JP2019068778A - Automatic steering system - Google Patents

Abstract

To provide a work vehicle that has improved work efficiency during automatic straight advancing.SOLUTION: A work vehicle (1) according to one embodiment comprises: a running vehicle body (2) having running wheels (5); a position information acquisition unit (120) acquiring position information of the running vehicle body (2); a steering angle adjustment unit (110) adjusting the steering angle so that the running vehicle body (2) automatically performs straight advancing; and a control unit (150) acquiring running reference data that is a reference for automatic straight advancing on the basis of the position information and controlling the steering angle adjustment unit (110) on the basis of the running reference data. The control unit (150) adjusts the steering angle in the automatic straight advancing to be larger than the adjustment amount of the steering angle when an auxiliary wheel (5A) is fitted to the running vehicle body (2) than the adjustment amount of the steering angle when the auxiliary wheel (5A) is not fitted.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work vehicle.

  Conventionally, work is performed that has position information on the work start position and the work end position by the work device, creates a reference line from the obtained position information, and has an automatic rectilinear device that automatically moves the work vehicle straight along the created reference line. A vehicle is known (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2016-21890

  Some work vehicles can be equipped with an auxiliary wheel in order to improve the travelability (straightness) of the work vehicle.

  However, in the work vehicle as described above, automatic straight-ahead control when the auxiliary wheel is mounted is not considered. Therefore, for example, when the work vehicle on which the auxiliary wheel is mounted deviates from the reference line during automatic straight advance, the time until the work vehicle returns to the reference line becomes long, and for example, the planting accuracy of seedlings decreases. May decrease.

  This invention is made in view of the above, Comprising: It aims at providing the working vehicle which improves the workability at the time of automatic straight advance.

  In order to solve the problems described above and achieve the purpose, the work vehicle (1) according to one aspect of the embodiment includes a traveling vehicle body (2) having traveling wheels (5) and position information of the traveling vehicle body (2) Position information acquisition unit (120) for acquiring the steering angle adjustment unit (110) for adjusting the steering angle so that the traveling vehicle body (2) travels automatically straight ahead; A control unit (150) for acquiring data and controlling the steering angle adjustment unit (110) based on the travel standard data, and the control unit (150) controls the traveling vehicle body (2) to have an auxiliary wheel (5A) When attached, the adjustment amount of the steering angle at the time of automatic straight advance is made larger than the adjustment amount of the steering angle when the auxiliary wheel (5A) is not attached.

  According to the work vehicle according to one aspect of the embodiment, the workability at the time of automatic straight ahead can be improved.

Drawing 1 is an explanatory view showing the outline of the straight advance support of the seedling transplanting machine concerning an embodiment. FIG. 2 is a side view of the seedling transplanting machine according to the embodiment. FIG. 3 is a schematic view of the steering post as viewed from the front. FIG. 4 is a schematic view of a monitor. FIG. 5 is a functional block diagram centering on the controller of the seedling transplanting machine. FIG. 6 is a flowchart for explaining straight movement control according to the embodiment.

  Hereinafter, a work vehicle according to an embodiment of the present invention will be described in detail as a riding type seedling transplanting machine 1 with reference to the drawings. The constituent elements in the following embodiments include those that can be easily replaced by persons skilled in the art, or those that are substantially the same, that is, the so-called equivalent ranges. Furthermore, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. In addition, hereinafter, the entire seedling transplanting machine 1 may be referred to as an airframe.

  FIG. 1 is an explanatory view showing an outline of a rectilinear support of the seedling transplanting machine 1 according to the embodiment. The seedling transplanting machine 1 which concerns on this embodiment is provided with the traveling vehicle body 2 provided with the left-right paired front wheel 4 and the rear wheel 5 while connecting the seedling planting part 50 to a rear part.

  In the present embodiment, the straight-ahead support is a field by controlling the operation of the turning wheels based on the steering angle (turning angle) of the turning wheels of the seedling transplanting machine 1 and the position information of the seedling transplanting machine 1. It refers to a function to support automatic straight running of the seedling transplanting machine 1 in F. Here, although the steering angle is the turning angle of the front wheel 4, for example, the steering angle of the steering wheel 32 (see FIG. 2) may be detected as the steering angle. Further, the position information of the seedling transplanting machine 1 is acquired by the GNSS unit 120 (position information acquisition unit) (see FIG. 5) provided on the traveling vehicle body 2. In the following description, the front, rear, left and right direction reference of the seedling transplanting machine 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 the operator can sit.

  As illustrated, the seedling transplanting machine 1 performs planting of seedlings with a predetermined work width D while reciprocating in the predetermined work area G in the field F. At this time, if straight support is performed, only manual turning operation performed by the operator using the handle 32 is only required to perform turning operation in the vicinity of the headland, and for straight running, the seedling transplanting machine 1 is along the automatic straight line L1. And run automatically. The code | symbol L3 shows the turning line by manual operation of the seedling transplanting machine 1 in a headland in FIG. Moreover, code | symbol E shows the entrance / exit of the seedling transplanting machine 1 to the field F. As shown in FIG.

  The automatic straight line L1 of the seedling transplanting machine 1 by the straight support is parallel to a reference running line (running reference data) L2 which is a reference when performing straight support, and the reference running line L2 is in the planting direction of the seedlings. In addition, it is preset in the field F. That is, the traveling standard registration unit 152 of the seedling transplanting machine 1 is provided as the reference starting point (hereinafter referred to as "point A") and the reference end point (hereinafter referred to as "point B") as the start position and end position of the straight support, respectively. A line segment obtained by (see FIG. 5) and connecting the acquired point A and point B is registered as a reference travel line L2.

  Hereinafter, the specific configuration of the seedling transplanting machine 1 will be described with reference to FIG. FIG. 2 is a side view of the seedling transplanting machine 1 according to the embodiment.

  A seedling planting unit 50 is attached to the traveling vehicle body 2 of the seedling transplanting machine 1 so as to be able to move up and down via a seedling planting unit lifting mechanism 40 which is a lifting device. 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 together, and the front wheel 4 serving as a steered wheel is steered by turning the steering wheel 32. It is possible to travel along a field F, a field between the fields F, etc.

  The seedling transplanting machine 1 can mount the auxiliary wheel 5A on the rear wheel 5. Specifically, the auxiliary wheel 5 </ b> A is attached to an axle 220 of the rear wheel 5 and rotates with the rear wheel 5. The seedling transplanting machine 1 can attach the auxiliary wheel 5A to the inside of the rear wheel 5, the outside of the rear wheel 5, or the inside and the outside of the rear wheel 5. That is, the seedling transplanting machine 1 can change the attachment position of the auxiliary wheel 5A.

  Further, the traveling vehicle body 2 includes a main frame 7 disposed substantially at the center of the vehicle body, an engine 10 which is a motor mounted on the main frame 7, power of the engine 10, front and rear wheels 4, 5 and a seedling planting And a power transmission device 15 for transmitting to the attachment portion 50. In this seedling transplanting machine 1, internal combustion engines such as a diesel engine and a gasoline engine are used for the engine 10 which is a motive power source, and the generated motive power is not only used to move the traveling vehicle 2 forward or backward. It is also used to drive the planting unit 50.

  Further, the power transmission device 15 transmits power from the engine 10 to the hydraulic stepless transmission (hereinafter referred to as “HST”) 16 and HST 16 that shift and output the driving force transmitted from the engine 10. And a power transmission unit 17.

  The power transmission device 15 also has a transmission case 18. That is, the driving force from the engine 10 is transmitted to the HST 16 via the power transmission unit 17, and the power shifted by the HST 16 is transmitted to the transmission case 18. The transmission case 18 internally includes an auxiliary transmission mechanism (not shown) that switches between a high speed mode and a low speed mode, which will be described later, and is attached to the front of the main frame 7.

  The power transmitted from the transmission case 18 to the front wheels 4 and the rear wheels 5 can be partially transmitted to the front wheels 4 through the left and right front wheel final cases 13, and the rest are transmitted through the left and right rear wheel 5 gear cases 22. Transmission to wheel 5 is possible. The left and right front wheel final cases 13 are disposed on the left and right sides of the transmission case 18, respectively. The left and right front wheels 4 are connected to the left and right front wheel final case 13 via an axle 131, and the front wheel final case 13 can be driven according to the steering operation of the steering wheel 32 to steer the front wheel 4 .

  Similarly, the rear wheel 5 is connected to the left and right rear wheel 5 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 (see FIG. 5) connected to a controller 150 (see FIG. 5) described in detail later.

  The engine 10 is disposed substantially at the center in the left-right direction of the traveling vehicle body 2 and in a state of being projected above the floor step 26 on which the operator places his / her foot on the vehicle. The floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10 and mounted on the main frame 7, and a part of the floor step 26 is attached to the shoe Mud can be dropped to the field F. Further, at the rear of the floor step 26, a rear step 27 which also serves as a fender of the rear wheel 5 is provided. The rear step 27 has an inclined surface that inclines upward in the rearward direction, and is disposed on the left and right sides of the engine 10, respectively.

  Further, the engine 10 protrudes upward from the floor step 26 and the rear step 27 and an engine cover 11 covering the engine 10 is disposed in a portion protruding from these steps 26 and 27.

  A control seat 28 on which the operator is seated is installed on the top of the engine cover 11, and a control unit 30 is provided in front of the control seat 28 and at a central front portion of the traveling vehicle body 2. The control unit 30 is disposed in a state of projecting upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into right and left.

  The steering unit 30 is provided with a steering post 315, and on the upper portion of the steering post 315, a steering wheel 32 capable of being steered by a worker is provided. As shown in FIG. 3, the steering post 315 is provided with a fingerp lever 34. FIG. 3 is a schematic view of the steering post 315 as viewed from the front. The fingerp lever 34 is operated by an operator, for example, when acquiring the point A and the point B. The fingerp lever 34 can be pivoted up and down.

  Further, as shown in FIG. 4, the steering post 315 is provided with a monitor 33. FIG. 4 is a schematic view of the monitor 33. As shown in FIG. The monitor 33 is provided with, for example, a straight support lamp 331, an A-point lamp 332, a B-point lamp 333, and a GPS lamp 334, which are turned on when the aircraft performs automatic rectilinear travel by straight support. . The monitor 33 is provided with indicator lights other than the lamps. In addition, the seedling transplanting machine 1 may have a plurality of monitors.

  In the monitor 33, when the point A is acquired by the operation of the finger lever 34, the point A lamp 332 is turned on. Further, when the point B is acquired by the operation of the fingerp lever 34, the B point lamp 333 is turned on. In the monitor 33, both the A point lamp 332 and the B point lamp 333 are turned on when the vehicle can travel straight ahead automatically.

  The GPS lamp 334 has three display lamps, and changes the number of lights of the display lamp in accordance with the GPS reception state. The monitor 33 notifies the worker of the GPS reception state by the display mode.

  Moreover, the buzzer 215 used as an example of the alerting | reporting apparatus 200 is provided in the predetermined position of the control part 30, for example (refer FIG. 5).

  Returning to FIG. 2, the steering unit 30 is provided with a main shift lever 81 and an auxiliary shift lever 82 near the steering post 315. The main shift lever 81 is provided on the right side of the steering unit 30, and the sub shift lever 82 is provided below the steering wheel 32.

  The main shift lever 81 is a lever for switching between forward and reverse travel of the traveling vehicle body 2 and traveling output. The operator operates the main shift lever 81 to adjust the rotation angle of a trunnion (not shown) of the HST 16 to adjust the traveling angle of the traveling vehicle body 2. Speed adjustment can be performed.

  The auxiliary shift lever 82 is a lever that switches the traveling mode for defining the traveling speed of the traveling vehicle body 2 between the low speed mode and the high speed mode according to the traveling place. Mode switching is performed by an auxiliary transmission mechanism provided in the transmission case 18 in accordance with the position of the auxiliary transmission lever 82.

  Further, a front cover 31 which 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. In addition, although illustration is abbreviate | omitted for convenience in FIG. 2, the spare seedling mounting stand (not shown) is provided in the front side left and right of the traveling vehicle body 2. As shown in FIG.

  The center mascot 350 is attached at the front center position of the traveling vehicle body 2 and functions as an indication of the traveling direction when the operator sitting on the control seat 28 operates the seedling transplanting machine 1 is there. Moreover, the center mascot 350 which concerns on this embodiment functions also as the alerting | reporting apparatus 200 which alert | reports the support condition containing the execution decision | availability of the straight advance support mentioned above.

  The seedling transplanting machine 1 according to the present embodiment uses the center mascot 350 serving as the notification device 200 to add information on the remaining amount of working materials such as seedlings and fertilizers provided in the seedling planting unit 50 in addition to the condition of straight support. You may alert | report.

  Since the center mascot 350 is always present in the view of the worker facing forward, the worker can always grasp the situation of the seedling transplanting machine 1 without turning his eyes from the front, and the safety is improved. Can greatly contribute to

  In the seedling transplanting machine 1 according to the present embodiment, a GNSS unit 120 incorporating a receiving antenna 121 (see FIG. 5) is disposed on 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.

  The GNSS unit 120 is attached to the top of the antenna frame 124 whose proximal end is connected to the front end side of the traveling vehicle body 2 so as to be located directly above the axle shaft 131 of the front wheel 4. The antenna frame 124 is foldable, and 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.

