

  For example, the present inventor desirably prohibits automatic traveling control so that safe manual traveling according to the operator's judgment is reliably performed in road traveling outside the field where planting work is not performed. I believe.

  However, the present inventor has realized that automatic traveling control cannot be prohibited in a conventional rice transplanter.

  An object of the present invention is to provide a work vehicle capable of improving safety in consideration of the above-described conventional problems.

The first aspect of the present invention is a traveling device (30) for traveling the vehicle body (10),
A planting device (100) attached to the vehicle body (10) for planting a transplant into a field;
A controller (300) for executing automatic traveling control for automatically traveling the vehicle body (10) along a predetermined route;
With
In the case where the transplanting operation of the implant is not executed, the automatic traveling control is prohibited.

The second aspect of the present invention comprises a leveling device (60) for leveling the field,
The case where the planting operation is not executed is a case where the leveling device (60) is not operating, in the work vehicle according to the first aspect of the present invention.

3rd this invention is equipped with the conveying apparatus (200) which conveys the said implant to the said planting apparatus (100),
The case where the planting operation is not performed is a case where the transfer device (200) is not operating, which is the work vehicle according to the first aspect of the present invention.

4th this invention, The conveying apparatus (200) which conveys the said transplant to the said planting apparatus (100),
A transport operation detecting device (210) for detecting an operation state of the transport device (200);
A cleaning device (220) for cleaning the transport operation detecting device (210);
With
The case where the planting operation is not executed is a case where the cleaning device (220) is not operating, in the work vehicle according to the first aspect of the present invention.

The fifth aspect of the present invention is a transfer device (200) for transferring the implant to the planting device (100);
A transport operation detecting device (210) for detecting an operation state of the transport device (200);
With
The case where the planting operation is not performed is a case where the transport operation detecting device (210) does not detect the on state of the transport device (200). It is a work vehicle.

6th this invention is equipped with the marker (80) attached so that accommodation to the said vehicle body (10) which forms the mark used as the standard of the said planting operation | work of the following process in the said field,
The case where the planting operation is not executed is a case where the marker (80) is stored so as not to form the mark on the farm field. is there.

The seventh aspect of the present invention comprises an engine (20) attached to the vehicle body (10),
In the case where the planting operation is being performed and the automatic traveling control is being performed, when a predetermined event has occurred, the occurrence of the predetermined event is notified to the outside, and the engine (20) The engine vehicle according to any one of the first to sixth aspects of the present invention is characterized in that the engine speed is reduced to a predetermined speed.

The eighth aspect of the present invention is a GPS device (400) attached to the vehicle body (10),
A received radio wave level detecting device (410) for detecting a received radio wave level of the GPS device (400);
With
The time when the predetermined event has occurred is when the received radio wave level detection device (410) has not detected the received radio wave level exceeding a predetermined radio wave level. It is the work vehicle of this invention.

The ninth aspect of the present invention includes a tablet terminal device (500) that is detachably attached to the vehicle body (10), and that generates a field map on which the edge of the field is displayed.
The work vehicle according to the seventh aspect of the present invention is characterized in that the time when the predetermined event has occurred is a time when the closest approach level of the vehicle body (10) exceeds a predetermined approach level. It is.

A tenth aspect of the present invention includes a vehicle body inclination level detection device (600) for detecting a vehicle body inclination level of the vehicle body (10),
The time when the predetermined event has occurred is when the vehicle body inclination level detecting device (600) detects the vehicle body inclination level exceeding a predetermined inclination level. It is the work vehicle of this invention.

The eleventh aspect of the present invention is a travel device (30) for traveling the vehicle body (10),
A planting device (100) attached to the vehicle body (10) for planting a transplant into a field;
A controller (300) for executing automatic traveling control for automatically traveling the vehicle body (10) along a predetermined route;
A GPS device (400) attached to the vehicle body (10);
A memory (510) for storing a field map on which the field is displayed;
With
The automatic traveling control is prohibited when the GPS position of the vehicle body (10) is outside the range of the field displayed on the field map.

  According to the first aspect of the present invention, the automatic traveling control is prohibited when the transplanting operation is not being performed, so that the safety can be improved.

  According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, the case where the planting operation is not being executed is the case where the leveling device (60) is not operating, so that the safety is improved. It is possible to avoid complication of the configuration.

  According to the third aspect of the present invention, in addition to the effects of the first aspect of the present invention, the case where the planting operation is not performed is the case where the transport device (200) is not operating, thereby improving safety. It is possible to avoid complication of the configuration.

