JP2021029235A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of making automatic turning with simple control.SOLUTION: A work vehicle includes: travelling wheels attached to a travelling vehicle body; a farm field work device for executing work in a farm field; a steering device for adjusting a steering amount of the travelling wheels; a motor for driving the steering device; and a control device for controlling the motor. When the farm field work device is brought into a non-working state from a working state, the control device controls the motor so that the steering amount becomes a predetermined steering amount, and starts the turning of the travelling vehicle body.SELECTED DRAWING: Figure 2

Description

The present invention relates to a work vehicle.

Conventionally, for a work vehicle that performs work while traveling in a field, position information between a work start position and a work end position is acquired, a reference line is created from the acquired position information, and automatic traveling is performed along the created reference line. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-21890

In the work vehicle as described above, it is conceivable to automatically turn based on the acquired position information. However, when the automatic turning is started based on the acquired position information, the control of the work vehicle becomes complicated.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle capable of performing automatic turning with simple control.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to one aspect of the embodiment includes a traveling wheel (10) attached to a traveling vehicle body (2) and a field where work is performed in the field. A work device (4), a steering device (35) for adjusting the steering amount of the traveling wheels (10), a motor (95) for driving the steering device (35), and a control device (100) for controlling the motor (95). The control device (100) controls the motor (95) so that the steering amount becomes a predetermined steering amount when the field work device (4) changes from the working state to the non-working state. The turning of the traveling vehicle body (2) is started.

According to one aspect of the embodiment, automatic turning can be performed with simple control.

FIG. 1 is a side view showing a work vehicle. FIG. 2 is a plan view showing a work vehicle. FIG. 3 is a block diagram showing a control system centered on the control device of the rice transplanter according to the first embodiment. FIG. 4 is a diagram illustrating a mechanism for switching between operation and stop of the diff lock mechanism. FIG. 5 is a diagram showing an example of a rotating arm portion of a cable and a diff lock operating shaft portion. FIG. 6A is a diagram showing the running of the seedling transplanter in the first mode. FIG. 6B is a diagram showing the running of the seedling transplanter in the second mode. FIG. 7 is an explanatory diagram of autonomous running of the seedling transplanter in the field. FIG. 8 is a flowchart illustrating the automatic turning start process according to the first embodiment. FIG. 9 is a flowchart illustrating the automatic turning process according to the first embodiment. FIG. 10 is a block diagram showing a control system centered on the controller of the rice transplanter according to the second embodiment. FIG. 11A is a diagram showing the running of the seedling transplanter in the first turning mode. FIG. 11B is a diagram showing the running of the seedling transplanter in the second turning mode. FIG. 12A is a flowchart illustrating the automatic turning process according to the second embodiment. FIG. 12B is a flowchart illustrating the automatic turning process according to the second embodiment. FIG. 13 is a side view of the spare seedling loading table developed. FIG. 14 is a plan view showing a part of the spare seedling stand. FIG. 15 is a side view showing a part of the spare seedling stand. FIG. 16 is a side view showing a part of the spare seedling stand when the position of the push-up pin is changed. FIG. 17 is a front view showing a part of the seedling transplanter. FIG. 18 is a side view showing an auxiliary step.

Hereinafter, embodiments of the work vehicle 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.

(First Embodiment)
<Overview of work vehicle>
First, an outline of the work vehicle 1 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view showing the work vehicle 1. FIG. 2 is a plan view showing the work vehicle 1.

In the following description, the front-rear direction is the traveling direction when the work vehicle 1 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 work vehicle 1 is a direction from the driver's seat 41 toward the steering wheel 35 (steering device) 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 left-right toward the "front" side. That is, when the operator (also referred to as an operator) is seated in the driver's seat 41 and faces 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 work vehicle 1 may be referred to as an "airframe". In the embodiment, the work vehicle will be described as a riding-type seedling transplanter 1 having a seedling planting unit 4 as a field work device and receiving seedlings in the field. As shown in FIGS. 1 and 2, the seedling transplanter 1 is provided with an elevating and elevating seedling planting portion 4 for planting seedlings in a field via an elevating link mechanism 3 on the rear side of the traveling vehicle body 2.

The main body portion of the fertilizer application device 5 is arranged on the upper rear side of the traveling vehicle body 2. If the work vehicle is not the seedling transplanter 1, a seeding device or the like for supplying seeds may be provided as the work device.

The traveling vehicle body 2 is a four-wheel drive vehicle including left and right front wheels 10 and rear wheels 11, which are traveling wheels and driving wheels. On the front side of the main frame 15 that constitutes the vehicle body skeleton of the traveling vehicle body 2, a mission case 13 that transmits the driving force to the seedling planting portion 4 and the like, and the driving force supplied from the engine 30, that is, the engine 30 is generated. A hydraulic continuously variable transmission 14 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. Hereinafter, the case where the continuously variable transmission is HST14 will be described.

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 protruding outward from the front wheel support portions whose steering directions of the left and right front wheel final cases 10a can be changed. Is attached.

Further, on the rear side of the main frame 15, rear wheel gear cases 11a are attached to the left and right sides of the rear frame 22 (see FIG. 2) provided in the lateral direction of the machine body, and the left and right rear wheel gear cases 11a project outward from each other. Rear wheels 11 (running wheels) are attached to the rear axles 11b, respectively.

