JP2021013379A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of improving safety of a worker in the work vehicle including automatic steering.SOLUTION: A work vehicle comprises: a traveling car body traveling a field; a steering member for steering the traveling car body; an operation detecting member for detecting operation of the steering member; an inclination detecting member for detecting inclination of a machine body of the traveling car body; and a control unit that, when inclination equal to or more than a prescribed angle is detected by the inclination detecting member, causes the steering member to automatically steer according to an inclination direction so as to control the traveling car body. When the inclination detecting member detects such a state that there is no inclination in the left/right of the machine body, the control unit is configured to actuate the steering member and locate the steering member at a neutral position, so as to improve the safety of a worker.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work vehicle provided with automatic steering.

Conventionally, as a work vehicle of this type, the work vehicle is configured to perform straight-ahead control under predetermined conditions, and during this straight-ahead control, a steering member arranged in the work vehicle controls the traveling direction of the vehicle. Is known to be configured to automatically steer and automatically correct the traveling direction (see, for example, Patent Document 1). This straight-ahead control frees the operator from steering the work vehicle and allows him to perform other tasks such as replenishing seedlings.

Japanese Unexamined Patent Publication No. 2013-74815

However, in the conventional work vehicle, when the worker leaves the driver's seat to perform another work such as replenishing seedlings, the posture of the work vehicle becomes unstable due to a change in the field, and the worker's posture becomes unstable. There was a problem that safety was reduced.

Therefore, an object of the present invention is to provide a work vehicle capable of improving the safety of workers.

Such an object is a traveling vehicle body traveling in a field, a steering member for steering the traveling vehicle body, and the like.
An operation detection member that detects the operation of the steering member, an inclination detection member that detects the inclination of the vehicle body of the traveling vehicle body, and the steering member according to the inclination direction when the inclination detection member detects an inclination of a predetermined angle or more. In a work vehicle provided with a control unit that controls the traveling vehicle body by automatically steering the vehicle, when the inclination detection member detects that the body is not tilted to the left or right, the control unit operates the steering member. This is achieved by a work vehicle characterized in that the steering member is in a neutral position.

According to the present invention, when the tilt detecting member detects that the airframe is not tilted to the left or right, the control unit operates the steering member to set the steering member in a neutral position, thereby moving the airframe in the traveling direction. Can be modified as appropriate to control the aircraft to go straight. In addition, the safety of workers is improved.

In a preferred embodiment of the present invention, the steering member is rotated by a predetermined amount in a direction opposite to the inclination direction detected by the inclination detection member, until the inclination detection member detects a state in which the aircraft is not tilted to the left or right. It is configured to maintain the predetermined amount of the steering member.

According to a preferred embodiment of the present invention, the traveling direction of the airframe is appropriately corrected by maintaining the predetermined amount of the steering member until the inclination detecting member detects a state in which the airframe is not tilted to the left or right. Can be controlled to go straight. In addition, the safety of workers is improved.

In a more preferable embodiment of the present invention, the detection information of the sensor provided in the operating device is acquired during traveling, and the time from the last operation of the operating device to the present is counted, and this count is predetermined. When the value is equal to or greater than the value of, the steering member is automatically steered.

According to a more preferable embodiment of the present invention, when the operation of the predetermined counting operation device is not detected while the work vehicle is running, the straight-ahead control is performed, so that the straight-ahead control is performed when the operator is away from the cockpit. You can start and improve safety.

In a more preferable embodiment of the present invention, a fertilizer application device for further spraying fertilizer in the field and a diff lock device for synchronizing the rotation speeds of the wheels of the traveling vehicle body are provided, and the control unit is said to be in the straight running control. When the depth detected by the depth sensor is equal to or greater than a predetermined value, the internal combustion engine control device is configured to reduce the vehicle speed, and the diff lock device is configured to synchronize the wheel rotation speeds.

According to a more preferable embodiment of the present invention, when the depth detected by the depth sensor is equal to or higher than a predetermined value during straight-ahead control, the internal combustion engine control device lowers the vehicle speed and the diff lock device synchronizes the wheel rotation speed. Therefore, in the case where the straightness is lowered due to the deep depth, the straightness is improved, the situation where the fertilizers to be sprayed overlap is avoided, and the fertilizer spraying efficiency is improved.

In a more preferable embodiment of the present invention, a weight sensor for detecting the seating of the driver's seat provided in the work vehicle is further provided, and the control unit does not detect the weight sensor for a predetermined time or longer during straight-ahead control. It is configured to start straight-ahead control and further reduce the vehicle speed by an internal combustion engine control device.

According to a more preferable embodiment of the present invention, when the weight sensor does not detect the weight sensor for a predetermined time or more during the straight-ahead control, the control unit starts the straight-ahead control and further reduces the vehicle speed by the internal combustion engine control device. Safety is improved by starting straight-ahead control when the vehicle is away from the cockpit to replenish seedlings and fertilizer.

In a more preferred embodiment of the present invention, a seedling planting unit that accepts seedlings in a field and can switch between a working position and a non-working position, a GPS control device that acquires position information of a working vehicle by GPS, and a field. The control unit is provided with a storage device that stores the position information of the ridges, and when the weight sensor does not detect for a predetermined time or more during straight-ahead control, the control unit obtains the position information acquired from the GPS control device and the position information of the ridges in the field. In comparison, when the distance between the work vehicle and the ridge is equal to or less than a predetermined value, the work vehicle is stopped by the internal combustion engine control device, and the seedling planting portion is set as the non-working position.