  According to the fourth aspect of the present invention, in addition to the effects of the first aspect of the present invention, the case where the planting operation is not performed is the case where the cleaning device (220) is not operating, so that the safety is improved. It is possible to avoid complication of the configuration.

  According to the fifth aspect of the present invention, in addition to the effect of the first aspect of the present invention, when the planting operation is not performed, the transport operation detecting device (210) detects the ON state of the transport device (200). Since this is not the case, it is possible to avoid complication of the configuration accompanying improvement in safety.

  According to the sixth aspect of the present invention, in addition to the effects of the first aspect of the present invention, the case where the planting operation is not performed is a case where the marker (80) is stored so as not to form the mark on the field. Therefore, it is possible to avoid complication of the configuration accompanying the improvement of safety.

  According to the seventh aspect of the present invention, in addition to the effects of any one of the first to sixth aspects of the present invention, when a planting operation is performed and automatic traveling control is performed, a predetermined event occurs. When this occurs, the occurrence of a predetermined event is notified to the outside, and the engine speed of the engine (20) is reduced to a predetermined speed, so that safety can be further improved. is there.

  According to the eighth aspect of the present invention, in addition to the effect of the seventh aspect of the present invention, when a predetermined event occurs, the received radio wave level detection device (410) has a received radio wave level exceeding a predetermined radio wave level. Therefore, it is possible to avoid complication of the configuration due to further improvement in safety.

  According to the ninth aspect of the present invention, in addition to the effect of the seventh aspect of the present invention, when the predetermined event occurs, the closest approach level of the vehicle body (10) exceeds a predetermined approach level. Therefore, it is possible to avoid complication of the configuration due to further improvement in safety.

  According to the tenth aspect of the present invention, in addition to the effects of the seventh aspect of the present invention, when the predetermined event occurs, the vehicle body inclination level detection device (600) exceeds a predetermined inclination level. Therefore, it is possible to avoid complication of the configuration due to further improvement in safety.

  According to the eleventh aspect of the present invention, when the GPS position of the vehicle body (10) is outside the range of the field displayed on the field map, automatic traveling control is prohibited, so that safety can be improved. .

Left side view of a rice transplanter according to an embodiment of the present invention The top view of the rice transplanter of embodiment in this invention Block diagram of power transmission system and control system of rice transplanter of embodiment of the present invention The front view of the washing | cleaning-liquid tank vicinity of the vehicle body right side of the rice transplanter of embodiment in this invention Right side view of the vicinity of the rotation sensor of the rice transplanter of the embodiment of the present invention (A) Left side view of the vicinity of the transfer switch of the rice transplanter of the embodiment of the present invention, (b) Rear view of the vicinity of the transfer switch of the rice transplanter of the embodiment of the present invention, (c) Embodiment of the present invention. Right side view near the transfer switch of the rice transplanter Left side view of the vicinity of the transfer motor of the rice transplanter of the embodiment of the present invention The top view of the marker vicinity of the vehicle body right side of the rice transplanter of embodiment in this invention

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, the configuration and operation of the rice transplanter of the present embodiment will be specifically described with reference to FIGS.

  1 is a left side view of the rice transplanter according to the embodiment of the present invention, FIG. 2 is a top view of the rice transplanter according to the embodiment of the present invention, and FIG. 3 is a view of the embodiment of the present invention. It is a block diagram of the power transmission system and control system of a rice transplanter.

  1 and 2, an eight-row riding type pot seedling rice transplanter is shown. The planting apparatus 100 includes four planting units 110, and each planting unit 110 includes a pair of left and right planting units 110. It has two rotary planting rods 111. And in order to make an understanding easy, about the marker 80 of the vehicle body left side, two states are shown simultaneously.

  The rice transplanter of the present embodiment is an example of a work vehicle in the present invention, and the seedling of the present embodiment is an example of a transplant in the present invention.

  First, the basic configuration and operation of the rice transplanter of the present embodiment will be described. Therefore, when the rice transplanter according to the present embodiment is not performing seedling planting work, the point of prohibiting automatic traveling control will be described in detail later.

  The driving unit 50 has a seat 52 provided above the engine cover 21.

  A steering handle 51 for operating the front wheel 31 is provided in front of the seat 52. A horizontal step floor 53 is provided on both the left and right sides of the engine cover 21. Further, on both the left and right sides of the steering handle 51, spare seedling platforms 101 are provided.