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 transmission 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 inner side of the turn is depressed to disengage the side clutch 44 and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inner side of the turn is completely completed. It can be blocked.

A bonnet 39 is provided on the upper part of the front side of the traveling vehicle body 2 in which a control panel 38 for operating each part is arranged on the upper part. The control panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

Further, the bonnet 39 has a steering wheel 35 for steering the machine body, a speed change operation lever 36 (forward / backward switching operation part) for operating the HST 14 and the seedling planting part 4, and an auxiliary speed change operation lever 37 (vehicle speed) for operating the auxiliary speed change mechanism 16. Adjustment unit) etc. are provided.

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.

A substantially horizontal floor step 33 is formed on both the left and right sides of the lower portion of the engine cover 30a and the bonnet 39. As shown in FIG. 2, the floor step 33 has a partial grid pattern. For example, even if the mud on the shoes of the operator walking on the floor step 33 falls, the fallen mud 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 for arranging a plurality of spare seedling mounting stands 52 on the seedling frame columns 51 at intervals in the vertical direction are provided, respectively, to plant seedlings. Work materials such as seedlings and fertilizer bags to be replenished can be placed in the attachment part 4.

Further, a seedling tank 53 for loading seedlings to be planted in the field is attached to the rear end of the elevating link mechanism 3 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 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 application 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 application hopper 70 has a so-called side fertilizer structure in which those divided into four rows are arranged side by side. 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, either the left or right side is in contact with the field scene, and a groove is formed as a guide for running in the next work line (next step). Draw markers 65 are provided respectively. When one of the left and right sides of the line drawing marker 65 touches the ground, the other side is separated upward, when the seedling planting portion 4 is raised during turning, both the left and right sides are separated upward, and when the seedling planting portion 4 is lowered after turning, One side on the left and right is separated upward and the other side is grounded.

Further, as shown in FIGS. 1 and 2, a center mascot 66 which is long in the vertical direction is provided at the center left and right of the traveling vehicle body 2 and in front of the bonnet 39. By aligning the center mascot 66 with the groove formed in the field by the left and right line drawing markers 65, it is possible to run according to the work position of the immediately preceding work line, improving work accuracy and preventing non-work. be able to.

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

Further, as shown in FIG. 1, the rice transplanter 1 includes a position acquisition device 150 (distance measuring unit). The position acquisition device 150 acquires the current position of the seedling transplanter 1. The position acquisition device 150 acquires the turning position in the field and detects the distance to the turning position. The position acquisition device 150 is, for example, a camera, an ultrasonic sensor, an orientation sensor, a positioning means such as a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System). The position acquisition device 150 may be composed of a plurality of devices.

For example, the position acquisition device 150 measures the distance to the ridge and the distance to the turning position. Further, for example, the position acquisition device 150 receives the positioning information from the positioning means, 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.

<Control system for work vehicle>
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 of the rice transplanter 1 according to the first embodiment. The seedling transplanter 1 can control 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 the like, 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 that controls 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.

In the controller 100, for example, as actuators, a throttle motor 80, hydraulic control valves 81, 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 (motor). ), The differential lock switching motor 96, etc. are 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 (see FIG. 1). 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 draw marker elevating motor 87 raises and lowers the draw marker 65.

The diff lock switching motor 96 operates the differential lock mechanism 97 (hereinafter, referred to as a diff lock mechanism (same speed rotation mechanism)) that rotates the left and right traveling wheels, specifically, the left and right front wheels 10 at the same rotation speed, and It is a motor that switches between operation and stop.

As shown in FIG. 4, the diff lock switching motor 96 operates the diff lock mechanism 97 by rotating the rotation arm portion 111 of the diff lock operating shaft portion 110 and the motor gear plate 113 connected by the cable 112. Switch the operation stop. FIG. 4 is a diagram illustrating a mechanism for switching between operation and stop of the diff lock mechanism 97. The rotation of the motor gear plate 113 is transmitted to the rotating arm portion 111 of the diff lock operating shaft portion 110 by the cable 112, and the operation and the operation stop of the diff lock mechanism 97 are switched.

The motor gear plate 113 includes a gear portion 113a that meshes with the rotation shaft of the diff lock switching motor 96. The rotation of the rotation shaft of the diff lock switching motor 96 is transmitted to the motor gear plate 113 via the gear portion 113a.

An arcuate elongated hole 113b is formed in the motor gear plate 113, and a stopper 114 is inserted into the elongated hole 113b. When the motor gear plate 113 rotates and comes into contact with the stopper 114, the rotation of the motor gear plate 113 is stopped. At this time, an increase in the current value of the diff lock switching motor 96 is detected, and the diff lock switching motor 96 stops.

The diff lock switching motor 96 may be stopped by detecting the position of the motor gear plate 113 at which the operation and stop of the diff lock mechanism 97 are switched by a limit switch (not shown). The limit switch is, for example, a potentiometer (angle sensor). As a result, the load on the diff lock switching motor 96 can be reduced, and the durability of the diff lock switching motor 96 can be improved.

The diff lock switching motor 96 operates according to the steering amount of the steering wheel 35. Specifically, the diff lock switching motor 96 operates when the steering amount of the handle 35 reaches a predetermined value (predetermined steering amount), and rotates the motor gear plate 113. As a result, the diff lock mechanism 97 operates, and the left and right front wheels 10 rotate at the same rotation speed.