According to a more preferable embodiment of the present invention, when the weight sensor does not detect for a predetermined time or more during straight-ahead control, the control unit compares the position information acquired from the GPS control device with the position information of the ridges in the field. When the distance between the work vehicle and the ridge is less than a predetermined value, the work vehicle is stopped by the internal combustion engine control device, and the seedling planting part is set to the non-working position to prevent mud clogging of the fertilizer application device. By stopping the internal combustion engine, unnecessary fuel consumption can be suppressed.

In a more preferable embodiment of the present invention, a fertilizer reduction detection sensor that detects when the amount of fertilizer in the fertilizer application device falls below a predetermined amount and a seedling placed on the seedling planting portion are further applied in a predetermined amount. The control unit is provided with a seedling reduction detection sensor that detects when the amount falls below the limit, and the control unit starts straight-ahead control when the fertilizer reduction detection sensor detects a decrease in fertilizer or the seedling reduction detection sensor detects a decrease in seedlings. It is configured to do.

According to a more preferable embodiment of the present invention, the control unit starts straight-ahead control when the fertilizer reduction detection sensor detects the reduction of fertilizer or the seedling reduction detection sensor detects the reduction of seedlings. When replenishing seedlings or fertilizer, the worker is controlled to go straight without stopping the work vehicle, which improves work efficiency.

According to the present invention, it is possible to provide a work vehicle capable of improving the safety of an operator.

It is an overall side view of the seedling transplanter which concerns on a preferable embodiment of this invention. It is a top view of the seedling transplanter shown in FIG. It is a block diagram of the control system, the detection system, the output system and the drive system of the rice transplanter shown in FIG. It is a flowchart explaining the condition which the control part shown in FIG. 3 starts straight-ahead control. It is a flowchart which shows the operation at the time of straight-ahead control of the control part shown in FIG. It is a flowchart which shows the operation at the time of the edge stop processing of the control part shown in FIG.

Hereinafter, the work vehicle according to the preferred embodiment of the present invention will be described in detail based on the accompanying drawings. In the following, a case where the work vehicle is a seedling transplanter will be described as a preferred embodiment of the present invention.

FIG. 1 is an overall side view of the seedling transplanter 1 according to a preferred embodiment of the present invention. Here, in the following description, the front-rear, left-right direction reference refers to the traveling direction of the vehicle body as the front and the opposite direction as the rear when viewed from the driver's seat 11 of the work vehicle 1. Also, facing the direction of travel, the right side is called the right side and the left side is called the left side.

The seedling transplanter 1 includes a traveling vehicle body 2 that travels by driving wheels. As shown in FIG. 1, the traveling vehicle body 2 includes a main frame 3 arranged substantially in the center of the vehicle body, an engine 4 mounted on the main frame 3, and a pair of left and right front wheels arranged at the front portion of the vehicle body. It includes 5, 5 and a pair of left and right rear wheels 6, 6 arranged at the rear of the vehicle body. A floor step 19 on which the operator puts his / her foot when riding is mounted on the main frame 3 between the front portion of the traveling vehicle body 2 and the rear portion of the engine 4.

A front cover 10 that can be opened and closed is provided at the front portion of the traveling vehicle body 2, and a driver's seat 11 for an operator to sit is provided at an intermediate portion of the traveling vehicle body 2. A control unit 12 in which an operation device and instruments for operating the work vehicle 1 are arranged is provided at the rear of the front cover 10 and in front of the driver's seat 11. Examples of the operation device include a traveling operation lever 16, a handle 17, and various switches including a straight-ahead control switch 12b described later.

The steering wheel 17 is a steering member that steers the traveling vehicle body 2, and the steering operation of the steering wheel 17 is transmitted to the front wheel final case 13 via an electric mechanism in the control unit 12, and the front wheels 5 can be steered. It is possible. Further, the steering of the steering wheel 17 is configured to be controllable by a control unit C described later. Further, the operation of the operating device is detected by various sensors, and the control unit C, which will be described later, acquires the detection information.

The driving force output from the engine 4 is separated into a traveling power and an external extraction power by a power transmission device, a mission case 7, and transmitted to each part. The mission case 7 is attached to the front part of the main frame 3, and an auxiliary transmission mechanism (not shown) for switching the working speed of the traveling vehicle body 2 when traveling on the road or when planting is provided inside the transmission case 7. There is.

The transmission case 7 is a hydraulic continuously variable transmission 8 which is a transmission for shifting the driving force transmitted from the engine 4, and a belt-type power transmission mechanism 9 for transmitting the power from the engine 4 to the hydraulic continuously variable transmission 8. And have.

The hydraulic continuously variable transmission 16 is configured as a hydrostatic continuously variable transmission called HST (Hydr Static Transmission), and generates oil by a hydraulic pump driven by power from the engine 10 to generate this oil pressure. It is converted into a mechanical force (rotational force) by a hydraulic motor and output. As a result, the hydraulic continuously variable transmission 16 converts the driving force output from the engine 10 into running power for running the traveling vehicle body 2.

Further, the hydraulic continuously variable transmission 8 has an opening degree by changing the opening degree of the trunnion shaft 31 in response to the operation of the traveling operation lever 12 provided on the upper side side of the front cover 10 described later. Is configured to accelerate in the forward or reverse direction as the value increases, and decelerate in the forward or reverse direction as the opening degree decreases. With this configuration, the operator operates the traveling operation lever 12 to change the forward / backward movement and the traveling speed of the seedling transplanter 1.

The running power is transmitted from the mission case 7 to the left and right front wheel final cases 13 and 13, and the left and right front wheels 5 and 5 are rotationally driven, and the remaining running power is the left and right rear wheel gear cases 14 and 14. The left and right rear wheels 6 and 6 are rotationally driven.

