JP2021023167A - Traveling work machine - Google Patents

Abstract

To provide a seedling transplanter for performing farm work while following groove loci drawn by drawing markers provided on side parts of a machine body so as to be capable of being projected/stored, the drawing markers inhibited from being hit against a ridge of a farm field and damaged in the case of traveling near the ridge.SOLUTION: A traveling work machine includes drawing markers 65L, 65R made to be automatically operable by a controller 100, the drawing markers provided on left and right side parts of a machine body so as to be switchable between a state of being projected laterally and a state of being lifted and stored, the traveling work machine including ultrasonic sensors 93L, 93R for irradiating areas in front of the vicinities of projection of the drawing markers 65L, 65R. When the ultrasonic sensors 93L, 93R detect an obstacle in front of the vicinities of tips of the drawing markers 65L, 65R, the controller 100 drives a drawing marker lifting/lowering motor 87 to perform operation of lifting and storing the drawing markers 65L, 65R.SELECTED DRAWING: Figure 3

Description

The present invention relates to a traveling work machine that performs farm work while traveling back and forth in a field, and is a traveling work machine in which an operator gets on board and operates, or travels on an automatically set target travel route by automatic steering.

As an automatic steering system for a traveling work machine used in a field, the techniques described in Patent Document 1 and Patent Document 2 are known.

In these traveling work machines, the positioning unit detects the position of the machine body in the field, and the machine travels back and forth in the field while repeating straight running and turning running so as to work thoroughly.

Japanese Patent No. 4638998 Japanese Patent No. 6320212

When the traveling work machine is a seedling transplanter, a line drawing marker is projected to the side of the machine to draw a groove locus in the field scene, and the groove locus is used as the target traveling line for transplanting after turning, but it travels near the shore. When transplanting, there is a risk that the line drawing marker will come too close to the shore and come into contact with it and be damaged without the operator noticing it.

The present invention is a seedling transplanter in which a line drawing marker is provided on the side of the machine body so as to be able to extend and be stored, and a seedling transplanter that follows the groove locus drawn by the line drawing marker to perform agricultural work, when traveling near the shore of a field. The task is to prevent the line drawing marker from hitting the shore and being damaged.

The above-mentioned problem of the present invention is solved by the following technical means.

According to the first aspect of the present invention, line drawing markers (65L) and (65R) are provided on the left and right sides of the machine body automatically steerable by the control device (100) so as to be switchable between lateral extension and ascending storage. Sensors (93L) and (93R) that illuminate the front of the line drawing markers (65L) and (65R) when they are extended are provided in the traveling work machine, and the sensors (93L) and (93R) are being extended. When an obstacle is detected in front of the tip of the drawing markers (65L) and (65R), the control device (100) drives the drawing marker elevating motor (87) to draw the line in the overhanging direction. The traveling work machine is characterized in that the markers (65L) and (65R) are raised and stored.

The invention of claim 2 is characterized in that the left and right line drawing markers (65L) and (65R) project only one side, and only the sensors (93L) and (93R) on the projecting side perform the irradiation operation. The traveling work machine according to claim 1.

The invention according to claim 3 is the traveling work machine according to any one of claims 1 or 2, wherein the sensors (93L) and (93R) operate only during a transplanting operation.

The invention of claim 4 is a receiving portion (96a) that receives the bottom of the liquid container (98) on the driver's seat (41) side of the exterior wall (96) of the handle post (34) on which the handle (35) is erected. The traveling work machine according to any one of claims 1 to 3, wherein a container sandwich (97) for pulling the upper portion of the liquid container (98) toward the exterior wall (96) side is provided. And.

In the invention of claim 5, the receiving portion (96a) is composed of a protruding portion that receives a recess at the bottom of the liquid container (98), and the recessed portion (98) that fits the outer periphery of the liquid container (98) on the surface of the exterior wall. The traveling work machine according to claim 4, wherein 96b) is formed.

In the invention of claim 1, the line drawing markers 65L and 65R provided on the left and right sides of the airframe automatically operated by the control device 100 project to the side of the airframe during the transplanting work to draw a groove locus, but the line drawing markers 65L and 65R extend. When the direction is monitored by the sensors 93L and 93R and an obstacle is detected near the tip of the drawing markers 65L and 65R, the control device 100 drives the drawing marker elevating motor 87 to raise and store the drawing marker 65, so that the drawing marker 65 is transplanted near the shore. If there is a risk that the drawing markers 65L and 65R will hit obstacles such as the shore during running, the drawing markers 65L and 65R will rise and retract to prevent damage and the transplanting work can be continued safely.

In the invention of claim 2, in addition to the effect of claim 1, the sensors 93L and 93R on the side overhanging the line drawing markers 65L and 65R irradiate and input only the obstacle detection data to the control device 100. The program becomes simple and the control process becomes fast.

