JP2019050776A - Work vehicle - Google Patents

Abstract

To provide a work vehicle in which turbulence at the beginning of planting is eliminated even just after starting control of straight traveling, and a risk of decreasing the planting accuracy is not present.SOLUTION: A work vehicle includes: a traveling vehicle body (2) capable of connecting a ground working unit (50) in the rear, and including a steering wheel (4) steered by a steering device (110); a position information acquisition device (120) for acquiring position information of the traveling vehicle body (2); a rudder angle detection unit (130) for detecting a rudder angle (θ) of the steering wheel (4); and a control unit (150) for controlling the steering device (110) based on the position information acquired by the position information acquisition device (120), and performing the straight traveling support for supporting the automatic straight traveling of the traveling vehicle body (2). The control unit (150) inhibits the straight traveling support when the rudder angle (θ) detected by the rudder angle detection unit (130) after the traveling vehicle body (2) is turned is not a value indicating a linear motion state.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a work vehicle.

  Conventionally, work vehicles such as a seedling transplanter used for planting seedlings have been provided with an automatic steering device that supports straight traveling, for example, by controlling the steering wheel of a steering device. A device that performs automatic straight traveling by being held in a straight traveling position is known (see, for example, Patent Document 1).

JP 2016-24541 A

  However, for example, when the conventional work vehicle disclosed in Patent Document 1 starts the control of the straight traveling by the automatic steering device, whether or not the steering angle by the steering device is within a predetermined range corresponding to the straight traveling state. It is not considered that it is difficult for an operator to recognize In addition, in order to identify whether or not the traveling vehicle body itself is in a straight posture with respect to the traveling direction, the operator needs skilled skills and many years of experience.

  Therefore, in the conventional work vehicle, the planting start immediately after starting the control of the straight traveling by the automatic steering device is disturbed, and the planting accuracy may be lowered.

  The present invention has been made in view of the above, and provides a work vehicle that is not disturbed at the start of planting even immediately after the start of control of straight traveling, and in which planting accuracy does not decrease. Objective.

  In order to solve the above-described problems and achieve the object, the work vehicle (1) according to claim 1 can be connected to the ground work unit (50) at the rear and is steered by the steering device (110). A traveling vehicle body (2) provided with steered wheels (4), a position information acquisition device (120) that obtains position information of the traveling vehicle body (2), and a steering angle (θ) of the steered wheels (4) are detected. A steering angle detection unit (130) that performs the above-described operation, and the straight travel support that supports the automatic traveling of the traveling vehicle body (2) by controlling the steering device (110) based on the positional information acquired by the positional information acquisition device (120). A control unit (150) that performs the following operation: the control unit (150) is configured such that the rudder angle (θ) detected by the rudder angle detection unit (130) after the traveling vehicle body (2) turns is in a straight traveling state. If the value is not indicated, the straight support is prohibited. And

  The work vehicle (1) according to claim 2 includes a posture detection unit (170) that detects a posture of the traveling vehicle body (2) according to claim 1, and the control unit (150) includes the traveling vehicle body (1). When the posture of the traveling vehicle body (2) detected by the posture detection unit (170) after turning 2) is an oblique posture with respect to the traveling direction, the straight running support is prohibited.

  A work vehicle (1) according to claim 3 is characterized in that, in claim 1 or 2, the work vehicle (1) is provided with a notifying device (200) for notifying a support situation including whether or not the straight-ahead support is executable.

  The work vehicle (1) according to claim 4 is the work vehicle (1) according to claim 3, wherein the traveling vehicle body (2) includes an indicator member (350) serving as a guide of a traveling direction, and the indicator member (350) is provided as the notification device. (200).

  A work vehicle (1) according to a fifth aspect of the present invention is the work vehicle (1) according to the fourth aspect, wherein a plurality of the indicator members (350) are arranged in parallel along the traveling direction at a front center position of the traveling vehicle body (2). It is characterized by that.

  The work vehicle (1) according to claim 6 is the work vehicle (1) according to claim 4 or 5, wherein the indicator member (350) includes a plurality of lamps (354), and the notification device (200) emits light from each lamp (354). ).

  The work vehicle (1) according to claim 7 is the work material according to any one of claims 3 to 6, wherein the notification device (200) is provided in the ground work unit (50) in addition to the support status. It is characterized by notifying information relating to the remaining amount of.

  The work vehicle (1) according to claim 8 registers a reference travel line (L2) as a reference for straight travel of the travel vehicle body (2) in the straight travel support according to any one of claims 3 to 7. The travel reference registration unit (152) acquires the start position and the end position of the straight travel support as a reference start point (P1) and a reference end point (P2). A line segment connecting the reference start point (P1) and the reference end point (P2) is registered as the reference travel line (L2), and the notification device (200) is configured so that the reference start point (P1) and the reference end point ( The acquisition situation of P2) is notified.

  The work vehicle (1) according to claim 9 is the main transmission lever (81) for operating the traveling vehicle body (2) to move forward and backward, the reference start point (P1), and the reference end point (P2). ), And the main transmission lever (81) and the reference point registration switch (83) are provided at positions facing each other across the steering wheel (32). It is characterized by being able to.

  According to the work vehicle according to claim 1, when the rudder angle detected by the rudder angle detection unit after the traveling vehicle body turns is not a value indicating a straight traveling state, the traveling vehicle body is assumed to prohibit the straight traveling support. Proceeding with deviation from the direction of travel is prevented. Therefore, when the work vehicle is, for example, a seedling planting machine, it is possible to prevent the start of seedling planting immediately after the start of work from being disturbed, and to prevent adverse effects on seedling growth.

  According to the work vehicle of the second aspect, when the posture of the traveling vehicle body detected by the posture detection unit after the traveling vehicle body turns is an oblique posture toward the traveling direction, the traveling vehicle body is Proceeding in an oblique direction with respect to the assumed traveling direction is prevented. Therefore, when the work vehicle is, for example, a seedling planting machine, in addition to the effect of the invention described in claim 1, the effect of preventing the start of seedling planting immediately after the start of the work from being disturbed can be further enhanced. .

  According to the work vehicle of the third aspect, since it is possible to notify the support situation including whether or not the straight-ahead support can be executed, in addition to the effect of the invention according to the first or second aspect, the turning operation is changed to the straight-ahead support. The switching operability is improved.

  According to the work vehicle of the fourth aspect, in addition to the effect of the invention of the third aspect, in the case of performing notification by, for example, a lamp, the operator does not have to shift his eyes from the front. It becomes easy to recognize.

