JP2020058387A - Work vehicle - Google Patents

Abstract

To make it possible for automatic travel along a set travel line to start appropriately after cornering at an end of a work site is completed.SOLUTION: A work vehicle comprises: a setting part that sets a set travel line LB1; and an automatic travel control part that operates a travel device to automatically travel along the set travel line LB1. The work vehicle includes an operation part that operates the automatic travel control part in both an operation state and a stop state, and a cornering completion detection part that detects the completion of cornering LL1. The work vehicle includes a restraining part that, when the completion of cornering LL1 is not detected by the cornering completion detection part, inhibits the operation of the automatic travel control part in the operation state by the operation part, and when the completion of cornering LL1 is detected by the cornering completion detection part, permits the operation of the automatic travel control part in the operation state by the operation part.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a work vehicle configured to automatically travel along a set travel line based on a detection value of a GPS, a gyro sensor, or the like.

  As disclosed in Patent Document 1, in a work vehicle such as a riding type rice transplanter, work traveling is performed from one end of the work site toward the other end, and then the other end of the work site. And then travels from one end of the work site to the other end of the work site, working from one (other) end of the work site to the other (one) end of the work site. The running and the turning at one (the other) end of the work site are repeated.

In Patent Document 1, when the reference travel line is set (obtained from the outside), a large number of set travel lines are arranged in parallel with the reference travel line and at intervals corresponding to the lateral width of the aircraft from the reference travel line. Is set to.
Accordingly, in Patent Document 1, the front wheels are automatically steered so as to automatically travel along the first set travel line, and the first work travel is performed. When the machine body reaches one end of the work site after the traveling is completed, turning is performed at one end of the work site.
Next, the front wheels are automatically steered so as to automatically travel along the second set travel line adjacent to the first set travel line, and the second work travel is performed. When the machine body reaches the other end of the work site after the completion of the work traveling of No. 2, the turning is performed at the other end of the work site.

JP, 2008-92818, A

In the automatic traveling along the set traveling line as in Patent Document 1, when the automatic traveling along the set traveling line is about to be started when the turning is not completely completed, the setting is performed. There may be a large difference between the travel line and the position of the aircraft.
Therefore, when there is a large difference between the set travel line and the position of the aircraft, when the automatic travel along the set travel line is started, the aircraft automatically changes its direction and position significantly. However, there is room for improvement in terms of stability of the aircraft as it tries to move to the position of the set travel line.
It is an object of the present invention to appropriately start automatic traveling along the set traveling line after the turning at the end of the work site is completed.

[I] (configuration)
A first feature of the present invention is that the work vehicle is configured as follows.
A setting section that sets the set traveling line,
An automatic traveling control unit for operating the traveling device to automatically travel along the set traveling line,
An operation unit for operating the automatic traveling control unit in an operating state and a stopped state, and a turning end detection unit for detecting the end of turning,
When the end of turning is not detected by the turning end detection unit, operation of the operating unit to the operating state of the automatic travel control unit is blocked, and when the end of turning is detected by the turning end detection unit, the operation is performed. And a restraint unit for permitting an operation of the automatic traveling control unit to an operating state by the control unit.

(Operation and effect of the invention)
According to the first feature of the present invention, an automatic traveling control unit that operates the traveling device so as to automatically travel along the set traveling line, and an operation unit that operates the automatic traveling control unit into an operating state and a stopped state. A turning end detection unit that detects the end of turning is provided.

According to the first feature of the present invention, when the turning is not finished in a state where the turning is performed at the end of the work site and the automatic traveling control unit is then operated by the operation unit (turning end) If the detection unit does not detect the end of turning), the operation unit prevents the operation of the automatic travel control unit from operating.
As a result, it is possible to prevent the automatic travel control unit from being operated in the state where there is a large difference between the set traveling line and the position of the aircraft, thereby ensuring the stability of the aircraft. can do.

[II] (configuration)
A second feature of the present invention is that the work vehicle of the first feature of the present invention is configured as follows.
With a preset reference bearing,
The setting unit sets the set traveling line in parallel with the reference azimuth from the position of the machine body when the automatic traveling control unit is operated by the operating unit.

(Operation and effect of the invention)
According to the second feature of the present invention, the set traveling line is set in parallel with the reference azimuth from the position of the machine body at the time when the automatic traveling control unit is operated by the operating unit.
Thereby, for example, when the automatic traveling along the first set traveling line is finished and the work land is reached, the turning at the end of the work land is performed with a large turning radius or a small turning radius. By doing so, it becomes possible to set the position of the aircraft at the time when the automatic traveling control unit is operated by the operation unit according to the intention of the driver. It becomes possible to set by the will of the person.

[III] (Structure)
A third feature of the present invention is that the work vehicle of the first or second feature of the present invention is configured as follows.
The operation section is operated manually to operate the automatic traveling control section into an operating state and a stopped state.

(Operation and effect of the invention)
According to the third aspect of the present invention, the driver operates the operation unit after the turning end detection unit detects the end of the turning and the operation of the automatic travel control unit is allowed to operate. As a result, it is possible to operate the automatic travel control unit in the operating state.
Thereby, it is possible to determine whether or not to operate the automatic traveling control unit to the operating state according to the driver's intention.

[IV] (Structure)
A fourth feature of the present invention is that the work vehicle of the third feature of the present invention is configured as follows.
The gear shift operation section that is operated manually by operating the transmission for traveling includes the operation section.

(Operation and effect of the invention)
As described in [III] above, when the driver operates the operation unit, according to the fourth aspect of the present invention, the operation unit is provided in the shift operation unit for operating the traveling transmission.
As a result, the driver can operate the operation unit while operating the shift operation unit, which improves operability.

[V] (configuration)
A fifth feature of the present invention is that any one of the work vehicles according to the first to fourth features of the present invention is configured as follows.
The restraint unit permits the operation unit to operate the automatic traveling control unit to an operating state after the vehicle has traveled a set distance or a set time after the end of the turn is detected by the turn end detection unit.

(Operation and effect of the invention)
As described in the above item [I], when the turning end detection unit detects the end of the turning and the operation unit is allowed to operate the automatic travel control unit to the operating state, According to the fifth feature, after the turning end detection unit detects the end of the turning, the operation unit allows the operation of the automatic travel control unit to the operating state after the vehicle has traveled the set distance (set time).
As a result, the attitude of the machine can be stabilized by traveling for a set distance (set time) from the end of turning, so that the stability of the machine can be improved by operating the automatic travel control unit after that. Can be secured.

[VI] (configuration)
A sixth feature of the present invention is that any one of the work vehicles according to the first to fifth features of the present invention is configured as follows.
Equipped with an azimuth detector that detects the azimuth of the aircraft,
In a state in which the operation of the automatic travel control unit by the operation unit is permitted, in a state in which the automatic travel control unit is operated by the operation unit,
When the angle difference between the set travel line and the azimuth of the aircraft exceeds a set value, the restraint unit prevents the operation unit from operating the automatic travel control unit to an operating state, and When the angle difference from the azimuth of the machine body does not exceed the set value, the operation unit allows the operation of the automatic traveling control unit to the operating state.

(Operation and effect of the invention)
As described in the above [I] and [V], even when the operation section allows the operation of the automatic travel control section to be in the operating state, the operation section operates the automatic travel control section to the working state. In this case, it is actually assumed that the angle difference between the set travel line and the azimuth of the aircraft is large.

According to the sixth aspect of the present invention, in the above-mentioned state, after the operation section allows the operation of the automatic travel control section to the operating state, the automatic travel control section is operated to the working state by the operation section. At this time, if the angle difference between the set travel line and the azimuth of the aircraft exceeds the set value, the operation of the automatic travel control unit by the operation unit is blocked.
As a result, it is possible to prevent the automatic travel control unit from being operated in the state where the angular difference between the set travel line and the azimuth of the aircraft is large, and thus the stability of the aircraft can be ensured. .

[VII] (configuration)
A seventh feature of the present invention is that any one of the work vehicles according to the first to fifth features of the present invention is configured as follows.
Equipped with an azimuth detector that detects the azimuth of the aircraft,
In a state in which the operation section is allowed to operate the automatic travel control section, the automatic travel control section is operated to the operating state by the operation section, and the set travel line and the orientation of the machine body are set. If the angle difference of exceeds the set value, the automatic deceleration unit for decelerating the traveling speed of the aircraft is provided.

(Operation and effect of the invention)
As described in the above [I] and [V], even when the operation section allows the operation of the automatic travel control section to be in the operating state, the operation section operates the automatic travel control section to the working state. In this case, it is actually assumed that the angle difference between the set travel line and the azimuth of the aircraft is large.