  The traveling device 30 is a device that causes the vehicle body 10 to travel.

  The leveling device 60 is a device for leveling the field.

  The marker 80 is a marker that is attached to the vehicle body 10 so as to be housed, and forms a mark on the farm field that serves as a standard for planting work in the next process.

  The planting device 100 is a device attached to the vehicle body 10 for planting seedlings in a farm field.

  The transport device 200 is a device that transports seedlings to the planting device 100.

  The planting device 100 is attached to the rear side of the vehicle body 10 via a planting device lifting mechanism 90. The main body of the fertilizer applicator 70 is attached to the upper side of the vehicle body 10.

  Rotational power of the engine 20 attached to the main frame 11 is transmitted to a sub-transmission device of the transmission mechanism 43 through an HST (Hydro Static Transmission) mechanism 42 and the like. The rotational power shifted in the transmission mechanism 43 is divided into traveling power used in the front wheels 31 and rear wheels 32 of the traveling device 30 and external extraction power used in the planting unit 110 of the planting device 100 and the like. To be separated.

  A part of the traveling power is transmitted to the left and right front wheel final cases to drive the pair of left and right front wheels 31, and the rest of the traveling power is transmitted to the left and right rear wheel gear cases to drive the pair of left and right rear wheels 32. A part of the traveling power transmitted to the left rear wheel gear case is transmitted to the leveling rotor drive shaft to drive the leveling rotor 61.

  The transport operation detection device 210 is a device that detects an operation state of the transport device 200.

  The cleaning device 220 is a device that cleans the transport operation detection device 210.

  The controller 300 is a controller that executes automatic traveling control for automatically traveling the vehicle body 10 along a predetermined route.

  The received radio wave level detection device 410 is a device that detects the received radio wave level of a GPS (Global Positioning System) device 400 attached to the vehicle body 10.

  The tablet terminal device 500 is a device that is attached to the vehicle body 10 so as to be detachable, and generates a farm field map in which the closeness of the farm field is displayed.

  The memory 510 is a memory that stores an agricultural field map on which an agricultural field is displayed.

  The vehicle body tilt level detection device 600 is a device that detects the vehicle body tilt level of the vehicle body 10.

  (A) The point which prohibits automatic traveling control when the rice transplanter of this Embodiment is not performing the seedling planting operation | work is demonstrated in detail.

  In typical automatic traveling control, a plurality of target routes parallel to the linear teaching route are generated as predetermined routes based on position information from the GPS device 400, and the vehicle body 10 follows the predetermined route. Can be run automatically. When the vehicle body 10 moves to the target route of the next process, the automatic traveling control is restrained, and it may be performed manually or semi-automatically based on an operator's instruction using a turn instruction button or the like. May be.

  In the present embodiment, the automatic travel control is executed when the automatic travel control mode is turned on by the automatic travel control mode instruction switch 310.

  Of course, the automatic traveling control mode instruction switch 310 is not mounted, and automatic traveling control may always be executed unless prohibited.

  Such automatic traveling control functioning as straight assist control is convenient, but in some cases, it is desirable to prohibit automatic traveling control even when the automatic traveling control mode is on.

  For example, when traveling on the road outside the field where planting work is not performed, it is desirable to prohibit automatic travel control so that safe manual travel according to the operator's judgment is reliably performed.

  And even in the empty planting traveling in the field for memorizing the azimuth with the setting of the teaching path where planting work is not performed, automatic traveling is performed so that accurate manual traveling according to the operator's judgment is performed reliably. It is desirable to prohibit control.

  Then, the rice transplanter of this Embodiment prohibits automatic traveling control, when the seedling planting work is not performed.

  In the present embodiment, the case where the planting operation is not executed is the case where the leveling device 60 is not operating.

  In the present embodiment, the controller 300 assumes the scene where automatic traveling control is prohibited when the planting work is not being executed, and the detected leveling device 60 detects the operating state of the leveling device 60. 62.

  For example, the leveling motion detection device 62 detects the on / off state of the four leveling rotors 61 using four rotation sensors, and in the straight traveling assist control, the on state of at least one leveling rotor 61 is detected. In some cases, and forbidden in the case where the off-state of the four leveling rotors 61 is detected.

