JP2020103162A - Work vehicle - Google Patents

Abstract

To provide a work vehicle in which a display unit for displaying information related to automatic steering control is arranged at a position suitable for an operation and visual confirmation by an operator at a control part.SOLUTION: A work vehicle comprises: a travel machine body traveling on a farm field; a work unit for performing a work to a farm field; a control part comprising a control handle; a control part for controlling a travel machine body so as to travel along a travel target route; a display unit 90 with a display part for displaying information related to automatic steering control; and an arch member 80 being erected from one end side to the other end side in a lateral direction orthogonal to a travel direction of the travel machine body for supporting the display unit 90. The arch member 80 comprises a base part 82 which is extended downward from a part 81 being along the lateral direction, and the display unit 90 is coupled to the base part 82 through a link mechanism 85 so as to be lifted up and down freely.SELECTED DRAWING: Figure 10

Description

The present invention relates to a work vehicle provided with a traveling machine body to which a work device is connected and supported.

Conventional work vehicles are described in Patent Documents 1 and 2, for example. The work vehicle is provided with a control unit that automatically controls the traveling body to travel along a traveling target route, and a display device that displays information regarding the automatic steering control.

JP, 2017-139982, A Japanese Patent Laid-Open No. 2018-5

The work vehicle includes a control unit having a steering handle, and the control unit is provided with a boarding step, and the boarding step may be extended toward the front of the work vehicle. In the technology described in Patent Document 1, in a riding-type rice transplanter, preliminary seedling mounts are provided in front of a control unit on both sides in the machine width direction, and a display device (in the literature, a front monitor) is a left and right preliminary seedlings. It is attached to a column on one side of the platform. Further, in the technique described in Patent Document 2, the display device (monitor in the document) has a gate-shaped frame in front of the control unit in the riding rice transplanter, and the display device (monitor in the document) is , Is located on the right column of the gate frame. Therefore, in a work vehicle such as a passenger rice transplanter, the display device may block the passage of the boarding step extending forward from the control unit. Further, the display device exists at the same height as the line-of-sight position of the operator of the control section. Therefore, the display device may obstruct the view of the operator of the control unit. Thus, there is room for improvement in disposing the display device in the work vehicle capable of automatic steering control.

In view of such circumstances, an object of the present invention is to provide a work vehicle capable of arranging the display device at a position that does not hinder the worker's movement path or visual field.

The work vehicle of the present invention is
A traveling machine that travels in the field, a work device that performs work on the field, a control unit that has a steering handle, a control unit that automatically controls the traveling machine to travel along a travel target route, and the automatic machine. A display device having a display unit for displaying information on steering control; and an arch member standing upright from one end side to the other end side in the left-right direction orthogonal to the traveling direction of the traveling machine body and supporting the display device. And the arch member has a base portion extending downward from a portion along the left-right direction, and the display device is movably connected to the base portion via a link mechanism. There is something.

According to this configuration, the display device is supported by the base portion extending from the portion along the left-right direction of the arch portion, and the display device is movably connected to the base portion via the link mechanism. .. Therefore, the display device can be arranged in the center of the body in the left-right direction. Here, when the work vehicle has a step extending forward from the control section, the step is provided on both sides of the control section in the left-right direction of the machine body. Therefore, since the display device is located at a position where the step is not arranged, the operator can smoothly move from the control section to the front of the machine body through the step. Further, since the display device is vertically movable with respect to the base portion, for example, when the operator wants to visually recognize the display device in the vicinity, the display device is moved to the lowered position so that the operator can visually recognize the surroundings. When it is desired to secure the view as much as possible, the display device can be moved to the operator's elevated position. That is, the display device can be moved up and down depending on the situation. As a result, in the work vehicle, the display device can be arranged at a position that does not hinder the operator's movement route or the visual field.

In the present invention,
It is preferable that the base portion includes a pair of frames extending downward in a state of being separated in the left-right direction of the traveling machine body, and a connecting frame that connects lower end portions of the pair of frames. is there.

According to the above configuration, the base portion is annularly configured by the pair of frames and the connecting frame. As a result, in the display device, the link mechanism is connected to, for example, the connection frame at the annular base portion. As described above, when the link mechanism is connected to the annular base portion, the display member including the link mechanism is supported by the pair of frames, so that the support strength of the display device is improved. As a result, the display device can be stably supported with respect to the arch member.

In the present invention,
The link mechanism is preferably configured by parallel links arranged in parallel in the vertical direction.

With the above-described configuration, the link mechanism is configured by the parallel links arranged side by side in the vertical direction, so that the parallel movement of the link mechanism is stabilized and the display device can be reliably moved up and down.

In the present invention,
It is preferable that the display device is located on the rear side of the arch member in the traveling direction of the traveling machine body and is configured to be capable of moving up and down in a region on the rear side.

According to the above configuration, the display device does not move toward the front of the machine body, so that the front-rear balance of the machine body is stable in the work vehicle. Further, since the display device can be moved up and down in a region on the rear side of the arch member, the display device can be moved up and down in a predetermined region in the front-rear direction of the machine body without moving the display device in front of the arch member. This improves the operability of the display device.

In the present invention,
The arch member is configured such that the upper portion is foldable with respect to the lower portion, and the upper portion is positioned above the display device in a monitor use state, and the upper portion is folded toward the lower portion. Is configured to be switchable to a storage state in which the display device is located below the display device. In the use state and the storage state, the positions of the front and rear ends of the display device are the front and rear of the steering post cover supporting the steering handle. Suitably, it is configured to fit within the range of the edge.