In the invention of claim 3, in addition to the effect of any one of claims 1 or 2, the sensors 93L and 93R have the planting clutch 27a and the seedling planting portion 4 is grounded and the line drawing markers 65L and 65R. Since the sensor operates only during lateral extension, that is, during the transplanting work, the sensors 93L and 93R do not malfunction and move up and down the drawing markers 65L and 65R except for the transplanting work, which causes a dangerous state due to the malfunction. Absent.

In the invention of claim 4, in addition to the effect of any one of claims 1 to 3, the worker sitting in the cockpit 41 of the traveling work machine can use the exterior wall 96 of the handle post 34 away from the engine. A liquid container 98 such as a PET bottle is held in the receiving portion 96a and the container sandwiching 97 provided in the above, and water can be appropriately supplied with drinking water that does not become hot.

In the invention of claim 5, in addition to the effect of claim 4, the liquid container 98 is securely held by the receiving portion 96a, the recessed portion 96b, and the container sandwich 97, and does not fall during the work.

It is a side view which shows an example of the traveling work machine in embodiment of this invention. It is a top view which shows an example of the traveling work machine. It is a block diagram which shows the control system centering on the control device of the traveling work machine. It is explanatory drawing of the autonomous traveling in the field of the traveling work machine. It is explanatory drawing of the automatic turning control which concerns on 1st Embodiment of this invention. It is a flowchart which shows the processing procedure of the automatic turning control which concerns on 1st Embodiment of this invention. It is a flowchart which shows the processing procedure of the control which starts the automatic turning control. It is a flowchart which shows the process process of the control which shifts from the 1st turn operation mode to the 2nd turn operation mode in the automatic turn control. It is an enlarged right side view of the handle post in embodiment of this invention. It is a partially enlarged right sectional view of the handle post.

Hereinafter, embodiments of the traveling work machine disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.
<Overview of traveling work machine>
First, an outline of the traveling work machine according to the embodiment will be described with reference to FIGS. 1 and 2. In the following description, the front-rear direction is the traveling direction when the traveling work machine travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the traveling work machine is the direction from the driver's seat 41 toward the steering wheel 35 when traveling straight (see FIGS. 1 and 2).

The left-right direction is a direction that is horizontally orthogonal to the front-back direction, and defines the left-right direction toward the "front" side. That is, with the operator (also referred to as an operator) sitting in the driver's seat 41 and facing forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of explanation, and the present invention is not limited to these directions. Further, in the following description, the main body of the traveling work machine may be referred to as an "airframe".

Hereinafter, the traveling work machine will be described as a riding-type seedling transplanter 1 that is provided with a seedling planting portion 4 that can be raised and lowered via an elevating link mechanism 3 on the rear side of the traveling vehicle body 2 and accepts seedlings in a field. A passenger-type seeder equipped with a seeding device for supplying seeds may also be used.

The traveling vehicle body 2 is a four-wheel drive vehicle including left and right front wheels 10 and rear wheels 11 which are driving wheels. On the front side of the main frame 15 constituting the vehicle body skeleton of the traveling vehicle body 2, a mission case 13 for transmitting a driving force to a seedling planting portion 4 and the like and a driving force supplied from the engine 30, that is, the engine 30 are generated. A hydraulic continuously variable transmission 14 (main speed change mechanism) that outputs rotation to the mission case 13 is provided.

The continuously variable transmission 14 is a so-called HST (Hydro Static Transmission) hydrostatic continuously variable transmission.

The transmission case 13 is provided with an auxiliary transmission mechanism 16 for switching the traveling mode of the traveling vehicle body 2 when traveling on the road in the high-speed mode or when planting seedlings in the low-speed mode. Front wheel final cases 10a are provided on the left and right sides of the mission case 13, and the front wheels 10 are provided on the left and right front axles 10b that project outward from the front wheel support portions that can change the steering direction of the left and right front wheel final cases 10a. Is attached.

Further, on the rear side of the main frame 15, rear wheel gear cases 11a are attached to both left and right sides of the rear frame 22 (see FIG. 2) provided in the lateral direction of the fuselage, and each protrudes outward from the rear wheel gear case 11a. The rear wheels 11 (running wheels) are attached to the left and right rear axles 11b.

Further, left and right link support frames 23 for supporting the elevating link mechanism 3 are projected upward from the upper portion of the rear frame 22. A pair of left and right lower link arms 24 are provided on the lower side of the left and right link support frames 23 and between the left and right. An elevating cylinder 25 (elevating device) operated by flood control is provided between the left and right of the left and right lower link arms 24.

An upper link arm 26 is provided above the elevating cylinder 25, and an elevating link mechanism 3 which is a parallel link mechanism is configured. The left and right lower link arms 24, the elevating cylinder 25, and the other end of the upper link arm 26, one end of which is connected to the traveling vehicle body 2, are attached to the front portion of the seedling planting portion 4. ..