The front wheel final case 13 is configured to steer the front wheels 5 in response to the steering operation of the steering wheel 17. The front wheel final cases 13 and 13 and the rear wheel gear cases 14 and 14 are equipped with a differential gear mechanism, and the left and right front wheels 5 and 5 and the rear wheels are operated by operating a differential lock pedal (not shown) provided on the floor step 19. It is configured to synchronize the rotations of the wheel gear cases 6 and 6, respectively.

The external extraction power is transmitted from the mission case 7 to a planting clutch (not shown) provided at the rear of the traveling vehicle body 2, and when the planting clutch is engaged, it will be described later via the planting transmission shaft (not shown). It is transmitted to the seedling planting section 20.

The seedling planting portion 20 is connected to the traveling vehicle body 2 via an elevating link device R. The elevating link device R is configured so that the seedling planting portion 20 can be elevated by a parallel link composed of an upper link arm 21 and a pair of left and right lower link arms 22, 22.
Specifically, an elevating hydraulic cylinder 23 is flexibly provided between the support member fixed to the main frame 3 and the tip of the swing arm (not shown) integrally formed with the upper link arm 21, and is controlled by the control unit C. By hydraulically expanding and contracting the elevating hydraulic cylinder 23 by the electronic hydraulic valve 23a, the upper link arm 21 is rotated up and down, and the seedling planting portion 20 is configured to move up and down in a constant posture. .. As a result, the elevating link device R can raise the seedling planting portion 20 to the non-working position or lower it to the ground working position (ground planting position).

In addition, in FIG. 1, the seedling transplanting portion 20 arranged at the ground working position is shown. At the ground work position, the seedling planting device 20a of the seedling transplanting unit 20 is close to the ground, which is a suitable position for planting seedlings in the field. On the other hand, in the non-working position, the lower end of the seedling transplanting portion 20 is raised to substantially the same height as the bottom of the main frame 3, whereby the seedling transplanting portion 20 is on the ground when the work vehicle 1 is traveling. It is configured to prevent contact and hinder driving.

The seedling planting unit 20 can obtain a driving force by an external extraction power to plant seedlings in a plurality of sections or a plurality of rows. The seedling planting section 20 includes a seedling planting device 20a, a seedling placing table 20b, and a float 20c. Of these, the seedling placing stand 51 is provided as a seedling placing member for loading a plurality of seedlings on the rear portion of the traveling vehicle body 2, and the seedlings are placed for the number of planting rows partitioned in the left-right direction of the traveling vehicle body 2. It has a surface 20b, and it is possible to place a mat-like seedling with soil on each seedling loading surface 20b.

The seedling loading surface 20b is provided with a seedling reduction detection sensor 20d that detects a decrease in seedlings when the loaded seedlings fall below a predetermined amount. The information detected by the seedling reduction detection sensor 20d is configured to be transmitted to the control unit C.

The seedling planting device 20a is configured to take the seedlings placed on the seedling stand 51 from the seedling stand 20b and plant them in the field by driving the planting body (not shown). It is configured so that a driving force can be supplied from the case 20e to the planting body (not shown).

A fertilizer application device 24 is provided behind the driver's seat 11. The fertilizer application device 24 includes a storage hopper 24a for storing fertilizer, a feeding device 24b for feeding out fertilizer supplied from the storage hopper 24a by a set amount, and a fertilizer application hose which is a fertilizer application passage for supplying fertilizer delivered by the feeding device 24b to the field. It has a blower 24d that transfers the fertilizer in the fertilizer application hose 24c to the seedling planting portion 20 side by supplying a transport air to the fertilizer application hose 24c.

The storage hopper 21a is provided with a fertilizer reduction detection sensor 21e that detects a decrease in fertilizer when the stored fertilizer falls below a predetermined amount. The information detected by the fertilizer reduction detection sensor 21e is configured to be transmitted to the control unit C.

FIG. 2 is a plan view of the seedling transplanter shown in FIG. As shown in FIG. 2, as the traveling operation lever 16, the main shifting lever 16a, which is a shifting operation member for switching between the forward / backward movement of the traveling vehicle body 2 and the traveling output, and the traveling speed of the traveling vehicle body 2 are set at a traveling place. Auxiliary speed change levers 16b, which are auxiliary traveling operation members for switching to a corresponding speed, are arranged on the right side and the left side of the traveling vehicle body 2. Further, the rice transplanter 1 can operate the auxiliary transmission mechanism in the transmission case 7 by operating the auxiliary transmission lever 16b to switch the working speed of the work vehicle 1.

FIG. 3 is a block diagram of a control system, a detection system, an output system, and a drive system of the rice transplanter 1 shown in FIG. The seedling transplanter 1 according to the present embodiment can control each part by electronic control. Therefore, the seedling transplanter 1 is provided with a control unit C for controlling each part.

Although not shown, the control unit C includes a processing unit that performs arithmetic processing such as a CPU, a storage unit that stores processing results such as a RAM, and an input / output unit that inputs / outputs information to / from each unit. .. In the control unit C, the processing unit, the storage unit, and the input / output unit are connected to each other, and information can be exchanged with each other. A computer program that controls each connected unit is stored in the storage unit of the control unit C.

As shown in FIG. 3, on the input side of the control unit C, a potentiometer 16a provided on the traveling operation lever 16, an inclination detection sensor 39 connected to the straight-ahead control switch 12b, a handle turning angle sensor 25, and a handle turning angle sensor 25 are provided. The elevating operation switch 12a, the link sensor 26 included in the elevating link device R, the depth sensor 27, the weight sensor 28, the seedling reduction detection sensor 20d, the fertilizer reduction detection sensor 21e, and the GPS control unit 38 each transmit information. It is connected as possible.