Further, when the rotation speed of the rear wheel 11 reaches a predetermined release rotation speed after the diff lock mechanism 97 is activated, the diff lock switching motor 96 rotates the motor gear plate 113 so that the operation of the diff lock mechanism 97 is stopped. .. As a result, the operation of the diff lock mechanism 97 is stopped, and the left and right front wheels 10 can rotate at different rotation speeds.

The diff lock mechanism 97 may be activated or stopped in response to an operator's pedal operation. Further, as shown in FIG. 5, a spring 115 may be provided between the cable 112 and the rotating arm portion 111 of the diff lock operating shaft portion 110. FIG. 5 is an example showing the rotating arm portion 111 of the cable 112 and the diff lock operating shaft portion 110. As a result, the extra pulling allowance of the cable 112 caused by the rotation error of the diff lock switching motor 96 can be absorbed by the spring 115, the load on the diff lock switching motor 96 is reduced, and the durability of the diff lock switching motor 96 is improved. be able to.

Returning to FIG. 3, the controller 100 is connected to the rotation speed sensor 90, the steering amount sensor 91, the tilt sensor 92, 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 the case where the operation amount of the steering wheel 35 is zero as a reference position, that is, with the traveling vehicle body 2 traveling straight ahead as a reference position. The tilt sensor 92 detects the tilt angle, which is the tilt of the traveling vehicle body 2.

Further, in the controller 100, as operation signals, a shift operation lever 36, an auxiliary shift operation lever 37, a mode changeover switch 46, a planting part elevating switch 47 (elevation changeover operation part), an automatic turning changeover switch 48, and a line drawing marker automatic elevating A signal is input from a switch 49 or the like.

The mode changeover switch 46 is a switch for switching whether or not automatic turning is possible. Specifically, the mode changeover switch 46 is a switch for switching the traveling mode to the first mode or the second mode.

As shown in FIG. 6A, the first mode is a mode in which the traveling vehicle body 2 is stopped at a predetermined turning position. FIG. 6A is a diagram showing the running of the seedling transplanter 1 in the first mode. The predetermined turning position is, for example, the end position of automatic straight-ahead in the automatic straight-ahead mode described later.

In the second mode, as shown in FIG. 6B, when the seedling planting portion 4 changes from the working state to the non-working state between a predetermined turning position and a predetermined turning position. , It is a mode to start automatic turning. FIG. 6B is a diagram showing the running of the seedling transplanter 1 in the second mode.

Returning to FIG. 3, the planting portion elevating switch 47 is a switch for switching whether or not to elevate the seedling planting portion 4. The planting portion elevating switch 47 is changed to the "ascending" and "descending" positions.

When the planting portion elevating switch 47 is in the "elevation" position, the seedling planting portion 4 rises to a predetermined non-working position, and the seedling planting device 55 is stopped in the non-working state. When the planting portion elevating switch 47 is in the "descent" position, the seedling planting portion 4 descends to a predetermined working position, and the seedling planting device 55 is in a working state in which it operates. That is, the planting portion elevating switch 47 is a switch that detects the working state of the seedling planting portion 4. A switch for detecting the working state of the seedling planting unit 4 may be separately provided.

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. 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 changeover switch 48 is a switch for switching whether or not automatic turning can be executed. When the automatic turning changeover switch 48 is set to "ON", automatic turning can be executed. When the automatic turning changeover switch 48 is set to "OFF", automatic turning cannot be executed. When the automatic turning changeover switch 48 is set to "OFF", the automatic turning is not executed even if the condition for executing the automatic turning is satisfied.

Further, the current position information of the aircraft is input to the controller 100 from the position acquisition device 150. The controller 100 executes an autonomous traveling mode in which the aircraft automatically travels while performing work.

<Autonomous driving mode>
Here, with reference to FIG. 7, automatic traveling (autonomous traveling) including automatic turning in the field by the seedling transplanter 1 will be described. FIG. 7 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. 7, in the autonomous traveling mode, the seedling transplanter 1 automatically performs the seedling planting work in the field 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 and the information on the turning position 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. 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, so that the automatic turning along the turning running path L2 is executed.

The straight-ahead travel path L1 is parallel to the reference line L0, which is a travel reference. The reference line L0 is set in the field 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 stores the line segment connecting the points A and B as the reference line L0.

The controller 100 executes the first turning operation mode in which the steering motor 95 is controlled so that the steering amount of the handle 35 becomes a predetermined value (predetermined steering amount) during the turning of the seedling transplanter 1 as the automatic turning mode. In this case, the controller 100 executes the process regardless of the position information acquired by the position acquisition device 150.

In the controller 100, while the seedling transplanter 1 is turning, the seedling transplanter 1 reaches any desired position on the set turning travel path L2 based on the position information acquired by the position acquisition device 150. The second turning operation mode for controlling the steering motor 95 may be executed as the automatic turning mode. Further, the controller 100 may perform automatic turning by combining the above-mentioned two automatic turning modes (first turning operation mode and second turning operation mode).

<Automatic turning start processing>
Next, the automatic turning start processing according to the first embodiment will be described with reference to the flowchart of FIG. FIG. 8 is a flowchart illustrating the automatic turning start process according to the first embodiment.

The controller 100 determines whether or not the traveling mode is the first mode (S100). Specifically, the controller 100 determines the position of the mode changeover switch 46.