Further, the engine 30 is mounted on the main frame 15. The rotational power of the engine 30 is transmitted to the mission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is divided into running power and external extraction power after being changed by the auxiliary transmission mechanism 16 in the mission case 13.

Further, the rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The flood pressure generated by the hydraulic pump is supplied to the HST 14, the power steering mechanism 88 of the handle 35 (see FIG. 3), the elevating cylinder 25, and the like.

The external extraction power extracted from the rotational power transmitted to the mission case 13 is transmitted to the planting clutch case 27 provided at the rear of the traveling vehicle body 2, and the seedlings are planted from the planting clutch case 27 by the planting transmission shaft 67. It is transmitted to the part 4.

On the other hand, left and right drive shafts 42 are provided at the rear of the mission case 13. The rotational power from the engine 30 is transmitted to the left and right rear wheel gear cases 11a via the transmission case 13 and the drive shaft 42.

A side clutch 44 (see FIG. 3) for turning on / off the power transmission to the left and right drive shafts 42 is arranged on the side superior to the left and right drive shafts 42 in the transmission direction. As shown in FIG. 1, a side clutch pedal 43a for turning on / off the left and right side clutches 44 is provided on the lower front side of the driver's seat 41 and on the left and right sides.

Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44 and then the steering wheel 35 is operated to run the turn, the drive rotation of the rear wheel 11 on the inside of the turn is completely completed. It can be blocked.

As a result, the turning radius can be made smaller than that of the turning running by operating the handle 35 alone, and the work start position of the work strip suitable for the field condition can be appropriately selected, and the work accuracy is improved.

In this way, the transmission to the rear wheel 11 on the inside of the turn can be stopped during the turn, the turning radius can be reduced, and the work position before the turn and the work position after the turn can be prevented from being separated from each other. It eliminates the need to readjust the work start position, improving work efficiency and work accuracy.

In the embodiment, in the automatic turning control described later, when the traveling vehicle body 2 is turned by operating the steering wheel 35, the side clutch 44 located inside the turning is disengaged and the transmission to the rear wheels 11 inside the turning is performed. Is configured to stop.

A bonnet 39 having a control panel 38 for operating each part is provided on the upper part of the front side of the traveling vehicle body 2. The control panel 38 is provided with an automatic turning switch 48 for switching whether or not to perform automatic turning control, which will be described later, a monitor 86 (see FIG. 3), and the like.

Further, the bonnet 39 is provided with a handle 35 for steering the machine body, a shift operation lever 36 for operating the HST 14 and the seedling planting portion 4, an auxiliary shift operation lever 37 for operating the auxiliary transmission mechanism 16.

Further, a front cover 40 that can be opened and closed is provided on the front side of the bonnet 39. Inside the front cover 40, an interlocking mechanism for rotating the lower side of the left and right front wheels 10 and the left and right front wheel final cases 10a is provided for steering the fuel tank, the battery, and the steering wheel 35.

An engine cover 30a that covers the upper portion and the side portion of the engine 30 is provided on the rear side of the bonnet 39 and above the engine 30, and the driver's seat 41 on which the operator is seated is provided on the upper portion of the engine cover 30a. Is provided.

A fertilizer application device 5 is provided on the rear side of the driver's seat 41 and on the rear end side of the main frame 15. The driving force of the fertilizer application device 5 is transmitted by a fertilizer application transmission mechanism provided so as to face the fertilizer application device 5 from the left and right sides of the left and right rear wheel gear cases 11a.

By the way, substantially horizontal floor steps 33 are formed on both the left and right sides of the lower part of the engine cover 30a and the bonnet 39. As shown in FIG. 2, the floor step 33 is partly in a grid pattern. For example, even if the mud on the shoes of the operator walking on the floor step 33 falls, the fallen mud or the like falls on the field.

Further, as shown in FIG. 2, a rear step 330 is connected behind the floor step 33. It is preferable that the surface of the rear step 330 is subjected to anti-slip processing in which, for example, a plurality of protrusion patterns are formed so that the foot does not slip easily during work.

Further, on the front side of the traveling vehicle body 2 and on both the left and right sides, spare seedling frames 50 in which a plurality of spare seedling mounting stands 52 are arranged at intervals in the vertical direction are provided on the seedling frame columns 51, respectively, to plant seedlings. Work materials such as seedlings and fertilizer bags to be replenished can be placed in the attachment part 4.

Further, at the rear end of the elevating link mechanism 3, a seedling tank 53 for loading seedlings to be planted in the field is attached together with a sliding mechanism that slides in the left-right direction. In the seedling tank 53, seedling partition fences 54 long in the vertical direction are arranged at predetermined intervals in the horizontal direction. Below the seedling tank 53, a seedling planting device 55 that scrapes off the loaded seedlings and plants them in the field is arranged.