  More specifically, it is as follows. That is, among the four planting units 110, the planting unit 110 to perform the planting operation is selected using the partial strip clutch mechanism, and the leveling rotor 61 corresponding to the planting unit 110 that is not selected is selected. Is off. Therefore, the straight traveling assist control is permitted when the leveling rotor 61 corresponding to at least one planting unit 110 is turned on, and is otherwise prohibited.

  In short, not only in the configuration in which the controller 300 does not directly or indirectly control the operation state of the leveling device 60, but also in the configuration in which the controller 300 directly or indirectly controls the operation state of the leveling device 60. The operation state of the leveling device 60 detected manually or indirectly may be reported to the controller 300 and used to prohibit automatic traveling control.

  In an embodiment, the controller 300 receives an operator's instruction from the leveling manual instruction switch of the leveling rotor 61 on the assumption that the automatic traveling control is prohibited when the planting operation is not performed. Also good.

  In short, in the configuration in which the controller 300 receives the operator's instruction and directly or indirectly controls the operation state of the leveling device 60, the operation state of the leveling device 60 is naturally recognized by the controller 300. Alternatively, the indirectly detected operation state of the leveling device 60 may be reported to the controller 300 and used to prohibit the automatic traveling control, but may not be reported to the controller 300.

  In these embodiments, the automatic traveling control is prohibited when the leveling device 60, which is regarded as a case where the planting work is not executed, is not operating. Therefore, there is almost no possibility that the automatic traveling control is executed when moving from the field to the field or traveling on the road.

  (A1a) It should be noted that another embodiment in which the planting operation is not executed is a case where the transfer device 200 is not operating is also conceivable.

  In an embodiment, the controller 300 assumes a situation where automatic traveling control is prohibited when a planting operation is not being executed, and detects the detected operating state of the cleaning liquid pump 221 from the cleaning operation detection device 225. May be reported.

  For example, as shown in FIGS. 4 and 5, the cleaning operation detection device 225 detects the on / off state of the cleaning liquid pump 221 using an energization sensor, and the straight travel assist control detects the on state of the cleaning liquid pump 221. Is permitted, and is prohibited when the OFF state of the cleaning liquid pump 221 is detected.

  4 is a front view of the vicinity of the cleaning liquid tank 222 on the right side of the vehicle body of the rice transplanter according to the embodiment of the present invention. FIG. 5 is a right side view of the vicinity of the rotation sensor 211 of the rice transplanter according to the embodiment of the present invention. It is.

  The fact that the rotation operation of the rotation part of the rotation sensor 211 depicted in the vicinity of the center in FIG. 5 or other operations related to the rotation operation is not normally detected indicates that the pot seedling seedling tray 102 is clogged for some reason. I suggest that.

  More specifically, it is as follows. That is, the four seedling trays 102 before use in which pot seedlings are stored corresponding to the four planting parts 110 are transported along the transporting path 204 of the transporting device 200 and the pot seedlings are taken out after use. The seedling tray 102 is collected by the seedling tray collection device 230. The transport motor 201 of the transport apparatus 200 may be a motor that intermittently moves the feed roller of the seedling tray 102, or a motor that intermittently moves a feeding hook that engages with the feed hole of the seedling tray 102 in the vertical direction. There may be. The cleaning liquid in the pair of left and right cleaning liquid tanks 222 is fed through the cleaning liquid tube 224 by the electric cleaning liquid pump 221 and ejected from the cleaning liquid nozzle 223 toward the rotation sensor 211 of the transport operation detection device 210 that functions as a stock removal sensor. Is done. The cleaning liquid in the cleaning liquid tank 222 on the right side of the vehicle body that functions as a main tank to which the cleaning liquid pump 221 is attached is not only sent by the single cleaning liquid pump 221 through the cleaning liquid tube end 224a, but also functions as a sub tank. Since the cleaning liquid in the cleaning liquid tank 222 on the left side of the vehicle body is also fed through the cleaning liquid tube end 224b, the cleaning liquid pump 221 and the cleaning liquid tube end 224a in this order, the number of parts is reduced. When the planting work is being performed, the rotation sensor 211 is cleaned so that foreign matter such as mud does not adhere. The cleaning liquid pump 221 for cleaning the rotation sensor 211 at the time of planting is mounted as standard, unlike the leveling device 60 which is not mounted depending on the rice transplanter specifications, and is therefore suitable as a monitoring target of the operation state.

  In this embodiment, the case where the planting operation is not executed is the case where the cleaning device 220 is not operating.