When the traveling mode is the first mode (S100: Yes), the controller 100 determines whether or not the position of the traveling vehicle body 2 has reached a predetermined turning position (S101). The controller 100 determines whether or not the traveling vehicle body 2 has reached a predetermined turning position by the position acquisition device 150. For example, the controller 100 measures the distance to the ridge with a camera, and sets a position where the distance to the ridge becomes a preset predetermined turning distance as a turning position. That is, the controller 100 determines that the traveling vehicle body 2 has reached a predetermined turning position when the distance to the ridge reaches a predetermined turning distance.

The controller 100 may determine whether or not the traveling vehicle body 2 has reached a predetermined turning position based on the distance of the straight traveling path L1 in the previous work process and the rotation speed of the rear wheels 11. The controller 100 calculates the distance of the current work process from the rotation speed of the rear wheels 11 and compares it with the distance of the straight traveling path L1 in the previous work process to determine whether or not the traveling vehicle body 2 has reached the turning position. You may judge.

When the traveling vehicle body 2 reaches a predetermined turning position (S101: Yes), the controller 100 stops the traveling vehicle body 2 (S102). When the traveling vehicle body 2 is not in the predetermined turning position (S101: No), the controller 100 continues the seedling planting operation (S103).

When the traveling mode is the second mode (S100: No), the controller 100 determines whether or not the seedling planting unit 4 is in the working state (S104). Specifically, the controller 100 determines whether or not the planting portion elevating switch 47 is in the "descent" position.

The controller 100 continues the seedling planting operation when the seedling planting unit 4 is in the working state (S104: Yes), that is, when the planting unit elevating switch 47 is in the “descending” position (S103).

In the controller 100, when the seedling planting portion 4 is in the non-working state (S104: No), that is, when the planting portion elevating switch 47 is in the “elevation” position, the position of the traveling vehicle body 2 is within the swivel range. It is determined whether or not there is (S105). The swivelable range is a range including a position from a predetermined swivel position to a predetermined distance before the predetermined swivel position. The predetermined distance is a preset distance.

When the position of the traveling vehicle body 2 is within the turning range (S105: Yes), the controller 100 executes automatic turning (S106). That is, the controller 100 starts automatic turning when the distance to the predetermined turning position is less than or equal to the predetermined distance. The controller 100 executes automatic turning when the position of the traveling vehicle body 2 is within the turning range and the seedling planting portion 4 is in the non-working state.

When the position of the traveling vehicle body 2 is not within the turning range (S105: No), the controller 100 continues to advance the traveling vehicle body 2 (S107). That is, the controller 100 prohibits automatic turning when it is longer than a predetermined turning position and longer than a predetermined distance.

<Automatic turning process>
Next, the automatic turning process according to the first embodiment will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart illustrating the automatic turning process according to the first embodiment.

The controller 100 controls the steering motor 95 so that the steering amount of the steering wheel 35 becomes a predetermined value (S200). The controller 100 operates the diff lock mechanism 97 by the diff lock switching motor 96 (S201).

The controller 100 starts measuring the rotation speed of the rear wheel 11 by the rotation speed sensor 90 (S202). The rotation speed of the rear wheels 11 may be the average of the rotation speeds of the left and right rear wheels 11, and is the rotation speed of the rear wheels 11 which become the outer wheels when turning and the rotation speeds of the rear wheels 11 which become the inner wheels when turning. You may.

The controller 100 determines whether or not the rotation speed of the rear wheel 11 has reached the first predetermined rotation speed (predetermined rotation speed) (S203). The first predetermined rotation speed is a preset rotation speed, which is the rotation speed at which the handle 35 starts to return to the reference position in order to end the turning. That is, the first predetermined rotation speed is the rotation speed at which the traveling vehicle body 2 turns to the position immediately before the end of turning.

When the rotation speed of the rear wheel 11 is lower than the first predetermined rotation speed (S203: No), the controller 100 continues turning with the diff lock mechanism 97 activated (S202).

When the rotation speed of the rear wheel 11 becomes equal to or higher than the first predetermined rotation speed (S203: Yes), the controller 100 stops the operation of the diff lock mechanism 97 by the diff lock switching motor 96 (S204), and the steering motor 95 refers to the steering wheel 35. Return to the position (S205).

The timing at which the operation of the diff lock mechanism 97 is stopped may be set based on the steering amount of the steering wheel 35. Further, in the automatic turning control, turning may be performed while correcting the direction of the traveling vehicle body 2 based on the position information obtained by the positioning means. Further, the controller 100 may operate the diff lock mechanism 97 at the time of turning other than automatic turning, that is, at the time of turning by the operation of the operator.

<Effect>
The seedling transplanting machine 1 includes a front wheel 10 attached to a traveling vehicle body 2, a seedling planting portion 4 for working in a field, a handle 35 for adjusting the steering amount of the front wheel 10, and a steering motor 95 for driving the handle 35. A controller 100 that controls the steering motor 95 is provided. The controller 100 controls the steering motor 95 so that the steering amount becomes a predetermined value when the seedling planting portion 4 changes from the working state to the non-working state, and starts turning the traveling vehicle body 2.

As a result, the rice transplanter 1 can automatically rotate with simple control. For example, the seedling transplanter 1 can perform automatic turning without using a positioning means such as GPS. Further, since the seedling transplanter 1 starts automatic turning when the seedling planting unit 4 changes from the working state to the non-working state, the automatic turning can be started with a small number of operations, and the operability can be improved. ..