  According to the work vehicle of the fifth aspect, since there are a plurality of indicator members that function as a notification device, in addition to the effect of the invention of the fourth aspect, the notification content can be diversified.

  According to the work vehicle of the sixth aspect, in addition to the effect of the invention of the fourth or fifth aspect, the worker can recognize the notification contents without deviating the line of sight from the front.

  According to the work vehicle described in claim 7, since information on the remaining amount of work material is notified, in addition to the effect of the invention according to any one of claims 3 to 6, work in addition to safety It is also possible to improve the performance.

  According to the work vehicle of the eighth aspect, in addition to the effect of the invention according to any one of the third to seventh aspects, the operator can safely prepare for the straight-ahead support without deflecting the line of sight from the front. Can be done.

  According to the work vehicle of the ninth aspect, in addition to the invention of the eighth aspect, when preparing for the straight-ahead support, the risk of erroneous switch operation can be reduced as much as possible.

Drawing 1A is an explanatory view showing an outline of straight advance support of a seedling transplanter concerning an embodiment. Drawing 1B is an explanatory view showing the outline of the information function in the straight advance support of the seedling transplanter concerning an embodiment. FIG. 2 is a side view of the seedling transplanter according to the embodiment. FIG. 3 is an explanatory diagram of the control unit. FIG. 4A is an overall side view of the center mascot. FIG. 4B is a partial front view of the center mascot. Drawing 5A is an explanatory view by the front view of the antenna frame with which the seedling transplanter concerning an embodiment is provided. FIG. 5B is an explanatory diagram viewed from the side of the antenna frame. FIG. 6 is a perspective view of the antenna frame. FIG. 7 is a functional block diagram centering on the controller. FIG. 8 is a flowchart showing an example of the straight-ahead support. FIG. 9 is an explanatory diagram illustrating a procedure for registering a reference travel line in the straight traveling support.

  Hereinafter, a working vehicle according to an embodiment of the present invention will be described in detail as a riding seedling transplanter with reference to the drawings. It should be noted that the constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art, or substantially the same, so-called equivalent ranges. Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention. In the following, the entire seedling transplanter may be referred to as an aircraft.

FIG. 1A is an explanatory diagram illustrating an outline of a straight support of the seedling transplanter 1 according to the embodiment, and FIG. 1B is an explanatory diagram illustrating an overview of a notification function in the straight support of the seedling transplanter according to the embodiment.
1A and 1B both show a state immediately after the seedling transplanter 1 turns, for example, on a headland. The seedling transplanting machine 1 according to the present embodiment includes a traveling vehicle body 2 including a front wheel 4 and a rear wheel 5 as well as a seedling planting unit 50 connected to the rear part.

  Further, the straight running support means that the controller 150 (see FIG. 7) as a control unit controls the operation of the handle 32 based on the steering angle θ of the front wheel 4 of the traveling vehicle body 2 and the positional information of the traveling vehicle body 2. Is a function that supports automatic straight traveling of the seedling transplanter 1 in the field. Here, although the steering angle θ is the turning angle of the front wheel 4, for example, the steering angle of the handle 32 may be detected. Further, the position information of the seedling transplanter 1 is acquired by a GNSS unit 120 (see FIG. 7) provided as a position information acquisition device provided in the traveling vehicle body 2.

  In the following description, the front / rear and left / right direction reference of the seedling transplanter 1 is based on the traveling direction of the traveling vehicle body 2 as viewed from the control seat 28 (see FIG. 2) on which an operator can be seated.

  In the seedling transplanter 1 according to the present embodiment, as shown in FIG. 1A (a), the steering angle θ detected by the steering angle sensor 130 (see FIG. 7) after the traveling vehicle body 2 turns is a value indicating a straight traveling state. In the case where there is no steering angle θ, that is, when the steering angle θ indicates an angle greater than or equal to a predetermined value with respect to the straight traveling direction that should be the traveling direction L1, the straight traveling support is prohibited. Here, the traveling direction L1 to be the straight traveling direction is based on a reference traveling line L2 that is set and registered in advance.

  In addition, as shown in FIG. 1A (b), the seedling transplanter 1 is configured such that the posture of the traveling vehicle body 2 detected by the posture sensor 170 (see FIG. 7) after the traveling vehicle body 2 turns is oblique with respect to the traveling direction L1. If it is in a posture, straight support is prohibited. Note that the steering angle θ that serves as a reference for determining an oblique posture is defined as, for example, 5 degrees or more. That is, in other words, if the turning angle of the front wheels 4 is less than 5 degrees, it is determined that the posture of the traveling vehicle body 2 is substantially straight with respect to the traveling direction L1, and the straight traveling support is continued.

  That is, in order to clearly recognize whether or not the entire aircraft is straight with respect to the direction of travel, skilled techniques and years of experience are required. However, in this embodiment, if the value detected by the rudder angle sensor 130 or the attitude sensor 170 after the traveling vehicle body 2 turns does not indicate the straight running state, the controller 150 automatically prohibits the straight running support. The Therefore, when starting the straight-ahead control, for example, there is no risk that the aircraft will move obliquely as shown in the virtual locus L3 in FIGS. In addition, it is possible to suppress the occurrence of seedling growth defects due to disturbance in planting posture and the like.

  Further, as shown in FIG. 1B, the seedling transplanter 1 according to the present embodiment can notify the support status including whether or not the straight advance support can be performed, for example, by causing the center mascot 350 to emit light. Improved operability when switching from straight to straight support. Thus, the seedling transplanting machine 1 according to the present embodiment improves the conventional problems in the straight running support, improves the safety and workability at the start of automatic straight running, and allows the operator to recognize the information of the machine body. It is easy.

  In addition, the front wheel 4 in FIG. 1A and FIG. 1B is equivalent to a steered wheel, and the seedling planting part 50 is equivalent to a ground work part. The handle 32 constitutes a part of the steering device 110. Details of the steering device 110 will be described later.

  FIG. 2 is a side view of the seedling transplanter 1 according to the embodiment, and FIG. 3 is an explanatory diagram of a control unit. A specific configuration of the seedling transplanter 1 will be described with reference to FIGS. 2 and 3. As shown in FIG. 2, a seedling planting unit 50 is attached to the traveling vehicle body 2 of the seedling transplanter 1 through a seedling planting unit lifting mechanism 40 that is a lifting device so as to be lifted and lowered. The traveling vehicle body 2 is a four-wheel drive vehicle in which a pair of left and right front wheels 4 and a pair of left and right rear wheels 5 are driven, and the front wheels 4 that are steered wheels are steered by turning a handle 32. It is possible to travel on a farm field or a road between farm fields.