  In an embodiment, the controller 300 assumes the situation where automatic traveling control is prohibited when a planting operation is not being executed, and detects the detected operating state of the transfer switch 202 from the transfer operation detection device 210. May be reported.

  For example, as illustrated in FIG. 6, the conveyance operation detection device 210 detects the on / off state of the four conveyance switches 202 using four energization sensors, and the straight-ahead assist control performs at least one conveyance operation. This is permitted when the on state of the switch 202 is detected, and is prohibited when the off state of the four transport switches 202 is detected.

  6A is a left side view of the vicinity of the transfer switch 202 of the rice transplanter according to the embodiment of the present invention, and FIG. 6B is the vicinity of the transfer switch 202 of the rice transplanter according to the embodiment of the present invention. FIG. 6C is a right side view of the vicinity of the transfer switch 202 of the rice transplanter according to the embodiment of the present invention.

  The direction of the line of sight in FIG. 6C is considered to coincide with the direction of the line of sight in FIG.

  More specifically, it is as follows. That is, among the four planting units 110, the planting unit 110 to perform the planting operation is selected using the partial strip clutch mechanism, and the transfer switch 202 corresponding to the planting unit 110 that is not selected is selected. Stays off. Therefore, in the straight-ahead assist control, the transfer switch 202 that functions as a box feed switch for feeding the box-shaped seedling tray 102 in the direction of the arrows X1 to X3 corresponding to at least one planting unit 110 is set at a specified time interval. Accordingly, it is permitted when it is turned on intermittently, otherwise it is prohibited. The transport motor 201 and the transport switch 202 are mounted as standard, unlike the ground leveling device 60 that is not mounted depending on the rice transplanter specifications, and thus are suitable as monitoring targets for the operation state.

  In an embodiment, the controller 300 reports the detected operation state of the transport motor 201 from the rotation sensor 211, assuming a situation where automatic traveling control is prohibited when a planting operation is not performed. May be.

  For example, as shown in FIG. 5, the transport operation detection device 210 detects the on / off state of the four transport motors 201 using the four rotation sensors 211, and the straight travel assist control is performed by at least one This is permitted when the on state of the transport motor 201 is detected, and is prohibited when the off state of the four transport motors 201 is detected.

  More specifically, it is as follows. That is, among the four planting units 110, the planting unit 110 to perform the planting operation is selected using the partial strip clutch mechanism, and the conveyance motor 201 corresponding to the planting unit 110 that is not selected is selected. Stays off. Accordingly, the straight-ahead assist control is permitted when the transport motor 201 corresponding to at least one planting unit 110 is intermittently turned on according to the specified time interval, and is otherwise prohibited. Since the conveyance motor 201 and the rotation sensor 211 are mounted as standard, unlike the ground leveling device 60 that is not mounted depending on the rice transplanter specifications, the conveyance motor 201 and the rotation sensor 211 are suitable as monitoring targets for the operation state.

  In these embodiments, the case where the planting operation is not performed is a case where the transport operation detection device 210 has not detected the on state of the transport device 200.

  In short, not only in the configuration in which the controller 300 does not directly or indirectly control the operation state of the transport apparatus 200, but also in the configuration in which the controller 300 directly or indirectly controls the operation state of the transport apparatus 200. The operation state of the conveying apparatus 200 detected manually or indirectly may be reported to the controller 300 and used to prohibit automatic traveling control.

  In an embodiment, as shown in FIG. 7, the controller 300 conveys the operator's instruction on the assumption that the automatic traveling control is prohibited when the planting operation is not performed. You may receive from the conveyance manual instruction | indication switch 203 of the motor 201. FIG.

  FIG. 7 is a left side view of the vicinity of the transfer motor 201 of the rice transplanter according to the embodiment of the present invention.

  In short, in the configuration in which the controller 300 receives the operator's instruction and directly or indirectly controls the operation state of the transport apparatus 200, the operation state of the transport apparatus 200 is recognized by the controller 300, so Alternatively, the indirectly detected operation state of the transport apparatus 200 may be reported to the controller 300 and used to prohibit automatic traveling control, but may not be reported to the controller 300.

  In these embodiments, the automatic travel control is prohibited when the conveyance device 200 that is regarded as a case where the planting work is not being executed is not operating. Therefore, there is almost no possibility that the automatic traveling control is executed when moving from the field to the field or traveling on the road.

  (A1b) Another embodiment in which the planting operation is not executed is a case where the marker 80 is stored so as not to form the mark on the field.