Further, the seedling transplanter 1 is attached to the traveling vehicle body 2 and includes an elevating cylinder 25 for raising and lowering the seedling planting portion 4. When the seedling planting portion 4 is raised by the elevating cylinder 25, the controller 100 controls the steering motor 95 and starts turning the traveling vehicle body 2.

As a result, the seedling transplanter 1 can start automatic turning based on a small number of operations, and the operability can be improved.

Further, the seedling transplanter 1 includes a mode changeover switch 46. The mode changeover switch 46 sets the steering amount of the steering wheel 35 to a predetermined value in the first mode in which the traveling vehicle body 2 is stopped at a predetermined turning position and when the seedling planting portion 4 changes from the working state to the non-working state. The steering motor 95 is controlled so as to switch between the second mode and the second mode in which the traveling vehicle body 2 starts turning.

As a result, the seedling transplanter 1 can change a plurality of modes based on the operation of the mode changeover switch 46, and can improve operability and workability.

Further, the seedling transplanter 1 includes a diff lock mechanism 97 that rotates the left and right front wheels 10 at the same rotation speed. The controller 100 rotates the left and right front wheels 10 at the same rotation speed by operating the diff lock mechanism 97 when the seedling planting portion 4 changes from the working state to the non-working state.

As a result, the seedling transplanter 1 can suppress the front wheels 10 from being stuck during turning, for example, automatic turning, and can improve the running performance of the seedling transplanter 1 in the field. The seedling transplanter 1 operates the diff lock mechanism 97 to automatically turn, so that the turning radius and the drive during the automatic turning are stable, and the turning accuracy by the automatic turning can be improved.

In addition, the seedling transplanter 1 can prevent the field from becoming rough. Further, in the rice transplanter 1, the diff lock mechanism 97 is operated by the controller 100 when turning, so that the operation by the operator can be omitted and the workability can be improved.

Further, the rice transplanter 1 includes a rotation speed sensor 90 that detects the rotation speed of the rear wheel 11. The controller 100 stops the operation of the diff lock mechanism 97 when the left and right front wheels 10 start rotating at the same rotation speed and the rotation speed after the traveling vehicle body 2 starts turning reaches the first predetermined rotation speed.

As a result, the seedling transplanter 1 can stop the operation of the diff lock mechanism 97 based on the rotation speed of the rear wheel 11, omitting the operation by the operator, and improving the workability. Further, the seedling transplanter 1 can stop the operation of the diff lock mechanism 97 immediately before the end of turning, for example, and can prevent the field from becoming rough.

(Second Embodiment)
Next, the seedling transplanter 1 according to the second embodiment will be described. Here, the parts different from those of the first embodiment will be mainly described. The same configurations as those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and detailed description thereof will be omitted.

As shown in FIG. 10, the controller 100 receives a signal from the swivel mode changeover switch 98 (swivel mode switching operation unit) as an operation signal. FIG. 10 is a block diagram showing a control system centered on the controller 100 of the rice transplanter 1 according to the second embodiment.

The swivel mode changeover switch 98 is a switch for switching the swivel mode to the first swivel mode, the second swivel mode, and the straight-ahead mode.

In the first turning mode, as shown in FIG. 11A, when the seedling transplanter 1 is moving straight and the seedling planting unit 4 changes from the working state to the non-working state, the automatic turning is executed. The mode. FIG. 11A is a diagram showing the running of the seedling transplanter 1 in the first turning mode.

As shown in FIG. 11B, the second turning mode is an automatic turning mode in the case of so-called back turning with a don, in which the rice transplanter 1 advances to the ridge, moves backward for a predetermined distance, and then turns. FIG. 11B is a diagram showing the running of the seedling transplanter 1 in the second turning mode.

In the second turning mode, the speed change operation lever 36 is operated to the reverse side, and after moving backward for a predetermined distance, when the speed change operation lever 36 is operated to the forward side, automatic turning is started. The predetermined distance is a distance at which the rotation speed of the rear wheel 11 measured by the rotation speed sensor 90 becomes the second predetermined rotation speed, and is a distance at which the seedlings planted by the seedling planting unit 4 are not stepped on by the rear wheel 11. .. When the automatic turning is started, the seedling planting portion 4 rises, and the seedling planting portion 4 changes from the working state to the non-working state.

The straight-ahead mode is a mode in which the seedling transplanter 1 is advanced to the ridge. For example, it is used when replenishing seedlings.

<Automatic turning start processing>
Next, the automatic turning process according to the second embodiment will be described with reference to the flowcharts of FIGS. 12A and 12B. 12A and 12B are flowcharts illustrating the automatic turning process according to the second embodiment.

The controller 100 determines whether or not the turning mode is the first turning mode (S300). Specifically, the controller 100 determines the position of the swivel mode changeover switch 98.

When the swivel mode is the first swivel mode (S300: Yes), the controller 100 determines whether or not the seedling planting unit 4 is in the working state (S301). Specifically, the controller 100 determines whether or not the planting portion elevating switch 47 is in the "descent" position.

The controller 100 continues the seedling planting operation when the seedling planting unit 4 is in the working state (S301: Yes), that is, when the planting unit elevating switch 47 is in the “descent” position (S302).