According to the above configuration, the arch member can be stored when the display device is not used. In the housed state, the upper portion of the arch member is folded toward the lower portion, so that the vehicle height of the work vehicle can be lowered. This makes it easier to handle the work vehicle when it is moved or stored when it is not working. In addition, since the position of the front and rear ends of the monitor device is configured to be within the range of the front and rear ends of the steering post cover that supports the steering handle when the arch member is in the used state and the stored state, the used state and the stored state. In, the position of the display device in the front-rear direction of the body does not change significantly. Therefore, the arch member can switch between the use state and the stored state while maintaining the front-rear balance of the machine body.

In the present invention,
It is preferable that the display device is configured such that the tilt angle can be changed in a side view.

According to the above configuration, it is possible to adjust the tilt angle of the display device so that the display device can be easily viewed according to the operator and the usage environment.

In the present invention,
The display device has a cover member that covers the display unit,
It is preferable that the cover member is configured to be switchable between a covering state that covers the display section and a light shielding state that shields light when the display section is exposed.

According to the above configuration, the display device can protect the display unit by covering the display unit with the cover member when not in use. In addition, since the display device can suppress the influence of sunlight on the display unit by setting the display device in the light-shielded state during use, the display device can maintain a good visual recognition state.

In the present invention,
It is preferable that the base section includes an informing section for informing a deviation between the position of the traveling machine body and the traveling target route.

For example, the traveling machine body is likely to be displaced from the traveling target position because it repeatedly turns and travels straight. Therefore, by providing the notifying unit as in the present configuration, the notifying unit notifies the positional deviation, so that the positional deviation with respect to the traveling target route can be easily corrected.

In the present invention,
The base portion is configured by a pair of frame portions that extend downward in a state of being separated from each other in the left-right direction of the traveling machine body, and a connecting portion that connects lower end portions of the pair of frame portions to each other. Is preferably provided between the pair of frame portions and supported by the pair of frame portions in a bridged state.

When the notifying unit is provided in the state of being bridged between the pair of frames as in this configuration, the pair of frames of the base unit can be reinforced by the bridged notifying unit. As a result, the durability of the base portion that supports the display device so as to be able to move up and down can be improved.

In the present invention,
It is preferable that the arch member supports at least one of a communication unit, a remote control receiving unit, a positioning unit, and a direction sensor.

According to the above configuration, the arch member supports the other unit, so that various types of automatic traveling can be performed.

It is a side view of a work vehicle. It is the whole work vehicle front view. It is a front view of a work vehicle. It is a figure which shows a steering steering unit. It is a block diagram which shows a control structure. It is explanatory drawing of the planar view in the whole field which shows operation|movement of automatic steering control. It is a perspective view which shows the support structure (lower limit position) of a display apparatus. It is a perspective view which shows the support structure (upper limit position) of a display apparatus. It is a figure which shows the accommodation state of a display apparatus. It is a perspective view which shows the support structure of a display apparatus.

[Basic configuration of work vehicle]
Embodiments of the present invention will be described with reference to the drawings. Here, a riding type rice transplanter will be described as an example of the work vehicle of the present invention. As shown in FIG. 2, in the present embodiment, the arrow F indicates the front side of the traveling body C, the arrow B indicates the rear side of the traveling body C, and the arrow L indicates the left side of the traveling body C. The arrow R indicates the right side of the traveling body C.

As shown in FIGS. 1 to 3, the riding type rice transplanter has a traveling machine body C having a pair of left and right steering wheels 10 and a pair of left and right rear wheels 11, and seedlings can be planted in a field. A seedling planting device W as a working device is provided. The pair of left and right steered wheels 10 are provided on the front side of the machine body of the traveling machine body C so that the direction of the traveling machine body C can be changed, and the pair of left and right rear wheels 11 are provided on the rear side of the machine body of the traveling machine body C. Has been. The seedling planting device W is movably connected to the rear end of the traveling machine body C via a link mechanism 21 that moves up and down by the expansion and contraction of the lifting hydraulic cylinder 20.

An openable hood 12 is provided at the front of the traveling body C. A rod-shaped center mascot 14 serving as a guide for traveling along an index line (not shown) drawn on the field by the marker device 33 is provided at the tip position of the bonnet 12. The traveling machine body C is provided with a machine body frame 15 extending along the front-rear direction, and a support column frame 16 is provided upright on the front portion of the machine body frame 15.

An engine 13 is provided in the hood 12. Although not described in detail, the power of the engine 13 is transmitted to the steered wheels 10 and the rear wheels 11 via an HST (hydrostatic hydraulic continuously variable transmission) (not shown) provided in the airframe, and the power after the gear shift is electrically driven. It is transmitted to the seedling planting device W via a motor-driven planting clutch (not shown).

As shown in FIGS. 1 and 2, in the seedling planting device W, four transmission cases 22, eight rotation cases 23, a leveling float 25, a seedling placing table 26, and a marker device 33. And are provided. The rotating case 23 is rotatably supported on the left side and the right side of the rear part of each transmission case 22, respectively. A pair of rotary type planting arms 24 are provided at both ends of each rotating case 23. The ground leveling float 25 is for leveling the rice field in the field, and is provided in plural in the seedling planting device W. A mat-like seedling for planting is placed on the seedling placing table 26. The marker device 33 is provided on the left and right sides of the seedling planting device W and forms an index line (not shown) on the rice field in the field.

The seedling planting device W drives the rotary table 23 by the power transmitted from the transmission case 22 while driving the laterally reciprocating lateral movement of the seedling table 26, so that the seedling table 26 is planted from the lower part of the seedling table 26. The seedlings are alternately taken out by the arms 24 and planted on the rice field in the field. The seedling planting device W is configured in an eight-row planting type in which seedlings are planted by the planting arms 24 provided in the eight rotating cases 23. The seedling planting device W may be a four-row planting type, a six-row planting type, a seven-row planting type, or a ten-row planting type.