  In the above-mentioned state, according to the seventh aspect of the present invention, after the operation section allows the operation of the automatic travel control section to the operating state, the automatic travel control section is operated to the working state by the operation section. When the angle difference between the set travel line and the azimuth of the aircraft exceeds the set value, the traveling speed of the aircraft is automatically reduced and the automatic travel control unit is operated to the operating state. The stability of the airframe can be ensured by.

[VIII] (configuration)
An eighth feature of the present invention is that the work vehicle of the seventh feature of the present invention is configured as follows.
A deceleration notifying unit for notifying that the traveling speed of the machine body has been decelerated by the automatic deceleration unit is provided.

(Operation and effect of the invention)
According to the eighth aspect of the present invention, when the traveling speed of the vehicle body is automatically decelerated and the automatic traveling control unit is operated to operate as described in [VII], the traveling of the vehicle body is performed by the automatic deceleration unit. Since the driver is informed that the speed has been decelerated, the driver can understand the state in which the traveling speed of the aircraft has been decelerated, and the driver's misunderstanding does not occur.

[IX] (configuration)
A ninth feature of the present invention resides in the following configuration in any one of the work vehicles of the first to eighth features of the present invention.
The restraint unit prevents the operation unit from operating the automatic traveling control unit in an operating state in the reverse state of the vehicle, and when the vehicle enters the backward state in the operating state of the automatic traveling control unit, the automatic traveling is performed. Operate the control unit to the stopped state.

(Operation and effect of the invention)
According to the ninth feature of the present invention, it is possible to avoid a state in which the stability of the airframe is lacking, such as the operation state of the automatic travel control unit in the reverse state of the airframe, and thus to secure the stability of the airframe. can do.

[X] (configuration)
A tenth feature of the present invention is to configure the work vehicle of the ninth feature of the present invention as follows.
A reverse drive stop notification unit is provided to notify that the automatic travel control unit has been operated by the restraint unit to be in a stopped state when the vehicle is in the reverse drive state in the operating state of the automatic drive control unit.

(Operation and effect of the invention)
According to the tenth feature of the present invention, when the automatic traveling control unit is operated in the stop state due to the reverse traveling state of the machine body in the operating state of the automatic traveling control unit as described in the above section [IX], The restraint unit informs that the automatic travel control unit has been operated in the stopped state, so that the driver can grasp the state in which the automatic travel control unit is operated in the stopped state and Not misleading.

[XI] (configuration)
An eleventh feature of the present invention is that any one of the work vehicles according to the first to tenth features of the present invention is configured as follows.
A blocking notification unit is provided to notify that the operation of the automatic traveling control unit has been blocked by the restraint unit.

(Operation and effect of the invention)
According to the eleventh feature of the present invention, when the restraint unit prevents the operation of the automatic traveling control unit from operating, the restraint unit prevents the operation of the automatic traveling control unit from operating. Since the notification is given, the driver can know the state in which the operation of the automatic traveling control unit to the operating state is blocked, and the driver's misunderstanding is not caused.

[XII] (configuration)
A twelfth feature of the present invention resides in that the work vehicle according to any one of the first to eleventh features of the present invention is configured as follows.
The restraint unit includes a permission notification unit that notifies that the operation unit has permitted the operation of the automatic travel control unit to the operating state.

(Operation and effect of the invention)
According to the twelfth feature of the present invention, when the check portion allows the operation portion to operate the automatic traveling control portion in the operating state, the check portion allows the operation portion to operate the automatic traveling control portion in the operating state. The driver is informed that the operation state of the automatic traveling control unit is allowed to be operated by the operation unit by the restraint unit. Will not be invited.

[XIII] (Constitution)
A thirteenth feature of the present invention resides in that the work vehicle according to any one of the first to twelfth features of the present invention is configured as follows.
An operation informing unit for informing that the automatic traveling control unit is in an operating state is provided.

(Operation and effect of the invention)
According to the thirteenth feature of the present invention, the driver is not misunderstood by being notified that the automatic traveling control unit is in the operating state.

[XIV] (Structure)
A fourteenth feature of the present invention resides in the following configuration in any one of the work vehicles of the first to thirteenth features of the present invention.
The turning end detection unit detects that the working device, which is supported by the machine body so as to be able to move up and down, descends from the raised position to the ground as the end of turning.

(Operation and Effect of the Invention) In a work vehicle in which a working device is supported by a body so as to be able to move up and down, the working device can be lifted from the ground at the start of turning, and the working device can be lowered to the ground at the end of turning. is there.
According to the fourteenth feature of the present invention, the end of the turning can be clearly detected by detecting that the working device has descended from the raised position to the ground as the end of the turning.

[XV] (configuration)
A fifteenth feature of the present invention is that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows.
The turning end detection unit detects, as the end of turning, that the work clutch that transmits power to the work device supported by the machine body has been operated in the transmission state.

(Operation and effect of the invention)
In a work vehicle equipped with a work device, the work clutch is turned off to stop the work device at the start of turning, and the work clutch is moved to the transmission state at the end of turning to operate the work device. Sometimes.
According to the fifteenth feature of the present invention, the end of the turning can be clearly detected by detecting that the work clutch is operated in the transmission state as the end of the turning.

[XVI] (configuration)
A sixteenth feature of the present invention resides in that the work vehicle according to any one of the first to thirteenth features of the present invention is configured as follows.
The turning end detection unit detects that the turning operation unit, which is operated artificially and changes the orientation of the machine body, is operated from the turning position to the straight-ahead position, as the end of turning.

(Operation and effect of the invention)
Since the work vehicle is equipped with a steering operation unit (steering handle, steering lever, etc.) that is operated manually and changes the direction of the aircraft, the steering operation unit operates from the turning position to the straight-ahead position. It is possible to clearly detect the end of the turning by detecting that the turning is done as the end of the turning.

[XVII] (configuration)
A seventeenth feature of the present invention resides in the following configuration in any one of the work vehicles according to the first to thirteenth features of the present invention.
The right and left side clutches for transmitting power to the right and left traveling devices are provided,
A side clutch operating unit is provided that operates the side clutch on the center side of the turn in a disengaged state with the start of turning, and operates the side clutch on the center side of the turn into a transmission state with the end of turning.
The turning end detection unit detects that the side clutch on the turning center side has been operated in a transmission state as the end of turning.

(Operation and effect of the invention)
Some work vehicles include right and left side clutches that transmit power to the right and left traveling devices, and the side clutch on the turning center side is disengaged with the start of turning (the traveling device on the turning center side). There is a configuration in which the side clutch on the turning center side is operated to the transmission state (the driving state of the traveling device on the turning center side) when the turning is completed.
According to the seventeenth feature of the present invention, the end of the turning can be clearly detected by detecting that the side clutch on the turning center side is operated in the transmission state as the end of the turning.

[XVIII] (Structure)
An eighteenth feature of the present invention is that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows.
The traveling device includes front wheels and rear wheels,
A front wheel speed increasing device that can be operated in a standard state in which the front wheels and the rear wheels are driven at substantially the same speed, and in a speed increasing state in which the front wheels are driven at a higher speed than the rear wheels,
An operating device for operating the front wheel speed increasing device in a speed-up state with the start of turning, and operating the front wheel speed increasing device in a standard state with the end of turning,
The turning end detection unit detects that the front wheel speed increasing device has been operated in the standard state as the end of turning.

(Operation and effect of the invention)
Some work vehicles are equipped with a front wheel speed increasing device that can be operated in a standard state in which the front wheels and the rear wheels are driven at approximately the same speed, and in a speed increasing state in which the front wheels are driven at a higher speed than the rear wheels. There is a configuration in which the front wheel speed increasing device is operated in a speed increasing state at the time of start, and the front wheel speed increasing device is operated in a standard state at the end of turning.
According to the eighteenth feature of the present invention, the end of turning can be clearly detected by detecting that the front wheel speed increasing device has been operated in the standard state as the end of turning.

[XIX] (configuration)
A nineteenth feature of the present invention resides in that the work vehicle according to any one of the first to thirteenth features of the present invention is configured as follows.
Equipped with an azimuth detector that detects the azimuth of the aircraft,
The turning end detection unit detects the end of turning based on the detection value of the azimuth detection unit.

(Operation and effect of the invention)
According to the nineteenth feature of the present invention, the end of the turning can be clearly detected by including the azimuth detecting unit and detecting the azimuth of the airframe.