The seedling planting device 55 is for planting the same number of planting work rows as the number of planting work rows separated by the seedling partition fence 54, that is, eight rows at the same time, and the planting transmission case 56 is spaced below the seedling tank 53 4 The planting rotary 57 is mounted on each of the planting rotary cases 57, which are arranged so as to be arranged, and the seedlings are taken by the planting rod 58 and planted in the field while rotating on both the left and right sides of the planting transmission case 56.

In the fertilizer application device 5, the fertilizer hopper 70 for storing fertilizer is partitioned into the same number as the number of working rows of the seedling planting portion 4 (8 rows in the example shown in FIG. 2). Since the fertilizer hopper 70 for eight rows is long in the left-right direction, the convenience of putting in and taking off fertilizer is reduced. Therefore, the fertilizer hopper 70 is divided into four rows and arranged side by side, respectively. May be good.

At the lower part of the fertilizer application hopper 70, a feeding device 71 for supplying a set amount of fertilizer is provided for each row. Below the feeding device 71, ventilation ducts 72 through which the transport air for moving fertilizer passes are provided in the left-right direction of the machine body. Below the feeding device 71, a fertilizer application hose 73 for guiding fertilizer is provided in the vicinity of the seedling planting position of the seedling planting portion 4. Further, at one end of the body of the ventilation duct 72, a blower 74 that is operated by an electric motor 76 for a blower to generate a transport air is provided.

As shown in FIGS. 1 and 2, below the seedling planting portion 4, a center float 62C that slides in contact with the field scene and two side floats 62L and 62R on each side rotate around the axis. It is provided freely. The center float 62C and the left and right side floats 62L and 62R may be collectively referred to as the float 62.

Further, below the seedling planting portion 4, a ground leveling rotor 63 for leveling the unevenness of the field scene is provided on the front side of the machine body with respect to the float 62. For example, the driving force is transmitted from the rear wheel gear cases 11a on the left and right sides to the ground leveling rotor 63 via the rotor transmission shaft 63a.

Further, as shown in FIG. 1, on the left and right sides of the seedling planting portion 4, one of the left and right sides is in contact with the field scene, and a groove used as a guide for running in the next work line (next step) is provided in the field scene. The line drawing markers 65L and 65R drawn on the above are provided, respectively. The left and right line drawing markers 65L and 65R are separated and stored upward when one side of the left and right is grounded, and when the seedling planting portion 4 is raised during turning, both the left and right sides are separated and stored upward, and the seedling planting portion 4 is stored after turning. When is lowered, one side on the left and right is separated and stored upward, and the other side touches the ground.

Ultrasonic sensors 93L and 93R are provided on the left and right side surfaces of the fertilizer application hopper 70, and the front of the vicinity where the drawing markers 65L and 65R touch the ground is illuminated to monitor the presence of obstacles such as shores. When the ultrasonic sensors 93L and 93R detect an obstacle such as a shore, the control device 100 described later drives the drawing marker elevating motor 87 to separately store the drawing markers 65L and 65R that are in contact with the ground. The ultrasonic sensors 93L and 93R reduce the data processing load of the control device 100 by irradiating only the grounded side of the left and right line drawing markers 65L and 65R to detect obstacles.

Further, as shown in FIGS. 1 and 2, a center mascot 66 long in the vertical direction is provided in the front left and right center portion of the bonnet 39, and the center mascot 66 is formed in the field by the left and right line drawing markers 65L and 65R. By navigating along the groove trajectory, it is possible to carry out transplantation running along the immediately preceding work line, improve work accuracy, and prevent non-work.

Depending on the soil quality of the field, the grooves formed by the left and right line drawing markers 65 may be immediately buried, and the guideline for running may disappear. In such a case, it is preferable to use the left and right side markers 19L and 19R provided on the front side of the machine body with respect to the left and right line drawing markers 65L and 65R. That is, by moving the left and right side markers 19L and 19R toward the outside of the machine body and locating the side markers 19 above the planted seedlings, the planting work can be performed along with the planting of the seedlings in the previous work line. become.

Further, as shown in FIG. 1, the rice transplanter 1 includes a position acquisition device 150. The position acquisition device 150 receives positioning information from a positioning means such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System), and creates and acquires the current position information of the aircraft based on the received positioning information. The position acquisition device 150 is attached to the attachment stay 59, for example, and is arranged above the traveling vehicle body 2.

The straight-ahead control program and the turning control program created based on the position information by the position acquisition device 150 are stored in different places from each other. The straight-ahead control program is stored in, for example, the straight-ahead control ECU (Electronic Control Unit) 100a in the position acquisition device 150, and the swivel control program is stored in, for example, the swivel control ECU 100b housed in the bonnet 39. .. The straight-ahead control ECU 100a and the turning control ECU 100b are included in the control device 100 (see FIG. 3) described later.