Further, on the output side of the control unit C, an HST servomotor 29, an electric power steering 32 for steering the handle 14, and an electron for controlling the oil pressure of the elevating hydraulic cylinder 23 for raising and lowering the seedling planting unit 20 The hydraulic valve 23a, the internal combustion engine control device 18, the shift control solenoid 33, the differential lock device 15 including the differential lock switching valve 15a, the storage device 34, and the communication unit 35 for transmitting and receiving information to and from the information terminal 36. Each is connected so that information can be transmitted.

The travel potentiometer 16a detects the amount of operation of the travel operation lever 16. Specifically, the traveling potentiometer 16a is provided at the lower end of the traveling operating lever 16 and is configured to detect the operating amount of the traveling operating lever 16 by detecting the operating angle of the traveling operating lever 16.

The tilt detection sensor 39 detects the tilting motion of the work vehicle 1 in the left-right direction, and when the aircraft tilts to the left or right due to unevenness in the field or the like by the acceleration sensor capable of detecting the acceleration in the three axial directions, It is an inclination detection member configured to transmit the inclination amount as a signal to the control unit C. The inclination detection sensor 39 is provided inside the bonnet 32.

The steering wheel turning angle sensor 25 detects the amount of operation of the steering wheel 17, and is configured to transmit the detected amount of steering of the steering wheel 17 in the left-right direction to the controller 100.
The steering wheel turning angle sensor 25 is provided at the lower part of the steering wheel 17.

The depth sensors 27 are arranged on both the left and right sides of the traveling vehicle body 2, detect the depth (depth) to the plowing board in the field, and transmit the detection result to the control unit C. The depth sensor 27 is provided at a portion located on each of the left and right sides of the front cover 10 in the floor step 19, and is configured to detect the depth of each of the left and right sides of the traveling vehicle body 2. As a result, the control unit C acquires the depths of the right side and the left side of the traveling vehicle body 2, and calculates the difference between the depths of the right side and the left side of the body, thereby calculating the difference in depth between the left and right sides of the work vehicle 1 (depth difference). ) Can be obtained.

The weight sensor 28 detects the operator's seating on the cockpit 11 by a pressure sensor arranged on the cockpit 11, and is configured to transmit the detection result to the control unit C.

The seedling decrease detection sensor 20d detects the decrease of seedlings in the seedling planting section 4, and when the number of seedlings placed on the seedling placing table 51 of the seedling planting section 4 falls below a predetermined amount, this is detected. It is configured to detect and transmit to the control unit C. The seedling decrease detection sensor 20d is provided at an appropriate position of the seedling planting portion 20 in order to detect the decrease of seedlings, and is arranged, for example, on the seedling placing table 51.

The fertilizer reduction detection sensor 21e detects that the amount of fertilizer stored in the fertilizer application device 24 has decreased, and is composed of an energizing body that is easily energized when covered with fertilizer containing water, and is provided in the storage hopper 24. ing. The fertilizer reduction sensor 21e provided in this way energizes when covered with fertilizer, and detects the decrease in fertilizer by weakening the energization when the fertilizer in the storage hopper 24 decreases and is exposed to air. It is configured. As a result, the fertilizer reduction detection sensor 21e is configured to detect when the amount of fertilizer stored in the fertilizer application device 24 falls below a predetermined amount and transmit it to the control unit C.

The GPS control unit 38 acquires the position information of the rice transplanter 1 by using GPS, and is provided with a receiving antenna that acquires GPS coordinates at predetermined time intervals, and obtains the position information on the earth. It is configured to be acquired at predetermined intervals. Further, the position information acquired by the GPS control unit 38 can be transmitted to the control unit C.

The HST servomotor 29 is connected to a trunnion arm 24 that controls the opening degree of the trunnion shaft 31, and changes the opening degree of the trunnion shaft 31 via the trunnion arm 24, and is driven and controlled by the control unit C. The output signal calculated by the control unit C is acquired based on the operation amount of the traveling operation lever 16 acquired by the traveling potentiometer 16a, and the opening degree of the trunnion shaft 31 is changed.

The electric power steering 32 is a mechanism for acquiring a control signal from the control unit C and controlling the rotation of the steering wheel 17 to automatically steer the steering wheel 17. The control unit C acquires the rotation angle with respect to the neutral position of the steering wheel 17 from the angle detected by the steering wheel turning angle sensor 25, and determines the steering amount of the steering wheel 17 based on this, thereby determining the steering amount of the seedling transplanting machine 1. The steering wheel 17 required for straight-ahead control can be steered.

As described above, the electro-hydraulic valve 23a is a mechanism for controlling the flood pressure of the elevating hydraulic cylinder 23, and is controlled by the control unit C. The control unit C controls the expansion and contraction of the elevating hydraulic cylinder 23, and the upper link arm 21 rotates up and down to move the seedling planting unit 20 up and down.

The internal combustion engine control device 18 is arranged in the engine 4 and has a configuration capable of acquiring a control signal from the control unit C, whereby the output of the engine 4 can be controlled. The spark plug of the engine 4, the fuel injection valve, and the throttle actuator for opening and closing the throttle valve are connected to the internal combustion engine control device 18, and the internal combustion engine control device 18 operates the engine based on the control signal acquired from the control unit C. The output of the engine 4 is controlled by controlling the ignition timing of the spark plug, the fuel injection amount of the fuel injection valve, and the throttle opening of the throttle valve by the throttle actuator.

The shift control solenoid 33 regulates the vehicle speed of the work vehicle 1 based on the control signal from the control unit C. It is configured to acquire a control signal from the control unit C and operate. When the shift regulation solenoid 33 is activated, the main shift lever 16a is sandwiched by the operation regulation arm (not shown), whereby the main shift is performed. The operation of the lever 16a is restricted. By regulating the shift in this way, the vehicle speed of the work vehicle 1 can be regulated.