It is the whole side view of a riding type rice transplanter. It is the whole top view of a riding type rice transplanter. FIG. 3 is a schematic plan view showing a steering operation system of front wheels and a transmission system to front wheels and rear wheels. It is a figure which shows the cooperation state of a control apparatus and each part. It is a top view which shows the outline of the working form of a riding type rice transplanter. It is a top view which shows the state of the starting point position K1 to the end point position K2 in the working form of a riding type rice transplanter. It is a top view which shows the state from the starting point position K1 to the position K3 in the working form of a riding type rice transplanter. It is a top view which shows the state from the starting point position K1 to the position K4 in the working form of a riding type rice transplanter. It is a top view which shows the state from the starting point position K1 to the position K5 in the working form of a riding type rice transplanter. It is a top view which shows the state from the starting point position K1 to the position K6 in the working form of a riding type rice transplanter. It is a top view which shows the state from the starting point position K1 to the position K7 in the working form of a riding type rice transplanter. It is a figure which shows the flow of control in the work form of a riding type rice transplanter. It is a figure which shows the flow of control in the work form of a riding type rice transplanter. It is a figure which shows the flow of control in the work form of a riding type rice transplanter. FIG. 13 is a schematic plan view showing a state of a machine body in a third another embodiment of the invention. It is a figure which shows the cooperation state of a control apparatus and each part in 5th another form of implementation of invention. FIG. 16 is a schematic diagram showing a steering operation system for front wheels and a transmission system for front wheels and rear wheels in an eighth alternative embodiment of the invention.

  The front-rear direction and the left-right direction in the embodiment of the present invention are described as follows unless otherwise specified. The forward traveling direction is "front" and the backward traveling direction is "rear" when the machine body is traveling. The direction corresponding to the right side is “right”, and the direction corresponding to the left side is “left” with reference to the forward facing posture in the front-rear direction.

[1]
As shown in FIG. 1 and FIG. 2, the link mechanism 3 and the link mechanism are provided at the rear part of the body including the right and left front wheels 1 (corresponding to a traveling device) and the right and left rear wheels 2 (corresponding to a traveling device). 3 is provided with a hydraulic cylinder 4 for driving up and down, and an 8-row planting type seedling planting device 5 (corresponding to a working device) is supported at the rear part of the link mechanism 3, and a riding type rice planting plant, which is an example of a working vehicle, is supported. Machine is configured.

  As shown in FIG. 1 and FIG. 2, the seedling planting device 5 includes four planting transmission cases 6 arranged at predetermined intervals in the left-right direction, and a rear portion of the planting transmission case 6 on the right and left sides. An rotatably supported rotating case 7, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, a seedling stand 10 and the like are provided to form an eight-row planting type.

  As shown in FIGS. 1 and 4, the right and left markers 19 are provided on the right and left sides of the seedling planting device 5, and are grounded on the paddy field to index work steps L01 to L05 (see FIG. 5). It is configured so that it can be freely changed to an action posture (see FIG. 1) that forms a ridge and a storage posture (see FIG. 4) that is separated upward from the rice field. The right and left markers 19 are configured to include an arm portion 19a that is vertically swingably supported by the seedling planting device 5, and a rotating body 19b that is freely rotatably supported by the tip of the arm portion 19a. An electric motor 21 for operating the right and left markers 19 in the working posture and the storage posture is provided, and the electric motor 21 is operated by the control device 23.

[2]
The transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 3, the power of the engine 31 provided in the front part of the machine body is transmitted via a transmission belt 32 to a hydrostatic continuously variable transmission 33 (corresponding to a transmission for traveling) and a mission case. 34 is transmitted to the right side from the auxiliary transmission (not shown) inside the transmission case 34 via a front wheel differential mechanism (not shown) and a transmission shaft (not shown) inside the front axle case 35. It is transmitted to the left front wheel 1.

  As shown in FIG. 1 and FIG. 3, the power of the auxiliary transmission device includes a transmission shaft 36, an input shaft 38 of the rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a meshing with the bevel gear 38a, and a bevel gear 39a. It is transmitted to the right and left rear wheels 2 via the fixed transmission shaft 39 and the right and left side clutches 40.

  As shown in FIGS. 1, 2 and 4, a gearshift lever 45 (corresponding to a gearshift operating unit) is provided on the left side of the steering handle 20 (corresponding to a steering operating unit), and a hydrostatic pressure is provided by the gearshift lever 45. The continuously variable transmission 33 is operated. The speed change lever 45 allows the hydrostatic continuously variable transmission 33 to be operated steplessly from the neutral position N to the forward drive side F and the reverse drive side R.

  As shown in FIG. 3, a steering member 41 (corresponding to a side clutch operating portion) is swingably supported around a vertical axis P2 in the lower portion of the mission case 34, and the steering handle 20 swings the steering member 41. It is configured to be dynamically operated, and a tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. By operating the steering handle 20, the right and left front wheels 1 can be steered from the straight-ahead position A1 to the right and left steering limits A3.

  As shown in FIG. 3, the right and left side clutches 40 are of a multi-friction type and are urged by a spring (not shown) into a transmission state. Right and left operation shafts 43 for operating the right and left side clutches 40 in a closed state against the springs are supported downward by the rear axle case 37, and are operated by the steering member 41 and the right and left operation shafts 43. The right and left operation rods 44 (corresponding to the side clutch operation portion) are connected to the above. The right and left operation rods 44 are provided with long holes 44a as interchangeable portions at the connecting portions with the right and left operation shafts 43.

  As shown in FIG. 3, when the right and left front wheels 1 are steered within the range of the straight traveling position A1 and the right and left set angles A2, the long holes 44a of the right and left operating rods 44 are interchanged to each other. The right and left side clutches 40 are operated in a transmission state. As a result, the vehicle body moves forward (backward) in a state where power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (transmission state of the right and left side clutches 40).

  As shown in FIG. 3, when the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, the range of the elongated hole 44a of the right operation rod 44 is exceeded. The right (left) operation rod 44 is pulled, and the right side clutch 40 is operated by the right operation shaft 43 into the disengaged state. As a result, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (outer side of turning) (transmission state of the left side clutch 40), and the right rear wheel 2 (side of turning center) (right side clutch). The aircraft turns to the right in the state in which the (40 cutoff state) freely rotates.

  As shown in FIG. 3, when the right and left front wheels 1 are steered to the left steering limit A3 side beyond the left set angle A2, the range of the long hole 44a of the left operation rod 44 is exceeded. As a result, the left operating rod 44 is pulled, and the left side clutch 40 is operated in the disengaged state by the left operating shaft 43. As a result, power is transmitted to the right and left front wheels 1, the right rear wheel 2 (outside turning) (the transmission state of the right side clutch 40), and the left rear wheel 2 (center of turning) (left side clutch). The aircraft turns to the left in a state in which the (40 cutoff state) freely rotates.

  As shown in FIG. 3, when the right and left front wheels 1 are steered from the right (left) steering limit A3 side to the right (left) set angle A2 to the straight ahead position A1 side, the shut-off state occurs. The right (left) side clutch 40, which has been operated to, is operated to the transmission state, and the right and left side clutches 40 are returned to the operated state.

[3]
The transmission system to the seedling planting device 5 will be described.
As shown in FIGS. 1 and 4, in the mission case 34, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 via the planting clutch 26 (corresponding to a working clutch) and the PTO shaft 25. An electric motor 28 for operating the planted clutch 26 in a transmission and a disengaged state is provided.

  As shown in FIG. 1 and FIG. 2, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is driven to reciprocate laterally to the left and right, and the rotating case 7 is turned upside down. It is driven to rotate clockwise, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling stand 10 and plant them on the rice field. When the planting clutch 26 is operated in the disengaged state, the reciprocating lateral feed drive of the seedling stand 10 and the rotational drive of the rotary case 7 are stopped.

[4]
The automatic lifting control unit 59 of the seedling planting device 5 will be described.
As shown in FIG. 4, the rear part of the center float 9 is swingably supported up and down around the horizontal axis P1 of the seedling planting device 5, so that the height of the center float 9 relative to the seedling planting device 5 is increased. A height sensor 22 of a potentiometer type for detecting is provided, and a detection value of the height sensor 22 is input to the control device 23. The float 9 in the center follows the ground contact with the paddy field as the aircraft progresses, and the detection value of the height sensor 22 can detect the height from the paddy field (the float 9 in the center) to the seedling planting device 5. it can.