  The traveling vehicle body 2 includes a main frame 7 disposed substantially at the center of the vehicle body, an engine 10 that is a prime mover mounted on the main frame 7, and power of the engine 10 for front and rear wheels 4 and 5. A power transmission device 15 for transmitting to the seedling planting unit 50 is provided. In the seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used as the engine 10 as a power source. The generated power is not only used for moving the traveling vehicle body 2 forward and backward, but also as a seedling. It is also used to drive the planting part 50.

  The power transmission device 15 shifts and outputs the driving force transmitted from the engine 10 and outputs a hydraulic continuously variable transmission 16 called HST (Hydro Static Transmission), and the hydraulic continuously variable transmission 16. And a power transmission unit 17 that transmits power from the engine 10.

  The power transmission device 15 has a mission case 18. That is, the driving force from the engine 10 is transmitted to the hydraulic continuously variable transmission 16 through the power transmission unit 17, and the power shifted by the hydraulic continuously variable transmission 16 is transmitted to the transmission case 18. The mission case 18 has a sub-transmission mechanism (not shown) for switching between a high speed mode and a low speed mode, which will be described later, and is attached to the front portion of the main frame 7.

  A part of the power transmitted from the transmission case 18 to the front wheels 4 and the rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the rest is transmitted to the rear wheels via the left and right rear wheel gear cases 22. 5 can be transmitted. The left and right front wheel final cases 13 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 13 via axles 131. The front wheel final cases 13 can be driven according to the steering operation of the handle 32 to steer the front wheels 4. .

  Similarly, the rear wheel 5 is connected to the left and right rear wheel gear cases 22 via an axle 220. On the other hand, power is transmitted from the transmission case 18 to the seedling planting unit 50 from a work machine drive shaft (not shown) via a planting clutch 500 provided at the rear of the traveling vehicle body 2. The planting clutch 500 is operated by a planting clutch motor 510 connected to a controller 150 described in detail later (see FIG. 7).

  By the way, the engine 10 is arranged at a substantially central position in the left-right direction of the traveling vehicle body 2 and in a state of protruding upward from the floor step 26 on which an operator puts his / her foot when getting on. The floor step 26 is provided between the front part of the traveling vehicle body 2 and the rear part of the engine 10 and is attached to the main frame 7. 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 the steps 26 and 27.

  A control seat 28 on which an operator is seated is installed in the upper part of the engine cover 11, and a control unit 30 is provided in front of the control seat 28 and in the front center of the traveling vehicle body 2. The steering unit 30 is arranged in a state of protruding upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right.

  The steering unit 30 is provided with a steering post 315, and a handle 32 that can be steered by an operator is provided above the steering post 315. As shown in FIG. 3, the instrument panel 33 provided on the steering post 315 is provided with various switches and meters including a reference point registration switch 83 described later. In addition, the control unit 30 includes a tablet terminal device 140 (described later) that is detachably attached to a lower portion of the steering post 315. Moreover, the buzzer 215 which is an example of the alerting | reporting apparatus 200 is provided in the predetermined position of the control part 30, for example (refer FIG. 7).

  Further, the control unit 30 is provided with a main transmission lever 81 and a sub transmission lever 82 in the vicinity of the steering post 315. The main transmission lever 81 is provided on the right side of the control unit 30, and the auxiliary transmission lever 82 is provided below the handle 32 that is a steering wheel.

  The main transmission lever 81 is a lever that switches between forward and backward travel and traveling output of the traveling vehicle body 2, and a hydraulic continuously variable transmission that will be described later when the operator grips and operates the grip 810 provided at the tip. The speed of the traveling vehicle body 2 can be adjusted by adjusting the rotation angle of 16 trunnions (not shown).

  On the other hand, the sub-shift lever 82 is a lever that switches the traveling mode that defines the traveling speed of the traveling vehicle body 2 between the low speed mode and the high speed mode according to the place where the vehicle travels. Here, the low speed mode is a traveling mode defined in a speed range suitable for the seedling transplanter 1 to perform the planting work in the field. On the other hand, the high speed mode is, for example, a travel mode when the seedling transplanter 1 is moved between fields, and can travel at a higher speed than in the low speed mode. These mode switching operations are performed by a sub transmission mechanism provided in the mission case 18 according to the position of the sub transmission lever 82.

  A front cover 31 that can be opened and closed is provided at the front of the control unit 30. A center mascot 350 as an index member serving as a travel index is attached so as to be located at the center of the front end of the front cover 31. Although illustration is omitted in FIG. 2 for the sake of convenience, preliminary seedling platforms 400 and 400 (see FIG. 5A) are provided on the front left and right of the traveling vehicle body 2.

  4A is an overall side view of the center mascot 350, and FIG. 4B is a partial front view of the center mascot 350. A center mascot 350 according to the present embodiment will be described with reference to FIGS. 4A and 4B.

  The center mascot 350 according to the present embodiment is attached to the center position of the front part of the traveling vehicle body 2 so that when the operator sitting on the control seat 28 drives the seedling transplanter 1, the center mascot 350 is a guide for the traveling direction. It will function. Further, the center mascot 350 according to the present embodiment also functions as a notification device 200 that notifies the support status including whether or not the above-described straight-ahead support can be executed.

  That is, as shown in FIG. 4A, a plurality of center mascots 350 are arranged side by side at the front center position of the traveling vehicle body 2 along the traveling direction. Specifically, the first support column 353a and the second support column 353b, each of which has a curved lower portion and extends upward at the tip, are attached so as to be positioned at the center of the front end of the front cover 31.

  A first lens portion 351 is provided at the tip of the first support column 353a, and a second lens portion 352 is provided at the tip of the second support column 353b. A locking bar 356 is provided in the middle of the second support column 353b. When the front cover 31 provided at the front portion of the control unit 30 is opened, the locking bar 356 is locked. The open state can be maintained (see FIG. 5A). When there is no need to distinguish between the first support column 353a and the second support column 353b, the both may be collectively referred to as a mascot support column 353. The base end of the mascot support 353 is attached to the front side of the main frame 7 of the traveling vehicle body 2 via a pivotal support portion 355 so as to be tiltable back and forth.

  As shown in FIG. 4B, the first lens portion 351 and the second lens portion 352 of the center mascot 350 include a plurality of lamps 354a to 354e, and the notification device 200 is configured by the light emission of the lamps 354a to 354e. It is comprised so that it may function as the display part 210 (refer FIG. 7). The plurality of lamps 354a to 354e are collectively referred to as a lamp 354.