Although not described in detail, the marker device 33 is configured to be switchable between the working posture and the storage posture. In the state of the working posture, the marker device 33 contacts the paddy field in the field as the traveling machine body C travels, and forms an index line (not shown) on the paddy field corresponding to the next work process. In the storage posture, the marker device 33 moves upward from the rice field in the field. The posture of the marker device 33 is switched by an electric motor (not shown).

As shown in FIG. 1 to FIG. 3, a plurality (for example, four) of normal spare seedling stands 28 and spare seedling stands 29 are provided on the left and right side portions of the hood 12 of the traveling body C. There is. Usually, the preliminary seedling stand 28 is configured so that a preliminary seedling to be supplied to the seedling planting device W can be placed. The spare seedling stand 29 is configured as a rail type on which a spare seedling for supplying to the seedling planting device W can be placed. On the left and right side portions of the hood 12 of the traveling machine body C, a pair of left and right spare seedling frames 30 as tall frame members for supporting the normal spare seedling stand 28 and the spare seedling stand 29 are provided. The upper parts of the frame 30 are connected to each other by a connecting arm 31.

As shown in FIGS. 1 to 3, a central portion of the traveling machine body C is provided with a control unit 40 for performing various driving operations. The control section 40 includes a driver seat 41, a control handle 43, a main speed change lever 44, and an operation lever 45. The driver's seat 41 is provided at the center of the traveling machine body C and is configured so that the driver can sit on it. The steering handle 43 is configured so that the steering wheel 10 can be steered. The main shift lever 44 is configured to be able to perform forward/backward switching operations and traveling speed changing operations. The raising and lowering operation of the seedling planting device W and the switching of the left and right marker devices 33 are performed by the operation lever 45. The steering handle 43, the main shift lever 44, the operation lever 45, and the like are supported by the steering post cover 42 located on the front side of the body of the driver's seat 41. A boarding step 46 is provided at the foot portion of the control unit 40. The boarding step 46 also extends to the left and right sides of the hood 12.

When the main shift lever 44 is operated, the angle of the swash plate in the HST (not shown) is changed, and the power of the engine 13 is continuously shifted. Although not shown, the swash plate angle of the HST is controlled by a hydraulic unit equipped with a servo hydraulic control device. A known hydraulic pump, hydraulic motor, or the like is used for the servo hydraulic control device.

When the operating lever 45 is operated to the raised position, the planting clutch (not shown) is disengaged to cut off the power transmission to the seedling planting device W, and the lifting hydraulic cylinder 20 is operated to raise the seedling planting device W. The left and right marker devices 33 (see FIG. 1) are operated in the retracted posture. When the operation lever 45 is operated to the lowered position, the seedling planting device W descends and comes into contact with the paddy field and stops. When the operation lever 45 is operated to the right marker position in this lowered state, the right marker device 33 is changed from the retracted posture to the working posture. When the operation lever 45 is operated to the left marker position, the left marker device 33 changes from the stored posture to the working posture.

When starting the rice planting work, the driver operates the operation lever 45 to lower the seedling planting device W, and at the same time starts the transmission to the seedling planting device W to start the rice planting work. Then, when the rice planting work is stopped, the operation lever 45 is operated to raise the seedling planting device W, and the transmission to the seedling planting device W is cut off.

The operation panel 47 above the steering post cover 42 of the control section 40 is provided with a display section 48 capable of displaying various information using a liquid crystal display. The display unit 48 may be a touch panel type liquid crystal display. The display unit 48 is provided with a push operation type start point/end point setting switch 49A and a push operation type target setting switch 49B. The start point/end point setting switch 49A and the target setting switch 49B may be provided in the display device 90 described later. The functions of the start point/end point setting switch 49A and the target setting switch 49B will be described later.

The grip portion of the main transmission lever 44 is provided with a push-type automatic steering switch 50. The automatic steering switch 50 is provided as an automatic return type, and commands each time the push operation is performed to switch the automatic steering control on and off. The automatic steering switch 50 is arranged, for example, at a position where it can be pushed with a thumb while holding the grip portion of the main transmission lever 44 with a hand.

As shown in FIG. 4, the traveling machine body C is provided with a steering steering unit U as steering operation means capable of steering the left and right steering wheels 10. The steering steering unit U includes a steering operation shaft 54, a pitman arm 55, left and right connecting mechanisms 56 interlockingly connected to the pitman arm 55, a steering motor 58, and a gear mechanism 57. .. The steering operation shaft 54 is interlocked with the steering handle 43 via a clutch 53. The pitman arm 55 is configured to swing with the rotation of the steering operation shaft 54. The gear mechanism 57 is configured to interlockly connect a steering motor 58 to the steering operation shaft 54.

The steering operation shaft 54 is interlockingly connected to the left and right steering wheels 10 via a pitman arm 55 and left and right connecting mechanisms 56, respectively. A steering angle sensor 60 including a rotary encoder is provided at the lower end of the steering operation shaft 54, and the amount of rotation of the steering operation shaft 54 is detected by the steering angle sensor 60. A torque sensor 61 that detects the torque applied to the steering wheel 43 is provided in the middle of the steering operation shaft 54.

For example, when the steering motor 58 is rotating the steering operation shaft 54 in a predetermined direction, if the steering handle 43 is manually operated in a direction opposite to the rotating direction, the torque sensor 61 causes the torque sensor 61 to operate. That can be detected. Further, if the steering handle 43 is manually operated in an arbitrary direction while the steering motor 58 is not operating, the torque sensor 61 can detect this. When such a manual operation is performed, the steering motor 58 can be operated based on the manual operation, prior to the automatic steering control.

The clutch 53 is provided between the steering operation shaft 54 and the steering wheel 43, and when the clutch 53 is disengaged, power is not transmitted between the steering wheel 43 and the steering wheel 54. The clutch 53 is configured, for example, to be disengaged during the automatic turning around the ridge, and during the automatic turning, the rotation of the steering operation shaft 54 due to the operation of the steering motor 58 is not transmitted to the steering handle 43.