  Further, in the GNSS unit 120 according to the present embodiment, in addition to the receiving antenna 121, although not shown, an inertial navigation device using a gyro sensor or an acceleration sensor and a control board for controlling these are incorporated.

  Here, the seedling planting unit 50 and other configurations will be described. The seedling planting unit 50 is attached to the rear of the traveling vehicle body 2 so as to be able to move up and down via a seedling planting unit raising and lowering mechanism 40. The seedling planting part raising and lowering mechanism 40 is provided with a raising and lowering link device 41, and the raising and lowering link device 41 is provided with a parallel link mechanism for connecting the rear part of the traveling vehicle body 2 and the seedling planting part 50. The parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are pivotable on a rear view gate base frame 43 erected at the rear end of the main frame 7. It is connected. And the other end side of link 41a, 41b is connected with the seedling planting part 50 rotatably. Thus, the seedling planting unit 50 is connected to the traveling vehicle body 2 so as to be movable up and down.

  In addition, the seedling planting part raising and lowering mechanism 40 has a hydraulic raising and lowering cylinder 44 that can be expanded and contracted by hydraulic pressure, and the expanding and lowering operation of the hydraulic raising and lowering cylinder 44 can raise and lower the seedling planting part 50. The hydraulic lift cylinder 44 is driven by the above-described HST 16 and lifts the seedling planting unit 50 to the non-working position or lowers it to the ground working position (planting position) by the lifting operation of the seedling planting unit lifting mechanism 40. Can be

  Moreover, the seedling planting part 50 can plant the range which plants a seedling in several division or several row | line | column. For example, it is possible to form a so-called six-row planting planting unit 50 in which seedlings are planted in six sections.

  In addition, 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 placement stand 51 is provided as a seedling placement member for loading a plurality of rows of seedlings at the rear of the traveling vehicle body 2 and carries the number of seedlings for the number of planting strips partitioned in the left-right direction of the traveling vehicle body 2 It is possible to have a surface 52 and to place a mat-like seedling with soil on each seedling loading surface 52.

  The seedling planting apparatus 60 is disposed at the lower part of the seedling placement table 51 on which the seedlings are placed, and takes the seedlings from the seedling placement table 51 and planted in the field F. Supported by the planting support frame 55. And the seedling planting apparatus 60 has the planting transmission case 64 and the planting object 61, and the planting body 61 is comprised so that a seedling can be taken from the seedling loading stand 51, and it can plant in the field F. The planting transmission case 64 can supply a driving force to the planting body 61.

  In addition, 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 corresponds to the planting transmission case 64. And rotatably coupled. In addition, the planting body 61 rotatably supports the planting weir 62 and the planting transmission case 64 while rotatably supporting the planting weir 62 and the planting weir 62 for taking the seedlings from the seedling placement table 51 and planting them in the field F. And a rotary case 63.

  When rotating the implanting rod 62 by the driving force transmitted from the planting transmission case 64, the rotary case 63 is internally provided with an unequal speed transmission mechanism (not shown) that can be rotated while changing the rotational speed. ing. Thereby, at the time of rotation of the planting body 61, the implanting rod 62 can be rotated while changing the rotational speed depending on the rotational angle with respect to the rotary case 63.

  The seedling planting apparatus 60 comprised in this way is arrange | positioned by every two rows. That is, a planting stripe is allocated to each of the plurality of seedling planting devices 60. In addition, each planting transmission case 64 rotatably includes two rows of planting bodies 61. In other words, two rotary cases 63 are connected to one planting transmission case 64 at both sides in the left-right direction of the machine.

  Further, the float 47 slides on the overhead scene to level the ground along with the movement of the traveling vehicle body 2, and the center float 48 located at the center of the seedling planting portion 50 in the left and right direction of the traveling vehicle body 2 And the side floats 49 located on both sides of the seedling planting part 50 in FIG.

  The center float 48 in the present embodiment is provided with a float potentiometer 154 (see FIG. 5) that functions as a hydraulic sensitivity mechanism that raises and lowers the seedling planting unit 50 up and down according to the condition of the field F. The float potentiometer 154 can change the width of the sensitivity for detecting the vertical movement of the center float 48.

  For example, if the sensitivity is made sensitive, even a small vertical movement of the center float 48 is detected, and a detection signal is transmitted to the controller 150. On the other hand, if the sensitivity is made insensitive, the small float of the center float 48 is not detected, only the vertical movement of a certain amplitude or more is detected, and the detection signal is transmitted to the controller 150.

  In addition, on the front side of the lower side position of the seedling planting unit 50, a leveling rotor 67 for leveling the field F is provided. The rotor 67 is configured to be rotatable by the output from the engine 10 transmitted via the rear wheel 5 gear case 22, and is provided to be vertically movable by a rotor motor 165 (see FIG. 5) which is an electric motor. There is.

  In the seedling transplanting machine 1 according to the present embodiment, the controller 150 executes the straight-ahead support on condition that the leveling rotor 67 is in contact with the ground. That is, the rectilinear support is performed only when the seedling planting operation is performed.

  In addition, on the left and right sides of the seedling planting portion 50, a draw marker 68 is provided which forms a line serving as a guide for the traveling direction to the next planting strip. The delineation marker 68 delineates a mark on the field F when the seedling transplanting machine 1 advances straight after being turned at the edge of the field F when the seedling transplanting machine 1 goes straight forward in the field F.

  Further, a fertilization device 70 is mounted behind the steering seat 28 in the traveling vehicle body 2. Fertilizer 70 includes a left and right storage hopper 71 for storing the fertilizer, a feeder 72 for feeding the set amount of fertilizer supplied from the reservoir hopper 71, and a fertilizer passage for supplying the fertilizer fed by the feeder 72 to the field F. A certain fertilization hose 74 and a blower 73 for supplying the conveyance wind to the fertilization hose 74 are provided.

  The fertilizer in the fertilization hose 74 is transferred to the seedling planting unit 50 side by the blower 73. Furthermore, the fertilization apparatus 70 includes a fertilization guide 75 to which the fertilizer is transferred by the fertilization hose 74 and a groove that drops the fertilizer transferred by the fertilization hose 74 into the fertilization groove formed near the side of the seedling attachment. And 76.

  FIG. 5 is a functional block diagram centering on the controller 150 of the seedling transplanting machine 1. The seedling transplanting machine 1 which concerns on this embodiment can control each part by electronic control, and the seedling transplanting machine 1 is provided with the controller 150 as a control part which controls each part. The controller 150 is provided with a processing unit having a central processing unit (CPU) or the like, a storage unit such as a read only memory (ROM) or a random access memory (RAM), and further an input / output unit. Thus, it is possible to exchange signals with each other. The storage unit stores a computer program for controlling the seedling transplanting machine 1.

  As illustrated, the controller 150 is connected with various actuators, sensors for acquiring information of each part, and the like.

  Connected to the controller 150 are, for example, a throttle motor 100 for adjusting the intake amount of the engine 10, a rotor motor 165 for raising and lowering the leveling rotor 67, and a planting clutch motor 510 for operating the planting clutch 500 as actuators. Be done. Although not shown, a trunnion drive motor that changes the rotation angle of the trunnion of the HST 16 is also connected to the controller 150.

  Further, the controller 150 includes a steering angle sensor 130, an azimuth sensor 160, an attitude sensor 170, an inclination sensor 180, a seating sensor 190, and a lever for detecting an operation amount of the main shift lever 81 and the sub shift lever 82 by a tilt angle. Various other sensors including a sensor (not shown), a vehicle speed sensor (not shown) for detecting the vehicle speed of the traveling vehicle body 2 and the like are connected.

  The steering angle sensor 130 is a sensor that detects a steering angle when the front wheel 4 that is a steered wheel is steered by the operation of the steering wheel 32. The steering angle sensor 130 may detect the steering angle based on the turning angle of the steering wheel 32.

  The orientation sensor 160 is a sensor that detects the orientation of the vehicle. The controller 150 can derive the actual traveling direction of the vehicle based on the values acquired from the orientation sensor 160.

  The attitude sensor 170 detects how much the attitude of the traveling vehicle body 2 is in an oblique attitude with respect to the automatic rectilinear line L1, and is constituted by a gyro sensor or the like.

  The tilt sensor 180 detects the tilt of the traveling vehicle body 2. The tilt sensor 180 detects the tilt in the front-rear direction and the left-right direction of the traveling vehicle body 2. The tilt sensor 180 may be configured by a plurality of sensors. The tilt sensor 180 is, for example, an acceleration sensor.

  The seating sensor 190 is a sensor provided on the steering seat 28 and configured of a load cell, a pressure sensitive film sensor, and the like, and can detect that the operator is seated on the steering seat 28.

  The controller 150 detects that the steering angle detected by the steering angle sensor 130 is not a value indicating that it is within the allowable range for moving the traveling vehicle 2 straight, or detected by the direction sensor 170 detected by the direction sensor 160 If the posture is not a value indicating the straight direction, the straight support can be prohibited.

  The value that the steering angle is within the allowable range for causing the traveling vehicle body 2 to go straight is, for example, the case where the absolute value of the steering angle (turning angle) of the front wheel 4 is 15 degrees or less. In addition, when the steering angle detected by the steering angle sensor 130 indicates a value that is not a straight traveling state of the traveling vehicle 2 (for example, 5 degrees) after the traveling vehicle 2 has turned (for example, 5 degrees), straight ahead support can be prohibited.

  Also, for the azimuth sensor 160 and the attitude sensor 170, an allowable range is set, and if the direction or attitude that is out of the allowable range continues for the time set in the controller 150 or more, it is determined that it does not go straight ahead. It is good to make it the composition to prohibit.

  In addition, when some sort of trouble occurs and the straight support of the seedling transplanting machine 1 is stopped, the seedling planting can be performed when restarting the straight support in order to improve safety or to prevent an operation error in advance. It is also possible to control so as not to resume unless the conditions such as that the section 50 is lowered, that the spare seedling table is stored, that the planting clutch 500 is engaged, and the like.

  Further, as the notification device 200, for example, a monitor 33 and a buzzer 215 for emitting an alarm or the like are connected to the controller 150.

  The controller 150 can use the buzzer 215 and the monitor 33 to notify of the support status including the execution and stop of the straight support. Therefore, the operator can easily recognize whether the current state of the forward tilt attitude of the vehicle, the steering angle after turning the vehicle, the attitude of the vehicle, and the like are appropriate for performing the straight-ahead support. . Therefore, for example, the operability to switch from the turning operation to the rectilinear support can be improved.

  By the way, using the buzzer 215 and the monitor 33, for example, the controller 150 can also notify an operator of an abnormality in the power transmission device 15 (such as a gear loss of the clutch mechanism). Although the monitor 33 and the buzzer 215 are provided in advance in the traveling vehicle body 2 in the present embodiment, similar functions may be provided to a tablet terminal (not shown) which can be carried in from the outside. it can.

  The seedling transplanting machine 1 also includes a steering device 110 controllable by the controller 150 and a GNSS unit 120, which are connected to the controller 150.

  The steering device 110 includes a transmission mechanism (not shown) interlockingly connected with the steering wheel 32, and also includes a rectilinear support mechanism 310 for applying an arbitrary rotational force to the steering wheel 32, thereby enabling automatic steering by the controller 150. . The transmission mechanism includes a steering motor (steering angle adjustment unit) 112 that rotates the steering wheel 32.

  When executing the rectilinear support, the controller 150 automatically steers the steering wheel 32 via the rectilinear support mechanism 310 based on the position information acquired by the GNSS unit 120 to maintain the traveling vehicle body 2 in the rectilinear direction.

  The GNSS unit 120 has a receiving antenna 121 for receiving a signal from a satellite used in GNSS, acquires position information (coordinate information) of the seedling transplanting machine 1 on the earth, and acquires the acquired position information as a controller 150. To communicate.

  In addition, various switches such as the finger tip lever 34, the float potentiometer 154, the auxiliary wheel setting dial 140, and the steering angle adjustment setting dial 141 are connected to the controller 150.

  The fingerp lever 34 receives the operation of the operator regarding the rectilinear support. The fingerp lever 34 is operated by the operator when acquiring points A and B. Further, the fingerp lever 34 is operated when canceling the reference traveling line L2.

  The float potentiometer 154 is provided on the center float 48 that moves up and down following the unevenness of the field F, and senses the up and down movement of the center float 48, that is, the depth of the field F. The controller 150 raises and lowers the seedling planting part 50 according to the unevenness of the field F sensed.

  The controller 150 detects the depth of the field F between preset traveling distances by the float potentiometer 154 and calculates the average value of the depth of the field F when traveling at the time of acquiring the reference traveling line L2. The calculated average value is stored, for example, in the ROM as an average depth.

  In addition, the controller 150 determines the depth of the field F during straight-ahead support, for example, in three stages of “standard”, “shallow”, and “deep” based on the average depth. The controller 150 may determine the depth of the field F in multiple stages, and is not limited to three stages.

  The "standard" is a state in which the depth of the field F is equal to or greater than the first predetermined depth and smaller than the second predetermined depth. The first predetermined depth and the second predetermined depth are preset, and the second predetermined depth is larger than the first predetermined depth. "Shallow" is a state in which the depth of the field F is smaller than the first predetermined depth. "Deep" is a state in which the depth of the field F is greater than or equal to the second predetermined depth.