In the controller 100, when the seedling planting portion 4 is in the non-working state (S301: No), that is, when the planting portion elevating switch 47 is in the “elevation” position, the position of the traveling vehicle body 2 is within the swivel range. It is determined whether or not there is (S303).

When the position of the traveling vehicle body 2 is within the turning range (S303: Yes), the controller 100 executes automatic turning (S304). That is, the controller 100 permits automatic turning when the position of the traveling vehicle body 2 is within the turning range.

When the position of the traveling vehicle body 2 is not within the turning range (S303: No), the controller 100 continues to advance the traveling vehicle body 2 (S305). That is, the controller 100 prohibits automatic turning when the position of the traveling vehicle body 2 is not within the turning range.

When the turning mode is not the first turning mode (S300: No), the controller 100 determines whether or not the turning mode is the second turning mode (S306). Specifically, the controller 100 determines the position of the swivel mode changeover switch 98.

When the turning mode is the second turning mode (S306: Yes), the controller 100 determines whether or not the speed change operating lever 36 has been operated to the reverse side (S307).

When the speed change operation lever 36 is on the forward side (S307: No), the controller 100 continues the planting operation (S315).

When the speed change operation lever 36 is on the reverse side (S307: Yes), the controller 100 starts measuring the rotation speed of the rear wheels 11 by the rotation speed sensor 90 (S309). When the speed change operation lever 36 is moved backward, the seedling planting portion 4 is raised, and the seedling planting portion 4 is in a non-working state.

The controller 100 determines whether or not the rotation speed of the rear wheel 11 has reached the second predetermined rotation speed (S310).

When the rotation speed of the rear wheel 11 is less than the second predetermined rotation speed (S310: No), the controller 100 continues to move backward and continues to measure the rotation speed of the rear wheel 11 (S309).

When the rotation speed of the rear wheels 11 reaches the second predetermined rotation speed (S310: Yes), the controller 100 stops the traveling vehicle body 2 (S311). The controller 100 determines whether or not the shift operation lever 36 has been operated to the forward side (S312).

When the speed change operation lever 36 is not operated to the forward side (S312: No), the controller 100 continues to stop the traveling vehicle body 2 (S311).

When the speed change operation lever 36 is operated to the forward side (S3121: Yes), the controller 100 determines whether or not the position of the traveling vehicle body 2 is within the turning range (S313). When the position of the traveling vehicle body 2 is not within the turning range, the controller 100 advances the traveling vehicle body 2 straight (S308). That is, the controller 100 prohibits automatic turning when the position of the traveling vehicle body 2 is not within the turning range.

The controller 100 executes automatic turning when the position of the traveling vehicle body 2 is within the turning range (S314). That is, the controller 100 permits automatic turning when the position of the traveling vehicle body 2 is within the turning range.

When the traveling mode is the straight-ahead mode (S306: No), the controller 100 continues the seedling planting operation (S315).

<Effect>
The controller 100 controls the steering motor 95 after the traveling vehicle body 2 has traveled forward, and has a first turning mode in which the traveling vehicle body 2 starts turning, and a steering motor 95 after the traveling vehicle body 2 has traveled backward. Has a second turning mode in which the running vehicle body 2 is controlled to start turning.

As a result, the seedling transplanter 1 can switch the method of the turning mode by automatic turning according to the field environment, the size of the traveling vehicle body 2, and the work of the headland process. Therefore, the rice transplanter 1 can automatically turn at a turning position according to the working state.

Further, the seedling transplanter 1 is attached to the traveling vehicle body 2 and has an elevating cylinder 25 for raising and lowering the seedling planting portion 4, a planting portion elevating switch 47 for switching the raising and lowering of the seedling planting portion 4 by the elevating cylinder 25, and traveling. The vehicle body 2 includes a shift operation lever 36 for switching forward travel and reverse travel, and a swivel mode changeover switch 98 for switching the swivel mode between the first swivel mode and the second swivel mode. The controller 100 controls the steering motor 95 to turn the traveling vehicle body 2 when the turning mode is the first turning mode and the planting portion raising / lowering switch 47 is operated to raise the seedling planting portion 4. Start. Further, the controller 100 controls the steering motor 95 when the turning mode is the second turning mode and the speed change operation lever 36 is operated to switch the traveling vehicle body 2 from the reverse traveling to the forward traveling, and the traveling vehicle body 2 Start turning.

As a result, the seedling transplanter 1 starts automatic turning when the seedling planting portion 4 rises in the first turning mode. Therefore, the seedling transplanter 1 can reduce the operation of the operator at the time of automatic turning and improve the workability. Further, the rice transplanter 1 starts automatic turning when the speed change operating lever 36 is operated in the second turning mode. Therefore, the seedling transplanter 1 can reduce the operation of the operator at the time of automatic turning and improve the workability.

Further, the rice transplanter 1 includes a position acquisition device 150 that measures a distance to a predetermined turning position. When the distance to the predetermined turning position is less than or equal to the predetermined distance, the controller 100 permits turning in the first turning mode and the second turning mode, and when the distance to the predetermined turning position is longer than the predetermined distance. The first turning mode and the second turning mode are prohibited.

Thereby, for example, the seedling transplanter 1 can prevent the automatic turning from being executed near the center of the work process, and can prevent the automatic turning from being executed due to an erroneous operation.