9 and 10 show side views of the handle post 34 that covers the support portion of the handle 35 that stands upright from the main frame 15. A receiving portion 96a for receiving the bottom of the liquid container 98 such as a PET bottle and a recessed portion 96b for fitting the side surface of the liquid container 98 are formed on the exterior wall 96 on the driver's seat 41 side, and the liquid container has a U-shape in plan view above the recessed portion 96b. A container sandwich 97 that sandwiches 98 is provided. The container sandwich 97 attracts and holds the liquid container 98 to the exterior wall 96 by a compression spring 97a provided inside the exterior wall 96, a pin, a washer, or the like. When using it, the operator picks it up with his fingers and pulls it out. Further, the receiving portion 96a is composed of a protruding portion that receives a recess in the bottom of the liquid container 98. Therefore, since the bottom surface of the liquid container 98 is relatively gripped by the protruding portion, it is stable even if the vehicle body shakes.

Therefore, the worker sitting in the driver's seat 41 can hold the liquid container 98 on the outer wall 96 of the handle post 34 and remove it appropriately so that the worker can drink it, but since it is located away from the engine 30. It's hard to get hot.
<Control system for traveling work equipment>
Next, the control system of the seedling transplanter 1 will be described with reference to FIG. FIG. 3 is a block diagram showing a control system centered on the control device 100 in the rice transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and includes a control device (hereinafter, referred to as a controller) 100 for controlling each part.

The controller 100 is provided with a processing unit having a CPU (Central Processing Unit) and a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, and these are connected to each other. It is possible to exchange signals with each other. A computer program or the like for controlling the seedling transplanter 1 is stored in the storage unit. The controller 100 exerts each function by reading a computer program or the like stored in the storage unit.

The controller 100 includes, for example, actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a planted clutch operating solenoid 83, a side clutch operating solenoid 84, an HST motor 85, a drawing marker elevating motor 87, and a steering motor 95. Be connected.

The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating the throttle that adjusts the intake amount of the engine 30. The hydraulic control valve 81 controls the expansion / contraction operation of the elevating cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The planting clutch operating solenoid 83 operates the planting clutch 27a.

The side clutch operating solenoid 84 operates the side clutch 44 that switches the power transmission state to the rear wheels 11. The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch operating solenoids 84 are provided corresponding to each side clutch 44.

The HST motor 85 changes the inclination angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14. The steering motor 95 is a motor that drives the steering wheel 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see FIG. 1), which are traveling wheels, when automatic turning control is performed. The steering motor 95 rotates the steering wheel 35. The drawing marker elevating motor 87 moves the drawing marker 65 up and down, and controls the elevating and lowering by the obstacle detection signals of the ultrasonic sensors 93L and 93R.

Further, the controller 100 is connected to the rotation speed sensor 90, the steering amount sensor 91, the tilt sensor 92, the ultrasonic sensor 93, the ultrasonic sensors 93L, 93R and the like, which are detection devices. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11 which are traveling wheels, and detect the rotation speeds of the left and right rear wheels 11, respectively. The rotation speed sensor 90 may detect the rotation speed of the left and right front wheels 10.

The steering amount sensor 91 detects the operating amount of the steering wheel 35, which is a steering device, that is, the steering amount (steering angle) of the front wheels 10. The steering amount is detected in each of the left and right directions with reference to the case where the operation amount of the steering wheel 35 is zero, that is, with reference to the time when the traveling vehicle body 2 travels straight. The tilt sensor 92 detects the tilt angle, which is the tilt of the traveling vehicle body 2.
The ultrasonic sensors 93L and 93R irradiate the line drawing markers 65L and 65R toward the front near the overhang to detect obstacles such as the shore in front of the line drawing markers 65L and 65R near the tip.

Further, as operation signals, signals are input to the controller 100 from the shift operation lever 36, the auxiliary shift operation lever 37, the planting portion automatic elevating switch 47, the automatic turning switch 48, the line drawing marker automatic elevating switch 49, and the like.

The planting portion automatic raising / lowering switch 47 is a switch for switching whether or not to automatically raise / lower the seedling planting portion 4 in conjunction with the operation amount of the handle 35, that is, the steering amount of the front wheels 10. When the planting portion automatic raising / lowering switch 47 is “ON”, control for automatically raising / lowering the seedling planting portion 4 is executed in conjunction with the steering amount. On the other hand, when the planting portion automatic raising / lowering switch 47 is “OFF”, the control for automatically raising / lowering the seedling planting portion 4 in conjunction with the steering amount is not executed.

The draw marker automatic up / down switch 49 is a switch for switching whether or not to automatically raise / lower the draw marker 65 in conjunction with the operation amount of the handle 35, that is, the steering amount of the front wheels 10. When the draw marker automatic elevating switch 49 is “ON”, the control for automatically elevating the draw marker 65 in conjunction with the steering amount is executed. Then, the ultrasonic sensors 93L and 03R are activated. On the other hand, when the draw marker automatic lift switch 49 is "OFF", the control for automatically raising and lowering the draw marker 65 in conjunction with the steering amount is not executed.