  In an embodiment, the controller 300 reports the storage state of the detected marker 80 from the marker storage detection device 82, assuming a situation in which automatic traveling control is prohibited when a planting operation is not performed. May be.

  For example, as shown in FIG. 8, the marker storage detection device 82 detects the storage state of the pair of left and right two markers 80 using two contact sensors, This is permitted when the storage state of both the markers 80 is not detected, and is prohibited when the storage state of both the two markers 80 is detected.

  FIG. 8 is a top view of the vicinity of the marker 80 on the right side of the vehicle body of the rice transplanter according to the embodiment of the present invention.

  More specifically, it is as follows. That is, the marker 80 is a front marker that is attached to the marker stay 81 and is manually rotated. The contact sensor of the marker storage detecting device 82 may be a push-on switch attached to the vehicle body inner side position P1 of the marker folding fulcrum part, or a push-off switch attached to the vehicle body outer side position P2 of the marker folding fulcrum part. It may be a switch. The marker 80 is mounted as standard unlike the leveling device 60 that is not mounted depending on the rice transplanter specifications, and is therefore suitable as a monitoring target of the operation state.

  In short, not only in the configuration in which the controller 300 does not directly or indirectly control the storage state of the marker 80, but also in the configuration in which the controller 300 directly or indirectly controls the storage state of the marker 80, The storage state of the marker 80 detected indirectly may be reported to the controller 300 and used to prohibit automatic traveling control.

  In an embodiment, the controller 300 assumes the situation where automatic traveling control is prohibited when a planting operation is not being executed, and the operator's instruction is sent from the rotation manual instruction switch of the marker rotation motor. You may receive it.

  In short, in the configuration in which the controller 300 receives the operator's instruction and directly or indirectly controls the storage state of the marker 80, the storage state of the marker 80 is recognized by the controller 300, so it is directly or indirectly. The storage state of the marker 80 detected automatically may be reported to the controller 300 and used to prohibit the automatic travel control, but may not be reported to the controller 300.

  In these embodiments, the automatic travel control is prohibited when the marker 80 that is considered to be a case where the planting operation is not executed is housed. Therefore, there is almost no possibility that the automatic traveling control is executed when moving from the field to the field or traveling on the road.

  (A2) In addition, when the rice transplanter of this embodiment is outside the range of the field displayed on the field map, another embodiment that prohibits automatic traveling control is also available. ,Conceivable.

  Even in such another embodiment, in the traveling on the road outside the field where the planting operation is not executed, the safe manual traveling according to the judgment of the operator is surely performed.

  (B) When planting work is being performed and automatic traveling control is being performed, when a predetermined event has occurred, the occurrence of the predetermined event is notified to the outside and attached to the vehicle body 10 The point that the engine speed of the engine 20 can be decreased to a predetermined speed will be described in detail.

  In the present embodiment, the time when a predetermined event is occurring is when received radio wave level detection device 410 has not detected a received radio wave level exceeding a predetermined radio wave level.

  After the warning is output to the outside using the notification device 700 having a buzzer or a lamp for notifying the start of manual turning, the automatic traveling control that has been executed is suspended.

  Then, the engine speed is reduced to the idling speed by using the electric accelerator mechanism 41 that can automatically reduce the fuel supply to the engine 20.

  In an embodiment, the HST output rotational speed may be decreased using the electric HST mechanism 42. However, although the electric HST mechanism 42 is a mechanism that is not mounted depending on the rice transplanter specification, the electric accelerator mechanism 41 is a mechanism that is mounted as a standard regardless of the rice transplanter specification and is suitable as a control target. .

  In an embodiment, the engine speed may be decreased so that the engine 20 is stopped and becomes zero unless the automatic traveling control mode is turned off by the automatic traveling control mode instruction switch 310. However, if the engine speed is reduced to zero, it may take longer to complete the manual return to resume planting work, but the engine speed is not zero. If the rotation speed is decreased, the time required to complete the manual return is not so long.

  Furthermore, the rear wheel side clutch mechanism 44 is turned off at the same time as the engine speed is decreased.

  The rear wheel side clutch mechanism 44 is a hydraulic control mechanism for intermittently turning on and off the traveling power transmitted by the transmission device to the rear wheel 32 on the inside of the turn so that mud adhering to the tire easily falls. Since it is mounted as standard regardless of the machine specifications, it is suitable as a control target.