Further, the rice transplanter 1 includes a rotation speed sensor 90 that measures the rotation speed of the rear wheel 11. When the turning mode is the second turning mode, the controller 100 stops the traveling vehicle body 2 when the rotation speed during reverse travel reaches the second predetermined rotation speed, and the speed change operation lever 36 is operated to operate the traveling vehicle body 2. When the reverse travel is switched to the forward travel, the steering motor 95 is controlled to start turning the traveling vehicle body 2.

As a result, the seedling transplanter 1 can execute automatic turning without stepping on the seedlings planted by the seedling planting unit 4 by the rear wheels 11. In addition, the seedling transplanter 1 automatically stops even when the rear visibility is poor, so that workability can be improved. In addition, the seedling transplanter 1 can improve workability by reducing the number of operations in automatic turning.

(Modification example)
The seedling transplanter 1 may have the following configuration.

The controller 100 may perform the following turns in the automatic turn mode. When the traveling vehicle body 2 reaches the turning position (the end position of the straight running) and the seedling planting portion 4 is raised, the controller 100 has a second turning operation mode in the direction in which the work by the line drawing marker 65 has been performed. Starts turning. Then, when the direction of the traveling vehicle body 2 becomes the first predetermined direction (for example, 60 °) with respect to the straight traveling path L1 due to the turning in the second turning operation mode, the controller 100 changes the automatic turning mode from the second turning operation mode. The mode is changed to the first turning operation mode, and the steering motor 95 is controlled so that the steering wheel 35 becomes the reference position.

Then, when the rotation speed of the rear wheel 11 after the handle 35 reaches the reference position reaches a predetermined rotation speed, the controller 100 changes the turning operation mode from the first turning operation mode to the second turning operation mode and turns. To start.

Then, when the direction of the traveling vehicle body 2 becomes the second predetermined direction (for example, 30 °) with respect to the straight traveling path L1 in the next process by turning in the second turning operation mode, the controller 100 performs straight traveling in the automatic straight traveling mode. To do.

As a result, the rice transplanter 1 can improve the accuracy of reaching the start position of the straight traveling path L1 in the next step. In addition, the seedling transplanter 1 can improve the safety against automatic turning. Further, the seedling transplanter 1 can quickly start the turning operation based on the operation of the operator, and automatically shifts from the automatic turning mode to the automatic straight-ahead mode, so that the maneuverability and workability are improved. Can be made to.

When the controller 100 is stopped by the operation of the auxiliary shift operation lever 37 during the turning of the traveling vehicle body 2 in the first turning mode or the second turning mode, and then the traveling vehicle body 2 is restarted. In addition, the turning of the traveling vehicle body 2 in the first turning mode or the second turning mode is continued.

As a result, the seedling transplanter 1 can restart the automatic turning after the work material is carried in, even if the traveling vehicle body 2 is stopped in order to carry in the work material, for example, during the automatic turning. ..

By deploying the three spare seedling mounting stands 52 as shown in FIG. 13, the seedling transplanter 1 facilitates, for example, carrying in work materials from the ridges of the field. FIG. 13 is a side view of the spare seedling loading table 52 unfolded.

The seedling transplanter 1 is provided with a roller 200 as shown in FIG. 14 in order to facilitate the transportation of work materials when the spare seedling loading platform 52 is deployed. FIG. 14 is a plan view showing a part of the spare seedling loading table 52. A bar 201 is attached to the roller 200. When the spare seedling stand 52 is deployed, when the bar 201 is pushed up by the push-up pin 203 attached to the deployment arm portion 202, the roller 200 causes the spare seedling stand 52 to be as shown in FIG. It protrudes from the mounting surface 52a. FIG. 15 is a side view showing a part of the spare seedling loading table 52.

When the spare seedling stand 52 is not deployed, the push-up pin 203 does not come into contact with the bar 201, so that the bar 201 and the roller 200 are not pushed up, and the roller 200 mounts the spare seedling stand 52. It does not protrude from the placement surface 52a.

The mounting position of the push-up pin 203 on the deployment arm portion 202 can be changed, and as shown in FIG. 16, the spare seedling loading table 52 is deployed by changing the mounting position of the push-up pin 203. However, the push-up pin 203 does not come into contact with the bar 201. In this case, the roller 200 does not protrude from the mounting surface 52a of the spare seedling loading table 52. FIG. 16 is a side view showing a part of the spare seedling loading table 52 when the position of the push-up pin 203 is changed.

In this way, in the seedling transplanter 1, when the spare seedling loading platform 52 is deployed by changing the mounting position of the push-up pin 203, the roller 200 protrudes from the mounting surface 52a of the spare seedling loading platform 52. You can switch the state. When the spare seedling loading table 52 is deployed without projecting the roller 200 from the mounting surface 52a, it is possible to prevent the work material from moving on the spare seedling loading table 52.

The roller 200 may be provided on a part of the plurality of spare seedling stands 52, for example, two spare seedling stands 52 on the front side at the time of deployment.

Further, instead of the push-up pin 203, a manually operable hinge is attached to the deployment arm portion 202, and the hinge is rotated to switch the protruding state of the roller 200 with respect to the mounting surface 52a of the spare seedling mounting table 52. May be good. In this case, a fixing member capable of fixing the rotation position of the hinge may be provided on the deploying arm. Further, a manually operable rotating pin may be attached to the deploying arm portion 202.