  The auxiliary wheel setting dial 140 is a dial for setting the attachment state of the auxiliary wheel 5A, and is a dial for setting the presence or absence of the attachment of the auxiliary wheel 5A and the attachment position of the auxiliary wheel 5A. The auxiliary wheel setting dial 140 can be set to, for example, “standard”, “internal”, “external”, or “triple”.

  "Standard" is a state in which the auxiliary wheel 5A is not attached. “Internal attachment” is a state in which the auxiliary wheel 5A is attached to the inside of the rear wheel 5. "Externally attached" is a state where the auxiliary wheel 5A is attached to the outside of the rear wheel 5. The "triple" is a state in which the auxiliary wheel 5A is attached to the inside and the outside of the rear wheel 5.

  The steering angle adjustment setting dial 141 is a dial that allows the operator to adjust the adjustment amount of the steering angle by the steering device 110 when the straight-ahead support is executed. The steering angle adjustment setting dial 141 can be set to, for example, “standard”, “less”, and “more”. The steering angle adjustment setting dial 141 may be set in multiple stages, and is not limited to three stages.

  "Standard" is a state in which the adjustment amount of the steering angle is not adjusted by the operation of the operator. "Less" means that the amount of adjustment of the steering angle is smaller than "standard". The "large" is a state in which the adjustment amount of the steering angle is made larger than the "standard".

  The controller 150 adjusts the steering angle at the time of the straight support in accordance with the depth of the field F, the attachment state of the auxiliary wheel 5A, and the operation of the steering angle adjustment setting dial 141 by the operator when performing the straight support. Control. Information on the auxiliary wheel setting dial 140 is stored in the ROM.

  The controller 150 includes a traveling standard registration unit 152 in which the reference traveling line L2 is registered. In order to make the seedling transplanting machine 1 perform straight support, teaching work is required in advance. The traveling standard registration unit 152 registers, for example, a reference traveling line L2 (see FIG. 1) for performing straight-ahead support and performing straight-ahead control by teaching work.

  The traveling standard registration unit 152 acquires the point A which is the start position of the rectilinear support and the point B which is the end position, respectively, and registers the line segment connecting the acquired point A and B as the reference traveling line L2.

  By registering the reference traveling line L2, the traveling direction when the straight support is executed and the distance for executing the straight support are registered. Note that, by registering the length of the reference traveling line L2 as the distance for executing the straight support, for example, the operator approaches the point where the turning operation is performed based on the straight distance of the traveling vehicle body 2, that is, An operator can be notified that the field end (端) is approaching. The traveling distance of the traveling vehicle body 2 can be calculated based on, for example, the number of rotations of the rotor 67.

  Next, straight movement control according to the embodiment will be described with reference to FIG. FIG. 6 is a flowchart for explaining straight movement control according to the embodiment. Here, it is assumed that the rectilinear support is being executed.

  The controller 150 calculates a reference operation amount of the steering angle (S10). The controller 150 calculates the reference operation amount based on the automatic straight advance line L1 and the current position of the traveling vehicle body 2. The reference operation amount increases as the deviation between the automatic straight advance line L1 and the current position of the traveling vehicle body 2 increases.

  The controller 150 sets a first correction coefficient based on the signal from the auxiliary wheel setting dial 140 (S11). The first correction coefficient is an adjustment amount of the steering angle based on the attachment state of the auxiliary wheel 5A.

  Specifically, the controller 150 sets the first correction coefficient to “a1 (for example, 1.0)” when the auxiliary wheel setting dial 140 is “standard”. The controller 150 sets the first correction coefficient to “a2 (> a1)” when the auxiliary wheel setting dial 140 is “internally installed”. When the auxiliary wheel setting dial 140 is “externally attached”, the controller 150 sets the first correction coefficient to “a3 (> a2)”. When the auxiliary wheel setting dial 140 is "triple", the controller 150 sets the first correction coefficient to "a4 (> a3)". “A1” to “a4” are preset values.

  When the auxiliary wheel 5A is attached, the rectilinearity of the traveling vehicle body 2 can be improved, but the area in contact with the field F becomes large, so the frictional resistance becomes large. Therefore, for example, when the traveling vehicle body 2 is displaced from the automatic rectilinear line L1 during rectilinear support and the traveling vehicle body 2 is returned to the automatic rectilinear line L1, the steering angle is higher than the case where the auxiliary wheel 5A is not attached. It is necessary to increase the operation amount of

  Therefore, when the auxiliary wheel 5A is attached, the controller 150 sets the first correction coefficient to a larger value than when the auxiliary wheel 5A is not attached.

  The controller 150 sets a second correction coefficient based on the depth of the field F (S12). The second correction coefficient is an adjustment amount of the steering angle based on the depth of the field F.

  The controller 150 sets the second correction coefficient to “b1 (for example, 1.0)” when the depth of the field F is “standard”. When the depth of the field F is “shallow”, the controller 150 sets the second correction coefficient to “b2 (<b1)”. When the depth of the field F is "deep", the controller 150 sets the second correction coefficient to "b3 (> b2)". “B1” to “b3” are values set in advance.

  As the field F becomes deeper, the running resistance increases. Therefore, the controller 150 sets the second correction coefficient to a larger value as the field F becomes deeper.

  The controller 150 sets a third correction coefficient based on the signal from the steering angle adjustment setting dial 141 (S13). The third correction coefficient is an adjustment amount of the steering angle based on the operation of the steering angle adjustment setting dial 141 by the operator.

  When the steering angle adjustment setting dial 141 is “standard”, the controller 150 sets the third correction coefficient to “c1 (for example, 1.0)”. The controller 150 sets the third correction coefficient to “c2 (<c1)” when the steering angle adjustment setting dial 141 is “less”. When the steering angle adjustment setting dial 141 is "large", the controller 150 sets the third correction coefficient to "c3 (> c1)". “C1” to “c3” are values set in advance.

  The controller 150 corrects the reference operation amount based on the first correction coefficient, the second correction coefficient, and the third correction coefficient, and calculates the operation amount of the steering angle (S14). Specifically, the controller 150 multiplies the reference operation amount by the first correction coefficient, the second correction coefficient, and the third correction coefficient to calculate the operation amount of the steering angle.

  The controller 150 controls the steering device 110 based on the calculated operation amount of the steering angle, performs straight support, and automatically steers the steering wheel 32 so that the traveling vehicle body 2 travels along the automatic straight line L1 (S15) .

  Each correction coefficient may be set by the operator. For example, each correction coefficient can be set by removing the check fuse of the controller 150 and shifting to the set mode.

  Further, the controller 150 may be capable of performing the following control with respect to the rectilinear support.

  When the GNSS unit 120 can not receive the position information of the traveling vehicle body 2 during straight-ahead support, for example, when a failure of the GNSS unit 120 is detected, the controller 150 ends the straight-ahead support. Thereby, it is possible to prevent the traveling vehicle body 2 from traveling by the rectilinear support in a state where the position information by the GNSS unit 120 can not be acquired.

  The controller 150 terminates the straight support when the fingerp lever 34 is pushed upward, for example, for less than 2 seconds, during the straight support.

  The controller 150 ends the straight-ahead support when the height of the rotor 67 becomes equal to or more than a preset constant value during the straight-ahead support. As a result, the end of the straight-ahead support can be performed regardless of the operation of the worker, and the workability can be improved.

  The controller 150 may turn off all the monitors 33 until the engine 10 is started after the main switch (not shown) of the seedling transplanting machine 1 is turned on. Thus, when the engine 10 is not started, the operator can be made aware that straight support can not be performed.

  The controller 150 may fully light the monitor 33 for one second, for example, after the engine 10 is started. As a result, it is possible to make the operator recognize that the straight-ahead support can be performed.

  Since the controller 150 detects the reference value of each sensor when alignment is in progress after the monitor 33 is fully turned on, the HST 16 may be set to the neutral position. Thus, movement of the traveling vehicle body 2 can be suppressed during alignment, and the reference value of each sensor can be accurately detected.

  The controller 150 may check the operation of the GNSS unit 120 when the alignment is completed after the monitor 33 is fully turned on. Further, the controller 150 may change the HST 16 from the neutral position.

  The controller 150 may blink the monitor 33 in the order of red, orange, and blue every 0.5 seconds, for example, during alignment after the monitor 33 is fully lit. The controller 150 may also blink the lamps 331 to 334, for example, when lighting red. Moreover, the controller 150 may blink each of the lamps 331 to 334, for example. In addition, after the monitor 33 is fully turned on, the controller 150 may display, for example, the monitor 33 indicating that the alignment is in progress when the alignment is in progress. As a result, the operator can be made aware that initialization is in progress.

  The controller 150 may sound the buzzer 215 once, for example, when the signal is received by the GNSS unit 120 after the engine 10 is started. This allows the operator to recognize that the GNSS unit 120 has successfully received the signal.

  The controller 150 may blink the monitor 33 in the order of red, orange, and blue, for example, every one second, and turn off the lamps 331 to 334 until the GNSS unit 120 receives a signal.

  The controller 150 may indicate on the monitor 33 that it is receiving until the GNSS unit 120 receives a signal. This allows the worker to recognize that the reception of the signal by the GNSS unit 120 is being confirmed.

  The controller 150 may sound the buzzer 215 if the signal can not be received by the GNSS unit 120 even after, for example, 5 minutes after the engine 10 is started. This allows the operator to recognize that the GNSS unit 120 can not receive a signal.

  The controller 150 blinks each of the lamps 331 to 334 when another signal can not be received by the GNSS unit 120 even after, for example, 5 minutes after the engine 10 is started, and the other monitor (not shown) You may turn off the light. This allows the operator to recognize that the GNSS unit 120 can not receive a signal.

  The controller 150 may sound the buzzer 215 once, for example, when the engine 10 is started and, for example, a signal is received by the GNSS unit 120 after 5 minutes have elapsed. In addition, after the controller 150 sounds the buzzer 215, the monitor 33 may be fully turned on, for example, for 2 seconds. This allows the operator to recognize that the GNSS unit 120 has successfully received the signal.

  The controller 150 may force the alignment when the fingerp lever 34 is pushed upward, for example, for 5 seconds or more. The controller 150 may force the buzzer 215 to sound, for example, once at the start of alignment execution. This enables the worker to recognize that the alignment is forcibly performed.

  The controller 150 may set the HST 16 to the neutral position while forcibly performing the alignment. Also, the controller 150 may accept forced alignment only when the HST 16 is in the neutral position. This enables accurate alignment.

  The controller 150 acquires the point A when the GNSS unit 120 is in the reception state. The controller 150 can obtain a predetermined A point lamp 332 when it becomes possible to acquire the point A, for example, when acquiring the point A when the fingerp lever 34 is pushed downward for less than 2 seconds. It may blink on a periodic basis. As a result, it is possible to make the operator recognize that it is possible to acquire the point A. The controller 150 may turn on the A point lamp 332 when acquiring the A point. Thus, the worker can be made aware that the point A has been acquired.

  When the controller 150 is not in a state where it can acquire the point A, the controller 150 may blink the A point lamp 332 in a predetermined acquisition impossible cycle. In addition, when the controller 150 is not in a state where it can acquire the point A, the buzzer 215 may sound, for example, three times at the start of the blinking of the point A lamp 332. This allows the worker to recognize that the point A can not be acquired.

  The controller 150 does not acquire the point A, and acquires the A point lamp 332 as predetermined when, for example, the straight-up support start operation is performed when the fingerp lever 34 is pushed upward for less than 2 seconds, for example. For example, 3 seconds may be blinked in the disabling cycle. The controller 150 may also sound the buzzer 215 three times, for example. This allows the worker to recognize that the straight-ahead support can not be started.

  When the point A is not acquired, the straight support start operation is performed, and the signal is received by the GNSS unit 120, the controller 150 instructs the monitor 33 that the points A and B can not be acquired. It may be displayed. In addition, the controller 150 may end the display on the monitor 33 after, for example, 5 seconds. Further, the controller 150 may end the display on the monitor 33 when the point A and the point B are acquired. This allows the worker to recognize that the straight-ahead support can not be started.

  The controller 150 may erase the acquired point A when, for example, the fingerp lever 34 is pressed downward for 2 seconds or more when only the point A is acquired. As a result, the point A can be erased and a new point A can be easily obtained. Also, the controller 150 may sound the buzzer 215 once, for example, when erasing the point A. This makes it possible for the operator to recognize that the point A is to be deleted.

  The controller 150 may erase the acquired point A when the main switch is turned off in a state in which the point A is acquired and, for example, two hours or more have elapsed. Thereby, when the work is not performed for a long time, it is possible to save time and labor of the erasing work by the operator by automatically erasing the point A.

  The controller 150 may enable acquisition of the point B when the point A is acquired. This can prevent the point B from being acquired first.

  The controller 150 acquires the point A when the GNSS unit 120 is in the reception state. The controller 150 can obtain a predetermined B point lamp 333 when it becomes possible to acquire the point B, for example, when acquiring the point B when the fingerp lever 34 is pressed downward for less than 2 seconds. It may blink on a periodic basis. As a result, it is possible to make the operator recognize that the B point can be acquired. In addition, the controller 150 may turn on the B point lamp 333 when acquiring the B point. Thereby, the worker can be made to recognize that the point B has been acquired.