  As shown in FIG. 4, an automatic lifting control unit 59 is provided as software in the control device 23, and the control valve 24 for supplying and discharging hydraulic oil to and from the hydraulic cylinder 4 is operated by the automatic lifting control unit 59. When the hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 contracts to raise the seedling planting device 5, and when the control valve 24 discharges the hydraulic oil from the hydraulic cylinder 4, the hydraulic pressure is changed. The cylinder 4 extends and the seedling planting device 5 descends.

  As shown in FIG. 4, based on the height from the paddy field (float 9 in the center) to the seedling planting apparatus 5, the seedling planting apparatus 5 is maintained at the set height from the rice field (height sensor 22 The detected value (the vertical distance between the height sensor 22 and the central float 9) is maintained at a set value), the control valve 24 is operated by the automatic lifting control unit 59, and the hydraulic cylinder 4 expands and contracts, The seedling planting device 5 automatically moves up and down.

[5]
The elevating lever 11 will be described.
As shown in FIGS. 1, 2, and 4, an elevating lever 11 is provided on the right side of the driver's seat 13, and the elevating lever 11 is configured to be freely operable in an automatic position, an ascending position, a neutral position, a descending position, and a planting position. The operating position of the elevating lever 11 is input to the control device 23. A potentiometer 29 that detects the vertical angle of the link mechanism 3 with respect to the machine body is provided, and the detection value of the potentiometer 29 is input to the control device 23.

  As shown in FIG. 4, when the elevating lever 11 is operated to the raising position, the neutral position, the descending position, and the planting position (when the elevating lever 11 is not operated to the automatic position), the following [6] is described. The functions of the first and second raised positions U1 and U2 of the operating lever 12 and the functions of the first and second lowered positions D1 and D2 do not operate, and only the functions of the right and left marker positions R and L of the operating lever 12 are operated. Operate.

  As shown in FIG. 4, when the raising / lowering lever 11 is operated to the raised position, the automatic raising / lowering control unit 59 is stopped, the electric motor 28 operates the planting clutch 26 in the disengaged state, and the electric motor 21 moves the right and left sides. The marker 19 is operated to the retracted position, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 contracts, and the seedling planting device 5 rises. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position and the hydraulic cylinder 4 is automatically stopped.

  As shown in FIG. 4, when the raising / lowering lever 11 is operated to the lowered position, the automatic raising / lowering control unit 59 is stopped, the electric motor 28 operates the planting clutch 26 in the disengaged state, and the electric motor 21 moves the right and left sides. When the marker 19 is operated in the retracted position, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

  As shown in FIG. 4, when the center float 9 touches the rice field in a state where the elevating lever 11 is operated to the lowered position, the center float 9 slightly rises, so that the center float 9 touches the rice field ( When the height sensor 22 detects that the float 9 in the center has risen a little), the automatic raising / lowering control unit 59 is activated, and the seedling planting device 5 is brought into contact with the paddy field and stopped.

  As shown in FIG. 4, when the elevating lever 11 is operated to the neutral position, the automatic elevating control unit 59 is stopped, the electric motor 28 operates the planting clutch 26 in the disengaged state, and the electric motor 21 operates the right and left sides. The control valve 24 is operated to the neutral position while the marker 19 is operated in the retracted position, and the hydraulic cylinder 4 is stopped. In this way, by operating the elevating lever 11 to the raised position, the neutral position, and the lowered position, the seedling planting device 5 can be raised and lowered to an arbitrary height and stopped.

  As shown in FIG. 4, when the raising / lowering lever 11 is operated to the planting position, the automatic raising / lowering control unit 59 is activated in a state in which the electric motor 21 operates the right and left markers 19 to the retracted posture, and the electric motor 21 is operated. By 28, the planted clutch 26 is operated in the transmission state. As a result, the rotary case 7 is rotationally driven as the seedling stand 10 is driven to reciprocate laterally, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling stand 10 and plant them on the rice field.

[6]
The operation lever 12 will be described.
As shown in FIGS. 1, 2 and 4, an operating lever 12 is provided on the lower right side of the steering handle 20, and the operating lever 12 extends to the right lateral outside. The operation lever 12 includes a first elevated position U1, a second elevated position U2, a lower first lowered position D1, a second lowered position D2, a rear right marker position R and a front left marker position from the neutral position N. It is configured to be operable in the cross direction of L, is biased to the neutral position N, and the operation position of the operation lever 12 is input to the control device 23.

As shown in FIG. 4, the function of the operation lever 12 operates as follows in a state where the elevating lever 11 is operated to the automatic position.
As shown in FIG. 4, when the operation lever 12 is operated to the second raised position U2, the electric motor 28 operates the planting clutch 26 in the disengaged state, the automatic lifting control unit 59 is in the stopped state, and the electric motor 21 moves to the right. The left marker 19 is operated to the retracted position, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 contracts, and the seedling planting device 5 rises. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position and the hydraulic cylinder 4 is automatically stopped.

As shown in FIG. 4, when the operation lever 12 is operated to the second lowering position D2, the electric motor 28 operates the planting clutch 26 in the disengaged state, the automatic lifting control unit 59 is in the stopped state, and the electric motor 21 moves to the right. While the left marker 19 and the left marker 19 are operated in the retracted position, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the center float 9 comes into contact with the rice field, the automatic elevating control section 59 is activated, and the seedling planting device 5 comes into contact with the rice field and stops (the elevating lever 11 described in [5] above is used). (Refer to the state of operating in the lowered position).
After operating the operating lever 12 to the second lowering position D2 and operating it to the neutral position N, and then operating the operating lever 12 to the second lowering position D2 again, the electric motor 28 is operated while the automatic elevating control unit 59 is in the operating state. The clutch 26 is operated to the transmission state.

  With the automatic lifting control unit 59 stopped, the electric motor 28 operates the planting clutch 26 in the disengaged state, and the electric motor 21 operates the right and left markers 19 in the retracted position, as shown in FIG. When the operating lever 12 is operated to the first raised position U1, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the operating lever 12 is operated to the first raised position U1 only. The seedling planting device 5 rises. When the operation lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the raising of the seedling planting device 5 is stopped.

  With the automatic lifting control unit 59 stopped, the electric motor 28 operates the planting clutch 26 in the disengaged state, and the electric motor 21 operates the right and left markers 19 in the retracted position, as shown in FIG. Then, when the operation lever 12 is operated to the first lowered position D1, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and only while the operation lever 12 is operated to the first lowered position D1. The seedling planting device 5 descends. When the operation lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the descending of the seedling planting device 5 is stopped.

  As described above, the seedling planting device 5 can be raised and lowered only while the operation lever 12 is being operated to the first raising and lowering positions U1, D1. It can be stopped by raising and lowering to the height.

  As shown in FIG. 4, when the operation lever 12 is operated to the right marker position R, the electric motor 21 operates the right marker 19 to the working posture. When the operating lever 12 is operated to the left marker position L, the electric motor 21 operates the left marker 19 to the working posture.

  As described above, the raising / lowering of the seedling planting device 5, the operation of the planting clutch 26, the right and left markers 19 by the raising / lowering lever 11 described in the previous section [5] and the operation lever 12 described in the present section [6]. Of the seedling planting device 5 in [9] to [13] described later (operation and stop of the automatic raising and lowering control unit 59), operation of the planting clutch 26, and the right and left markers 19. The operation is performed by the elevating lever 11 or the operating lever 12.

[7]
A configuration for detecting the position and orientation of the machine body will be described.
As shown in FIGS. 1 and 2, right and left support frames 16 are provided on the right and left parts of the front part of the machine body, and the support frame 16 supports the preliminary seedling stand 15. The support frame 17 is connected over the upper portions of the right and left support frames 16.

  As shown in FIGS. 1 and 2, the measuring device 30 is attached to a portion of the support frame 17 which is located at the left-right center CL of the machine body in a plan view. The measuring device 30 is provided with a receiving device (not shown) that acquires position information by a satellite positioning system and an inertial measuring device (not shown) that detects the tilt (pitch angle, roll angle) of the machine body.

  As shown in FIGS. 1 and 2, an inertial measurement device 48 for measuring inertial information is attached to a portion of the rear axle case 37 located in the left and right center CL of the machine body in plan view. The inertial measurement of the measuring device 30 is configured by an IMU (Inertial Measurement Unit).

  A GPS (Global Positioning System) is a typical example of the above-mentioned satellite navigation system (GNSS: Global Navigation Satellite System). The GPS uses a plurality of GPS satellites that orbit the earth, a control station that tracks and controls the GPS satellites, and a receiving device included in an object (airframe) that performs positioning. It measures the position.