The diff lock device 15 includes a diff lock switching valve 15a, which is a diff lock switching member arranged in the mission case 7 and configured to be able to switch between an “on” state and an “off” state. The diff lock switching valve 15a is interlocked with the differential gear mechanism of the front wheel final cases 13 and 13 and the rear wheel gear cases 14 and 14, whereby the rear wheel (or the rear wheel (or) is in the "on" state when the diff lock device 15 is in the "on" state. The front and rear wheels) are configured to lock the differential rotation of the left and right axles and rotate them integrally, and when in the "off" state, the standard differential rotation is used. Further, the diff lock switching valve 15a is electrically connected to the control unit C, whereby the diff lock device 15 can switch between the "on" state and the "off" state based on the control signal from the control unit C. It is configured to be switchable.

The storage device 34 is configured to be able to send and receive information to and from the control unit C, and is composed of a storage medium for storing various types of information. More specifically, it is a server device provided on a general-purpose cloud that is configured to be able to send and receive information to and from the control unit C via a communication unit 35 described later. The "cloud" in the present embodiment means, for example, a group of computers existing on a communication path. Further, the storage device 34 is a volatile and non-volatile storage medium connected to the control unit C, which stores various information and is realized by an arbitrary method or technique, and is a removable and non-removable storage medium. Also, examples of these recording media include RAM, ROM, flash memory and the like. The storage device 34 stores the position information of the ridges in the field in advance. Here, the position information of the ridges stored in the storage device 34 is, for example, the position of the ridges in the field is managed by the coordinates by two-dimensional coordinates, and the control unit C has the GPS coordinates acquired from the GPS control unit 38. By comparing the position information of the ridges, the positional relationship between the current position of the seedling transplanting machine 1 and the ridges in the field can be grasped.

The communication unit 35 can transmit and receive information between the control unit C and an information terminal arranged outside the seedling transplanting machine 1 by using, for example, an IEEE802.11 standard wireless LAN system wireless communication medium. It is a communication device.

The information terminal 36 has a display unit for displaying information, an input operation unit for performing various input operations, and a storage unit for storing information. Of these, the display unit and the input operation unit may be configured separately, or may be integrally configured by a touch panel type display. The information terminal 36 is composed of a smartphone, a tablet, a smart watch, a wearable computing device, a laptop, and other portable computing devices having a display unit and an input operation unit. With such a configuration, the information terminal 36 can send and receive information to and from the rice transplanter 1 via the communication unit 35, and the information transmitted from the rice transplanter 1 can be displayed on the display unit. Has been done.

FIG. 4 is a flowchart illustrating a condition for the control unit C to start straight-ahead control. In the control flow shown in FIG. 4, it is assumed that the seedling transplanter 1 is in a running state, the seedling transplanting unit 20 is in the ground working position, and the planting body of the seedling planting device 20a is driven. Further, the control unit C shall start the control shown in FIG. 4 on condition that the engine 4 is started and the rice transplanter 1 is in the running state.

Here, the straight-ahead control is a control in which the control unit C appropriately steers the handle 17 which is a steering member by the electric power steering 32 to automatically correct the traveling direction of the work vehicle 1 in the straight-ahead direction. During this straight-ahead control, the steering wheel 17 is automatically steered by the control unit C, so that the operator is released from the steering of the steering wheel 17 to check whether the seedlings are planted and fertilized normally. You can check the remaining amount of fertilizer and review the setting of the running condition.

Since the control flow of the control unit C regarding the straight-ahead control is known, detailed description thereof will be omitted, but the control unit C performs the control as follows. The control unit C acquires information on the amount of inclination of the traveling vehicle body 2 from the inclination detection sensor 39, operates the electric power steering 32 according to the amount of inclination of the vehicle body 2 to the left and right, and moves the steering wheel 17 to the traveling vehicle body. It is rotated by a predetermined amount in the direction opposite to the inclination direction of 2. Next, when the tilt detection sensor 39 detects that there is no left or right tilt, the control unit C reactivates the electric power steering 32 and rotates the steering wheel 17 until it reaches the neutral position. By repeating such a basic operation, the control unit C appropriately corrects the traveling direction of the seedling transplanter 1 and controls the seedling transplanter 1 to go straight.

As shown in FIG. 4, the control unit C determines whether the straight-ahead control switch 12b is in the “ON” state by acquiring the operation information of the straight-ahead control switch 12b switch from the sensor provided in the operation device (as shown in FIG. 4). Step S1). Then, when the straight-ahead control switch 12b is in the “ON” state, the straight-ahead control is executed (step S2).

The switching between the "on" state and the "off" state of the straight-ahead control switch 12b is performed by the operator operating the straight-ahead control switch 12b, and is automatically switched by the control unit C when the following predetermined conditions are satisfied. Is done.

When the operation of the operating device is not detected for a predetermined time (step S2) while the seedling transplanter 1 is running, the control unit C sets the straight-ahead control switch 12b to the “ON” state (step S6) and starts straight-ahead control (step S6). Step S7). That is, the control unit C counts the time from the last operation of the operating device to the present by acquiring the detection information of the sensor provided in the operating device while traveling, and this count is a predetermined value. When the above is the case, the straight-ahead control is started. According to this configuration, the seedling transplanter 1 does not operate the operation device for a predetermined time even when the operator is away from the cockpit 11 in order to perform another work such as replenishment of seedlings. Since the rice transplanter automatically switches to straight-ahead control and travels straight, collision with ridges due to disturbance of the traveling direction of the seedling transplanter 1 due to leaving the seat is prevented, and the safety of the operator is improved.