  Further, as shown in FIG. 4A, the first support column 353a is relatively long and positioned on the front side, and the first support column 353a is formed shorter than the first support column 353a in close contact with the back side of the first support column 353a. Two struts 353b are provided. The first support column 353a is bent forward in the middle, and then the tip extends upward.

  Therefore, the first lens unit 351 and the second lens unit 352 that each emit light and function as the notification device 200 (display unit 210) are spaced apart in the front-rear direction with a predetermined height difference. The visibility from the person is good, and there is no possibility that the light emission of the first lens portion 351 and the light emission of the second lens portion 352 are recognized and recognized. Further, by using a plurality of lens portions 351 and 352, the contents of notification can be diversified.

  Here, the operation as the notification device 200 will be described with an example. For example, when the straight support is executed and automatic straight traveling is possible, the lower lamp 354d included in the first lens portion 351 of the center mascot 350 blinks, and when the automatic straight travel is actually performed, the lower lamp 354d. Lights up. On the other hand, if the straight support is not available for some reason, the lower lamp 354d is turned off. At this time, the upper lamp 354e may be lit in red, for example, so as to notify the situation where the straight-ahead support is not available.

  On the other hand, in the second lens unit 352 positioned below the first lens unit 351, the status of the seedling planting unit 50 may be notified by a lamp instead of the status of the straight support. For example, although not illustrated, a sensor for detecting the remaining amount of seedlings and the remaining amount of fertilizer is provided, and when the number of seedlings in the seedling planting unit 50 is less than or equal to a predetermined amount, the second lens unit 352 according to the remaining amount. The lower left lamp 354a and the right lamp 354b are turned on or blinked. Further, when the fertilizer becomes a predetermined amount or less, the upper lamp 354c of the second lens portion 352 is blinked or lit. In contrast to the above-described notification, the first lens unit 351 may notify the state of the seedling planting unit 50 and the second lens unit 352 may notify the straight-ahead support state.

  As described above, the seedling transplanter 1 according to the present embodiment uses the center mascot 350 serving as the notification device 200, in addition to the state of straight advance support, the remaining work materials such as seedlings and fertilizers included in the seedling planting unit 50. Information about the quantity can also be notified.

  Since the center mascot 350 is always present in the field of view of the worker facing forward, the worker can always grasp the situation of the seedling transplanter 1 without shifting his / her eyes from the front, improving safety. Can greatly contribute.

  Further, in order to cause the seedling transplanter 1 to perform the straight advance support, teaching work is required in advance. In the teaching work, for example, the reference travel line L2 is registered by the travel reference registration unit 152 (see FIG. 7) while using the receiving antenna 121 in order to perform straight travel support and perform straight travel control.

  That is, the controller 150 (see FIG. 7) of the seedling transplanter 1 according to the present embodiment registers the reference travel line L2 (see FIG. 1A and FIG. 1B) that serves as a reference for the straight travel of the travel vehicle body 2 in the straight travel support. A travel reference registration unit 152 is included.

  The travel reference registration unit 152 acquires the start position and the end position of the straight travel support as the reference start point P1 and the reference end point P2, respectively, and the line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference travel line L2. I am trying to register.

  The acquisition operation of the reference start point P1 and the reference end point P2 can be performed by operating a reference point registration switch 83 provided in the control unit 30. The reference point registration switch 83 is configured by a so-called rebound switch, and the first operation is an acquisition operation of the reference start point P1, and the second operation is an acquisition operation of the reference end point P2. If the reference point registration switch 83 is pressed and held, the acquisition operation of the reference start point P1 and the reference end point P2 is canceled.

  At this time, in the notification device 200, that is, the center mascot 350, the acquisition status of the reference start point P1 and the reference end point P2 can be notified by the display unit 210 including the lamps 354a to 354e. Further, by causing the buzzer 215 of the notification device 200 to sound in response to the switch operation, the reference start point P1 and the reference end point P2 can be acquired while confirming through visual and auditory senses. It should be noted that the buzzer sound may be sounded for a long time during the long press operation for canceling the operation of obtaining the reference start point P1 and the reference end point P2.

  Here, the notification by the center mascot 350 will be described. For example, when the second lens unit 352 is used and the reference start point P1 and the reference end point P2 that define the reference travel line L2 are not acquired, the two lower left and right lamps 354a and 354b of the second lens unit 352 are When both are turned off and only the reference start point P1 has been acquired, the left lamp 354a is turned on. When both the reference start point P1 and the reference end point P2 have been acquired, both the left and right lamps 354a and 354b are lit. In this case, for example, the upper lamp 354c may be blinked when the teaching work is being performed and turned on when the teaching operation is completed.

  Needless to say, the first lens unit 351 may notify the acquisition status of the reference start point P1 and the reference end point P2. In this case, for example, when the reference start point P1 and the reference end point P2 are not acquired, the upper and lower lamps 354e and 354d of the first lens unit 351 are both turned off, and when only the reference start point P1 has been acquired, the upper lamp 354e is Light. When both the reference start point P1 and the reference end point P2 have been acquired, the upper and lower lamps 354e and 354d are turned on.

  The reference point registration switch 83 used when registering the reference travel line L2 (see FIGS. 1A and 1B) as described above is provided on the left side of the control unit 30 as shown in FIG. That is, the main shift lever 81 that switches between forward and backward travel and the travel output of the traveling vehicle body 2 and the reference point registration switch 83 that is an operation switch for obtaining the reference start point P1 and the reference end point P2 are sandwiched between the handle 32. It is provided at a position facing each other. As described above, the main transmission lever 81 and the reference point registration switch 83 are arranged so as to face each other on the opposite sides, so that, for example, when performing a teaching work that is a preparation for a straight running support, The possibility that the operator misoperates the operation of the main transmission lever 81 and the operation of the reference point registration switch 83 caused by misunderstanding is reduced as much as possible.

  Incidentally, in the seedling transplanter 1 according to the present embodiment, as shown in FIG. 2, a GNSS unit 120 including a receiving antenna 121 (see FIG. 7) is disposed in the traveling vehicle body 2. The GNSS unit 120 can acquire position information on the earth at predetermined intervals by acquiring GNSS coordinates at predetermined intervals in time with the receiving antenna 121. In addition to the receiving antenna 121, the GNSS unit 120 according to the present embodiment incorporates an inertial navigation device using a gyro sensor or an acceleration sensor, and a control board for controlling these, although not shown.