The automatic turning switch 48 is a rebound switch with a lamp, and is a switch for switching whether to start or stop automatic turning. The automatic turning switch 48 is turned on while the operator turns it "ON" and the automatic turning is performed, and when the automatic turning is completed, the automatic turning switch 48 is turned "OFF" and turned off. Further, the automatic turning switch 48 is turned "OFF" by the operator during automatic turning, and turns off when the automatic turning is stopped. As a result, the operator can recognize whether or not the vehicle is automatically turning.

Further, the current position information of the aircraft is input to the controller 100 from the position acquisition device 150. Based on the position information, the controller 100 executes an autonomous traveling mode in which the aircraft automatically travels while performing work. The automatic turning switch 48, the rotation speed sensor 90, the steering amount sensor 91, the steering motor 95, the steering wheel 35, and the position acquisition device 150 constitute the control system C of the automatic turning mode described later, centering on the controller 100.
<Autonomous driving mode>
Here, with reference to FIG. 4, automatic traveling (autonomous traveling) including automatic turning in the field by the seedling transplanter 1 will be described. FIG. 4 is an explanatory diagram of autonomous traveling in the field of the rice transplanter 1. The controller 100 (see FIG. 3) has an autonomous traveling mode in which the steering motor 95 (see FIG. 3) is controlled to operate the steering wheel 35 (see FIG. 3) while feeding back the steering amount of the front wheels 10 (see FIG. 1). .. The autonomous driving mode includes an automatic straight-ahead mode and an automatic turning mode.

As shown in FIG. 4, in the autonomous traveling mode, the seedling transplanter 1 automatically performs the seedling planting work in the field F while repeating straight movement and turning along the planned traveling route. As described above, the controller 100 acquires the current position information of the seedling transplanter 1 by the position acquisition device 150 arranged above the traveling vehicle body 2.

The seedling transplanter 1 plantes seedlings while reciprocating within a predetermined work area in the field F. In this case, as for the straight running, the controller 100 executes the automatic straight running mode to automatically run along the set straight running path L1. Further, regarding the turning running, the controller 100 executes the automatic turning mode to automatically turn along the set turning running path L2.

The straight traveling path L1 is parallel to the reference line L0 which is a traveling reference. The reference line L0 is set in the field F according to the planting direction of the seedlings. The controller 100 acquires the start position and the end position of the straight running as the reference start point (point A) and the reference end point (point B), respectively, and registers the line segment connecting the points A and B as the reference line L0.

Further, the controller 100 has a first turning operation mode and a second turning operation mode as the automatic turning mode. The controller 100 executes as an automatic turning mode by combining the first turning operation mode and the second turning operation mode. The controller 100 executes the automatic turning mode when the automatic turning switch 48 is turned "ON" by the operator.

In the first turning operation mode, the controller 100 controls the steering motor so that the steering amount of the steering wheel becomes a predetermined value during the turning of the rice transplanter 1. In this case, the controller 100 executes the process regardless of the position information acquired by the position acquisition device 150.

In the second turning operation mode, the controller 100 causes the seedling transplanter 1 to move to any desired position on the turning traveling path L2 based on the position information acquired by the position acquisition device 150 while the seedling transplanter 1 is turning. Control the steering motor to reach.

As described above, since the controller 100 has the first turning operation mode and the second turning operation mode and executes the first turning operation mode which is not the operation mode based on the position information during the turning of the aircraft, the automatic turning is performed. It is not necessary to use position information for all such controls. Therefore, the control using the position information during the automatic turning is partially improved, and the automatic turning can be performed with simple control.

In the automatic turning mode, the controller 100 is based on the position information acquired by the position acquisition device 150 when the seedling transplanter 1 is turning away from the turning traveling path L2 (large turn or small turn). To correct.
<Automatic turning mode>
Next, the automatic turning mode according to the first embodiment will be described with reference to FIGS. 5 to 8. FIG. 5 is an explanatory diagram of automatic turning control (automatic turning mode) according to the first embodiment. FIG. 6 is a flowchart showing a processing procedure of automatic turning control (automatic turning mode).

Further, FIG. 7 is a flowchart showing a control processing procedure for starting automatic turning control (automatic turning mode). FIG. 8 is a flowchart showing a control processing procedure for shifting from the first turning operation mode to the second turning operation mode.

As shown in FIG. 5, in the automatic turning mode according to the first embodiment, the seedling transplanter 1 that has progressed in the automatic straight-ahead mode has a desired turning start position (agricultural machine such as the seedling transplanter 1) set in advance. In this case, when the operator presses the automatic turning switch 48 (see FIG. 3) at a position close to P1 (which is also the work end position in Article 1), the automatic turning is started.