Further, when the weight sensor is not detected for a predetermined time while the rice transplanter 1 is running (step S3), the control unit C sets the straight-ahead control switch 12b to the “ON” state (step S6) and starts straight-ahead control (step S6). S7). That is, the control unit C counts the time since the last detection by acquiring the detection information of the weight sensor 28 during traveling, and when this count is equal to or more than a predetermined value, the straight-ahead control is started. It is configured to do. According to this configuration, the seedling transplanter 1 automatically controls straight ahead after the lapse of stay time even when the worker leaves the cockpit 11 to perform other work such as replenishing seedlings. Since the rice transplanter 1 is switched to and travels straight, collision with the ridge due to the disturbance of the traveling direction of the seedling transplanter 1 due to leaving the seat is prevented, and the safety of the operator is improved.

Further, when the seedling reduction detection sensor 20d detects a decrease in the number of seedlings loaded on the seedling transplanting unit 20 while the seedling transplanting machine 1 is running (step S4), the control unit C “turns on” the straight-ahead control switch 12b. As a state (step S6), straight-ahead control is started (step S7). According to this configuration, when the worker needs to replenish the seedlings, the straight-ahead control is automatically started and the seedling transplanter 1 goes straight, so that the worker can smoothly shift to the seedling replenishment work. Work efficiency is improved.

Further, when the fertilizer reduction detection sensor detects a decrease in fertilizer in the fertilizer application device 24 (step S5) while the seedling transplanter 1 is running, the control unit C sets the straight-ahead control switch 12b to the “on” state (step S6). ), Straight-ahead control is started (step S7). According to this configuration, when the worker needs to replenish the fertilizer, the straight-ahead control is automatically started and the seedling transplanter 1 goes straight, so that the worker can smoothly shift to the fertilizer replenishment work. Work efficiency is improved.

As shown in FIG. 4, the control unit C first operates the electric power steering 32 according to the amount of left and right inclination of the body of the traveling vehicle body 2, and turns the steering wheel 17 a predetermined amount in the direction opposite to the direction of inclination of the body. Move it. When the tilt detection sensor 39 detects that there is no tilt to the left or right, the control unit C reactivates the electric power steering 32 and rotates the steering wheel 17 until it reaches the neutral position. Here, the control unit C is configured to determine the neutral position of the steering wheel 17 from the angle detected by the steering wheel turning angle sensor 25.

FIG. 5 is a flowchart showing the operation of the control unit C during straight-ahead control. When the straight-ahead control is started, the control unit C performs the control shown in the control flow of FIG. 5 in addition to the straight-ahead control. As shown in FIG. 5, the control unit C first acquires the depth information detected from the depth sensor 27 (step S11). As a result, when it is determined that either the left or right depth of the work vehicle 2 is equal to or greater than a predetermined value (step S12), the diff lock switching valve 15a is controlled to put the diff lock device 15 in the “on” state (step). S14). Here, if the depth of the field is deep, the straightness is lowered, so that the fertilizer sprayed by the fertilizer application device 24 may overlap or a non-spraying section may occur. According to this configuration, when the depth detected by the depth sensor is equal to or greater than a predetermined value, the differential lock device 15 is set to the “ON” state, and the differential rotation of the left and right axles of the rear wheels 6 and 6 (or front and rear wheels) is locked. By rotating them integrally, the straightness of the seedling transplanting machine 1 can be improved and the fertilizer sprayability can be improved, so that it is possible to prevent the occurrence of double spraying of fertilizer and non-spraying sections.

After the diff lock device 15 is turned on, the control unit C controls the internal combustion engine control device 18 and the HST servomotor 29 to regulate the speed. That is, the vehicle speed is reduced to the specified speed or less by the control of the internal combustion engine control device 18, and the maximum speed is regulated by the control of the HST servomotor 29 (step S16). In this way, when the depth of the field is greater than or equal to a predetermined value, by regulating the vehicle speed, it is possible to improve the straightness even in a situation where the straightness is lowered due to the depth of the field, and to stabilize the running. This also improves the safety of workers. The control unit C may operate the shift control solenoid 33 to regulate the operation of the main shift lever 16a at the time of speed regulation. This makes it possible to regulate the maximum speed more reliably.

Further, when the control unit C determines that the difference in depth between the left and right sides of the traveling vehicle body 2 is equal to or greater than a predetermined value (step S13), similarly, the diff lock device 15 is set to the "on" state (step S14), and the vehicle speed is set. The speed is set to be equal to or lower than the specified speed, and the maximum speed is regulated (step S16). According to this configuration, since the difference in depth between the left and right sides of the traveling vehicle body 2 is large, the traveling of the rice transplanter 2 becomes unstable, and even in a situation where the straightness deteriorates, the straightness can be improved and the traveling can be improved. The stabilization of the machine also improves the safety of workers.

In addition, even if the depth of the field is not more than a predetermined value or the depth difference is not more than a predetermined value, the control unit C determines that the operation device has not been operated for a predetermined time since the last operation (step). S15), the vehicle speed is set to be equal to or lower than the specified speed, and the maximum speed is regulated (step S16). According to this configuration, when the operator leaves the driver's seat 11 and performs another work such as replenishment of seedlings during the straight-ahead control, the control unit C has been operated from the last operation of the operating device to the present. It is possible to improve the safety of the operator when leaving the seat because the vehicle speed is set to the specified speed or less and the maximum speed is regulated by judging that the vehicle has not been operated for a predetermined time.