  FIG. 5A is a front view of the antenna frame provided in the seedling transplanter 1 according to the embodiment, FIG. 5B is a side view of the antenna frame, and FIG. 6 is a perspective view of the antenna frame. As shown in FIGS. 2, 5A and 5B, the GNSS unit 120 has a top portion of an antenna frame 124 whose base end is connected to the front end side of the traveling vehicle body 2 so as to be positioned immediately above the axle 131 of the front wheel 4. Is attached. The height of the antenna frame 124 in the normal state is set to a height that does not interfere with the head even if a standard general male stands on the floor step 26.

  As shown in FIG. 6, the antenna frame 124 includes left and right front lower frames 124a and 124a, a front upper frame 124b, an upper L-shaped frame 124c, and a rear vertical frame 124d.

  A pair of brackets 127 and 127 are provided at the base ends of the left and right front lower frames 124 a and 124 a, and the front lower frame 124 a is attached to the bumper 700 of the traveling vehicle body 2 via the brackets 127 and 127.

  The front upper frame 124b is substantially U-shaped in a plan view having left and right vertical frames 1241 and 1242 whose base ends are rotatably connected to the left and right front lower frames 124a and 124a via rotation connectors 124f and 124f, respectively. The frame is formed in a substantially square shape when viewed from the side (see FIG. 2).

  As shown in FIG. 6, the left and right rotational couplings 124 f and 124 f are connected and fixed by a knob bolt 128, and as shown in FIG. 2, reinforcement is provided between the rotational couplings 124 f and 124 f and the front cover 31. The frame 124e is spanned. In this way, rattling of the front lower frames 124a and 124a and the left and right vertical frames 1241 and 1242 is prevented with a simple configuration.

  As shown in FIG. 5A, the left and right front lower frames 124 a and 124 a are erected obliquely inward so that the upper end side does not come into contact with the front cover 31. Therefore, for example, a space Q that allows the operator to move between the front of the machine body and the floor step 26 is formed between the control unit 30 and the reserve seedling platforms 400 and 400 arranged on the left and right sides of the machine body.

  And the GNSS unit 120 is arrange | positioned on the aluminum block 122 spanned between the upper part of the right-and-left vertical frames 1241 and 1242. As described above, by interposing the aluminum block 122 between the GNSS unit 120 and the steel pipe antenna frame 124, the receiving sensitivity is improved as compared with the case where the receiving block 121 is directly attached.

  The upper L-shaped frame 124c has a leading end connected to the rear end of the front upper frame 124b. Although not shown, wiring such as a harness extending from the GNSS unit 120 extends along the upper L-shaped frame 124c. Have been routed.

  The rear vertical frame 124d is connected to the rear step 27 at the lower end on the rear side of the control seat 28. The storage hoppers 71 and 71 of the fertilizer application device 70 are respectively arranged on the left and right behind the control seat 28, but the rear vertical frame 124d is positioned between the left and right storage hoppers 71 and 71. There is no interference when opening and closing the storage hopper 71.

  As described above, the antenna frame 124 for disposing the GNSS unit 120 is connected to the bumper 700 and the front cover 31 on the front side and the rear step 27 on the rear side, and has a three-point support that is structurally stable. Therefore, it can be attached to the traveling vehicle body 2 in an extremely stable state.

  A connecting portion 125 for detachably connecting the other end of the upper L-shaped frame 124c is provided at the upper end of the rear vertical frame 124d, and the upper L-shaped frame 124c is detachably connected. The connecting portion 125 includes, for example, pin insertion holes (not shown) formed in the connecting end portions of the upper L-shaped frame 124c and the rear vertical frame 124d, and fastening pins (not shown) that can be inserted into and removed from the pin insertion holes. (Not shown). Thus, the upper L-shaped frame 124c and the rear vertical frame 124d can be detachably connected with a simple configuration.

  In this way, the upper L-shaped frame 124c is detached from the rear vertical frame 124d, and as shown in FIG. 5B, the front upper frame 124b and the upper L-shaped frame are rotated with respect to the front lower frames 124a and 124a by the rotating couplers 124f and 124f. The height of the antenna frame 124 can be reduced by a simple operation of rotating the frame 124c downward at the rear (see FIG. 5B).

  Therefore, for example, when the seedling transplanter 1 is transported or stored in a barn or the like, and the thickness of the GNSS unit 120 becomes a high obstacle, the overall vehicle height is lowered without removing the GNSS unit 120. be able to.

  In addition, since the antenna frame 124 (the front upper frame 124b and the upper L-shaped frame 124c) is configured to rotate, a simple configuration including the rotation connector 124f is used, so that an increase in cost is suppressed and the antenna frame 124 is suppressed. Overall backlash can be minimized. In addition, it has the convenience that the rotation operation can be performed with one action.

  By the way, in this embodiment, as shown in FIG. 6, the frame holder 126 formed in a substantially Y shape is provided in the vicinity of the upper end of the rear vertical frame 124d. Therefore, when the antenna frame 124 is folded to reduce the height, the upper L-shaped frame 124 c can be stably held by being locked to the frame receiver 126.

  Here, returning to FIG. 2, the seedling planting unit 50 and other configurations will be described. As shown in FIG. 2, the seedling planting part 50 is attached to the rear part of the traveling vehicle body 2 through a seedling planting part lifting mechanism 40 so as to be lifted and lowered. The seedling planting part lifting mechanism 40 includes a lifting link device 41, which includes a parallel link mechanism that connects the rear part of the traveling vehicle body 2 and the seedling planting unit 50. Such a parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatable to a rear-view portal-type link base frame 43 erected at the rear end of the main frame 7. Connected. And the other end side of link 41a, 41b is connected with the seedling planting part 50 rotatably. In this way, 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 hydraulic elevating cylinder 44 is driven by the hydraulic continuously variable transmission 16 described above, and raises the seedling planting part 50 to a non-working position or raises the ground working position (planting) by the raising / lowering operation of the seedling planting part lifting mechanism 40. It can be lowered to the attachment position).

  Moreover, the seedling planting part 50 can plant the range in which a seedling is planted in a plurality of sections or a plurality of rows. For example, it can be set as the seedling planting part 50 of what is called a 6-row planting in which a seedling is planted in six divisions. The seedling planting unit 50 includes a seedling planting device 60, a seedling placement table 51, and a float 47 (48, 49). Among these, the seedling mounting base 51 is provided as a seedling mounting member for loading a plurality of seedlings on the rear part of the traveling vehicle body 2, and the seedling mounting bases for the number of planting strips partitioned in the left-right direction of the traveling vehicle body 2. It has a surface 52, and a mat-like seedling with soil can be placed on each seedling placement surface 52.