  If the controller 150 is not in a state where it can acquire the point B, the controller 150 may blink the B point lamp 333 at a predetermined acquisition impossible cycle. In addition, when the controller 150 is not in a state in which the point B can be acquired, the controller 215 may sound the buzzer 215 three times, for example, when the B point lamp 333 starts to blink. This allows the worker to recognize that the point B can not be obtained.

  The controller 150 may be capable of acquiring the point B when the traveling vehicle body 2 travels from the position at which the point A is acquired, for example, at least the point B acquisition distance set at 5 m or the like. In addition, the B point acquisition distance may include a predetermined traveling time such as 5 seconds, for example. Thereby, the straightness of the reference traveling line L2 can be improved, and the straightness of the straight support can be improved.

  For example, when the fingerp lever 34 is pressed downward for less than 2 seconds to acquire the point A, the controller 150 moves the traveling vehicle body 2 from the position at which the point A is acquired while traveling the point B acquisition distance May display on the monitor 33 that the point B can not be acquired. This allows the worker to recognize that the point B can not be obtained.

  The controller 150 may terminate the display on the monitor 33 that the point B can not be acquired when the traveling vehicle body 2 travels the point B acquisition distance. Thereby, the worker can be made to recognize that the point B can be obtained.

  The controller 150 may erase the acquired points A and B when the fingerp lever 34 is pushed downward, for example, for 2 seconds or more when the point B is acquired. . As a result, the points A and B can be eliminated, and new points A and B can be easily obtained. In addition, the controller 150 may sound the buzzer 215 once, for example, when erasing the point A and the point B. Thus, the operator can be made aware of the elimination of the points A and B.

  The controller 150 may clear the acquired points A and B if the main switch is turned off in a state in which the points A and B are acquired, and, for example, two hours or more have elapsed. As a result, when the work is not performed for a long time, it is possible to save time and labor of the deletion work by the operator by automatically deleting the points A and B.

  The controller 150 acquires only the point A, does not acquire the point B, and for example, when the finger up lever 34 is pushed upward for less than 2 seconds and the straight support start operation is performed, A The point lamp 332 and the point B lamp 333 may blink, for example, for 3 seconds in a predetermined unobtainable cycle. The controller 150 may also sound the buzzer 215 three times, for example. This allows the worker to recognize that the straight-ahead support can not be started.

  The controller 150 may blink each of the lamps 331 to 334 so that the traveling direction enters the target direction when it is possible to perform straight-ahead support. This enables the operator to recognize the traveling direction.

  The controller 150 may blink the A point lamp 332 if the traveling direction deviates to the right with respect to the target direction, for example, three or more degrees. In addition, the controller 150 may blink the B point lamp 333 when the traveling direction is deviated to the left side with respect to the target direction, for example, three or more degrees. Thereby, the operator can be made to recognize the deviation of the traveling direction.

  The controller 150 may turn on or blink the rectilinear support lamp 331 when performing rectilinear support. Thereby, the worker can be made aware that the straight support is being performed.

  In a state where the controller 150 can not perform linear support, for example, when the finger up lever 34 is pushed upward for less than 2 seconds and the linear support start operation is performed, the linear support lamp 331 is For example, 3 seconds may be blinked in the unsupported period. This enables the operator to recognize that straight support can not be performed.

  The controller 150 can start the straight-ahead support, for example, when the finger up lever 34 is pushed upward for less than 2 seconds to perform a straight-ahead support start operation while the straight-ahead support can be performed. As a result, the operator can freely set the rectilinear support start position.

  The controller 150 may be capable of performing the straight-ahead support when the vehicle speed of the traveling vehicle body 2 is, for example, a position detectable vehicle speed of 0.5 km / h or more. When the vehicle speed is low, the position detection accuracy of the GNSS unit 120 may decrease. When the vehicle speed of the traveling vehicle body 2 is, for example, 0.5 km / h or more, the controller 150 can perform straight-ahead support and can perform straight-ahead support in a state where the position detection accuracy in the GNSS unit 120 is good. .

  The controller 150 may be capable of performing the straight-ahead support when the traveling vehicle body 2 is not in reverse. Further, when the steering angle (turn angle) is small and the traveling vehicle body 2 is going straight, for example, when the steering angle is smaller than a predetermined steering angle, the deviation between the traveling direction and the target direction is 3 degrees. If smaller than this, straight support may be possible.

  In addition, the controller 150 may be capable of performing straight-ahead support when the inclination of the traveling vehicle body 2 is smaller than 10 degrees, for example. In addition, the controller 150 may be capable of performing the straight-ahead support when the traveling mode by the sub transmission mechanism is not the high speed mode. In addition, the controller 150 may be capable of performing the rectilinear support when the height of the rotor 67 is less than a predetermined constant value. Also, the controller 150 may be able to perform rectilinear support when the GNSS unit 120 can receive a signal.

  When the vehicle speed of the traveling vehicle body 2 is lower than the position detectable vehicle speed of, for example, 0.5 km / h during the straight-ahead support, for example, the controller 150 ends the straight-ahead support It is also good. Thereby, it is possible to suppress that the rectilinear support is performed in a state in which the position detection accuracy by the GNSS unit 120 is low.

  When the vehicle speed of the traveling vehicle body 2 is lower than the support traveling completion vehicle speed of, for example, 0.4 km / h during the straight traveling support, for example, the controller 150 ends the straight traveling support. It is also good. In this way, when it is predicted that the traveling vehicle body 2 will stop, the straight-ahead support can be ended regardless of the operation of the worker, and the labor of the worker can be saved.

  The controller 150 may terminate the straight-ahead support when a communication abnormality with the GNSS unit 120 or the like, an abnormality of the steering device 110, or the like is detected during the straight-ahead support. Thereby, it is possible to suppress that straight-ahead support is performed in a state where the accuracy of the straight-ahead support is low.

  When the traveling mode of the sub transmission mechanism is the high speed mode, the controller 150 may display on the monitor 33 that the traveling mode of the sub transmission is the high speed mode. Thereby, the operator can be made to recognize that the condition for executing the straight-ahead support is not satisfied.

  The controller 150 ends the display when, for example, a display indicating that the condition for executing the straight support is not satisfied is displayed for 5 seconds, or when the traveling mode of the auxiliary transmission mechanism is in the low speed mode. It is also good.

  The controller 150 may display on the monitor 33 that the height of the rotor 67 is equal to or more than a predetermined value, when the height of the rotor 67 is equal to or more than a predetermined value. . Thereby, the operator can be made to recognize that the condition for executing the straight-ahead support is not satisfied.

  The controller 150 displays, for example, if an indication that the conditions for executing the straight support are not satisfied is displayed for 5 seconds, or if the height of the rotor 67 becomes lower than a predetermined value set in advance. , End display.

  In the seedling transplanting machine 1 according to the above-described embodiment, when the auxiliary wheel 5A is attached to the traveling vehicle body 2, the auxiliary wheel 5A is attached to the traveling vehicle body 2 with the adjustment amount of the steering angle at the time of straight support. Make it larger than the adjustment amount of the steering angle when there is no Specifically, when the auxiliary wheel 5A is attached, the seedling transplanting machine 1 makes the first correction coefficient larger and the adjustment amount of the steering angle larger than when the auxiliary wheel 5A is not attached. And increase the amount of steering angle operation.

  Thereby, for example, when the traveling vehicle body 2 deviates from the automatic straight advance line L1, the traveling vehicle body 2 can be quickly returned to the automatic straight advance line L1, and it is suppressed that the planting accuracy of seedlings is lowered at the straight advance support. it can. That is, the workability in the rectilinear support can be improved.

  In addition, the seedling transplanting machine 1 increases the adjustment amount of the steering angle as the number of the auxiliary wheels 5A increases. Thus, the adjustment amount of the steering angle can be set according to the number of the auxiliary wheels 5A, and the straight-ahead support can be performed with the operation amount of the steering angle according to the number of the auxiliary wheels 5A. Therefore, the workability in the rectilinear support can be improved.

  In addition, when the auxiliary wheel 5A is attached to the outside of the rear wheel 5, the seedling transplanting machine 1 makes the amount of adjustment of the steering angle larger than in the case where the auxiliary wheel 5A is attached to the inside of the rear wheel 5. . Thus, the adjustment amount of the steering angle can be set in accordance with the mounting position of the auxiliary wheel 5A. Therefore, the workability in the rectilinear support can be improved.

  Moreover, the seedling transplanting machine 1 enlarges the adjustment amount of the steering angle at the time of straight support, so that the depth of the field F is deeper. Specifically, the seedling transplanting machine 1 increases the second correction coefficient as the depth of the field F is deeper. Thereby, according to the depth of the field F, the amount of adjustment of a steering angle can be set. Therefore, the workability in the rectilinear support can be improved.

  Further, when acquiring the reference traveling line L2, the seedling transplanting machine 1 calculates the average depth of the field F, and sets the adjustment amount of the steering angle at the time of linear support based on the average depth. Thereby, the adjustment amount of the steering angle can be set according to the depth of the field F from the start of the straight-ahead support. Therefore, the workability in the rectilinear support can be improved.

  In addition, the seedling transplanting machine 1 sets the adjustment amount of the steering angle based on the operation of the steering angle adjustment setting dial 141. As a result, the amount of adjustment of the steering angle can be set by the operation of the operator according to the traveling state of the traveling vehicle body 2 at the time of straight-ahead support. Therefore, the workability in the rectilinear support can be improved.

  The seedling transplanting machine 1 according to the above embodiment sets the adjustment amount of the steering angle based on the attachment state of the auxiliary wheel 5A, the depth of the field F, the steering angle adjustment setting dial 141, and calculates the operation amount of the steering angle. And, we do straight support, but it is not limited to this. The seedling transplanting machine 1 according to the modification sets the adjustment amount of the steering angle based on at least one of the attachment state of the auxiliary wheel 5A, the depth of the field F, the steering angle adjustment setting dial 141, and performs straight support It is also good.

  The seedling transplanting machine 1 which concerns on a modification may set a 1st correction coefficient according to the kind of 5 A of auxiliary wheels. For example, the seedling transplanting machine 1 which concerns on a modification may set a 1st correction coefficient according to the diameter of 5 A of auxiliary wheels. The seedling transplanting machine 1 which concerns on a modification makes a 1st correction coefficient smaller than the case where the diameter of auxiliary wheel 5A is large, when the diameter of auxiliary wheel 5A is small. Thereby, the operation amount of the steering angle can be calculated according to the diameter of the auxiliary wheel 5A, the accuracy of the rectilinear support can be improved, and the workability can be improved.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may be able to attach the auxiliary wheel 5A only to the inner side of the rear wheel 5, or the outer side of the rear wheel 5.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may detect and update the depth of the field F in a rectilinear support. As a result, the depth of the field F can be detected more accurately, and the workability of the rectilinear support can be improved.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may set a 2nd correction coefficient according to the depth of the field F in a rectilinear support. That is, the depth of the field F may be detected at any time during straight-ahead support, and the second correction coefficient may be set based on the detected depth. Thus, the second correction coefficient can be set in accordance with the state of the field F traveling by the rectilinear support, and the workability of the rectilinear support can be improved. In this case, hysteresis may be provided to determine the depth of the field F. Thus, for example, when the depth of the field F changes over the first predetermined depth in a short time, the determination of the depth of the field F frequently switches between “shallow” and “standard”. Can be suppressed.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may sound the buzzer 215, when the steering angle adjustment setting dial 141 is operated.

  Further, the seedling transplanting machine 1 according to the modification may be provided with a steering angle adjustment setting dial 141 having a function of the auxiliary wheel setting dial 140. That is, the steering angle adjustment setting dial 141 may be provided which can be switched in multiple stages depending on the presence or absence of the auxiliary wheel 5A. This makes it possible to reduce the number of switches.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may provide a hysteresis with respect to operation of the steering angle adjustment setting dial 141. FIG. Thereby, for example, when the steering angle adjustment setting dial 141 is frequently operated between “standard” and “less”, it is possible to suppress the frequent switching of the steering angle adjustment amount.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may also include the change speed of a steering angle in the adjustment amount of a steering angle. For example, when the auxiliary wheel 5A is attached, the change speed of the steering angle is made larger than the change speed of the steering angle when the auxiliary wheel 5A is not attached. Thereby, for example, when the traveling vehicle body 2 deviates from the automatic rectilinear line L1, the traveling vehicle body 2 can be quickly returned to the automatic rectilinear line L1, and the workability of the rectilinear support can be improved.

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

1 Seedling transplanting machine (work vehicle)
5 Rear wheels (traveling wheels)
2 Traveling Car Body 33 Monitor 110 Steering Device (Rudder Angle Adjustment Unit)
120 GNSS unit (position information acquisition unit)
140 Auxiliary wheel setting dial 141 Steering angle adjustment setting dial 150 Controller (control unit)
154 Float potentiometer (depth detector)

The present invention relates to an automatic steering system .

  Conventionally, work is performed that has position information on the work start position and the work end position by the work device, creates a reference line from the obtained position information, and has an automatic rectilinear device that automatically moves the work vehicle straight along the created reference line. A vehicle is known (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2016-21890

  Some work vehicles can be equipped with an auxiliary wheel in order to improve the travelability (straightness) of the work vehicle.