  Even if the front wheels 31 are driven, if the rear wheels 32 are not driven, it is impossible to travel in the field requiring a large amount of power. Therefore, the vehicle body 10 stops when the rear wheel side clutch mechanism 44 is turned off. To do.

  When the received radio wave level detection device 410 does not detect a received radio wave level exceeding a predetermined radio wave level, after the alarm is output, the automatic travel control is suspended and the engine speed is decreased. Since the wheel side clutch mechanism 44 is turned off, safety is improved.

  (B1) It should be noted that another embodiment in which the predetermined event is occurring is when the closest approach level of the vehicle body 10 exceeds a predetermined approach level.

  Also in such another embodiment, for example, when the distance from the vehicle body 10 to the heel is less than 8 meters, after the warning is output, the automatic travel control is stopped and the engine speed is decreased. At the same time, the rear wheel side clutch mechanism 44 is turned off.

  Therefore, there is almost no fear that the vehicle body 10 gets into the shore, so safety is improved.

  (B2) Further, when the predetermined event has occurred, another embodiment in which the vehicle body inclination level detection device 600 detects a vehicle body inclination level exceeding a predetermined inclination level is also provided. ,Conceivable.

  Also in such another embodiment, for example, when the inclination angle of the vehicle body 10 with respect to the horizontal plane is larger than 10 degrees, after the warning is output, the automatic travel control is stopped and the engine speed is decreased. At the same time, the rear wheel side clutch mechanism 44 is turned off.

  Therefore, there is almost no fear that the vehicle body 10 gets on the heel and tilts, so that safety is improved.

  (C) The point that the differential lock is turned on when the depths of the right and left sides of the vehicle body are different from each other or exceed a predetermined depth, which is detected by the pair of left and right field depth sensors, will be described.

  As described above, in typical automatic traveling control, a plurality of target routes parallel to the linear teaching route are generated as predetermined routes based on position information from the GPS device 400, and the vehicle body 10 is thus It is automatically run along a predetermined route.

  Therefore, when the straight-ahead assist control is being executed, the diff lock is turned on when the depths of the right side and the left side of the vehicle are different or exceed a predetermined depth.

  Then, the differential gear does not function, and the pair of left and right rear wheels 32 are driven at the same rotation speed, so that the straight traveling accuracy of the vehicle body 10 is increased, and the fertilizer overlapping spraying planting section and fertilizer non-spreading in fertilization by the fertilizer application device 70 Planting sections are less likely to occur and planting accuracy is increased.

  Then, based on the steering information by the steering angle sensor of the steering handle 51 or the position information by the GPS device 400, the rotation of the pair of left and right rotary planting rods 111 included in the planting unit 110 causes the vehicle body 10 to go straight. It may be slightly different depending on the accuracy.

  Then, by absorbing fluctuations in the direction of the vehicle body 10, the positions of the two corresponding seedlings planted by the two rotary planting rods 111 can be made to coincide with each other in terms of the straight direction. The positions of the two seedlings are straight, and future harvesting operations are easily performed.

  (D) The unmanned automatic planting work of the rice transplanter of this embodiment will be described.

  Units such as the seat 52 that are not necessary in the unattended automatic planting operation are removed from the vehicle body 10.

  The distance between the front wheel 31 and the rear wheel 32 in the longitudinal direction of the vehicle body is about 1 meter, and the GPS device 400 is attached to the center of the roof top of the vehicle body 10 so as to ensure a sufficient received radio wave level.

  A camera, a lamp, and the like may be attached to the front side portion of the vehicle body 10.

  The traveling in the field is performed by the automatic traveling control described above, and the traveling outside the field is performed by the remote traveling control using a wireless remote controller.

  A drawer-type material storage unit that stores materials such as seedlings and fertilizers and can be pulled out forward is attached to the front portion of the vehicle body 10.

  Four belt conveyors for automatically supplying spare seedlings with an unmanned air vehicle such as a drone, the rear part of which is connected to a seedling tank, correspond to the four planting parts 110 and are located above the step floor 53. May be provided.

  Continuous planting, which is difficult in current manned planting work or semi-automatic planting work, is realized, and labor saving and efficiency improvement of the planting work are promoted.

  The work vehicle in the present invention can improve safety and is useful for the purpose of being used in a work vehicle such as a rice transplanter.