Further, when the depth of the field is not more than a predetermined value or the depth difference is not more than a predetermined value, the control unit C puts the diff lock device 15 in the "off" state when the operation device is operated, and releases the above speed regulation ( Step S16). As a result, when the seedling transplanter 1 reaches the ridge and the worker tries to turn the seedling transplanter 1, the operation of the operating device is detected to smoothly put the diff lock device 15 in the "off" state. Since it is possible to shift to turning, it is possible to turn without damaging the field. In addition, regardless of the depth of the field, when the operating device is operated, the diff lock device 15 may be immediately turned off and the speed regulation may be released. As a result, the control unit C does not perform diff lock or speed limitation by the diff lock device 15 while the operator is operating the operation device, so that the operability of the seedling transplanter 1 is improved.

As shown in FIG. 5, when the weight sensor 28 is not detected for a predetermined time after the speed regulation (step S19), the control unit C performs a ridge stop process for stopping the seedling transplanter work vehicle 1 at the ridge. Start. The details of the ridge stop processing will be described later.

When the ridge stop process is executed, the control unit C controls the seedling transplanter 1 to stop at the seedling edge, and sets the straight-ahead control switch 12b to the “off” state. Next, it is determined that the straight-ahead control switch 12b is in the "off" state (step S21), and if the diff lock device 15 is in the "on" state, this is set to the "off" state (step S22) and the speed is set. If it is in a regulated state, it is released (step S23), the straight-ahead control is terminated, and the process is terminated (step S24).

FIG. 6 is a flowchart showing the operation of the control unit C at the time of the edge stop processing. As shown in FIG. 6, when the ridge stop processing is started, the control unit C acquires the position information of the seedling transplanter 1 from the GPS control device 38 (step S31). Next, the control unit C acquires the position information of the ridges in the field from the storage device 34, and determines whether the distance between the position of the seedling transplanter 1 and the position of the ridges is within a predetermined value (step S32). .. When it is within a predetermined value, that is, when it is determined that the rice transplanter 1 is on the ridge, the shift control solenoid 33 is driven to move the main shift lever 16a to the neutral position, and the internal combustion engine control device 18 is moved. Controlled to stop the seedling transplanter 1. With this configuration, when it is determined that the worker is away from the cockpit 11, the rice transplanter 1 can be stopped at the ridge, and the rice transplanter 1 can avoid collision with the ridge for safety. Can be improved.

Further, as shown in FIG. 7, after the seedling transplanter 1 is stopped, when the operation of the operating device is not detected for a predetermined time (step S35), the control unit C controls the electro-hydraulic valve 23a to move up and down. The seedling planting unit 20 is raised to a non-working position via the link device R, and the driving of the planted body of the seedling planting device 20a is stopped (step S36). Here, in general, when the planting body of the seedling planting device 20a is driven with the seedling planting unit 20 as the ground working position while the seedling transplanting machine 1 is stopped, the mud scattered by the planting body is discharged by the fertilizer application device 24. However, in the present embodiment, the seedling planting portion 20 can be raised to a non-working position to prevent mud clogging of the fertilizer application device 24, which is highly convenient. Further, the control unit C controls the internal combustion engine control device 18 to stop the engine 4 (step S37). As a result, unnecessary fuel consumption is suppressed, and the safety of the operator is further improved by preventing the vehicle from starting due to an erroneous operation.

The present invention is not limited to the above embodiments (embodiments), and various modifications can be made within the scope of the invention described in the claims, and these are also included in the scope of the present invention. It goes without saying that it is a thing. For example
(1) In the above embodiment, as shown in step S15 of FIG. 5, the control unit C is configured to regulate the speed when the operation of the operating device is not detected for a predetermined time during straight-ahead control. The speed may be regulated when the weight sensor 28 is not detected for a predetermined time. According to this configuration, when the worker leaves the cockpit 11 for a predetermined time, the speed is regulated, so that the safety of the worker is improved.
(2) In the above embodiment, as shown in step 19 of FIG. 5, when the weight sensor 28 does not detect the weight sensor 28 for a predetermined time during straight-ahead control, the control unit C starts the ridge stop process. , The seedling transplanter 1 was configured to be stopped, but an external force detecting device for detecting the external force applied to the seedling transplanter 1 was provided at an appropriate position of the seedling transplanter 1, and it was determined that some external force was applied during the straight-ahead control. When the external force detecting device detects it, the ridge stop processing may be started to stop the rice transplanter 1. According to this configuration, the load on the body of the rice transplanter 1 can be reduced. The external force detecting device detects the external force applied to the seedling transplanter 1 by using, for example, an angular velocity sensor or the like.
(3) In the above embodiment, the operation of the control unit C during straight-ahead control is shown in FIG. 5, but in addition to this, the seedling transplanting machine 1 is automatically operated by the work vehicle 1 using the GPS control device 38. Further, during automatic operation, a fuel tank of the traveling vehicle body 1 is provided with a remaining amount sensor, and when the remaining amount of fuel becomes equal to or less than a specified value, the communication unit 35 transmits message information to the information terminal 36. The configuration may include a control for notifying the operator. As a result, during the automatic operation of the work vehicle 1 using the GPS control device 38, it is possible to know that the remaining amount of fuel has decreased even if there is a worker at a distant position, and the work efficiency is improved. Further, the control unit C may be configured to control the internal combustion engine control device 18 to stop the engine 4 of the seedling transplanting machine 1 when the operation of the operation device is detected during the automatic operation, and further, the communication unit. A configuration may be added in which a control is added to transmit message information to the information terminal 36 and notify the operator by the 35. Further, the restart after the seedling transplanter 1 is stopped may be configured so that it cannot be restarted unless the lock such as the password is released from the control unit 12. With this configuration, the worker may move away from the seedling transplanter 1 to perform another work during the automatic operation. Therefore, when the operating device is illegally operated by a third party during the automatic operation, the seedling transplantation is performed. By stopping the machine and making it impossible to restart it without unlocking it, the security against theft etc. is improved.
(4) In the above embodiment, the basic operation of the control unit C during straight-ahead control is shown in FIG. 6, but in addition to this, when the work vehicle 1 is automatically operated using the GPS control device 38, it is automatically operated. When the operation of the operating device is detected during operation, the control unit C internal combustion engine control device 18 is controlled to stop the engine of the work vehicle 1, and the communication unit 35 transmits message information to the information terminal 36. Therefore, the configuration may include a control for notifying the operator. Further, the restart after the work vehicle 1 is stopped may be configured so that it cannot be restarted unless the lock such as the password is released. According to this configuration, during automatic driving, the worker may move away from the machine body of the work vehicle 1 and perform another work. To prevent theft, if some operation is performed during automatic operation, the engine 4 is stopped so that a third party cannot restart the engine, thereby improving the crime prevention property.
(5) In the above embodiment, in step 19 of FIG. 5, when the weight sensor 28 does not detect the weight sensor 28 for a predetermined time during straight-ahead control, the control unit C starts the ridge stop process (step S20). When the weight sensor 28 does not detect for a long time, the control unit C controls the communication unit 35 to transmit warning message information to the information terminal 36 and output a warning to the display unit of the information terminal 36. It may be an additional configuration. As a result, when the worker has fallen from the work vehicle, a warning can be notified to the persons concerned.