  The seedling planting device 60 is disposed at the lower part of the seedling placement table 51 and is supported by a planting support frame 55 disposed on the front side of the seedling placement table 51. 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 them on a farm field, and includes a planting transmission case 64 and a planting body 61. The planting body 61 is configured so that seedlings can be taken from the seedling mounting table 51 and planted in a farm field, and the planting transmission case 64 can supply a driving force to the planting body 61.

  Further, 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. And are rotatably connected. 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 provided for every two strips. That is, the plurality of seedling planting devices 60 are assigned planting strips, respectively. Moreover, each planting transmission case 64 is equipped with the planted body 61 for two strips so that rotation is possible. That is, two rotary cases 63 are connected to both sides in the left-right direction of the machine body in one planting transmission case 64.

  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 And side floats 49 located on both sides of the seedling planting part 50.

  The center float 48 includes a float potentiometer 154 (see FIG. 7) as a hydraulic sensitivity mechanism that raises and lowers the seedling planting unit 50 up and down in accordance with the state of the field.

  Further, leveling rotors 67 and 67 for leveling the agricultural field are 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 the seedling transplanting machine 1 according to the present embodiment, the controller 150 (to be described later) performs a straight running support on the condition that the leveling rotors 67 and 67 are grounded. That is, the straight-ahead support is executed only when the seedling planting work is performed.

  In addition, on both the left and right sides of the seedling planting part 50, a line drawing marker 68 that forms a line that serves as a guide in the traveling direction on the next planting line is provided. 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 forward at the edge of the field. However, since the seedling transplanter 1 according to the present embodiment can execute the straight advance support using a GNSS (Global Positioning System), the drawing marker 68 can be abolished.

  Further, a fertilizer application device 70 is mounted behind the control seat 28 in the traveling vehicle body 2. The fertilizer application device 70 supplies left and right storage hoppers 71, 71 for storing fertilizer, a feeding device 72 for feeding fertilizer supplied from the storage hoppers 71, 71 by a set amount, and fertilizer fed by the feeding device 72 to the field. A fertilization hose 74 that is a fertilization passage and a blower 73 that supplies conveyance air to the fertilization hose 74 are provided. By this blower 73, the fertilizer in the fertilizer hose 74 is transferred to the seedling planting part 50 side. Further, the fertilizer application device 70 includes a fertilizer guide 75 through which fertilizer is transferred by the fertilizer hose 74, and a grooving device that drops the fertilizer transferred by the fertilizer hose 74 into a fertilizer groove formed near the side of the seedling planting strip. 76.

  FIG. 7 is a functional block diagram centering on the controller 150 of the seedling transplanter 1. The seedling transplanter 1 according to the present embodiment can control each unit by electronic control, and the seedling transplanter 1 includes a controller 150 as a control unit that controls each unit. The controller 150 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, which are connected to each other. Thus, signals can be exchanged with each other. The storage unit stores a computer program for controlling the seedling transplanter 1.

  As shown in the drawing, the controller 150 is connected to the tablet terminal device 140, various actuators, sensors for acquiring information on each part, and the like. In the present embodiment, the controller 150 and the tablet terminal device 140 are wirelessly connected according to a predetermined wireless communication standard.

  The controller 150 operates, for example, a throttle motor 100 that adjusts the intake air amount of the engine 10, a trunnion drive motor 165 that changes the rotation angle of the trunnion of the hydraulic continuously variable transmission 16, and a planting clutch 500 as actuators. A planting clutch motor 510 is connected.

  Further, the controller 150 includes a steering angle sensor 130, an orientation sensor 160, an attitude sensor 170, an inclination sensor 180, a seating sensor 190, and a lever that detects the operation amount of the main transmission lever 81 and the auxiliary transmission lever 82 by an inclination angle. Various other sensors 199 including sensors are connected.

  The rudder angle sensor 130 is, for example, a sensor that detects a rotation angle of the handle 32 that is a steered wheel, or a sensor that detects a turning angle when the front wheel 4 that is a steered wheel is steered by operating the handle 32. . The controller 150 stores the value detected by the steering angle sensor 130 in the RAM of the storage unit.

  The direction sensor 160 is a sensor that detects the orientation of the airframe, and is generally employed in a car navigation system of an automobile. The controller 150 can derive the actual traveling direction of the aircraft based on the value acquired from the direction sensor 160.

  Accordingly, the controller 150 determines that the steering angle detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight traveling state, or the direction detected by the direction sensor 160 and the attitude detected by the attitude sensor 170 are If it is not a value indicating a straight direction, straight support can be prohibited. For this reason, it is possible to prevent the seedling planting posture immediately after starting the seedling planting operation from being disturbed, and as a result, adversely affect the seedling growth can be eliminated.

  The posture sensor 170 according to the present embodiment detects how much the posture of the traveling vehicle body 2 is inclined with respect to the traveling direction L1, and is configured by a gyro sensor or the like.

  The tilt sensor 180 according to the present embodiment detects the vertical tilt of the traveling vehicle body 2, that is, the degree of the forward tilt posture or the rear tilt posture, and is configured using an acceleration sensor or the like.

  The seating sensor 190 is a sensor configured by a load cell, a pressure-sensitive film sensor, or the like provided in the control seat 28, and can detect that an operator is seated on the control seat 28.

  Further, as the notification device 200, for example, a display unit 210 including a first lens unit 351 and a second lens unit 352 provided in the center mascot 350 and a buzzer 215 that emits an alarm or the like are connected to the controller 150. Note that the display unit 210 and the buzzer 215 are provided in advance in the traveling vehicle body 2 in the present embodiment, but similar functions can be given to the tablet terminal device 140 that can be brought in from the outside.

  Using the buzzer 215 and the display unit 210, the controller 150 can notify the implementation status including execution and stop of the straight-ahead support. Therefore, since the operator can easily recognize whether the rudder angle and the attitude of the aircraft after turning the aircraft are in a situation suitable for carrying out the straight running support, the operability to switch from the turning operation to the straight running support. Will improve. Using the buzzer 215 and the display unit 210, the controller 150 can notify the operator of, for example, an abnormality in the power transmission device 15 (such as a gear disengagement of the clutch mechanism).

  The seedling transplanter 1 includes a steering device 110 that can be controlled by the controller 150, a GNSS unit 120 that is a position information acquisition device, and a tablet terminal device 140 that is an information processing terminal device. Connected to.

  The steering device 110 includes a handle 32 and a transmission mechanism (not shown) linked to the handle 32 and a linear support mechanism 310 that applies an arbitrary rotational force to the handle 32. Is possible. The transmission mechanism includes a steering motor 112 (see FIG. 7) that rotates the handle 32. For example, when a straight travel support switch (not shown) is operated, the controller 150 automatically steers the steering wheel 32 via the straight travel support mechanism 310 based on the position information acquired by the GNSS unit 120, thereby moving the traveling vehicle body 2 in the straight travel direction. Can be maintained.