When the steering steering unit U is automatically steered, the steering motor 58 is driven and the steering operation shaft 54 is rotated by the driving force of the steering motor 58 to change the steering angle of the steered wheels 10. It is supposed to change. When the automatic steering is not performed, the steering unit U can be rotated by a manual operation of the steering handle 43.

[Structure of automatic steering control]
Next, a configuration for performing automatic steering control will be described.
A known technology, GPS (Global Positioning System), is used as an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from satellites to detect the position of the traveling body C. A satellite positioning unit 70 (position detecting means) for determining the position of the airframe is provided. In the present embodiment, the satellite positioning unit 70 uses DGPS (Differential GPS: Relative Positioning System), but it is also possible to use RTK-GPS (Real Time Kinematic GPS: Interference Positioning System).

Specifically, as the position detecting means, the satellite positioning unit 70 is provided on the object (traveling body C) for which positioning is performed. The satellite positioning unit 70 has a receiving device 72 with an antenna 71 that receives radio waves transmitted from a plurality of GPS satellites that orbit the earth. The position of the receiving device 72, that is, the satellite positioning unit 70 is measured based on the information of the radio wave received from the navigation satellite.

As shown in FIGS. 1 to 3, the satellite positioning unit 70 is attached to the connecting arm 31 via a plate-shaped support plate 73 in a state of being positioned in the front part of the traveling body C. As shown in FIGS. 1 and 3, the receiving device 72 is supported at a high place by the connecting arm 31 and the preliminary seedling frame 30. As a result, there is less risk of reception failure in the receiving device 72, and the reception sensitivity of radio waves in the receiving device 72 can be increased. In the present embodiment, the arch member 80 is configured by the preliminary seedling frame 30 and the connecting arm 31.

The arch member 80 is not limited to the configuration in which the connecting arm 31 is attached to the upper portion of the preliminary seedling frame 30. For example, the arch member 80 may have a structure in which an individual frame is provided separately from the preliminary seedling frame 30 and the connecting arm 31.

In addition to the satellite positioning unit 70, the traveling body C is provided with an inertial measurement unit 74 having, for example, an IMU (Internal Measurement Unit) 74A as direction detecting means for detecting the direction of the traveling body C. The inertial measurement unit 74 may have a configuration including a gyro sensor or an acceleration sensor instead of the IMU 74A. Although not shown, the inertial measurement unit 74 is provided, for example, at a lower rear position of the driving seat 41 and at a lower position in the center of the traveling machine body C in the lateral width direction. The inertial measurement unit 74 can detect the angular velocity of the turning angle of the traveling vehicle C, and can obtain the azimuth change angle ΔNA (see FIG. 7) of the vehicle by integrating the angular velocity. Therefore, the measurement information measured by the inertial measurement unit 74 includes the orientation information of the traveling body C. Although not described in detail, the inertial measurement unit 74 can measure not only the angular velocity of the turning angle of the traveling machine body C, but also the lateral velocity of the traveling machine body C, the angular velocity of the longitudinal tilt angle of the traveling machine body C, and the like.

As shown in FIG. 5, the traveling machine body C is provided with a control device 75. The control device 75 is configured to be switchable between an automatic steering mode in which the automatic steering control is executed and a manual steering mode in which the automatic steering control is not executed.

The control device 75 includes a route setting unit 76, a bearing deviation calculation unit 77, a control unit 78, and a steering control unit 79. The route setting unit 76 sets a target movement route LM (one example of the traveling target route, see FIG. 6) that the traveling machine body C should travel. The details of the bearing deviation calculation unit 77 will be described later. The control unit 78 determines that the traveling body C has a target travel route based on the position information of the traveling body C measured by the satellite positioning unit 70 and the direction information of the traveling body C measured by the inertial measurement unit 74. The operation amount is calculated and output so that the vehicle travels along the LM. The steering control unit 79 controls the steering motor 58 based on the operation amount. Specifically, the control device 75 includes a microcomputer, and the route setting unit 76, the heading deviation calculation unit 77, the control unit 78, and the steering control unit 79 are configured by a control program. In this way, the control unit 78 and the steering control unit 79 perform automatic steering control so that the traveling machine body C travels along the target travel route LM.

A start point/end point setting switch 49A for setting a target movement route LM used for automatic steering control by teaching processing is provided. The start point position Ts and the end point position Tf are set by operating the start point end point setting switch 49A. The start point/end point setting switch 49A does not have to be configured by a single switch, and a switch for setting the start point position Ts and a switch for setting the end point position Tf are arranged side by side. May be As described above, the start point/end point setting switch 49A is provided on the right side of the display unit 48, but is not limited to this, and may be provided on the left side of the display unit 48.

The control unit 75 includes a satellite positioning unit 70, an inertial measurement unit 74, an automatic steering switch 50, a start point end point setting switch 49A, a target setting switch 49B, a steering angle sensor 60, a torque sensor 61, a vehicle speed sensor 62, an obstacle detection unit. Information such as 63 (border detecting unit) is input.
The vehicle speed sensor 62 is configured to detect the vehicle speed based on, for example, the rotation speed of the transmission shaft in the transmission mechanism for the rear wheel 11. The vehicle speed may be determined not only by the vehicle speed sensor 62 but also by the positioning data of the satellite positioning unit 70. The obstacle detection unit 63 is provided on the front portion and the left and right side portions of the traveling machine body C, and is, for example, a light-wave distance measuring type distance sensor or an image sensor. It is configured to be able to detect steel towers and the like. When an obstacle is detected by the obstacle detection unit 63, an alarm is given to the driver by an alarm unit 64 such as a buzzer or voice guidance. Further, the control device 75 is connected to the notification unit 59, and the notification unit 59 notifies, for example, a deviation between the position of the traveling body C and the target movement route LM. The notification unit 59 may notify a state such as a vehicle speed or an engine speed. The notification by the notification unit 59 may be a sound such as a buzzer. In addition, the notification unit 59 may be configured to be notified temporarily or may be configured to be constantly notified.