  However, in the work vehicle as described above, automatic straight-ahead control when the auxiliary wheel is mounted is not considered. Therefore, for example, when the work vehicle on which the auxiliary wheel is mounted deviates from the reference line during automatic straight advance, the time until the work vehicle returns to the reference line becomes long, and for example, the planting accuracy of seedlings decreases. May decrease.

The present invention is made in view of the above, and an object of the present invention is to provide an automatic steering system which makes a good run at the time of automatic straight ahead.

To solve the above problems and achieve the object, the work vehicle according to an aspect of an embodiment (1) obtains the location information of the traveling wheels (5) that have a run line body (2) Position An information acquisition unit (120), a steering angle adjustment unit (110) that adjusts a steering angle so that the traveling vehicle body (2) travels automatically straightly, and traveling reference data serving as a reference for automatic traveling straight based on position information And a control unit (150) for controlling the steering angle adjustment unit (110) based on the traveling reference data, and the control unit (150) has an auxiliary wheel (5A) attached to the traveling vehicle body (2) In this case, the adjustment amount of the steering angle at the time of automatic straight advance is made larger than the adjustment amount of the steering angle when the auxiliary wheel (5A) is not attached.

According to the present invention, it is possible to make a good running when traveling straight ahead automatically.

Drawing 1 is an explanatory view showing the outline of the straight advance support of the seedling transplanting machine concerning an embodiment. FIG. 2 is a side view of the seedling transplanting machine according to the embodiment. FIG. 3 is a schematic view of the steering post as viewed from the front. FIG. 4 is a schematic view of a monitor. FIG. 5 is a functional block diagram centering on the controller of the seedling transplanting machine. FIG. 6 is a flowchart for explaining straight movement control according to the embodiment.

  Hereinafter, a work vehicle according to an embodiment of the present invention will be described in detail as a riding type seedling transplanting machine 1 with reference to the drawings. The constituent elements in the following embodiments include those that can be easily replaced by persons skilled in the art, or those that are substantially the same, that is, the so-called equivalent ranges. Furthermore, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. In addition, hereinafter, the entire seedling transplanting machine 1 may be referred to as an airframe.

  FIG. 1 is an explanatory view showing an outline of a rectilinear support of the seedling transplanting machine 1 according to the embodiment. The seedling transplanting machine 1 which concerns on this embodiment is provided with the traveling vehicle body 2 provided with the left-right paired front wheel 4 and the rear wheel 5 while connecting the seedling planting part 50 to a rear part.

  In the present embodiment, the straight-ahead support is a field by controlling the operation of the turning wheels based on the steering angle (turning angle) of the turning wheels of the seedling transplanting machine 1 and the position information of the seedling transplanting machine 1. It refers to a function to support automatic straight running of the seedling transplanting machine 1 in F. Here, although the steering angle is the turning angle of the front wheel 4, for example, the steering angle of the steering wheel 32 (see FIG. 2) may be detected as the steering angle. Further, the position information of the seedling transplanting machine 1 is acquired by the GNSS unit 120 (position information acquisition unit) (see FIG. 5) provided on the traveling vehicle body 2. In the following description, the front, rear, left and right direction reference of the seedling transplanting machine 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 the operator can sit.

  As illustrated, the seedling transplanting machine 1 performs planting of seedlings with a predetermined work width D while reciprocating in the predetermined work area G in the field F. At this time, if straight support is performed, only manual turning operation performed by the operator using the handle 32 is only required to perform turning operation in the vicinity of the headland, and for straight running, the seedling transplanting machine 1 is along the automatic straight line L1. And run automatically. The code | symbol L3 shows the turning line by manual operation of the seedling transplanting machine 1 in a headland in FIG. Moreover, code | symbol E shows the entrance / exit of the seedling transplanting machine 1 to the field F. As shown in FIG.

  The automatic straight line L1 of the seedling transplanting machine 1 by the straight support is parallel to a reference running line (running reference data) L2 which is a reference when performing straight support, and the reference running line L2 is in the planting direction of the seedlings. In addition, it is preset in the field F. That is, the traveling standard registration unit 152 of the seedling transplanting machine 1 is provided as the reference starting point (hereinafter referred to as "point A") and the reference end point (hereinafter referred to as "point B") as the start position and end position of the straight support, respectively. A line segment obtained by (see FIG. 5) and connecting the acquired point A and point B is registered as a reference travel line L2.

  Hereinafter, the specific configuration of the seedling transplanting machine 1 will be described with reference to FIG. FIG. 2 is a side view of the seedling transplanting machine 1 according to the embodiment.

  A seedling planting unit 50 is attached to the traveling vehicle body 2 of the seedling transplanting machine 1 so as to be able to move up and down via a seedling planting unit lifting mechanism 40 which is a lifting device. 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 together, and the front wheel 4 serving as a steered wheel is steered by turning the steering wheel 32. It is possible to travel along a field F, a field between the fields F, etc.

  The seedling transplanting machine 1 can mount the auxiliary wheel 5A on the rear wheel 5. Specifically, the auxiliary wheel 5 </ b> A is attached to an axle 220 of the rear wheel 5 and rotates with the rear wheel 5. The seedling transplanting machine 1 can attach the auxiliary wheel 5A to the inside of the rear wheel 5, the outside of the rear wheel 5, or the inside and the outside of the rear wheel 5. That is, the seedling transplanting machine 1 can change the attachment position of the auxiliary wheel 5A.

  Further, the traveling vehicle body 2 includes a main frame 7 disposed substantially at the center of the vehicle body, an engine 10 which is a motor mounted on the main frame 7, power of the engine 10, front and rear wheels 4, 5 and a seedling planting And a power transmission device 15 for transmitting to the attachment portion 50. In this seedling transplanting machine 1, internal combustion engines such as a diesel engine and a gasoline engine are used for the engine 10 which is a motive power source, and the generated motive power is not only used to move the traveling vehicle 2 forward or backward. It is also used to drive the planting unit 50.

  Further, the power transmission device 15 transmits power from the engine 10 to the hydraulic stepless transmission (hereinafter referred to as “HST”) 16 and HST 16 that shift and output the driving force transmitted from the engine 10. And a power transmission unit 17.

  The power transmission device 15 also has a transmission case 18. That is, the driving force from the engine 10 is transmitted to the HST 16 via the power transmission unit 17, and the power shifted by the HST 16 is transmitted to the transmission case 18. The transmission case 18 internally includes an auxiliary transmission mechanism (not shown) that switches between a high speed mode and a low speed mode, which will be described later, and is attached to the front of the main frame 7.

  The power transmitted from the transmission case 18 to the front wheels 4 and the rear wheels 5 can be partially transmitted to the front wheels 4 through the left and right front wheel final cases 13, and the rest are transmitted through the left and right rear wheel 5 gear cases 22. Transmission to wheel 5 is possible. The left and right front wheel final cases 13 are disposed on the left and right sides of the transmission case 18, respectively. The left and right front wheels 4 are connected to the left and right front wheel final case 13 via an axle 131, and the front wheel final case 13 can be driven according to the steering operation of the steering wheel 32 to steer the front wheel 4 .

  Similarly, the rear wheel 5 is connected to the left and right rear wheel 5 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 (see FIG. 5) connected to a controller 150 (see FIG. 5) described in detail later.

  The engine 10 is disposed substantially at the center in the left-right direction of the traveling vehicle body 2 and in a state of being projected above the floor step 26 on which the operator places his / her foot on the vehicle. The floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10 and mounted on the main frame 7, and a part of the floor step 26 is attached to the shoe Mud can be dropped to the field F. Further, at the rear of the floor step 26, a rear step 27 which also serves as a fender of the rear wheel 5 is provided. The rear step 27 has an inclined surface that inclines upward in the rearward direction, and is disposed on the left and right sides of the engine 10, respectively.

  Further, the engine 10 protrudes upward from the floor step 26 and the rear step 27 and an engine cover 11 covering the engine 10 is disposed in a portion protruding from these steps 26 and 27.

  A control seat 28 on which the operator is seated is installed on the top of the engine cover 11, and a control unit 30 is provided in front of the control seat 28 and at a central front portion of the traveling vehicle body 2. The control unit 30 is disposed in a state of projecting upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into right and left.

  The steering unit 30 is provided with a steering post 315, and on the upper portion of the steering post 315, a steering wheel 32 capable of being steered by a worker is provided. As shown in FIG. 3, the steering post 315 is provided with a fingerp lever 34. FIG. 3 is a schematic view of the steering post 315 as viewed from the front. The fingerp lever 34 is operated by an operator, for example, when acquiring the point A and the point B. The fingerp lever 34 can be pivoted up and down.

  Further, as shown in FIG. 4, the steering post 315 is provided with a monitor 33. FIG. 4 is a schematic view of the monitor 33. As shown in FIG. The monitor 33 is provided with, for example, a straight support lamp 331, an A-point lamp 332, a B-point lamp 333, and a GPS lamp 334, which are turned on when the aircraft performs automatic rectilinear travel by straight support. . The monitor 33 is provided with indicator lights other than the lamps. In addition, the seedling transplanting machine 1 may have a plurality of monitors.

  In the monitor 33, when the point A is acquired by the operation of the finger lever 34, the point A lamp 332 is turned on. Further, when the point B is acquired by the operation of the fingerp lever 34, the B point lamp 333 is turned on. In the monitor 33, both the A point lamp 332 and the B point lamp 333 are turned on when the vehicle can travel straight ahead automatically.

  The GPS lamp 334 has three display lamps, and changes the number of lights of the display lamp in accordance with the GPS reception state. The monitor 33 notifies the worker of the GPS reception state by the display mode.

  Moreover, the buzzer 215 used as an example of the alerting | reporting apparatus 200 is provided in the predetermined position of the control part 30, for example (refer FIG. 5).

  Returning to FIG. 2, the steering unit 30 is provided with a main shift lever 81 and an auxiliary shift lever 82 near the steering post 315. The main shift lever 81 is provided on the right side of the steering unit 30, and the sub shift lever 82 is provided below the steering wheel 32.

  The main shift lever 81 is a lever for switching between forward and reverse travel of the traveling vehicle body 2 and traveling output. The operator operates the main shift lever 81 to adjust the rotation angle of a trunnion (not shown) of the HST 16 to adjust the traveling angle of the traveling vehicle body 2. Speed adjustment can be performed.

  The auxiliary shift lever 82 is a lever that switches the traveling mode for defining the traveling speed of the traveling vehicle body 2 between the low speed mode and the high speed mode according to the traveling place. Mode switching is performed by an auxiliary transmission mechanism provided in the transmission case 18 in accordance with the position of the auxiliary transmission lever 82.

  Further, a front cover 31 which 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. In addition, although illustration is abbreviate | omitted for convenience in FIG. 2, the spare seedling mounting stand (not shown) is provided in the front side left and right of the traveling vehicle body 2. As shown in FIG.

  The center mascot 350 is attached at the front center position of the traveling vehicle body 2 and functions as an indication of the traveling direction when the operator sitting on the control seat 28 operates the seedling transplanting machine 1 is there. Moreover, the center mascot 350 which concerns on this embodiment functions also as the alerting | reporting apparatus 200 which alert | reports the support condition containing the execution decision | availability of the straight advance support mentioned above.

  The seedling transplanting machine 1 according to the present embodiment uses the center mascot 350 serving as the notification device 200 to add information on the remaining amount of working materials such as seedlings and fertilizers provided in the seedling planting unit 50 in addition to the condition of straight support. You may alert | report.

  Since the center mascot 350 is always present in the view of the worker facing forward, the worker can always grasp the situation of the seedling transplanting machine 1 without turning his eyes from the front, and the safety is improved. Can greatly contribute to

  In the seedling transplanting machine 1 according to the present embodiment, a GNSS unit 120 incorporating a receiving antenna 121 (see FIG. 5) is disposed on 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.

  The GNSS unit 120 is attached to the top of the antenna frame 124 whose proximal end is connected to the front end side of the traveling vehicle body 2 so as to be located directly above the axle shaft 131 of the front wheel 4. The antenna frame 124 is foldable, and 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.

  Further, in the GNSS unit 120 according to the present embodiment, in addition to the receiving antenna 121, although not shown, an inertial navigation device using a gyro sensor or an acceleration sensor and a control board for controlling these are incorporated.

  Here, the seedling planting unit 50 and other configurations will be described. The seedling planting unit 50 is attached to the rear of the traveling vehicle body 2 so as to be able to move up and down via a seedling planting unit raising and lowering mechanism 40. The seedling planting part raising and lowering mechanism 40 is provided with a raising and lowering link device 41, and the raising and lowering link device 41 is provided with a parallel link mechanism for connecting the rear part of the traveling vehicle body 2 and the seedling planting part 50. The parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are pivotable on a rear view gate base frame 43 erected at the rear end of the main frame 7. It is connected. And the other end side of link 41a, 41b is connected with the seedling planting part 50 rotatably. Thus, the seedling planting unit 50 is connected to the traveling vehicle body 2 so as to be movable up and down.

  In addition, the seedling planting part raising and lowering mechanism 40 has a hydraulic raising and lowering cylinder 44 that can be expanded and contracted by hydraulic pressure, and the expanding and lowering operation of the hydraulic raising and lowering cylinder 44 can raise and lower the seedling planting part 50. The hydraulic lift cylinder 44 is driven by the above-described HST 16 and lifts the seedling planting unit 50 to the non-working position or lowers it to the ground working position (planting position) by the lifting operation of the seedling planting unit lifting mechanism 40. Can be

  Moreover, the seedling planting part 50 can plant the range which plants a seedling in several division or several row | line | column. For example, it is possible to form a so-called six-row planting planting unit 50 in which seedlings are planted in six sections.