When the automatic turning is started, the seedling transplanter 1 starts the progress in the first turning operation mode. In the first turning operation mode, the seedling transplanter 1 advances along the turning traveling path L2, and ends the progress in the first turning operation mode at the end position (mode end position) P3 on the turning traveling path L2. When the seedling transplanter 1 finishes the progress in the first turning operation mode, the seedling transplanter 1 starts the progress in the second turning operation mode.

In the second turning operation mode, the seedling transplanter 1 is set to the next article at a preset desired turning end position (in the case of an agricultural machine such as the seedling transplanter 1, it is also the work start position in the next article). The vehicle advances (straight ahead) while gradually correcting the position along the straight travel path L1 of the above, and when the progress in the second turning operation mode is completed, the progress in the next article is started in the automatic straight travel mode.

As shown in FIG. 6, in the first embodiment, the controller 100 determines whether or not the automatic swivel switch 48 has been "ON" operated (step S101). When the automatic swivel switch 48 is "ON" operated (step S101: Yes), the controller 100 determines whether or not the seedling transplanter 1 has reached the swivel start position P1 (step S102). When the controller 100 determines that the turning start position P1 has been reached (step S102: Yes), the controller 100 starts executing the first turning operation mode (step S103).

If the automatic swivel switch 48 is not "ON" operated in the process of step 101 (step S101: No), the controller 100 repeats the process until it is "ON" operated. If the seedling transplanter 1 has not reached the turning start position P1 in the process of step 102 (step S102: No), the controller 100 repeats the process until it reaches the turning start position P1.

Next, the controller 100 determines whether or not the seedling transplanter 1 has reached the end position (mode end position) P3 of the first turning operation mode (step S104). When the controller 100 reaches the mode end position P3 (step S104: Yes), the controller 100 ends the execution of the first turning operation mode (step S105), and starts the execution of the second turning operation mode (step S106).

When the seedling transplanter 1 does not reach the mode end position P3 in the process of step 104 (step S104: No), the controller 100 repeats the process until it reaches the mode end position P3.

Next, the controller 100 determines whether or not the seedling transplanter 1 has reached the turning end position P2, which is also the ending position of the second turning operation mode (step S107). When the controller 100 reaches the turning end position P2 (step S107: Yes), the controller 100 ends the execution of the second turning operation mode (step S108), and ends the turning operation mode.

Here, in the first turning operation mode, the controller 100 sets the steering motor 95 (see FIG. 3) so that, for example, the direction of the airframe is 70 degrees on either the left or right side when the vehicle is traveling straight. Control. The controller 100 controls the steering motor 95 so that when the orientation of the aircraft is 70 degrees, it starts to return to straight running, that is, the orientation of the aircraft is 90 degrees.

When shifting from the first turning operation mode to the second turning operation mode, the controller 100 sets the steering motor 95 so that the direction of the aircraft falls within the range of 0 to 20 degrees with respect to the straight traveling path L1 of the next article. Control. The controller 100 keeps the orientation of the aircraft within the range of 0 to 20 degrees at the start of the second turning operation mode, so that the position information acquired by the position acquisition device 150 (see FIG. 3) in the second turning operation mode can be obtained. Based on this, the direction of the aircraft is corrected so as to follow the straight traveling path L1, and the turning operation is completed.

If the seedling transplanter 1 does not reach the turning end position P2 in the process of step S107 (step S107: No), the controller 100 repeats the process until it reaches the turning end position P2. When the controller 100 ends the turning operation mode, the controller 100 starts executing the automatic straight-ahead mode.

Further, as shown in FIG. 7, in the process of step S101 shown in FIG. 6, the controller 100 is in progress in the automatic straight-ahead mode, and the current position of the seedling transplanter 1 is based on the position information acquired by the position acquisition device 150. It is determined whether or not the distance from to the turning start position P1 is equal to or less than a predetermined distance D (step S1011). The controller 100 calculates the mileage based on the positioning information, and determines whether or not the distance from the current position of the rice transplanter 1 to the turning start position P1 is equal to or less than a predetermined distance D. The controller 100 may calculate the mileage based on the number of rotations of the traveling wheels.

The controller 100 makes the above determination based on the mileage in the previous step, which is the planting step immediately before the planting step in the straight running this time.

It can be predicted that the turning start position P1 in the present planting process is in the vicinity of the advance by the mileage in the previous process in the present planting process. For example, it can be predicted that the position where the turning is actually started in the present planting process is within a range of about ± 5 m with respect to the mileage in the previous process.

Therefore, the controller 100 predicts the turning start position P1 based on the mileage in the previous process. Specifically, the controller 100 predicts the position where the distance traveled straight in the current planting process is the mileage in the previous process as the turning start position P1, and from the current position of the seedling transplanter 1 to the turning start position P1. When the distance is equal to or less than a predetermined distance D, it is determined that the distance is near the turning position, that is, at the ridge.

The turning start position P1 may be recognized by the coordinates based on the positioning information.