The teaching process corresponding to the target route to be automatically steered is set by the route setting unit 76 by the teaching process based on the operation of the start point/end point setting switch 49A.

The azimuth deviation calculation unit 77 calculates an angular deviation, that is, an azimuth deviation between the detected azimuth of the traveling body C detected by the inertial measurement unit 74 (self-direction azimuth NA) and the target azimuth LA on the target travel route LM. .. Then, when the control device 75 is set to the automatic steering mode, the control unit 78 calculates and outputs an operation amount for controlling the steering motor 58 so that the angle deviation becomes small.

The steering control unit 79 executes the automatic steering control based on the operation amount output by the control unit 78 during the automatic steering control of the traveling body C. That is, the steering motor 58 is operated so that the detected position (the own position NM) of the traveling machine body C detected by the satellite positioning unit 70 and the inertial measurement unit 74 becomes the position on the target movement route LM.

The control signal in the present embodiment may be an operation amount output by the control unit 78, or may be a voltage value or a current value for the steering control unit 79 to operate the steering motor 58. ..

[Target travel route]
In the paddy field, the rice transplanter alternately repeats a work run accompanied by rice planting work along a straight line planting path and a ridge turning run for moving to the next line planting path near the ridge.
FIG. 6 shows a plurality of target movement routes LM arranged in parallel along the teaching route. In the present embodiment, the respective target movement routes LM(1) to LM(6) are set by the route setting unit 76 in the following procedure.

First, the driver positions the traveling machine body C at the starting point position Ts on the edge of the field and operates the starting point end point setting switch 49A. At this time, the control device 75 is set to the manual steering mode. Then, the driver manually drives the traveling machine body C from the starting point position Ts along the straight line shape on the side of the ridge, and moves to the end point position Tf near the ridge on the opposite side, and then the starting point end point. The setting switch 49A is operated again. As a result, the teaching process is executed. That is, from the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the start point position Ts and the position coordinates based on the positioning data acquired by the satellite positioning unit 70 at the end point position Tf, the start point position Ts and the end point position Tf are calculated. A teaching route connecting with is set. The direction along the teaching path is set as the target azimuth LA that serves as a reference. The position coordinates at the end point position Tf are based on not only the positioning data by the satellite positioning unit 70 but also the distance from the start point position Ts based on the vehicle speed sensor 62 and the azimuth information of the traveling body C based on the inertial measurement unit 74. It may be calculated by In addition, the traveling of the traveling machine body C over the start point position Ts and the end point position Tf may be work traveling accompanied by rice planting work, or may be traveling in a non-working state.

After the setting of the teaching route is completed, the ridge turning traveling for moving to the route of the row planting adjacent to the teaching route is performed, and in the present embodiment, the traveling machine body C moves to the starting point position Ls(1). The edge turning traveling may be performed by the driver manually operating the steering wheel 43 or may be performed by automatic turning control. At this time, the control unit 78 can determine that the traveling machine body C is turned by reversing the own-machine direction NA. The reversal of the vehicle direction NA can be detected by the satellite positioning unit 70 and the inertial measurement unit 74.

After the setting of the teaching route is completed, the target moving route LM(1) is set by the route setting unit 76 at an arbitrary timing. The target movement route LM(1) may be set when the setting of the teaching route is completed, may be set while the traveling machine body C is turning, or may be set after the traveling machine body C is turning. At the timing described above, the target travel route LM(1) is set by the driver operating the target setting switch 49B. The configuration is not limited to the target setting switch 49B, and the target movement route LM(1) may be set by the driver operating the automatic steering switch 50 or the like, for example. Further, the target movement route LM(1) may be automatically set without the driver's operation.

When the driver operates the automatic steering switch 50 in a state where the operation of the automatic steering switch 50 is permitted, the target movement route LM(1) is set by the route setting unit 76, and the control device 75 sets the manual steering mode. Is switched to automatic steering mode. Then, the automatic steering control along the target movement route LM(1) is started. The target moving route LM(1) is a target moving route LM which is set along the azimuth of the target azimuth LA in a state adjacent to the teaching route and in which the traveling machine body C first performs work traveling after the teaching processing. The driver operates the operation lever 45 to lower the seedling planting device W to perform the rice planting work after the traveling machine body C is turned, but the control device 75 switches from the manual steering mode to the automatic steering mode. When switched, the seedling planting device W may be lowered to start the rice planting work.

In the automatic steering control, the obstacle detection unit 63 detects the edge of the edge near the end point position Lf(1) on the side opposite to the side where the start point position Ls(1) of the target movement route LM(1) is located. Continue until judged. During this period, for example, during automatic steering control, even if the swash plate of the HST is operated by the electric motor and the driver operates the main speed change lever 44, the operation of the main speed change lever 44 is not transmitted to the HST (not shown). Further, the main shift lever 44 may be constrained to a predetermined position so as not to move during automatic steering control. This structure is particularly useful in a structure in which the main shift lever 44 and the HST are mechanically linked. Even when the main gearshift lever 44 cannot operate the HST during the automatic steering control, the engine 13 or the traveling machine body C may be stopped by a dedicated operation tool or a brake operation (not shown). The main shift lever 44 may be capable of operating the HST.

When the obstacle detection unit 63 determines that the distance between the traveling body C and the edge is within a preset range, the driver is notified by the alarm of the alarm unit 64. At this time, the alarm by the alarm unit 64 may be a sound of a buzzer or the like, may be lighting or blinking of an LED illumination provided on the center mascot 14, or may be displayed on the display unit 48. You can have it. Then, the obstacle detection unit 63 continues to detect the ridgeline for a preset time, whereby the detection of the ridgeline is determined, the engine 13 is stopped, and the control device 75 is set to the manual steering mode. It is switched to cancel the automatic steering control. Further, the configuration may be such that when the detection of the edge is determined, the engine 13 does not stop and the traveling machine body C decelerates or stops. That is, if it is determined that the distance between the traveling body C and the ridge is within a preset range, the automatic steering control may be canceled.