  The inertial measurement device 48 includes a gyro sensor (not shown) capable of detecting an angular velocity of the yaw angle of the machine body (turning angle of the machine body) and an acceleration sensor (not shown) which detects accelerations in three axial directions orthogonal to each other. Is equipped with. The inertial information measured by the inertial measurement device 48 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor.

[8]
The configuration related to automatic traveling will be described.
As shown in FIGS. 1, 2, and 4, the operation position of the shift lever 45 is input to the control device 23. A center mascot 14 is provided at the position of the left-right center CL of the machine body in plan view at the front of the machine body. A steering motor 51 for steering the steering member 41 is provided.

As shown in FIGS. 3 and 4, a ring member 49 having a large number of small irregularities formed on the outer periphery is externally fitted to the clutch case of the right and left side clutches 40. The rotation speed sensor 50 is fixed to the upper portion of the rear axle case 37 so as to face the ring member 49, and the detection values of the right and left rotation speed sensors 50 are input to the control device 23.
Pulses are emitted from the right and left rotation speed sensors 50 so as to correspond to the irregularities of the ring member 49, and the rotation speeds of the right and left rear wheels 2 are changed by the pulses of the right and left rotation speed sensors 50. Can be detected.

  As shown in FIG. 4, the reference azimuth setting unit 60, the setting unit 61, the automatic travel control unit 62, the turning end detection unit 63, the check unit 64, the reverse stop notification unit 65, the blocking notification unit 66, the allowance notification unit 67, and the operation. The notification unit 68 and the traveling distance detection unit 69 are provided in the control device 23 as software.

  As shown in FIGS. 2 and 4, an operation button 18 (corresponding to an operation unit) for artificially operating the automatic travel control unit 62 in an operating state and a stop state is provided in the grip portion of the speed change lever 45, The operation signal of the operation button 18 is input to the control device 23.

  As shown in FIGS. 2 and 4, a display panel 27 is provided on the front part of the steering wheel 20, a start point setting switch 46 is provided on the right side of the display panel 27, and an end point setting switch 47 is provided on the left side of the display panel 27. It is provided, and the operation signals of the start point and end point setting switches 46 and 47 are input to the control device 23.

[9]
The working mode of the riding type rice transplanter will be described.
For example, as shown in FIG. 5, in a paddy field having a quadrangular shape in a plan view, the riding type rice transplanter may adopt the following working modes.

  First, the aircraft is positioned at the position shown in FIG. 5 (starting point position K1), the seedling planting device 5 is lowered to the rice field, and the left marker 19 is operated to the working posture (the right marker 19 is the retracted posture). In this state, the planting clutch 26 is operated in the disengaged state to travel along the ridge B (the operating state of the automatic lifting control unit 59), and the left marker 19 forms the index of the next work stroke L01 on the paddy field ( Standard work process LA1).

  As described above, in the standard work process LA1, the seedling planting device 5 is moved down to the rice field while the planting clutch 26 is not operated in the transmission state. This is because it is erased by the float 9 of the planting device 5.

  As shown in FIG. 5, when the aircraft reaches the edge from the standard work process LA1, the seedling planting device 5 is lifted from the paddy field (stopping state of the automatic lifting control unit 59), and the turning LL1 (leftward) is performed. Then, the seedling planting device 5 is lowered to the rice field (the operation state of the automatic lifting control unit 59), the planting clutch 26 is operated to the transmission state, and the work process L01 is started.

  In the work stroke L01, the left marker 19 is operated to the retracted posture, the right marker 19 is moved to the working posture, and the aircraft is run along the index formed on the rice field in the standard work stroke LA1. While the planting is being performed, the marker for the next work process L02 is formed on the rice field by the right marker 19.

  As shown in FIG. 5, when the aircraft reaches the edge from the work stroke L01, the planting clutch 26 is operated to be in the disengaged state, and the seedling planting device 5 is lifted from the paddy field (the state where the automatic lifting control unit 59 is stopped). , Turning LL2 (to the right), lowering the seedling planting device 5 to the rice field (the operating state of the automatic lifting control unit 59), operating the planting clutch 26 to the transmission state, and entering the work stroke L02.

  In the work stroke L02, the right marker 19 is operated to the retracted posture, the left marker 19 is moved to the working posture, and the aircraft is run along the index formed on the rice field in the work stroke L01. While planting, the marker on the left is used to form the index of the next work process L03 on the rice field.

  As shown in FIG. 5, a plurality of work strokes L01, L02, L03, L04, L05 and turns LL1 (left direction), LL2 (right direction), LL3 (left direction), LL4 (right direction), LL5 (left). Direction), a part along which the seedlings have not been planted is formed along the ridge B. In this state, when the aircraft reaches the ridge from the work stroke L05, the planting clutch 26 is operated to be in the disengaged state, the seedling planting device 5 is lifted from the rice field (the state where the automatic lifting control unit 59 is stopped), and the turning is performed. Perform LL6 (to the right) to position the aircraft at position K10.

  As shown in FIG. 5, at the position K10, the seedling planting device 5 is lowered to the paddy field (the operating state of the automatic raising / lowering control unit 59), and the planting clutch 26 is operated in the transmission state to move the right and left markers 19 to each other. While operating in the retracted position, the vehicle runs along the ridge B (rotation work process). As a result, in the work steps L01 to L05, seedlings are planted in the portions where seedlings have not been planted.

[10]
A state in which the present invention is applied to the working mode of the riding type rice transplanter described in the previous section [9] and FIG. 5 will be described (No. 1).
As shown in FIG. 6 and FIG. 12, when the driver operates the start point setting switch 46 in the state where the machine body is located at the start point position K1 (step S1), the start point setting switch 46 is based on the detection value of the measuring device 30. The position of the machine body when is operated is set as the start point position K1 (step S2).

  Next, as shown in FIG. 6 and FIG. 12, the driver lowers the seedling planting device 5 to the rice field (the operation state of the automatic lifting control unit 59) and sets the left marker 19 in the working posture (the right marker 19 is (Retracted posture) to maintain the planted clutch 26 in the disengaged state. The driver operates the steering handle 20 and the shift lever 45 to cause the machine body to travel along the ridge B, and forms the index of the next work stroke L01 on the paddy field by the left marker 19 (reference work stroke LA1). .

  As shown in FIG. 6 and FIG. 12, when the vehicle body reaches the edge from the standard work stroke LA1 and the driver operates the end point setting switch 47 (step S3), the end point setting switch based on the detection value of the measuring device 30. The position of the machine body at the time when 47 is operated is set as the end point position K2 (step S4). When the end point position K2 is set, the reference azimuth setting unit 60 sets the straight line (direction) connecting the start point position K1 and the end point position K2 as the reference azimuth E (step S5).

Next, as shown in FIG. 7 and FIG. 12, the driver raises the seedling planting device 5 (the automatic raising / lowering control unit 59 is in a stopped state, the planting clutch 26 is in a disengaged state, and the right and left markers 19 are not shown). (Stored posture), the steering handle 20 and the shift lever 45 are operated to perform the turning LL1.
Since the marker for the next work stroke L01 is formed on the rice field by the left marker 19 in the standard work stroke LA1, the driver seated in the driver's seat 13 visually checks the center mascot 14 and the above-mentioned indicators in the turning LL1. , The steering handle 20 is operated with the index of the rice field as a target to position the machine body at the position K3.

  In this case, since the turning end detection unit 63 does not detect the end of turning in the turning LL1 by raising the seedling planting device 5 (step S6), the checking unit 64 causes the automatic traveling control unit 62 to operate. The operation to the operating state is blocked.

  Therefore, even if the driver operates the operation button 18 in the above-described state (step S7), the restraint unit 64 prevents the automatic traveling control unit 62 from being operated (Step S8). The section 66 is activated to inform that the operation of the automatic traveling control section 62 is blocked (indication by the display panel 27 and notification by voice) (step S9).

[11]
A state in which the present invention is applied to the working mode of the riding-type rice transplanter described in the previous section [9] and FIG. 5 will be described (No. 2).
As shown in FIGS. 7 and 12, when the turning LL1 is completed and the aircraft is located at the position K3, the driver lowers the seedling planting device 5 to the rice field (the operating state of the automatic lifting control unit 59) (step). S10), the planting clutch 26 is operated to the transmission state, and the right marker 19 is operated to the working posture (the left marker 19 is in the retracted posture). As a result, the driver operates the steering wheel 20 and the speed change lever 45 to enter the next work step L01.

  As described above, when the height sensor 22 detects that the center float 9 is in contact with the paddy field due to the descending of the seedling planting device 5 (the center float 9 has slightly risen) (the previous item [5] (See step S10), the turning end detection unit 63 detects the end of turning (step S11). In this case, the restraint unit 64 maintains the state in which the operation of the automatic traveling control unit 62 is blocked.