When the distance to the turning start position P1 is equal to or less than the predetermined distance D (step S1011: Yes), the controller 100 executes the first turning operation mode when the automatic turning switch 48 is "ON" operated (step S1011: Yes). S1012).

When the distance to the turning start position P1 exceeds the predetermined distance D in the process of step S1011 (step S1011: No), the controller 100 executes the first turning operation mode even if the automatic turning switch is "ON" operated. (Step S1013), the automatic straight-ahead mode is continued.

Further, the end position P3 of the first turning operation mode is set based on the rotation speed of the rear wheel 11 (see FIG. 1) detected (counted) by the rotation speed sensor 90 (see FIG. 3). As shown in FIG. 8, when the controller 100 starts executing the first turning operation mode in the process of step S103 shown in FIG. 6, the controller 100 starts counting the rotation speed of the rear wheels 11 (step S1031). ), It is determined whether or not the rotation speed of the rear wheel 11 has reached a predetermined value (count value) (step S1032).

When the rotation speed of the rear wheel 11 reaches a predetermined count value (step S1032: Yes), the controller 100 determines that the end position P3 has been reached, ends the execution of the first turning operation mode, and makes the second turning. The operation mode is executed (step S1033). If the rotation speed of the rear wheel 11 is not a predetermined count value in the process of step S1032 (step S1032: No), the controller 100 repeats the process until the count value is reached.

As described above, by executing the first turning operation mode at the start of turning of the rice transplanter 1 and the second turning operation mode at the end of turning, automatic turning can be performed with simpler control.

Further, the number of rotations of the rear wheels 11 is counted with the start of the first turning operation mode, and when the number of rotations of the rear wheels 11 reaches a predetermined count value, the mode shifts to the second turning operation mode. Therefore, during automatic turning. Control using position information is partially improved, and automatic turning can be performed with simple control.

Further, when the distance from the current position of the seedling transplanter 1 to the turning start position P1 is short, the first turning operation mode is executed when the automatic turning switch 48 is operated to "ON". On the other hand, when the distance from the current position of the seedling transplanter 1 to the turning start position P1 is long, the first turning operation mode is not executed even if the automatic turning switch 48 is operated. In this way, even if the automatic turning switch 48 is operated (that is, erroneous operation) at a position other than the turning start position P1 such as near the center of the field, the erroneous operation can be prevented by not executing the first turning operation mode. ..

Further, when the second turning operation mode toward the turning end position P2 ends, the mode shifts to the automatic straight-ahead mode and the automatic straight-ahead starts, so that the work can be continuously performed and the workability can be improved. ..

The first turning operation mode is executed and then the second turning operation mode is executed. As a modification, for example, the second turning operation mode is executed and then the first turning operation mode is executed to execute the turning end position. It may reach P2.

In the above description, the sensor is an ultrasonic sensor, but the sensor of the present invention is not limited to the ultrasonic sensor, and any sensor capable of detecting obstacles such as an infrared sensor and a short-range radio wave sensor can be appropriately selected.

4 Planting part 27a Planting clutch 34 Handle post 35 Handle 41 Driver's seat 49 Draw marker automatic lift switch 65L, 65R Draw marker 87 Marker lift motor 93L, 93R Ultrasonic sensor 96 Exterior wall 96a Receiving part 96b Recessed part 97 Container pinch 98 Liquid container 100 control device

Claims (5)

In a traveling work machine in which line drawing markers (65L) and (65R) are provided on the left and right sides of the machine body automatically steerable by the control device (100) so as to be switchable between lateral extension and ascending storage. Sensors (93L) and (93R) that illuminate the front of the drawing markers (65L) and (65R) when they are extended are provided, and the drawing markers (93L) and (93R) that are being extended are provided with the drawing markers (93L) and (93R). When an obstacle is detected in front of the tips of the 65L) and (65R), the control device (100) drives the drawing marker elevating motor (87) to drive the drawing marker (65L) and (65R) in the overhanging direction. A traveling work machine characterized by raising and storing). The first aspect of claim 1, wherein the left and right line drawing markers (65L) and (65R) project only one side, and only the sensors (93L) and (93R) on the projecting side perform the irradiation operation. Traveling work machine. The traveling work machine according to any one of claims 1 or 2, wherein the sensors (93L) and (93R) operate only during a transplanting operation. The receiving portion (96a) that receives the bottom of the liquid container (98) on the cockpit (41) side of the exterior wall (96) of the handle post (34) on which the handle (35) is erected, and the liquid container (98). The traveling work machine according to any one of claims 1 to 3, wherein a container sandwich (97) is provided so as to draw the upper portion of the above to the exterior wall (96) side. The receiving portion (96a) is composed of a protruding portion that receives a recess at the bottom of the liquid container (98), and a recess (96b) that fits the outer periphery of the liquid container (98) is formed on the surface of the exterior wall. The traveling work machine according to claim 4, which is characterized.