In this way, the detection of the ridgeline is determined so that the automatic steering control is released near the ridgeline, but even near the ridgeline, the predetermined condition may not be satisfied. For example, the automatic steering control may be continued. For example, even when the ridgeline is detected by the obstacle detection unit 63 and the driver is informed of the alarm, the driver continues to operate the automatic steering switch 50 to determine the ridgeline detection. The configuration may be such that the automatic steering control is continued without being performed. At this time, the driver may stop the operation of the automatic steering switch 50 to release the automatic steering control. As a result, the automatic steering control can be continued until the traveling machine body C reaches the end point position Lf(1) regardless of the determination of the detection on the edge of the ridge. Further, the continuation of the above-described automatic steering control is not limited to the operation of the automatic steering switch 50, and may be, for example, the operation of the start point/end point setting switch 49A or the target setting switch 49B.

When the traveling machine body C reaches the end point position Lf(1) of the target movement route LM(1), the driver operates the steering handle 43 to the unworked area side of the target movement route LM(1) to make a sharp turn traveling. Then, the traveling machine body C moves to the starting point position Ls(2) of the next work traveling. It should be noted that the edge turning traveling may be performed by automatic turning control. Before turning of the traveling body C, the driver can operate the operation lever 45 to raise the seedling planting device W, but the operation of the steering handle 43 interrupts the transmission to the seedling planting device W, and The planting device W may be configured to be raised. Then, it is determined that the traveling body C has been turned.

After the work traveling on the target moving route LM(1) is completed, the target moving route LM(2) is set by the route setting unit 76 at an arbitrary timing. The target movement route LM(2) may be set when the obstacle detection unit 63 determines the edge, may be set while the traveling machine body C is turning, or may be set after the traveling machine body C is turning. Is also good. At the timing described above, the target travel route LM(2) is set by the driver operating the target setting switch 49B. The configuration is not limited to the target setting switch 49B, and the target movement route LM(2) may be set by the driver operating the automatic steering switch 50 or the like, for example. Further, the target movement route LM(2) may be automatically set without the driver's operation. After the target movement route LM(2) is set adjacent to the unworked area side of the target movement route LM(1), automatic steering control is started along the target movement route LM(2), C runs for work.

After the traveling machine body C reaches the end point position Lf(2) of the target movement route LM(2), the target movement route LM(3), LM(4), LM(5), LM(6) are arranged in this order. The setting of the target movement route LM after the turning traveling and the work traveling are repeated. That is, each target movement route LM is set one by one.

[Display device]
As shown in FIGS. 1 to 3, the arch member 80 is configured by the left and right preliminary seedling frames 30 and the connecting arm 31, and the display device 90 is supported by the connecting arm 31. The arch member 80 is erected from one end side to the other end side in the left-right direction orthogonal to the traveling direction of the traveling body C. The display device 90 has a rectangular shape and includes a display unit 91. The display unit 91 can display various information using a liquid crystal display. The display unit 91 may be a touch panel liquid crystal display. The display device 90 displays information on the automatic steering control performed by the control unit 78 and the steering control unit 79 on the display unit 91.

Hereinafter, the support structure of the display device 90 will be described with reference to FIGS. The satellite positioning unit 70 is omitted in FIGS. 7 to 10.

In the connecting arm 31 of the arch member 80, a base portion 82 extends downward from a left and right arm portion 81 which is a portion along the left-right direction orthogonal to the traveling direction of the traveling body C. The display device 90 is connected to the base portion 82 via a link mechanism 85 so as to be able to move up and down.

The base part 82 includes a pair of frame parts 83, 83 extending downward in a state of being separated in the left-right direction of the traveling machine body C, and a connecting part 84 for connecting the lower end parts of the pair of frame parts 83, 83. And has a U shape as a whole. The display device 90 is arranged such that the display unit 91 faces the control unit 40. The link mechanism 85 is provided between the base portion 82 and the display device 90. The link mechanism 85 is provided across the first fixing portion 86 on the base portion 82 side, the second fixing portion 87 on the display device 90 side, and between the first fixing portion 86 and the second fixing portion 87. And a link portion 88. In the present embodiment, the second fixing portion 87 is attached to the back surface portion 90a of the display device 90.

The link portion 88 of the link mechanism 85 is composed of parallel links 88a and 88b arranged in parallel in the vertical direction. The parallel links 88a and 88b have an upper link body 88a and a lower link body 88b. One ends of the parallel links 88a and 88b are held by the first fixing portion 86, and the parallel links 88a and 88b are pivotally supported so as to be vertically swingable. The first fixing portion 86 includes a first shaft portion 86a that pivotally supports one end of the upper link body 88a and a second shaft portion 86b that pivotally supports one end of the lower link body 88a. There is. The other ends of the parallel links 88a and 88b are fixed to the second fixing portion 87. The second fixing portion 87 includes a first hole portion 87a that fixes the other end of the upper link body 88a and a second hole portion 87b that fixes the other end of the lower link body 88b. There is. In the present embodiment, the second fixing portion 87 is provided with two first hole portions 87a. By changing the position of the first hole portion 87a that fixes the other end of the link body 88a on the upper side, the tilt angle of the display device 90 can be changed in a side view.