  As shown in FIG. 7 and FIG. 13, when the work stroke L01 is entered, the traveling distance detection unit 69 starts detecting the traveling distance D of the machine body based on the detection value of the rotation speed sensor 50 (step S12).

  As shown in FIGS. 8 and 13, even when the driver operates the operation button 18 until the traveling distance D of the machine body reaches the set distance D1 (step S13), the automatic traveling control unit is controlled by the restraint unit 64. Since the operation of 62 to the operating state is blocked (step S14), the blocking notification unit 66 is operated to report that the operation of the automatic traveling control unit 62 is blocked. (Display and voice notification on the display panel 27) (step S15).

  As shown in FIGS. 8 and 13, when the traveling distance detection unit 69 detects that the traveling distance D of the machine body has reached the set distance D1 (position K4) (step S16), the check unit 64 automatically travels. The operation of the control unit 62 is permitted (step S17), and the permission notifying unit 67 is activated to allow the operation of the automatic travel control unit 62 to be permitted. This is notified (notification by display and voice on display panel 27) (step S18).

[12]
A state in which the present invention is applied to the working mode of the riding-type rice transplanter described in the previous section [9] and FIG. 5 will be described (No. 3).
As shown in FIGS. 8 and 13, when the restraint unit 64 allows the operation of the automatic traveling control unit 62 to be in the operating state (position K4), when the driver operates the operation button 18 (step S19), Since the automatic traveling control unit 62 is in the operating state (step S20), the operation informing unit 68 is activated to inform that the automatic traveling control unit 62 is in the operating state (display and voice on the display panel 27). Notification by (step S21).

As shown in FIG. 8 and FIG. 13, at the same time when the automatic traveling control unit 62 is in the operating state, the setting unit 61 sets the automatic traveling control unit 62 in the operating state based on the detection value of the measuring device 30. The set traveling line LB1 is set in parallel with the reference azimuth E from the position of the machine body (position K4) (step S22).
In this case, if the position of the machine body (position K4) at the time when the automatic travel control unit 62 is activated is out of the index of the work stroke L01 formed on the rice field by the left marker 19 in the reference work stroke LA1. The above-mentioned index and the set traveling line LB1 do not match.

As a result, as shown in FIGS. 9 and 13, in the operating state of the automatic travel control unit 62, the machine body automatically moves along the set travel line LB1 based on the detection values of the measurement device 30 and the inertial measurement device 48. The steering motor 51 is operated by the automatic traveling control unit 62 so that the vehicle travels (the front wheels 1 are automatically operated for steering).
In this case, the driver can operate the hydrostatic continuously variable transmission 33 by operating the speed change lever 45 to change the traveling speed of the machine body.

[13]
A state in which the present invention is applied to the working mode of the riding type rice transplanter described in the previous section [9] and FIG. 5 will be described (No. 4).
As shown in FIG. 9 and FIG. 13, when the work stroke L01 is completed and the machine body reaches the ridge B (position K5), the driver operates the operation button 18 to operate the automatic traveling control unit 62 in the stopped state. (Step S23).

Next, as in the case of the turning LL1 described in the above item [10], as shown in FIGS. 10 and 14, the driver raises the seedling planting device 5 (the state where the automatic lifting control unit 59 is stopped, the planting clutch is shown). The shut-off state of 26, the stored postures of the right and left markers 19), the steering handle 20 and the shift lever 45 are operated to perform the turning LL2.
In this case, as in the case of the turning LL1, the driver seated in the driver's seat 13 visually checks the center mascot 14 and the index of the next work stroke L02 formed on the rice field by the right marker 19 in the work stroke L01. The operation handle 20 is operated with the index of the rice field as a target to position the machine body at the position K6, and the work process L02 is started.

As shown in FIG. 11, in the turning LL2 and from the position K6 to the position K7, the same operation as steps S6 to S22 of FIGS. 12 and 13 is performed to set the set travel line LB2, and the automatic travel control unit. In the operating state of 62 (work stroke L02), the automatic traveling control unit 62 operates so that the aircraft automatically travels along the set traveling line LB2 based on the detection values of the measuring device 30 and the inertial measuring device 48. The direction motor 51 is operated (the front wheels 1 are automatically operated for steering).
Thereafter, in the work strokes L02 to L05 and the turns LL3 to LL5 shown in FIG. 5, the same operations as steps S6 to S22 in FIGS. 12 and 13 are performed.

When the driver operates the shift lever 45 to the reverse side R in the operating state of the automatic travel control unit 62 in the above work strokes L01 to L05, the check control unit 64 operates the automatic travel control unit 62 to the stopped state, and The set traveling line LB1 (LB2) is deleted. At the same time, the reverse drive stop notification unit 65 operates to notify that the automatic travel control unit 62 is in the stopped state (display on the display panel 27 and notification by voice).
In this case, even if the driver operates the operation button 18 in a state where the automatic traveling control unit 62 is operated in the stopped state based on the operation of the shift lever 45 to the reverse side R, the check unit 64 automatically operates. The operation of the traveling control unit 62 to the operating state is blocked.

  As described above, the driver operates the speed change lever 45 to the neutral position N or the forward speed side F in the state where the automatic traveling control unit 62 is operated to the stop state based on the operation of the speed change lever 45 to the reverse side R. In such a case, as in steps S12 to S19 of FIG. 13, after the driver operates the speed change lever 45 to the neutral position N or the forward side F, the aircraft travels the set distance D1 and then the automatic restraint control by the restraint unit 64 is performed. The operation of the portion 62 to the operating state is permitted.

  After that, when the driver operates the operation button 18 in a state in which the restraint unit 64 allows the operation of the automatic traveling control unit 62 to be in the operating state, the automatic traveling control unit 62 is in the operating state. A new set travel line LB1 (LB2) is set in parallel with the reference azimuth E from the position of the machine body at the time when the control unit 62 is activated.

[First Alternative Embodiment of the Invention]
In the above-described [Mode for carrying out the invention], the reference direction E and the setting traveling lines LB1 and LB2 each time the operation button 18 is operated are not set, and the paddy field (field) is set in advance. The position information may be provided as map data, and the set travel lines LB1, LB2 may be set in advance in the map data of the paddy field (field).
In this case, the plurality of set traveling lines LB1 and LB2 are not set to be parallel to each other, but the plurality of set traveling lines LB1 and LB2 are set to be inclined to each other, or the plurality of set traveling lines LB1 and LB2 are orthogonal to each other. It may be set to do so.

As described above, if the map data of the paddy field (field) is provided, the positional relationship between the position of the aircraft and the ridge B can be recognized.
In this case, when the aircraft approaches the ridge B in the operating state of the automatic travel control unit 62, it may be configured to notify that the aircraft has approached the ridge B. In the stopped state of the automatic travel control unit 62, the aircraft is Even when the ridge B is approached, the notification that the ridge B is approached may not be performed.

[Second Embodiment of the Invention]
In the above [Modes for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention], instead of the set distance D1 (see steps S12 to S16 in FIGS. 8 and 11, and FIG. 13), the machine is set to a set time. If the vehicle travels only, the restraint unit 64 may be configured to allow the operation of the automatic traveling control unit 62 to operate.

In the above [Mode for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention], the set distance D1 (see steps S12 to S16 in FIGS. 8 and 11 and 13) is eliminated, and the turning LL1 to LL1. When LL5 ends (when the turning end detection unit 63 detects the end of turning), the check unit 64 immediately allows the automatic travel control unit 62 to operate. May be.
Similarly, in [13] of [Mode for Carrying Out the Invention] described above, when the shift lever 45, which was operated to the reverse side R, is operated to the neutral position N or the forward side F, the check portion 64 immediately causes It may be configured such that the operation of the automatic traveling control unit 62 is permitted.

[Third Alternative Embodiment of the Invention]
In the above [Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] [Second Alternative Embodiment of the Invention], the check unit 64 may have the following functions.
As shown in FIG. 15, when the driver operates the operation button 18 in a state where the restraint unit 64 allows the automatic traveling control unit 62 to be operated, the measuring device 30 (corresponding to the azimuth detecting unit). Further, the inertial measurement device 48 (corresponding to the azimuth detecting unit) detects the azimuth E1 of the machine body at the time when the driver operates the operation button 18.