  During execution of such straight-ahead support, the controller 150 detects that the steering angle θ detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight traveling state, or the traveling vehicle body 2 detected by the attitude sensor 170. If the posture is an oblique posture with respect to the traveling direction, straight-ahead support is prohibited.

  The GNSS unit 120 has a receiving antenna 121 (see FIG. 1) that receives a signal from an artificial satellite used in the GNSS, and acquires and acquires position information (coordinate information) of the seedling transplanter 1 on the earth. The position information is transmitted to the controller 150.

  From the position data of the aircraft acquired by the GNSS unit 120, the controller 150 can also derive the actual speed of the seedling transplanter 1. That is, the actual traveling speed can be sequentially calculated from the amount of movement of the aircraft within a certain time. Therefore, for example, even when the front wheel 4 and the rear wheel 5 slip, the controller 150 can acquire the actual vehicle speed of the seedling transplanter 1 regardless of the rotation amount of the rear wheel 5.

  The tablet terminal device 140 is configured to be wirelessly connectable between a built-in terminal communication unit 144 and a vehicle body communication unit 151 connected to the controller 150, and includes a control unit 141, a display unit for displaying information, and various types A touch panel 142 that also serves as an input operation unit that performs the input operation, and a storage unit 143 that stores information. The storage unit 143 stores map information of one or a plurality of fields, and various programs and various data necessary for controlling the seedling transplanter 1.

  The tablet terminal device 140 has a so-called map function, and the seedling transplanter 1 according to the present embodiment determines the body position on the touch panel 142 based on the position information of the traveling vehicle body 2 acquired by the GNSS unit 120. It can be displayed superimposed on the map information of the field including the work area.

  Further, the controller 150 can also notify the tablet terminal device 140 of the support status including whether or not the straight-ahead support can be executed on the touch panel 142. In addition to the support status, information regarding the remaining amount of seedlings and fertilizers provided in the seedling planting unit 50 can be notified. That is, as a modification of the present embodiment, the notification device 200 may include the touch panel 142 or the tablet terminal device 140 including the touch panel 142.

  The seedling transplanter 1 also includes a reference point registration switch 83, a float potentiometer 154, and various switches 153 mainly provided in the control unit 30, and these are connected to the controller 150.

  The reference point registration switch 83 is provided on the left side of the instrument panel 33 as shown in FIG. Functions as an operation switch.

  The float potentiometer 154 is provided in a center float 48 that moves up and down following the unevenness of the field, and senses the vertical movement of the center float 48 to raise and lower the seedling planting unit 50 according to the unevenness of the field. Can do.

  The seedling transplanter 1 according to the present embodiment has the above-described configuration, and an example of a straight-ahead support executed by the seedling transplanter 1 will be described below. FIG. 8 is a flowchart showing an example of the straight-ahead support.

  As shown in FIG. 8, when the straight support is started by, for example, a switch operation (step S110), the controller 150 determines whether or not the aircraft is turning until it is determined that the aircraft is turning (step S110). S120). That is, the controller 150 determines whether the vehicle is turning from the detection results of the rudder angle sensor 130, the azimuth sensor 160, the attitude sensor 170, and the like. In order to detect that the airframe is turning, for example, it is possible to detect that the steering wheel 32 is rotating and to determine that the airframe is turning when the rotation speed is equal to or higher than a predetermined rotational speed. Alternatively, when the steering angle of the steering wheel 32 is 180 degrees or more, or when the steering angle θ (cut angle) of the front wheels 4 is 30 degrees or more, it can be determined that the vehicle is turning.

  When it is determined that the vehicle is turning (step S120: Yes), the controller 150 determines whether or not the aircraft has finished turning (step S130). The controller 150 repeats this detection process until the aircraft turns. If it is determined that the turn has ended (step S130: Yes), the controller 150 determines whether or not the detected angle by the rudder angle sensor 130 is larger than the predetermined angle α (step S140). Here, the predetermined angle α serving as a threshold value of the steering angle θ is expressed by an absolute value of the steering angle θ, and is 5 degrees here, but is not limited to this value, and the threshold value is appropriately determined experimentally. be able to.

  When the controller 150 determines that the detected angle, that is, the steering angle θ is larger than the predetermined angle α (step S140: Yes), the controller 150 performs a straight-ahead control prohibiting process (step S160). That is, the execution of the straight running support is stopped.

  On the other hand, when the controller 150 determines in step S140 that the detected angle, that is, the steering angle θ is not larger than the predetermined angle α (step S140: No), whether or not the traveling vehicle body 2 is inclined more than the predetermined angle with respect to the traveling direction. Is determined (step S150). That is, the controller 150 determines, based on the detection value of the azimuth sensor 160, that the traveling vehicle body 2 has a predetermined angle with respect to the traveling direction L1 (see FIG. 1) with reference to the reference running line L2 (see FIG. 1) set and registered in advance. It is determined whether or not it is tilted.

  And when it determines with having not inclined more than a predetermined angle (step S150: No), the controller 150 complete | finishes a rectilinear advance support process, On the other hand, when it determines with having inclined more than a predetermined angle (step S150: Yes), a controller In step S160, the process proceeds to step S160, the straight-ahead control prohibiting process is performed, and then the straight-ahead support process is terminated.

  Here, with reference to FIG. 9, the registration procedure of the reference travel line L2 which becomes a reference when executing the above-described straight traveling support will be described. FIG. 9 is an explanatory diagram showing a procedure for registering the reference travel line L2 in the straight traveling support.

  As shown in FIG. 9, first, a reference start point P1 is acquired (step S210). That is, in the field, the seedling transplanter 1 is stopped along the traveling direction of the body when the seedling planting operation is performed, and the body is directed in the straight direction. Then, by operating the reference point registration switch 83, the position is acquired as the reference start point P1 which is the start position of the straight traveling support. At this time, the notification device 200 performs a first notification indicating that the acquisition of the reference start point P1 is completed (step S220). Here, as described above, notification is performed by light emission of the lamps 354a to 354e of the display unit 210 provided in the center mascot 350.

  Next, the reference end point P2 is acquired (step S230). In this method, after the acquisition of the reference start point P1 is finished, the seedling transplanter 1 is moved straight by a distance for executing the straight support and stopped, and the reference point registration switch 83 is operated. The second operation of the reference point registration switch 83 is an operation of acquiring the reference end point P2 that is the end position of the straight-ahead support. At this time, the notification device 200 performs a second notification indicating that the acquisition of the reference end point P2 is completed (step S240). Also here, notification is performed by light emission of the lamps 354a to 354e of the display unit 210 provided in the center mascot 350.