DESCRIPTION OF SYMBOLS 10 Car body 11 Main frame 20 Engine 21 Engine cover 30 Traveling device 31 Front wheel 32 Rear wheel 41 Accelerator mechanism 42 HST mechanism 43 Transmission mechanism 44 Rear wheel side clutch mechanism 50 Driving unit 51 Steering handle 52 Seat 53 Step floor 60 Leveling device 61 Leveling rotor 62 Leveling Operation Detection Device 70 Fertilizer Application 80 Marker 81 Marker Stay 82 Marker Storage Detection Device 90 Planting Device Lifting Mechanism 100 Planting Device 101 Preliminary Seedling Place 102 Seedling Tray 110 Planting Unit 111 Rotary Planting Grain 200 Transport Device 201 Transport Motor 202 Conveyance switch 203 Conveyance manual instruction switch 204 Conveyance path 210 Conveyance operation detection device 211 Rotation sensor 220 Cleaning device 221 Cleaning liquid pump 222 Cleaning liquid tank 22 DESCRIPTION OF SYMBOLS 3 Cleaning liquid nozzle 224 Cleaning liquid tube 225 Cleaning operation detection apparatus 230 Seedling tray collection apparatus 300 Controller 310 Automatic travel control mode instruction switch 400 GPS apparatus 410 Received radio wave level detection apparatus 500 Tablet terminal apparatus 510 Memory 600 Car body tilt level detection apparatus 700 Notification apparatus

Claims (11)

A traveling device (30) for traveling the vehicle body (10);
A planting device (100) attached to the vehicle body (10) for planting a transplant into a field;
A controller (300) for executing automatic traveling control for automatically traveling the vehicle body (10) along a predetermined route;
With
A work vehicle that prohibits the automatic travel control when the transplanting operation is not performed. A leveling device (60) for leveling the field,
The work vehicle according to claim 1, wherein the planting work is not performed when the leveling device (60) is not operating. A transport device (200) for transporting the implant to the planting device (100);
The work vehicle according to claim 1, wherein the planting operation is not performed when the transfer device (200) is not operating. A transport device (200) for transporting the implant to the planting device (100);
A transport operation detecting device (210) for detecting an operation state of the transport device (200);
A cleaning device (220) for cleaning the transport operation detecting device (210);
With
The work vehicle according to claim 1, wherein the planting operation is not performed when the cleaning device (220) is not operating. A transport device (200) for transporting the implant to the planting device (100);
A transport operation detecting device (210) for detecting an operation state of the transport device (200);
With
The case where the planting work is not executed is a case where the transport operation detection device (210) does not detect an on state of the transport device (200). Work vehicle. A marker (80) attached to the vehicle body (10) so as to be storable is formed on the field to form a mark serving as a guide for the planting operation in the next step,
The work vehicle according to claim 1, wherein the planting operation is not performed when the marker (80) is stored so as not to form the mark on the field. An engine (20) attached to the vehicle body (10);
In the case where the planting operation is being performed and the automatic traveling control is being performed, when a predetermined event has occurred, the occurrence of the predetermined event is notified to the outside, and the engine (20) The work vehicle according to any one of claims 1 to 6, wherein the engine speed is reduced to a predetermined speed. A GPS device (400) attached to the vehicle body (10);
A received radio wave level detecting device (410) for detecting a received radio wave level of the GPS device (400);
With
The time when the predetermined event occurs is when the received radio wave level detecting device (410) does not detect the received radio wave level exceeding a predetermined radio wave level. 8. The work vehicle according to 7. Comprising a tablet terminal device (500) detachably attached to the vehicle body (10) for generating an agricultural field map on which the close-up of the agricultural field is displayed;
The work vehicle according to claim 7, wherein the predetermined event occurs when the closest approach level of the vehicle body (10) exceeds a predetermined approach level. . A vehicle body tilt level detection device (600) for detecting the vehicle body tilt level of the vehicle body (10);
The time when the predetermined event occurs is when the vehicle body inclination level detection device (600) detects the vehicle body inclination level exceeding a predetermined inclination level. 8. The work vehicle according to 7. A traveling device (30) for traveling the vehicle body (10);
A planting device (100) attached to the vehicle body (10) for planting a transplant into a field;
A controller (300) for executing automatic traveling control for automatically traveling the vehicle body (10) along a predetermined route;
A GPS device (400) attached to the vehicle body (10);
A memory (510) for storing a field map on which the field is displayed;
With
A work vehicle that prohibits the automatic travel control when the GPS position of the vehicle body (10) is outside the range of the field displayed on the field map.

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