  Simultaneously with the detection of the aircraft heading E1 described above, the set traveling lines LB1, LB2 (reference orientation E) are compared with the aircraft orientation E1 to determine the set traveling lines LB1, LB2 (reference orientation E) and the aircraft orientation E1. If the angle difference θ1 of 1 does not exceed the set value, the automatic traveling control unit 62 is maintained in the operating state (operation of the automatic traveling control unit 62 to the operating state is permitted).

  Simultaneously with the detection of the aircraft heading E1 described above, the set traveling lines LB1, LB2 (reference orientation E) are compared with the aircraft orientation E1 to determine the set traveling lines LB1, LB2 (reference orientation E) and the aircraft orientation E1. When the angle difference θ1 of 1 exceeds the set value, the automatic traveling control unit 62 is operated in the stopped state (operation of the automatic traveling control unit 62 to the operating state is blocked).

  In this case, since it is notified that the angle difference θ1 exceeds the set value (display and voice notification on the display panel 27), the driver operates the steering wheel 20 to set the heading E1 of the aircraft. Along the lines LB1, LB2 (reference azimuth E) (angle difference θ1 is made smaller than the set value).

After that, when the angle difference θ1 becomes smaller than the set value, the restraint unit 64 allows the operation of the automatic travel control unit 62 to be in the operating state, and the allowance notification unit 67 operates to allow the automatic travel. It is informed that the operation of the control unit 62 to the operating state is permitted (display and audio notification on the display panel 27).
As a result, the driver operates the operation button 18 to operate the automatic travel control unit 62 to the operating state.

[Fourth Embodiment of the Invention]
In the above third embodiment of the invention, when the driver's heading E1 at the time of operating the operation button 18 is detected, the set travel lines LB1 and LB2 (reference heading E) and the heading of the vehicle are detected. Instead of comparing with E1, it may be configured as described below.

  A direction in which the position of the machine body at the time when the driver operates the operation button 18 and the position of the machine body on the rear side (past) by a predetermined distance from this position is connected by a straight line is detected, and this direction and the direction of the machine body are detected. The angle difference θ1 is obtained by comparing with E1. Based on the result of this comparison (angle difference θ1), the operation described in the above [Third Alternative Embodiment of the Invention] is performed.

[Fifth Embodiment of the Invention]
In the above [Mode for carrying out the invention] [First alternative embodiment of the invention] to [Fourth alternative embodiment of the invention], as shown in FIG. 16, an automatic deceleration unit 70 and a deceleration notification unit 71 are provided. May be provided in the control device 23 as software.

  As shown in FIG. 15, when the driver operates the operation button 18 in a state where the restraint unit 64 allows the automatic traveling control unit 62 to be operated, the measuring device 30 (corresponding to the azimuth detecting unit). Further, the inertial measurement device 48 (corresponding to the azimuth detecting unit) detects the azimuth E1 of the machine body at the time when the driver operates the operation button 18.

Simultaneously with the detection of the aircraft heading E1 described above, the set traveling lines LB1, LB2 (reference orientation E) are compared with the aircraft orientation E1 to determine the set traveling lines LB1, LB2 (reference orientation E) and the aircraft orientation E1. If the angle difference θ1 of the above exceeds the set value, the actuator 52 is actuated by the automatic deceleration unit 70 and the speed change lever 45 (hydrostatic type continuously variable transmission 33) is operated to the low speed side (or of the engine 31). The accelerator lever (not shown) is operated to the low speed side).
At the same time, the deceleration annunciation section 71 is activated to inform that the traveling speed of the machine body has been decelerated by the automatic deceleration section 70 (display on the display panel 27 and notification by voice).

  In the above-described [Mode for carrying out the invention] [First alternative embodiment of the invention] [Second alternative embodiment of the invention], the automatic deceleration is performed while the automatic traveling control unit 62 is operated. The traveling speed of the machine body is reduced by the section 70.

  After that, when the angle difference θ1 becomes smaller than the set value by the automatic travel control unit 62 (or the driver operates the steering wheel 20 against the steering motor 51), the automatic deceleration unit 70 stops. Since this state is notified (displayed on the display panel 27 and notified by voice), the driver can operate the speed change lever 45 (or accelerator lever) to the high speed side (original operation position).

In the above-described [Third Alternative Embodiment of the Invention] [Fourth Alternative Embodiment of the Invention], the state in which the automatic traveling control unit 62 is operated in the stopped state (the operation to the operating state of the automatic traveling control unit 62 is In the blocked state), the traveling speed of the machine body is reduced by the automatic reduction unit 70.
Thereafter, when the driver operates the steering wheel 20 and the angle difference θ1 becomes smaller than the set value, the automatic deceleration unit 70 stops, and this state is notified (display on the display panel 27 and notification by voice). Therefore, the driver can operate the speed change lever 45 (or the accelerator lever) to the high speed side (the original operation position), and operate the operation button 18 to operate the automatic travel control unit 62 to the operating state. You can

  In this section [Fourth Embodiment of the Invention], when the angle difference θ1 becomes smaller than the set value, the automatic deceleration unit 70 is stopped and the gear shift lever 45 (or the accelerator lever) is automatically driven by the actuator 52. You may comprise so that it may be operated to the operation position.

[Sixth Alternative Embodiment of Invention]
In the above-mentioned [Fifth Embodiment of the Invention], when the angle difference θ1 exceeds a set value, the gear shift lever 45 (hydrostatic type continuously variable transmission 33) is configured so as not to be operated to the high speed side ( It may be configured such that the accelerator lever cannot be operated to the high speed side), and it may be configured to notify that the traveling speed of the aircraft cannot be increased. (Display and audio notification on the display panel 27).

  Thereafter, when the driver operates the steering wheel 20 and the angle difference θ1 becomes smaller than the set value, the automatic deceleration unit 70 stops, and this state is notified (display on the display panel 27 and notification by voice). As a result, the driver can operate the speed change lever 45 (or the accelerator lever) to the high speed side and operate the operation button 18 to operate the automatic travel control unit 62.

[Seventh Embodiment of the Invention]
In the above-described [Mode for carrying out the invention] [First alternative embodiment of the invention] to [Sixth alternative embodiment of the invention], the float 9 in the center is brought into contact with the rice field by descending the seedling planting device 5. When the height sensor 22 detects that the center float 9 has been raised a little, the following (1) is used instead of the configuration in which the end of the turn is detected by the end-of-turn detection unit 63. With the configurations described in (6) to (6), the turning end detection unit 63 may be configured to detect the end of turning.

(1)
A state in which the planted clutch 26 (work clutch for transmitting power to the work device) (see FIG. 4) is operated in a power transmission state.

(2)
The state where the right (left) marker 19 (see FIG. 4) is operated to the working posture.

(3)
The steering member 41 (the steering wheel 20) (right and left front wheels 1) (see FIG. 3) exceeds the right (left) set angle A2 from the right (left) steering limit A3 side, and goes straight ahead at the position A1. The state of being operated to the side (corresponding to the state of being operated from the turning position to the straight ahead position).

(4)
A state in which the right (left) side clutch 40 (see FIG. 3) that has been operated in the disengaged state is operated in the power transmission state, and the right and left side clutches 40 are returned to the state in which they are operated in the power transmission state.

(5)
The measuring device 30 (corresponding to the azimuth detecting unit) and the inertial measuring device 48 (corresponding to the azimuth detecting unit) detect the azimuth E1 of the machine body, the driver operates the operation button 18, and the automatic traveling control unit 62 is stopped. A state in which the azimuth E1 of the machine body has changed by a set angle (for example, about 180 °) after being operated by.

(6)
A state in which a turning end switch (not shown) provided separately from the operation button 18 is artificially operated by the driver.

  In this case, in the state where the float 9 in the center is grounded on the rice field due to the descending of the seedling planting device 5 described above, and in the seven states of the preceding paragraphs (1) to (6), two or more of these seven states are selected. A state may be selected, and when the two or more selected states are satisfied, the turning end detection unit 63 may detect the end of turning.

[Eighth Another Embodiment of Invention]
In the above-described [Mode for carrying out the invention] [First alternative embodiment of the invention] to [Seventh alternative embodiment of the invention], the following configurations may be provided.

  As shown in FIG. 17, the power of the engine 31 is transmitted to the hydrostatic stepless transmission 33, and the gear case type auxiliary transmission (not shown) of the transmission case 53 and the rear wheel differential mechanism (not shown). Is transmitted to the right and left rear wheels 2 via. The power branched from between the auxiliary transmission and the rear wheel differential mechanism is transmitted to the right and left front wheels 1 via the front wheel speed increasing device 54, the transmission shaft 55, and the front wheel differential mechanism 56.