  When the acquisition of the reference start point P1 and the reference end point P2 is completed, the travel reference registration unit 152 of the controller 150 generates a line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference travel line L2 (step S250). As a result, it is possible to define a straight traveling direction when performing the straight traveling support.

  When the generated reference travel line L2 is registered, the notification device 200 performs third notification indicating that the reference travel line L2 has been registered (step S260). This is also a notification by light emission of the lamps 354a to 354e of the display unit 210.

  The following seedling transplanter 1 is realized from the embodiment described above.

  (1) A traveling vehicle body 2 having front wheels 4 and 4 that can be connected to the rear planting portion 50 and steered by the steering device 110, a GNSS unit 120 that acquires position information of the traveling vehicle body 2, and a front wheel A steering angle sensor 130 for detecting four or four steering angles θ, and a controller 150 for performing a straight-ahead support for controlling the steering device 110 based on the positional information acquired by the GNSS unit 120 to support the automatic traveling of the traveling vehicle body 2. And the controller 150 prohibits the straight-ahead support when the rudder angle θ detected by the rudder angle sensor 130 after the turning of the traveling vehicle body 2 is not a value indicating a straight-ahead state.

  (2) In the above (1), an attitude sensor 170 for detecting the attitude of the traveling vehicle body 2 is provided, and the controller 150 detects that the attitude of the traveling vehicle body 2 detected by the attitude sensor 170 after the traveling vehicle body 2 turns in the traveling direction. On the other hand, the seedling transplanting machine 1 prohibits the straight-ahead support when the posture is oblique.

  (3) In the above (1) or (2), the seedling transplanter 1 including the notification device 200 that notifies the support status including whether or not the straight-ahead support can be executed.

  (4) In the above (3), the traveling vehicle body 2 includes the center mascot 350 that serves as a guide for the traveling direction, and the seedling transplanter 1 that causes the center mascot 350 to function as the notification device 200.

  (5) The seedling transplanter 1 in which a plurality of the center mascots 350 in (4) are arranged in parallel at the front center position of the traveling vehicle body 2 along the traveling direction.

  (6) In the above (4) or (5), the center mascot 350 includes a plurality of lamps 354), and the seedling transplanter 1 functions as the notification device 200 by the light emission of each lamp 354.

  (7) In any one of the above (3) to (6), the notification device 200 is a seedling transplanter 1 that notifies information related to the remaining amount of work material included in the seedling planting unit 50 in addition to the support status.

  (8) In any one of the above (3) to (7), the vehicle includes a travel reference registration unit 152 that registers a reference travel line L2 that serves as a reference for the straight travel of the traveling vehicle body 2 in the straight travel support. Acquires the start position and end position of the straight-ahead support as the reference start point P1 and the reference end point P2, registers the obtained line segment connecting the reference start point P1 and the reference end point P2 as the reference travel line L2, and notifies the notification device 200. Is a seedling transplanter 1 that notifies the acquisition status of the reference start point P1 and the reference end point P2.

  (9) In the above (8), the main transmission lever 81 for operating the forward and backward movement of the traveling vehicle body 2 and the reference point registration switch 83 for acquiring the reference start point P1 and the reference end point P2 are provided. The reference point registration switch 83 is a seedling transplanter 1 provided at a position facing each other across the handle 32.

  The embodiment described above is merely an example, and is not intended to limit the scope of the invention. The embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the scope of the invention. In addition, specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration, shape, display element, etc. are changed as appropriate. Can be implemented.

1 Seedling transplanter (work vehicle)
2 Traveling body 4 Front wheel (steering wheel)
32 Handle (steering wheel)
50 Seedling planting section (ground work section)
81 Main transmission lever 83 Reference point registration switch 110 Steering device 120 GNSS unit (position information acquisition device)
130 Rudder angle sensor (steering angle detector)
150 controller (control unit)
152 Traveling standard registration unit 170 Posture sensor (posture detection unit)
200 Notification device 350 Center mascot (index member)
354 Ramp L1 Traveling direction L2 Reference travel line P1 Reference start point P2 Reference end point θ Steering angle

Claims (9)

A traveling vehicle body having a steered wheel steerable by a steering device, the ground working unit being connectable to the rear,
A position information acquisition device for acquiring position information of the traveling vehicle body;
A rudder angle detector for detecting a rudder angle of the steered wheels;
A control unit that performs straight-ahead support for controlling the steering device based on the position information acquired by the position information acquisition device to support automatic straight traveling of the traveling vehicle body;
With
The controller is
The work vehicle is characterized in that, when the rudder angle detected by the rudder angle detection unit after the traveling vehicle body is not a value indicating a straight traveling state, the straight traveling support is prohibited. An attitude detection unit for detecting the attitude of the traveling vehicle body;
The controller is
The operation according to claim 1, wherein the straight support is prohibited when the posture of the traveling vehicle body detected by the posture detection unit after the traveling vehicle body turns is an oblique posture with respect to a traveling direction. vehicle. The work vehicle according to claim 1, further comprising a notification device that notifies a support situation including whether or not the straight traveling support can be executed. The traveling vehicle body is
The work vehicle according to claim 3, further comprising an index member serving as a guide for a traveling direction, wherein the index member functions as the notification device. The indicator member is
5. The work vehicle according to claim 4, wherein a plurality of the work vehicles are arranged in parallel along a traveling direction at a front center position of the traveling vehicle body. The indicator member is
The work vehicle according to claim 4 or 5, comprising a plurality of lamps, and functioning as the notification device by light emission of each lamp. The notification device
The work vehicle according to any one of claims 3 to 6, wherein, in addition to the support status, information on a remaining amount of work material provided in the ground work unit is notified. A travel reference registration unit for registering a reference travel line serving as a reference for the straight travel of the traveling vehicle body in the straight support;
The travel reference registration unit
The start and end positions of the straight support are acquired as a reference start point and a reference end point, and a line segment connecting the acquired reference start point and the reference end point is registered as the reference travel line,
The notification device
The work vehicle according to any one of claims 3 to 7, wherein an acquisition status of the reference start point and the reference end point is notified. A main transmission lever for operating forward and backward movement of the traveling vehicle body, and a reference point registration switch for performing an operation for acquiring the reference start point and the reference end point,
The work vehicle according to claim 8, wherein the main transmission lever and the reference point registration switch are provided at positions facing each other with a steering wheel interposed therebetween.

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