  In addition, 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 placement stand 51 is provided as a seedling placement member for loading a plurality of rows of seedlings at the rear of the traveling vehicle body 2 and carries the number of seedlings for the number of planting strips partitioned in the left-right direction of the traveling vehicle body 2 It is possible to have a surface 52 and to place a mat-like seedling with soil on each seedling loading surface 52.

  The seedling planting apparatus 60 is disposed at the lower part of the seedling placement table 51 on which the seedlings are placed, and takes the seedlings from the seedling placement table 51 and planted in the field F. Supported by the planting support frame 55. And the seedling planting apparatus 60 has the planting transmission case 64 and the planting object 61, and the planting body 61 is comprised so that a seedling can be taken from the seedling loading stand 51, and it can plant in the field F. The planting transmission case 64 can supply a driving force to the planting body 61.

  In addition, 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 corresponds to the planting transmission case 64. And rotatably coupled. In addition, the planting body 61 rotatably supports the planting weir 62 and the planting transmission case 64 while rotatably supporting the planting weir 62 and the planting weir 62 for taking the seedlings from the seedling placement table 51 and planting them in the field F. And a rotary case 63.

  When rotating the implanting rod 62 by the driving force transmitted from the planting transmission case 64, the rotary case 63 is internally provided with an unequal speed transmission mechanism (not shown) that can be rotated while changing the rotational speed. ing. Thereby, at the time of rotation of the planting body 61, the implanting rod 62 can be rotated while changing the rotational speed depending on the rotational angle with respect to the rotary case 63.

  The seedling planting apparatus 60 comprised in this way is arrange | positioned by every two rows. That is, a planting stripe is allocated to each of the plurality of seedling planting devices 60. In addition, each planting transmission case 64 rotatably includes two rows of planting bodies 61. In other words, two rotary cases 63 are connected to one planting transmission case 64 at both sides in the left-right direction of the machine.

  Further, the float 47 slides on the overhead scene to level the ground along with the movement of the traveling vehicle body 2, and the center float 48 located at the center of the seedling planting portion 50 in the left and right direction of the traveling vehicle body 2 And the side floats 49 located on both sides of the seedling planting part 50 in FIG.

  The center float 48 in the present embodiment is provided with a float potentiometer 154 (see FIG. 5) that functions as a hydraulic sensitivity mechanism that raises and lowers the seedling planting unit 50 up and down according to the condition of the field F. The float potentiometer 154 can change the width of the sensitivity for detecting the vertical movement of the center float 48.

  For example, if the sensitivity is made sensitive, even a small vertical movement of the center float 48 is detected, and a detection signal is transmitted to the controller 150. On the other hand, if the sensitivity is made insensitive, the small float of the center float 48 is not detected, only the vertical movement of a certain amplitude or more is detected, and the detection signal is transmitted to the controller 150.

  In addition, on the front side of the lower side position of the seedling planting unit 50, a leveling rotor 67 for leveling the field F is provided. The rotor 67 is configured to be rotatable by the output from the engine 10 transmitted via the rear wheel 5 gear case 22, and is provided to be vertically movable by a rotor motor 165 (see FIG. 5) which is an electric motor. There is.

  In the seedling transplanting machine 1 according to the present embodiment, the controller 150 executes the straight-ahead support on condition that the leveling rotor 67 is in contact with the ground. That is, the rectilinear support is performed only when the seedling planting operation is performed.

  In addition, on the left and right sides of the seedling planting portion 50, a draw marker 68 is provided which forms a line serving as a guide for the traveling direction to the next planting strip. The delineation marker 68 delineates a mark on the field F when the seedling transplanting machine 1 advances straight after being turned at the edge of the field F when the seedling transplanting machine 1 goes straight forward in the field F.

  Further, a fertilization device 70 is mounted behind the steering seat 28 in the traveling vehicle body 2. Fertilizer 70 includes a left and right storage hopper 71 for storing the fertilizer, a feeder 72 for feeding the set amount of fertilizer supplied from the reservoir hopper 71, and a fertilizer passage for supplying the fertilizer fed by the feeder 72 to the field F. A certain fertilization hose 74 and a blower 73 for supplying the conveyance wind to the fertilization hose 74 are provided.

  The fertilizer in the fertilization hose 74 is transferred to the seedling planting unit 50 side by the blower 73. Furthermore, the fertilization apparatus 70 includes a fertilization guide 75 to which the fertilizer is transferred by the fertilization hose 74 and a groove that drops the fertilizer transferred by the fertilization hose 74 into the fertilization groove formed near the side of the seedling attachment. And 76.

  FIG. 5 is a functional block diagram centering on the controller 150 of the seedling transplanting machine 1. The seedling transplanting machine 1 which concerns on this embodiment can control each part by electronic control, and the seedling transplanting machine 1 is provided with the controller 150 as a control part which controls each part. The controller 150 includes a processing unit having a CPU (lang = EN-US> Central Processing lang = EN-US> Unit) or the like, a ROM (Read lang = EN-US> Only Memory), and a RAM (Random lang = EN-). A storage unit such as US> Access Memory, and further an input / output unit are provided, and they are connected to each other so that they can exchange signals with each other. The storage unit stores a computer program for controlling the seedling transplanting machine 1.

  As illustrated, the controller 150 is connected with various actuators, sensors for acquiring information of each part, and the like.

  Connected to the controller 150 are, for example, a throttle motor 100 for adjusting the intake amount of the engine 10, a rotor motor 165 for raising and lowering the leveling rotor 67, and a planting clutch motor 510 for operating the planting clutch 500 as actuators. Be done. Although not shown, a trunnion drive motor that changes the rotation angle of the trunnion of the HST 16 is also connected to the controller 150.

  Further, the controller 150 includes a steering angle sensor 130, an azimuth sensor 160, an attitude sensor 170, an inclination sensor 180, a seating sensor 190, and a lever for detecting an operation amount of the main shift lever 81 and the sub shift lever 82 by a tilt angle. Various other sensors including a sensor (not shown), a vehicle speed sensor (not shown) for detecting the vehicle speed of the traveling vehicle body 2 and the like are connected.

  The steering angle sensor 130 is a sensor that detects a steering angle when the front wheel 4 that is a steered wheel is steered by the operation of the steering wheel 32. The steering angle sensor 130 may detect the steering angle based on the turning angle of the steering wheel 32.

  The orientation sensor 160 is a sensor that detects the orientation of the vehicle. The controller 150 can derive the actual traveling direction of the vehicle based on the values acquired from the orientation sensor 160.

  The attitude sensor 170 detects how much the attitude of the traveling vehicle body 2 is in an oblique attitude with respect to the automatic rectilinear line L1, and is constituted by a gyro sensor or the like.

  The tilt sensor 180 detects the tilt of the traveling vehicle body 2. The tilt sensor 180 detects the tilt in the front-rear direction and the left-right direction of the traveling vehicle body 2. The tilt sensor 180 may be configured by a plurality of sensors. The tilt sensor 180 is, for example, an acceleration sensor.

  The seating sensor 190 is a sensor provided on the steering seat 28 and configured of a load cell, a pressure sensitive film sensor, and the like, and can detect that the operator is seated on the steering seat 28.

  The controller 150 detects that the steering angle detected by the steering angle sensor 130 is not a value indicating that it is within the allowable range for moving the traveling vehicle 2 straight, or detected by the direction sensor 170 detected by the direction sensor 160 If the posture is not a value indicating the straight direction, the straight support can be prohibited.

  The value that the steering angle is within the allowable range for causing the traveling vehicle body 2 to go straight is, for example, the case where the absolute value of the steering angle (turning angle) of the front wheel 4 is 15 degrees or less. In addition, when the steering angle detected by the steering angle sensor 130 indicates a value that is not a straight traveling state of the traveling vehicle 2 (for example, 5 degrees) after the traveling vehicle 2 has turned (for example, 5 degrees), straight ahead support can be prohibited.

  Also, for the azimuth sensor 160 and the attitude sensor 170, an allowable range is set, and if the direction or attitude that is out of the allowable range continues for the time set in the controller 150 or more, it is determined that it does not go straight ahead. It is good to make it the composition to prohibit.

  In addition, when some sort of trouble occurs and the straight support of the seedling transplanting machine 1 is stopped, the seedling planting can be performed when restarting the straight support in order to improve safety or to prevent an operation error in advance. It is also possible to control so as not to resume unless the conditions such as that the section 50 is lowered, that the spare seedling table is stored, that the planting clutch 500 is engaged, and the like.

  Further, as the notification device 200, for example, a monitor 33 and a buzzer 215 for emitting an alarm or the like are connected to the controller 150.

  The controller 150 can use the buzzer 215 and the monitor 33 to notify of the support status including the execution and stop of the straight support. Therefore, the operator can easily recognize whether the current state of the forward tilt attitude of the vehicle, the steering angle after turning the vehicle, the attitude of the vehicle, and the like are appropriate for performing the straight-ahead support. . Therefore, for example, the operability to switch from the turning operation to the rectilinear support can be improved.

  By the way, using the buzzer 215 and the monitor 33, for example, the controller 150 can also notify an operator of an abnormality in the power transmission device 15 (such as a gear loss of the clutch mechanism). Although the monitor 33 and the buzzer 215 are provided in advance in the traveling vehicle body 2 in the present embodiment, similar functions may be provided to a tablet terminal (not shown) which can be carried in from the outside. it can.

  The seedling transplanting machine 1 also includes a steering device 110 controllable by the controller 150 and a GNSS unit 120, which are connected to the controller 150.

  The steering device 110 includes a transmission mechanism (not shown) interlockingly connected with the steering wheel 32, and also includes a rectilinear support mechanism 310 for applying an arbitrary rotational force to the steering wheel 32, thereby enabling automatic steering by the controller 150. . The transmission mechanism includes a steering motor (steering angle adjustment unit) 112 that rotates the steering wheel 32.

  When executing the rectilinear support, the controller 150 automatically steers the steering wheel 32 via the rectilinear support mechanism 310 based on the position information acquired by the GNSS unit 120 to maintain the traveling vehicle body 2 in the rectilinear direction.

  The GNSS unit 120 has a receiving antenna 121 for receiving a signal from a satellite used in GNSS, acquires position information (coordinate information) of the seedling transplanting machine 1 on the earth, and acquires the acquired position information as a controller 150. To communicate.

  In addition, various switches such as the finger tip lever 34, the float potentiometer 154, the auxiliary wheel setting dial 140, and the steering angle adjustment setting dial 141 are connected to the controller 150.

  The fingerp lever 34 receives the operation of the operator regarding the rectilinear support. The fingerp lever 34 is operated by the operator when acquiring points A and B. Further, the fingerp lever 34 is operated when canceling the reference traveling line L2.

  The float potentiometer 154 is provided on the center float 48 that moves up and down following the unevenness of the field F, and senses the up and down movement of the center float 48, that is, the depth of the field F. The controller 150 raises and lowers the seedling planting part 50 according to the unevenness of the field F sensed.

  The controller 150 detects the depth of the field F between preset traveling distances by the float potentiometer 154 and calculates the average value of the depth of the field F when traveling at the time of acquiring the reference traveling line L2. The calculated average value is stored, for example, in the ROM as an average depth.

  In addition, the controller 150 determines the depth of the field F during straight-ahead support, for example, in three stages of “standard”, “shallow”, and “deep” based on the average depth. The controller 150 may determine the depth of the field F in multiple stages, and is not limited to three stages.

  The "standard" is a state in which the depth of the field F is equal to or greater than the first predetermined depth and smaller than the second predetermined depth. The first predetermined depth and the second predetermined depth are preset, and the second predetermined depth is larger than the first predetermined depth. "Shallow" is a state in which the depth of the field F is smaller than the first predetermined depth. "Deep" is a state in which the depth of the field F is greater than or equal to the second predetermined depth.

  The auxiliary wheel setting dial 140 is a dial for setting the attachment state of the auxiliary wheel 5A, and is a dial for setting the presence or absence of the attachment of the auxiliary wheel 5A and the attachment position of the auxiliary wheel 5A. The auxiliary wheel setting dial 140 can be set to, for example, “standard”, “internal”, “external”, or “triple”.

  "Standard" is a state in which the auxiliary wheel 5A is not attached. “Internal attachment” is a state in which the auxiliary wheel 5A is attached to the inside of the rear wheel 5. "Externally attached" is a state where the auxiliary wheel 5A is attached to the outside of the rear wheel 5. The "triple" is a state in which the auxiliary wheel 5A is attached to the inside and the outside of the rear wheel 5.

  The steering angle adjustment setting dial 141 is a dial that allows the operator to adjust the adjustment amount of the steering angle by the steering device 110 when the straight-ahead support is executed. The steering angle adjustment setting dial 141 can be set to, for example, “standard”, “less”, and “more”. The steering angle adjustment setting dial 141 may be set in multiple stages, and is not limited to three stages.

  "Standard" is a state in which the adjustment amount of the steering angle is not adjusted by the operation of the operator. "Less" means that the amount of adjustment of the steering angle is smaller than "standard". The "large" is a state in which the adjustment amount of the steering angle is made larger than the "standard".