  As shown in FIG. 17, the front wheel speed increasing device 54 can be operated in a standard state in which the front wheels 1 and the rear wheels 2 are driven at substantially the same speed, and in a speed increasing state in which the front wheels 1 are driven at a higher speed than the rear wheels 2. Is configured. The steering operation system of the front wheels 1 and the front wheel speed increasing device 54 are linked by an operating device 57 (linking rod, linking link, etc.), and the front wheel speed increasing device 54 is operated as follows.

As shown in FIG. 17, when the right and left front wheels 1 are steered within the range of the straight ahead position A1 and the right and left set angles A2, the front wheel speed increasing device 54 is operated in the standard state.
When the right and left front wheels 1 are steered to the right (left) steering limit A3 side beyond the right set angle A2, the front wheel speed increasing device 54 is operated to the speed increasing state. As a result, the aircraft turns to the right (left) while the front wheels 1 are driven at a higher speed than the rear wheels 2. When the right and left front wheels 1 are steered to the straight ahead position A1 side over the left set angle A2, the front wheel speed increasing device 54 is operated in the standard state.
In the above configuration, when the front wheel speed increasing device 54 is operated in the standard state, the turning end detection unit 63 detects the end of turning.

In this case, a right side brake (not shown) is provided between the rear wheel differential mechanism and the right rear wheel 2, and a left side brake (not shown) is provided between the rear wheel differential mechanism and the left rear wheel 2. (Not shown) may be provided.
When the right and left front wheels 1 are steered to the right (left) steering limit A3 side beyond the right set angle A2, the front wheel speed increasing device 54 is operated to the speed increasing state, and the right ( The left side brake is operated to the braking state (the left (right) side brake is released), the front wheel 1 is driven at a higher speed than the rear wheel 2, and the rear wheel 2 on the turning center side is braked. The aircraft turns to the right (left) in the locked state. When the right and left front wheels 1 are steered to the straight ahead position A1 side over the left set angle A2, the front wheel speed increasing device 54 is operated in the standard state, and the right (left) side brake is released. Manipulated into a state.

[Ninth Embodiment of the Invention]
In the above-described [Mode for carrying out the invention] [First alternative embodiment of the invention] to [Seventh alternative embodiment of the invention], the following configurations may be provided.

  The right and left front wheels 1 and the right and left rear wheels 2 are replaced with right and left crawler traveling devices (corresponding to traveling devices) (not shown). Based on the detection values of the measuring device 30 and the inertial measuring device 48, the automatic traveling control unit 62 sets a difference between the driving speeds of the right and left crawler traveling devices so that the aircraft automatically travels along the set traveling line LB1. Is generated and the steering operation of the aircraft is performed.

  If the right and left crawler traveling devices are being driven at the same drive speed (the difference between the driving speeds of the right and left crawler traveling devices is equal to or less than the set value), it is determined that the vehicle is not in the turning state. When the difference between the driving speeds of the right and left crawler traveling devices exceeds the set value, it is determined that the vehicle is in a turning state.

  In the above configuration, when the difference between the driving speeds of the right and left crawler traveling devices exceeds the set value and the difference between the driving speeds of the right and left crawler traveling devices becomes equal to or less than the set value, the turning end detection is performed. The configuration is such that the end of turning is detected by the unit 63.

[Tenth Embodiment of the Invention]
In a tractor, which is an example of a work vehicle, a rotary tiller (corresponding to a working device) (not shown) is movably supported at a rear portion of a machine body. In a combine, which is an example of a work vehicle, a reaping device (corresponding to a work device) (not shown) is supported to be movable up and down on a front portion of a machine body.
When lowering the rotary tiller (reaper) to the ground, lower the rotary tiller (reaper) from the raised position to the ground while the rotary tiller (reaper) is operating (power clutch transmission state). Often.

As a result, when lowering the rotary tiller to the ground, a detection value of a height sensor (not shown) that detects the height of the rotary tiller with respect to the airframe, or a cover sensor (not shown) at the rear of the rotary tiller. Based on the movement of the rotary tiller to the rear side (upper side), it is detected that the rotary tiller has descended to the ground (that the tiller claw touches the ground).
When lowering the mowing device to the ground, the detection value of the height sensor (not shown) that detects the height of the mowing device with respect to the aircraft, or the grain of the field by the stock origin sensor (not shown) provided in the mowing device Based on the detection of the culm, it is detected that the mowing device has descended to the ground.

[Eleventh Embodiment of the Invention]
In the above-mentioned [Mode for carrying out the invention] [First alternative embodiment of the invention] to [Tenth alternative embodiment of the invention], the operation button 18 is abolished, and the control unit 23 is provided with an operation unit as software. You may prepare.
As a result, when the turning end detection unit 63 detects the end of turning, and when the restraint unit 64 allows the operation of the automatic traveling control unit 62 to be in the operating state, the operation unit of the control device 23 automatically operates. The automatic travel control unit 62 may be configured to be operated in an operational state.

[Twelfth Embodiment of the Invention]
In the above [Mode for carrying out the invention] [First alternative embodiment of the invention] to [Eleventh alternative embodiment of the invention], the following configurations may be adopted.

  In step S21 of FIG. 13, when the operation informing unit 68 is operated and it is informed that the automatic traveling control unit 62 is in the operating state (indication on the display panel 27 and informing by voice), the start point and end point setting switch By blinking a lamp (not shown) installed in each of 46 and 47, it is configured to notify that the automatic traveling control unit 62 is in an operating state.

  In Steps S9 and S15 of FIGS. 12 and 13, when the blocking notification unit 66 is operated and it is notified by the check unit 64 that the operation of the automatic travel control unit 62 is blocked, For example, the display is performed on the display panel 27, and the notification by voice is not performed. The display on the display panel 27 is not performed, and the notification is given by voice. The display on the display panel 27 and the notification by voice are not performed.

  Notification that the automatic traveling control unit 62 is in a stopped state (display on the display panel 27, notification by voice, etc.) is performed. Alternatively, if the automatic traveling control unit 62 is in the stopped state, nothing is notified.

  An operation switch (not shown) that can be artificially switched between a state in which the above-described various notifications (display on the display panel 27, a notification by voice, and the like) is performed and a state in which they are not performed is provided.

  INDUSTRIAL APPLICABILITY The present invention is applicable not only to riding type rice transplanters, but also to riding type direct seeding machines, work vehicles such as combine harvesters and tractors, and work vehicles for civil engineering construction.

1 traveling device, front wheels 2 traveling device, rear wheels 5 working device 18 operating unit 20 steering operating unit 26 working clutch 30, 48 direction detecting unit 33 traveling transmission device 40 side clutch 41, 44 side clutch operating unit 45 gear shifting operation Part 54 Front wheel speed increasing device 57 Operating device 61 Setting part 62 Automatic traveling control part 63 Turning end detecting part 64 Checking part 65 Reverse stop alarm part 66 Blocking alarm part 67 Allowance alarm part 68 Operation alarm part 70 Automatic deceleration part 71 Deceleration alarm part D1 Set distance E Reference direction E1 Aircraft direction LB1, LB2 Set traveling line LL1, LL2 Turn θ1 Angle difference

Claims (6)

A setting section that sets the set traveling line,
An automatic traveling control unit for operating the traveling device to automatically travel along the set traveling line,
An operation unit for operating the automatic traveling control unit in an operating state and a stopped state, and a turning end detection unit for detecting the end of turning,
When the end of turning is not detected by the turning end detection unit, operation of the operating unit to the operating state of the automatic travel control unit is blocked, and when the end of turning is detected by the turning end detection unit, the operation is performed. A check unit that allows an operation of the automatic traveling control unit to an operating state by a unit,
The turning vehicle is a working vehicle that detects, when the working device, which is supported by the machine body so as to be able to move up and down, descends from a raised position to a lowered position, as the end of turning.   The work vehicle according to claim 1, wherein the turning end detection unit detects that the working device has descended from the raised position to the ground as the end of turning. With a preset reference bearing,
The work according to claim 1 or 2, wherein the setting unit sets the set traveling line in parallel with the reference azimuth from a position of the machine body when the automatic traveling control unit is operated by the operation unit. car.   The work vehicle according to any one of claims 1 to 3, wherein the operation section is operated manually to operate the automatic traveling control section.   The work vehicle according to claim 4, wherein a gear shift operation section that is operated manually by operating a speed change device for traveling includes the operation section.   The restraint unit allows the operation unit to operate the automatic traveling control unit to an operating state after the vehicle has traveled a set distance or a set time after the end of the turn is detected by the turn end detection unit. The work vehicle according to any one of Items 1 to 5.

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