The display device 90 includes a cover member 92 that covers the display unit 91. The cover member 92 has a main body portion 92a that covers the screen portion 91a of the display portion 91, and left and right side wall portions 92b and 92b that cover the left and right side portions 91b and 91b of the display portion 91. The main body portion 92a is formed so as to cover an upper portion 91c and a lower portion 91d of the display portion 91 in addition to the screen portion 91a. The cover member 92 is supported by a rotation support portion 87e provided on the upper portion of the second fixing portion 87 and is configured to be vertically rotatable. The cover member 92 is configured to be switchable between a covering state in which the display portion 91 is covered and a light-shielding state in which the display portion 91 is exposed and shielded from light.

The second fixing portion 87 is provided with a first engaging portion 87c on the upper side and a second engaging portion 87d on the lower side. The main body portion 92a of the cover member 92 is provided with a first engaged portion 92c on the upper side and a second engaged portion 92d on the lower side. The cover member 92 is held in a light-shielded state by the first engaging portion 87c engaging with the first engaged portion 92c. The cover member 92 is held in a covered state by the second engaging portion 87d engaging with the second engaged portion 92d. In the present embodiment, the side wall portions 92b and 92b of the cover member 92 are configured to cover all the side portions of the display device 90.

In the base part 82, the notification part 59 is provided between the pair of frame parts 83, 83. In the notification unit 59, the speaker unit 59a is arranged obliquely rearward and downward, and is supported by the pair of frame units 83, 83 in a bridged state. In the present embodiment, the notification unit 59 is configured to have a length substantially equal to the distance between the pair of frame units 83, 83, but the notification unit 59 includes the pair of frame units 83, 83. , 83 may be supported in a state where a support (not shown) extending in the lateral direction is exposed. The strength of the base portion 82 is improved by supporting the pair of frame portions 83, 83 of the base portion 82 with the notification portion 59 being bridged.

As shown in FIGS. 1 and 3, the receiving device 72 is supported at a high place by the connecting arm 31 and the preliminary seedling frame 30. As a result, there is less risk of reception failure in the receiving device 72, and the reception sensitivity of radio waves in the receiving device 72 can be increased.

The display device 90 displays information regarding automatic steering control. That is, the display device 90 can display the position of the traveling machine body C on the field map M (the symbol of the traveling machine body C). The information on the automatic steering control is not limited to the above, and may include, for example, the amount of positional deviation between the target travel route LM and the traveling machine body C, the amount of heading deviation, and a display indicating that the automatic steering mode is set. Can also Further, the display device 90 may be capable of displaying a moving image of the rear of the traveling body C captured by the back camera and a moving image of the front of the traveling body C captured by the front camera.

As shown in FIGS. 1 and 2, the display device 90 is supported by the connecting arms 31 attached to the left and right preliminary seedling frames 30, and is arranged above the control handle 43. That is, since the display device 90 is located in front of and above the driver in the cockpit, the display device 90 does not block the line of sight of the operator.

The connecting arm 31 that supports the display device 90 is configured to be foldable downward with respect to the spare seedling frame 30, and can be switched between a use state H1 in a standing posture and a storage state H2 in a folding posture. In the present embodiment, a fixing bracket 30a that fixes the position of the end 31a of the connecting arm 31 is provided on the upper portion of the preliminary seedling frame 30. The fixed bracket 30a is in the shape of a rectangular tube whose upper surface is open. In the present embodiment, the end portion 31a of the connecting arm 31 is fitted to the fixed bracket 30a and is positionally fixed to the fixed bracket 30a by the fixing member 30b inserted from the fixed bracket 30a side.

For example, in order to switch the connecting arm 31 from the use state H1 to the storage state H2, the fixing member 30b is loosened, the connecting arm 31 is rotated toward the rear side of the machine body with respect to the fixing bracket 30a, and then the fixing member 30b is rotated. Tighten. On the contrary, in order to switch the connecting arm 31 from the stored state H2 to the using state H1, the fixing member 30b is loosened, the connecting arm 31 is rotated to the front side of the machine body with respect to the fixing bracket 30a, and then the fixing member 30b is rotated. Tighten 30b. In the usage state H1 shown in FIGS. 7 and 8, the display unit 90 of the display device 90 faces backward. On the other hand, in the storage state H2 shown in FIG. 9, the display unit 91 of the display device 90 faces forward.

In the housed state H2, the arch member 80 is folded toward the auxiliary seedling frame 30 which is the lower part of the connecting arm 31 which is the upper part, so that the vehicle height of the work vehicle can be lowered. As a result, the work vehicle becomes easy to handle when it is moved or stored during non-work. Further, the arch member 80 is configured such that, in the used state H1 and the stored state H2, the positions of the front and rear ends of the display device 90 are set within the range of the front and rear ends of the steering post cover 42 that supports the steering handle 43. That is, in the usage state H1 and the storage state H2, the position of the display device 90 in the front-rear direction of the body does not change significantly. Therefore, the arch member 80 can switch between the usage state H1 and the storage state H2 while maintaining the front-rear balance of the machine body.

[Another embodiment]
The present invention is not limited to the configurations illustrated in the above-described embodiments, and representative representative embodiments of the present invention will be illustrated below.

(1) In the above embodiment, an example is shown in which the display device 90 can be raised and lowered with respect to the base portion 82 via the link mechanism 85. However, for example, a vertical slide mechanism is provided in the base portion 82, and the vertical slide mechanism is provided. The display device 90 may be configured to be movable up and down.

(2) In the above embodiment, the example in which the display device 90 is supported by the arch member 80 provided in the riding rice transplanter, which is an example of the work vehicle, is shown. It is also applicable to the direct seeding type working machine. In addition to the direct seeding type working machine, the working vehicle can be applied to agricultural working machines such as a tractor, a combine, and a passenger management machine.

(3) In the above embodiment, an example in which the connecting arm 31 is assembled to the preliminary seedling frame 30 as the arch member 80 has been shown, but a dedicated arch-type support member may be used. For example, the arch member 80 may be composed of only the preliminary seedling frame 30. Further, the arch member 80 may be composed of a plurality of other members, for example, a safety frame provided on a work vehicle, a guard member such as a handrail, and a canopy may also be used as a part of the arch member 80. ..