  The controller 150 adjusts the steering angle at the time of the straight support in accordance with the depth of the field F, the attachment state of the auxiliary wheel 5A, and the operation of the steering angle adjustment setting dial 141 by the operator when performing the straight support. Control. Information on the auxiliary wheel setting dial 140 is stored in the ROM.

  The controller 150 includes a traveling standard registration unit 152 in which the reference traveling line L2 is registered. In order to make the seedling transplanting machine 1 perform straight support, teaching work is required in advance. The traveling standard registration unit 152 registers, for example, a reference traveling line L2 (see FIG. 1) for performing straight-ahead support and performing straight-ahead control by teaching work.

  The traveling standard registration unit 152 acquires the point A which is the start position of the rectilinear support and the point B which is the end position, respectively, and registers the line segment connecting the acquired point A and B as the reference traveling line L2.

  By registering the reference traveling line L2, the traveling direction when the straight support is executed and the distance for executing the straight support are registered. Note that, by registering the length of the reference traveling line L2 as the distance for executing the straight support, for example, the operator approaches the point where the turning operation is performed based on the straight distance of the traveling vehicle body 2, that is, An operator can be notified that the field end (端) is approaching. The traveling distance of the traveling vehicle body 2 can be calculated based on, for example, the number of rotations of the rotor 67.

  Next, straight movement control according to the embodiment will be described with reference to FIG. FIG. 6 is a flowchart for explaining straight movement control according to the embodiment. Here, it is assumed that the rectilinear support is being executed.

  The controller 150 calculates a reference operation amount of the steering angle (S10). The controller 150 calculates the reference operation amount based on the automatic straight advance line L1 and the current position of the traveling vehicle body 2. The reference operation amount increases as the deviation between the automatic straight advance line L1 and the current position of the traveling vehicle body 2 increases.

  The controller 150 sets a first correction coefficient based on the signal from the auxiliary wheel setting dial 140 (S11). The first correction coefficient is an adjustment amount of the steering angle based on the attachment state of the auxiliary wheel 5A.

  Specifically, the controller 150 sets the first correction coefficient to “a1 (for example, 1.0)” when the auxiliary wheel setting dial 140 is “standard”. The controller 150 sets the first correction coefficient to “a2 (> a1)” when the auxiliary wheel setting dial 140 is “internally installed”. When the auxiliary wheel setting dial 140 is “externally attached”, the controller 150 sets the first correction coefficient to “a3 (> a2)”. When the auxiliary wheel setting dial 140 is "triple", the controller 150 sets the first correction coefficient to "a4 (> a3)". “A1” to “a4” are preset values.

  When the auxiliary wheel 5A is attached, the rectilinearity of the traveling vehicle body 2 can be improved, but the area in contact with the field F becomes large, so the frictional resistance becomes large. Therefore, for example, when the traveling vehicle body 2 is displaced from the automatic rectilinear line L1 during rectilinear support and the traveling vehicle body 2 is returned to the automatic rectilinear line L1, the steering angle is higher than the case where the auxiliary wheel 5A is not attached. It is necessary to increase the operation amount of

  Therefore, when the auxiliary wheel 5A is attached, the controller 150 sets the first correction coefficient to a larger value than when the auxiliary wheel 5A is not attached.

The controller 150 sets a second correction coefficient based on the depth of the field F (S12).
The second correction coefficient is an adjustment amount of the steering angle based on the depth of the field F.

  The controller 150 sets the second correction coefficient to “b1 (for example, 1.0)” when the depth of the field F is “standard”. When the depth of the field F is “shallow”, the controller 150 sets the second correction coefficient to “b2 (<b1)”. When the depth of the field F is "deep", the controller 150 sets the second correction coefficient to "b3 (> b2)". “B1” to “b3” are values set in advance.

  As the field F becomes deeper, the running resistance increases. Therefore, the controller 150 sets the second correction coefficient to a larger value as the field F becomes deeper.

  The controller 150 sets a third correction coefficient based on the signal from the steering angle adjustment setting dial 141 (S13). The third correction coefficient is an adjustment amount of the steering angle based on the operation of the steering angle adjustment setting dial 141 by the operator.

  When the steering angle adjustment setting dial 141 is “standard”, the controller 150 sets the third correction coefficient to “c1 (for example, 1.0)”. The controller 150 sets the third correction coefficient to “c2 (<c1)” when the steering angle adjustment setting dial 141 is “less”. When the steering angle adjustment setting dial 141 is "large", the controller 150 sets the third correction coefficient to "c3 (> c1)". “C1” to “c3” are values set in advance.

  The controller 150 corrects the reference operation amount based on the first correction coefficient, the second correction coefficient, and the third correction coefficient, and calculates the operation amount of the steering angle (S14). Specifically, the controller 150 multiplies the reference operation amount by the first correction coefficient, the second correction coefficient, and the third correction coefficient to calculate the operation amount of the steering angle.

  The controller 150 controls the steering device 110 based on the calculated operation amount of the steering angle, performs straight support, and automatically steers the steering wheel 32 so that the traveling vehicle body 2 travels along the automatic straight line L1 (S15) .

  Each correction coefficient may be set by the operator. For example, each correction coefficient can be set by removing the check fuse of the controller 150 and shifting to the set mode.

  Further, the controller 150 may be capable of performing the following control with respect to the rectilinear support.

  When the GNSS unit 120 can not receive the position information of the traveling vehicle body 2 during straight-ahead support, for example, when a failure of the GNSS unit 120 is detected, the controller 150 ends the straight-ahead support. Thereby, it is possible to prevent the traveling vehicle body 2 from traveling by the rectilinear support in a state where the position information by the GNSS unit 120 can not be acquired.

  The controller 150 terminates the straight support when the fingerp lever 34 is pushed upward, for example, for less than 2 seconds, during the straight support.

  The controller 150 ends the straight-ahead support when the height of the rotor 67 becomes equal to or more than a preset constant value during the straight-ahead support. As a result, the end of the straight-ahead support can be performed regardless of the operation of the worker, and the workability can be improved.

  The controller 150 may turn off all the monitors 33 until the engine 10 is started after the main switch (not shown) of the seedling transplanting machine 1 is turned on. Thus, when the engine 10 is not started, the operator can be made aware that straight support can not be performed.

  The controller 150 may fully light the monitor 33 for one second, for example, after the engine 10 is started. As a result, it is possible to make the operator recognize that the straight-ahead support can be performed.

  Since the controller 150 detects the reference value of each sensor when alignment is in progress after the monitor 33 is fully turned on, the HST 16 may be set to the neutral position. Thus, movement of the traveling vehicle body 2 can be suppressed during alignment, and the reference value of each sensor can be accurately detected.

  The controller 150 may check the operation of the GNSS unit 120 when the alignment is completed after the monitor 33 is fully turned on. Further, the controller 150 may change the HST 16 from the neutral position.

  The controller 150 may blink the monitor 33 in the order of red, orange, and blue every 0.5 seconds, for example, during alignment after the monitor 33 is fully lit. The controller 150 may also blink the lamps 331 to 334, for example, when lighting red. Moreover, the controller 150 may blink each of the lamps 331 to 334, for example. In addition, after the monitor 33 is fully turned on, the controller 150 may display, for example, the monitor 33 indicating that the alignment is in progress when the alignment is in progress. As a result, the operator can be made aware that initialization is in progress.

  The controller 150 may sound the buzzer 215 once, for example, when the signal is received by the GNSS unit 120 after the engine 10 is started. This allows the operator to recognize that the GNSS unit 120 has successfully received the signal.

  The controller 150 may blink the monitor 33 in the order of red, orange, and blue, for example, every one second, and turn off the lamps 331 to 334 until the GNSS unit 120 receives a signal.

  The controller 150 may indicate on the monitor 33 that it is receiving until the GNSS unit 120 receives a signal. This allows the worker to recognize that the reception of the signal by the GNSS unit 120 is being confirmed.

  The controller 150 may sound the buzzer 215 if the signal can not be received by the GNSS unit 120 even after, for example, 5 minutes after the engine 10 is started. This allows the operator to recognize that the GNSS unit 120 can not receive a signal.

  The controller 150 blinks each of the lamps 331 to 334 when another signal can not be received by the GNSS unit 120 even after, for example, 5 minutes after the engine 10 is started, and the other monitor (not shown) You may turn off the light. This allows the operator to recognize that the GNSS unit 120 can not receive a signal.

  The controller 150 may sound the buzzer 215 once, for example, when the engine 10 is started and, for example, a signal is received by the GNSS unit 120 after 5 minutes have elapsed. In addition, after the controller 150 sounds the buzzer 215, the monitor 33 may be fully turned on, for example, for 2 seconds. This allows the operator to recognize that the GNSS unit 120 has successfully received the signal.

  The controller 150 may force the alignment when the fingerp lever 34 is pushed upward, for example, for 5 seconds or more. The controller 150 may force the buzzer 215 to sound, for example, once at the start of alignment execution. This enables the worker to recognize that the alignment is forcibly performed.

  The controller 150 may set the HST 16 to the neutral position while forcibly performing the alignment. Also, the controller 150 may accept forced alignment only when the HST 16 is in the neutral position. This enables accurate alignment.

  The controller 150 acquires the point A when the GNSS unit 120 is in the reception state. The controller 150 can obtain a predetermined A point lamp 332 when it becomes possible to acquire the point A, for example, when acquiring the point A when the fingerp lever 34 is pushed downward for less than 2 seconds. It may blink on a periodic basis. As a result, it is possible to make the operator recognize that it is possible to acquire the point A. The controller 150 may turn on the A point lamp 332 when acquiring the A point. Thus, the worker can be made aware that the point A has been acquired.

  When the controller 150 is not in a state where it can acquire the point A, the controller 150 may blink the A point lamp 332 in a predetermined acquisition impossible cycle. In addition, when the controller 150 is not in a state where it can acquire the point A, the buzzer 215 may sound, for example, three times at the start of the blinking of the point A lamp 332. This allows the worker to recognize that the point A can not be acquired.

  The controller 150 does not acquire the point A, and acquires the A point lamp 332 as predetermined when, for example, the straight-up support start operation is performed when the fingerp lever 34 is pushed upward for less than 2 seconds, for example. For example, 3 seconds may be blinked in the disabling cycle. The controller 150 may also sound the buzzer 215 three times, for example. This allows the worker to recognize that the straight-ahead support can not be started.

  When the point A is not acquired, the straight support start operation is performed, and the signal is received by the GNSS unit 120, the controller 150 instructs the monitor 33 that the points A and B can not be acquired. It may be displayed. In addition, the controller 150 may end the display on the monitor 33 after, for example, 5 seconds. Further, the controller 150 may end the display on the monitor 33 when the point A and the point B are acquired. This allows the worker to recognize that the straight-ahead support can not be started.

  The controller 150 may erase the acquired point A when, for example, the fingerp lever 34 is pressed downward for 2 seconds or more when only the point A is acquired. As a result, the point A can be erased and a new point A can be easily obtained. Also, the controller 150 may sound the buzzer 215 once, for example, when erasing the point A. This makes it possible for the operator to recognize that the point A is to be deleted.

  The controller 150 may erase the acquired point A when the main switch is turned off in a state in which the point A is acquired and, for example, two hours or more have elapsed. Thereby, when the work is not performed for a long time, it is possible to save time and labor of the erasing work by the operator by automatically erasing the point A.

  The controller 150 may enable acquisition of the point B when the point A is acquired. This can prevent the point B from being acquired first.

  The controller 150 acquires the point A when the GNSS unit 120 is in the reception state. The controller 150 can obtain a predetermined B point lamp 333 when it becomes possible to acquire the point B, for example, when acquiring the point B when the fingerp lever 34 is pressed downward for less than 2 seconds. It may blink on a periodic basis. As a result, it is possible to make the operator recognize that the B point can be acquired. In addition, the controller 150 may turn on the B point lamp 333 when acquiring the B point. Thereby, the worker can be made to recognize that the point B has been acquired.

  If the controller 150 is not in a state where it can acquire the point B, the controller 150 may blink the B point lamp 333 at a predetermined acquisition impossible cycle. In addition, when the controller 150 is not in a state in which the point B can be acquired, the controller 215 may sound the buzzer 215 three times, for example, when the B point lamp 333 starts to blink. This allows the worker to recognize that the point B can not be obtained.

  The controller 150 may be capable of acquiring the point B when the traveling vehicle body 2 travels from the position at which the point A is acquired, for example, at least the point B acquisition distance set at 5 m or the like. In addition, the B point acquisition distance may include a predetermined traveling time such as 5 seconds, for example. Thereby, the straightness of the reference traveling line L2 can be improved, and the straightness of the straight support can be improved.

  For example, when the fingerp lever 34 is pressed downward for less than 2 seconds to acquire the point A, the controller 150 moves the traveling vehicle body 2 from the position at which the point A is acquired while traveling the point B acquisition distance May display on the monitor 33 that the point B can not be acquired. This allows the worker to recognize that the point B can not be obtained.

  The controller 150 may terminate the display on the monitor 33 that the point B can not be acquired when the traveling vehicle body 2 travels the point B acquisition distance. Thereby, the worker can be made to recognize that the point B can be obtained.