1 Seedling transplanter 2 Traveling vehicle body 3 Main frame 4 Engine 5 Front wheels 6 Rear wheels 7 Mission case 8 Hydraulic stepless transmission 9 Belt type power transmission mechanism 10 Front cover 11 Driver's seat 12 Control unit 12a Lifting operation switch 12b Straight control switch 13 Front wheel final case 14 Rear wheel gear case 15 Diff lock device 15a Diff lock switching valve 16 Travel operation lever 16a Main speed change lever 16b Auxiliary speed change lever 17 Handle 18 Internal engine control device 19 Floor step 20 Seedling planting part 20a Seedling planting device 20b Seedling Mounting stand 20c Float 20d Seedling reduction detection sensor 21 Upper link arm 22 Lower link arm 23 Elevating hydraulic cylinder 23a Electro-hydraulic valve 24 Fertilizer application device 24a Storage hopper 24b Feeding device 24c Fertilizer application hose 24d Blower 25 Handle turning angle sensor 26 Link sensor 27 Depth sensor 28 Weight sensor 29 HST Servo motor 30 Tranion arm 31 Tranion shaft 32 Electric power steering 33 Shift control solenoid 34 Storage unit 35 Communication unit 36 Information terminal 37 Spare frame 38 GPS control device 39 Tilt detection sensor C controller R Elevating link device

Claims (7)

A running vehicle that runs in the field and
A steering member that steers the traveling vehicle body and
An operation detection member that detects the operation of the steering member, and
An inclination detection member that detects the inclination of the traveling vehicle body,
In a work vehicle including a control unit that controls a traveling vehicle body by automatically steering the steering member according to the inclination direction when an inclination of a predetermined angle or more is detected by the inclination detecting member.
A work vehicle characterized in that when the tilt detection member detects that the machine body is not tilted to the left or right, the control unit operates the steering member to bring the steering member to a neutral position. The steering member is rotated by a predetermined amount in the direction opposite to the inclination direction detected by the inclination detection member, and the predetermined amount of the steering member is maintained until the inclination detection member detects a state in which the aircraft is not tilted to the left or right. The work vehicle according to claim 1, wherein the work vehicle is characterized by While traveling, the detection information of the sensor provided in the operating device is acquired, and the time from the last operation of the operating device to the present is counted. When this count is equal to or more than a predetermined value, the steering is performed. The work vehicle according to claim 1 or 2, wherein the member is automatically steered. In addition, a fertilizer application device that sprays fertilizer in the field,
It is equipped with a diff lock device that synchronizes the rotation speed of the wheels of the traveling vehicle body.
The control unit is characterized in that when the depth detected by the depth sensor is equal to or higher than a predetermined value during straight-ahead control, the internal combustion engine control device lowers the vehicle speed and the diff lock device synchronizes the wheel rotation speed. The work vehicle according to claim 3. Further, a weight sensor provided in the work vehicle for detecting the seating of the driver's seat is provided.
The work vehicle according to claim 4, wherein the control unit starts straight-ahead control when the weight sensor does not detect it for a predetermined time or longer during straight-ahead control, and further reduces the vehicle speed by an internal combustion engine control device. Furthermore, a seedling planting unit that accepts seedlings in the field and can switch between a working position and a non-working position, a GPS control device that acquires the position information of the work vehicle by GPS, and a storage device that stores the position information of the ridges in the field. With
When the weight sensor does not detect the weight sensor for a predetermined time or longer during straight-ahead control, the control unit compares the position information acquired from the GPS control device with the position information of the ridges in the field, and determines the distance between the work vehicle and the ridges. The work vehicle according to claim 5, wherein the work vehicle is stopped by the internal combustion engine control device when the value is equal to or less than the value, and the seedling planting portion is set as a non-working position. Further, a fertilizer reduction detection sensor that detects when the amount of fertilizer in the fertilizer application device falls below a predetermined amount, and a seedling reduction detection sensor that detects when the amount of seedlings placed on the seedling planting portion falls below a predetermined amount. With and
The work vehicle according to claim 6, wherein the control unit starts straight-ahead control when the fertilizer decrease detection sensor detects the decrease in fertilizer or the seedling decrease detection sensor detects the decrease in seedlings. ..