(4) In the above embodiment, the example in which the base portion 82 supporting the display device 90 is annular and has the pair of frame portions 83, 83 and the connecting portion 84, but the base portion 82 should be annular. Instead, it may be configured by a rod-shaped body or a planar body extending downward.

(5) In the above embodiment, the example in which the satellite positioning unit 70 is supported on the upper part of the connecting arm 31 that is the arch member 80 has been shown, but the arch member 80 may be used instead of the satellite positioning unit 70 or in the satellite positioning. Other units may be supported together with the unit 70. Other units include, for example, a direct communication unit that communicates with an external server or a mobile terminal, a remote control receiving unit, a direction sensor, and the like.

(6) In the above embodiment, an example in which the notification section 59 is arranged in the frame section 83 of the base section 82 is shown, but the notification section may be provided in the display device 90. In addition, the notification unit 59 may be turned on or blinking the LED illumination provided on the center mascot 14 instead of being arranged on the base unit 82, or displayed on the display unit 48 near the control handle 43. May be

(7) In the above embodiment, an example in which the tilt angle of the display device 90 is changed at two positions of the first hole portion 87a of the second fixing portion 87 is shown. However, the tilt angle of the display device 90 is not changed. Alternatively, the adjustment may be made steplessly.

(8) The setting of the target moving route LM by the route setting unit 76 is not limited to the above. For example, the outer peripheral shape of the field may be acquired and the target movement route LM may be set based on the outer peripheral shape of the field. That is, the target movement paths LM(1), LM(2), LM(3), LM(4), LM(5), LM(6) (see FIG. 6) and the target based on the outer peripheral shape of the field. A turning route connecting the moving routes LM is set at the same time. Further, at this time, the target movement paths LM(1), LM(2), LM(3), LM(4), LM(5), LM(6) are set in regions outside the set regions. The rotation work (rotation planting) route may be set at the same time. At this time, the automatic traveling may be performed not only on the target moving route LM but also on the turning route and the planting route. The method for acquiring the outer peripheral shape of the field is not particularly limited, but may be acquired by the work vehicle traveling on the outer circumference of the field, or may be acquired from map data or the like.

INDUSTRIAL APPLICABILITY The present invention can be applied to a traveling work machine in which work traveling is performed along a target movement route in a field.

10: Steering wheel 11: Rear wheel 26: Seedling stand 28: Normal seedling stand 29: Spare seedling frame 30: Spare seedling frame 30a: Fixing bracket 30b: Fixing member 31: Connecting arm 40: Control part 41: Driver's seat 42 : Steering post cover 43: Steering handle 46: Boarding step 59: Notification unit 59a: Speaker unit 70: Satellite positioning unit 75: Control device 76: Path setting unit 78: Control unit 79: Steering control unit 80: Arch member 81: Left and right arm parts 82: Base part 83: Frame part 84: Connecting part 85: Link mechanism 86: First fixing part 86a: First shaft part 86b: Second shaft part 87: Second fixing part 87a: First hole part 87b : Second hole portion 87e: Rotation support portion 88: Link portion (parallel link)
90: Display device 91: Display part 92: Cover member 92a: Main body part 92b: Side wall part C: Traveling machine H1: Working condition H2: Storage condition W: Seedling planting device (working device)

Claims (10)

A traveling aircraft that travels in the field,
A working device for working on the field,
A control unit having a control handle,
A control unit that automatically controls the traveling body to travel along a traveling target route,
A display device having a display unit for displaying information on the automatic steering control,
An arch member that is erected from one end side to the other end side in the left-right direction orthogonal to the traveling direction of the traveling machine body and that supports the display device,
The arch member has a base portion extending downward from a portion along the left-right direction,
The work vehicle in which the display device is vertically movable with respect to the base portion via a link mechanism. The base portion includes a pair of frame portions extending downward in a state of being separated from each other in the left-right direction of the traveling machine body, and a connecting portion connecting lower end portions of the pair of frame portions. The work vehicle according to Item 1. The work vehicle according to claim 1 or 2, wherein the link mechanism is configured by parallel links arranged side by side in a vertical direction. 4. The display device according to claim 1, wherein the display device is located on a rear side of the arch member in the traveling direction of the traveling machine body and is configured to be movable up and down in a region on the rear side. Work vehicle. The arch member is configured such that the upper portion is foldable with respect to the lower portion, and the upper portion is positioned above the display device in a use state, and the upper portion is folded toward the lower portion so that the upper portion is It is configured so that it can be switched to a storage state located below the display device,
The position of the front and rear ends of the display device is configured to be within the range of the front and rear ends of a steering post cover supporting the steering handle in the use state and the stored state. The work vehicle according to item 1. The work vehicle according to any one of claims 1 to 5, wherein the display device is configured so that a tilt angle can be changed in a side view. The display device has a cover member that covers the display unit,
7. The cover member according to any one of claims 1 to 6, wherein the cover member is configured to be switchable between a covering state for covering the display section and a light shielding state for shielding the display section with the display section exposed. Work vehicle. The work vehicle according to any one of claims 1 to 7, further comprising: an informing unit that informs a deviation between a position of the traveling machine body and the traveling target route in the base unit. The base portion is configured by a pair of frame portions extending downward in a state of being separated in the left-right direction of the traveling machine body, and a connecting portion that connects lower end portions of the pair of frame portions,
The work vehicle according to claim 8, wherein the notification section is provided between the pair of frame sections and is supported in a state of being bridged to the pair of frame sections. The work vehicle according to any one of claims 1 to 9, wherein the arch member supports at least one of a communication unit, a remote control receiving unit, a positioning unit, and a direction sensor.

Images