  The controller 150 may erase the acquired points A and B when the fingerp lever 34 is pushed downward, for example, for 2 seconds or more when the point B is acquired. . As a result, the points A and B can be eliminated, and new points A and B can be easily obtained. In addition, the controller 150 may sound the buzzer 215 once, for example, when erasing the point A and the point B. Thus, the operator can be made aware of the elimination of the points A and B.

  The controller 150 may clear the acquired points A and B if the main switch is turned off in a state in which the points A and B are acquired, and, for example, two hours or more have elapsed. As a result, when the work is not performed for a long time, it is possible to save time and labor of the deletion work by the operator by automatically deleting the points A and B.

  The controller 150 acquires only the point A, does not acquire the point B, and for example, when the finger up lever 34 is pushed upward for less than 2 seconds and the straight support start operation is performed, A The point lamp 332 and the point B lamp 333 may blink, for example, for 3 seconds in a predetermined unobtainable cycle. The controller 150 may also sound the buzzer 215 three times, for example. This allows the worker to recognize that the straight-ahead support can not be started.

  The controller 150 may blink each of the lamps 331 to 334 so that the traveling direction enters the target direction when it is possible to perform straight-ahead support. This enables the operator to recognize the traveling direction.

  The controller 150 may blink the A point lamp 332 if the traveling direction deviates to the right with respect to the target direction, for example, three or more degrees. In addition, the controller 150 may blink the B point lamp 333 when the traveling direction is deviated to the left side with respect to the target direction, for example, three or more degrees. Thereby, the operator can be made to recognize the deviation of the traveling direction.

  The controller 150 may turn on or blink the rectilinear support lamp 331 when performing rectilinear support. Thereby, the worker can be made aware that the straight support is being performed.

  In a state where the controller 150 can not perform linear support, for example, when the finger up lever 34 is pushed upward for less than 2 seconds and the linear support start operation is performed, the linear support lamp 331 is For example, 3 seconds may be blinked in the unsupported period. This enables the operator to recognize that straight support can not be performed.

  The controller 150 can start the straight-ahead support, for example, when the finger up lever 34 is pushed upward for less than 2 seconds to perform a straight-ahead support start operation while the straight-ahead support can be performed. As a result, the operator can freely set the rectilinear support start position.

  The controller 150 may be capable of performing the straight-ahead support when the vehicle speed of the traveling vehicle body 2 is, for example, a position detectable vehicle speed of 0.5 km / h or more. When the vehicle speed is low, the position detection accuracy of the GNSS unit 120 may decrease. When the vehicle speed of the traveling vehicle body 2 is, for example, 0.5 km / h or more, the controller 150 can perform straight-ahead support and can perform straight-ahead support in a state where the position detection accuracy in the GNSS unit 120 is good. .

  The controller 150 may be capable of performing the straight-ahead support when the traveling vehicle body 2 is not in reverse. Further, when the steering angle (turn angle) is small and the traveling vehicle body 2 is going straight, for example, when the steering angle is smaller than a predetermined steering angle, the deviation between the traveling direction and the target direction is 3 degrees. If smaller than this, straight support may be possible.

  In addition, the controller 150 may be capable of performing straight-ahead support when the inclination of the traveling vehicle body 2 is smaller than 10 degrees, for example. In addition, the controller 150 may be capable of performing the straight-ahead support when the traveling mode by the sub transmission mechanism is not the high speed mode. In addition, the controller 150 may be capable of performing the rectilinear support when the height of the rotor 67 is less than a predetermined constant value. Also, the controller 150 may be able to perform rectilinear support when the GNSS unit 120 can receive a signal.

  When the vehicle speed of the traveling vehicle body 2 is lower than the position detectable vehicle speed of, for example, 0.5 km / h during the straight-ahead support, for example, the controller 150 ends the straight-ahead support It is also good. Thereby, it is possible to suppress that the rectilinear support is performed in a state in which the position detection accuracy by the GNSS unit 120 is low.

  When the vehicle speed of the traveling vehicle body 2 is lower than the support traveling completion vehicle speed of, for example, 0.4 km / h during the straight traveling support, for example, the controller 150 ends the straight traveling support. It is also good. In this way, when it is predicted that the traveling vehicle body 2 will stop, the straight-ahead support can be ended regardless of the operation of the worker, and the labor of the worker can be saved.

  The controller 150 may terminate the straight-ahead support when a communication abnormality with the GNSS unit 120 or the like, an abnormality of the steering device 110, or the like is detected during the straight-ahead support. Thereby, it is possible to suppress that straight-ahead support is performed in a state where the accuracy of the straight-ahead support is low.

  When the traveling mode of the sub transmission mechanism is the high speed mode, the controller 150 may display on the monitor 33 that the traveling mode of the sub transmission is the high speed mode. Thereby, the operator can be made to recognize that the condition for executing the straight-ahead support is not satisfied.

  The controller 150 ends the display when, for example, a display indicating that the condition for executing the straight support is not satisfied is displayed for 5 seconds, or when the traveling mode of the auxiliary transmission mechanism is in the low speed mode. It is also good.

  The controller 150 may display on the monitor 33 that the height of the rotor 67 is equal to or more than a predetermined value, when the height of the rotor 67 is equal to or more than a predetermined value. . Thereby, the operator can be made to recognize that the condition for executing the straight-ahead support is not satisfied.

  The controller 150 displays, for example, if an indication that the conditions for executing the straight support are not satisfied is displayed for 5 seconds, or if the height of the rotor 67 becomes lower than a predetermined value set in advance. , End display.

  In the seedling transplanting machine 1 according to the above-described embodiment, when the auxiliary wheel 5A is attached to the traveling vehicle body 2, the auxiliary wheel 5A is attached to the traveling vehicle body 2 with the adjustment amount of the steering angle at the time of straight support. Make it larger than the adjustment amount of the steering angle when there is no Specifically, when the auxiliary wheel 5A is attached, the seedling transplanting machine 1 makes the first correction coefficient larger and the adjustment amount of the steering angle larger than when the auxiliary wheel 5A is not attached. And increase the amount of steering angle operation.

  Thereby, for example, when the traveling vehicle body 2 deviates from the automatic straight advance line L1, the traveling vehicle body 2 can be quickly returned to the automatic straight advance line L1, and it is suppressed that the planting accuracy of seedlings is lowered at the straight advance support. it can. That is, the workability in the rectilinear support can be improved.

  In addition, the seedling transplanting machine 1 increases the adjustment amount of the steering angle as the number of the auxiliary wheels 5A increases. Thus, the adjustment amount of the steering angle can be set according to the number of the auxiliary wheels 5A, and the straight-ahead support can be performed with the operation amount of the steering angle according to the number of the auxiliary wheels 5A. Therefore, the workability in the rectilinear support can be improved.

  In addition, when the auxiliary wheel 5A is attached to the outside of the rear wheel 5, the seedling transplanting machine 1 makes the amount of adjustment of the steering angle larger than in the case where the auxiliary wheel 5A is attached to the inside of the rear wheel 5. . Thus, the adjustment amount of the steering angle can be set in accordance with the mounting position of the auxiliary wheel 5A. Therefore, the workability in the rectilinear support can be improved.

  Moreover, the seedling transplanting machine 1 enlarges the adjustment amount of the steering angle at the time of straight support, so that the depth of the field F is deeper. Specifically, the seedling transplanting machine 1 increases the second correction coefficient as the depth of the field F is deeper. Thereby, according to the depth of the field F, the amount of adjustment of a steering angle can be set. Therefore, the workability in the rectilinear support can be improved.

  Further, when acquiring the reference traveling line L2, the seedling transplanting machine 1 calculates the average depth of the field F, and sets the adjustment amount of the steering angle at the time of linear support based on the average depth. Thereby, the adjustment amount of the steering angle can be set according to the depth of the field F from the start of the straight-ahead support. Therefore, the workability in the rectilinear support can be improved.

  In addition, the seedling transplanting machine 1 sets the adjustment amount of the steering angle based on the operation of the steering angle adjustment setting dial 141. As a result, the amount of adjustment of the steering angle can be set by the operation of the operator according to the traveling state of the traveling vehicle body 2 at the time of straight-ahead support. Therefore, the workability in the rectilinear support can be improved.

  The seedling transplanting machine 1 according to the above embodiment sets the adjustment amount of the steering angle based on the attachment state of the auxiliary wheel 5A, the depth of the field F, the steering angle adjustment setting dial 141, and calculates the operation amount of the steering angle. And, we do straight support, but it is not limited to this. The seedling transplanting machine 1 according to the modification sets the adjustment amount of the steering angle based on at least one of the attachment state of the auxiliary wheel 5A, the depth of the field F, the steering angle adjustment setting dial 141, and performs straight support It is also good.

  The seedling transplanting machine 1 which concerns on a modification may set a 1st correction coefficient according to the kind of 5 A of auxiliary wheels. For example, the seedling transplanting machine 1 which concerns on a modification may set a 1st correction coefficient according to the diameter of 5 A of auxiliary wheels. The seedling transplanting machine 1 which concerns on a modification makes a 1st correction coefficient smaller than the case where the diameter of auxiliary wheel 5A is large, when the diameter of auxiliary wheel 5A is small. Thereby, the operation amount of the steering angle can be calculated according to the diameter of the auxiliary wheel 5A, the accuracy of the rectilinear support can be improved, and the workability can be improved.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may be able to attach the auxiliary wheel 5A only to the inner side of the rear wheel 5, or the outer side of the rear wheel 5.

Moreover, the seedling transplanting machine 1 which concerns on a modification may detect and update the depth of the field F in a rectilinear support. As a result, the depth of the field F can be detected more accurately, and the workability of the rectilinear support can be improved.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may set a 2nd correction coefficient according to the depth of the field F in a rectilinear support. That is, the depth of the field F may be detected at any time during straight-ahead support, and the second correction coefficient may be set based on the detected depth. Thus, the second correction coefficient can be set in accordance with the state of the field F traveling by the rectilinear support, and the workability of the rectilinear support can be improved. In this case, hysteresis may be provided to determine the depth of the field F. Thus, for example, when the depth of the field F changes over the first predetermined depth in a short time, the determination of the depth of the field F frequently switches between “shallow” and “standard”. Can be suppressed.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may sound the buzzer 215, when the steering angle adjustment setting dial 141 is operated.

  Further, the seedling transplanting machine 1 according to the modification may be provided with a steering angle adjustment setting dial 141 having a function of the auxiliary wheel setting dial 140. That is, the steering angle adjustment setting dial 141 may be provided which can be switched in multiple stages depending on the presence or absence of the auxiliary wheel 5A. This makes it possible to reduce the number of switches.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may provide a hysteresis with respect to operation of the steering angle adjustment setting dial 141. FIG. Thereby, for example, when the steering angle adjustment setting dial 141 is frequently operated between “standard” and “less”, it is possible to suppress the frequent switching of the steering angle adjustment amount.

  Moreover, the seedling transplanting machine 1 which concerns on a modification may also include the change speed of a steering angle in the adjustment amount of a steering angle. For example, when the auxiliary wheel 5A is attached, the change speed of the steering angle is made larger than the change speed of the steering angle when the auxiliary wheel 5A is not attached. Thereby, for example, when the traveling vehicle body 2 deviates from the automatic rectilinear line L1, the traveling vehicle body 2 can be quickly returned to the automatic rectilinear line L1, and the workability of the rectilinear support can be improved.

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

1 Seedling transplanting machine (work vehicle)
5 Rear wheels (traveling wheels)
2 Traveling Car Body 33 Monitor 110 Steering Device (Rudder Angle Adjustment Unit)
120 GNSS unit (position information acquisition unit)
140 Auxiliary wheel setting dial 141 Steering angle adjustment setting dial 150 Controller (control unit)
154 Float potentiometer (depth detector)

Claims (7)

A traveling vehicle body having traveling wheels,
A position information acquisition unit that acquires position information of the traveling vehicle body;
A steering angle adjustment unit that adjusts a steering angle so that the traveling vehicle body travels straight on automatically;
A control unit configured to acquire traveling reference data serving as a reference for the automatic straight ahead based on the position information, and control the steering angle adjustment unit based on the traveling reference data;
Equipped with
The control unit
When an auxiliary wheel is attached to the traveling vehicle body, the adjustment amount of the steering angle at the time of the automatic straight advance is made larger than the adjustment amount of the steering angle when the auxiliary wheel is not attached. Work vehicle. The control unit
The work vehicle according to claim 1, wherein the amount of adjustment of the steering angle is increased as the number of the auxiliary wheels is increased. The control unit
When the auxiliary wheel is attached to the outer side with respect to the traveling wheel, the adjustment amount of the steering angle is made larger than when the auxiliary wheel is attached to the inner side with respect to the traveling wheel. The work vehicle according to claim 1 or 2. Equipped with a depth detection unit that detects the depth of
The control unit
The work vehicle according to any one of claims 1 to 3, wherein the amount of adjustment of the steering angle at the time of the automatic straight advance is increased as the depth of the field is deeper. The control unit
The work according to claim 4, wherein a reference depth is acquired from the depth of the field while traveling a predetermined distance in the field, and the adjustment amount of the steering angle is set based on the reference depth. vehicle. The control unit
The work vehicle according to claim 5, wherein the reference depth is updated based on the depth of the field detected at the time of the automatic straight advance. The work vehicle according to any one of claims 1 to 6, further comprising: a change unit capable of changing the operation amount of the steering angle at the time of the automatic straight advance based on the operation of the worker.

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