Further, the seedling transplanter 1 executes the deployment and storage of the spare seedling loading table 52 by a motor or the like. The seedling transplanter 1 includes a potentiometer that detects the angle of the deployment arm portion 202. As a result, for example, even if the position of the spare seedling stand 52 is displaced due to the weight of the work material or an impact, the deployment arm portion 202 is based on the angle of the deployment arm portion 202 detected by the potentiometer. The position of is corrected. Therefore, the seedling transplanter 1 can adjust the position of the spare seedling loading table 52 to a predetermined position.

Further, the seedling transplanter 1 can set the position of the spare seedling loading table 52 as the seedling supply position in addition to the deployment position and the storage position. The seedling transplanter 1 stops the spare seedling loading platform 52 at each position. For example, the seedling transplanter 1 changes the position of the spare seedling loading table 52 from the seedling supply position to the storage position by operating the operation switch. The seedling supply position is a state in which the seedling frame is slightly open with respect to the storage position. As a result, the seedling transplanter 1 can replenish the seedlings without the deployment arm portion 202 getting in the way, and the workability can be improved.

Further, as shown in FIGS. 17 and 18, the rice transplanter 1 may be provided with a foldable auxiliary step 220 at the front end of the traveling vehicle body 2. FIG. 17 is a front view showing a part of the seedling transplanter 1. FIG. 18 is a side view showing the auxiliary step 220. 17 and 18 show a state in which the auxiliary step 220 is deployed.

The auxiliary step 220 is attached to the main frame 15 via the attachment member 221. The auxiliary step 220 is rotatable with respect to the mounting member 221. Further, the auxiliary step 220 is urged by the spring 222. The spring 222 urges the auxiliary step 220 so that the auxiliary step 220 is in the accommodating position. A locking mechanism is provided so that the auxiliary step 220 is held in the accommodation position and the deployment position. By providing the seedling transplanter 1 with the auxiliary step 220, it becomes easy to get on and off the seedling transplanter 1 from the front.

The seedling transplanter 1 prohibits automatic turning when the traveling mode of the auxiliary transmission mechanism 16 is the high-speed mode. Thereby, the seedling transplanter 1 can improve the safety.

The seedling transplanter 1 has a switch for automatically raising the seedling planting section 4 in response to an operation of the handle 35 during turning, lowering the seedling planting section 4 after turning, and restarting seedling planting. In the case of "OFF", automatic turning may be prohibited. As a result, it is possible to prevent the seedling transplanting machine 1 from being damaged by preventing the seedling planting portion 4 from turning while the seedling planting portion 4 is not raised.

The seedling transplanter 1 may prohibit automatic turning when the line drawing marker 65 is not lowered.

The seedling transplanter 1 turns in the direction in which the line drawing marker 65 has come out during the work process. For example, if the line drawing marker 65 on the right side appears, it turns to the right side. As a result, automatic turning can be executed without providing a switch or the like for determining the turning direction.

The seedling transplanter 1 stops the traveling vehicle body 2 when the traveling vehicle body 2 is tilted by 10 ° or more during automatic turning. As a result, the seedling transplanter 1 can prevent deviation from the field, such as when riding on a ridge during automatic turning, and can improve safety.

The seedling transplanter 1 sets the rotation speed of the engine 30 as the maximum rotation speed during automatic rotation. The maximum rotation speed is a preset rotation speed. Further, after the automatic turning is completed, the seedling transplanter 1 sets the rotation speed of the engine 30 from the maximum rotation speed to the original normal rotation speed. As a result, the seedling transplanter 1 can automatically turn even in a deep field or the like.

During automatic rotation, the seedling transplanter 1 sets the rotation speed of the engine 30 to the maximum rotation speed and operates the diff lock mechanism 97 to keep the rotation angle of the trunnion of the HST 14 constant. As a result, the rice transplanter 1 can stabilize the vehicle speed and drive in automatic turning and improve the turning accuracy by automatic turning.

During automatic turning, the seedling transplanter 1 sets the rotation speed of the engine 30 to the maximum rotation speed, operates the diff lock mechanism 97 to keep the rotation angle of the trunnion of the HST 14 constant, and further pumps the rear wheel 11 on the inner ring side. Control. The pumping control is a control in which the transmission of the driving force to the rear wheels 11 is repeated ON / OFF. As a result, the seedling transplanter 1 can automatically turn even in a deep field or the like.

When the operator operates the handle 35 during the automatic turning, the seedling transplanter 1 stops the automatic turning and stops the traveling vehicle body 2. As a result, the seedling transplanter 1 can stop traveling in an emergency such as when there is an obstacle, and can improve safety.

The seedling transplanter 1 may include a seat switch that detects whether or not the worker is seated. The seedling transplanter 1 stops the automatic turning and stops the traveling vehicle body 2 when the worker leaves the seat during the automatic turning. This makes it possible to improve the safety of the operator during automatic turning.

The seedling transplanter 1 may be provided with a switch for performing automatic turning as an operating lever under the handle 35. The operating lever is, for example, a lever that can be operated in the cross direction. In this case, the seedling transplanter 1 acquires the reference start point (point A) and the reference end point (point B) of the automatic straight-ahead mode by, for example, operating the operation lever in the vertical direction. Further, the rice transplanter 1 automatically turns to the left by operating the operation lever to the left. Further, the rice transplanter 1 automatically turns to the right by operating the operation lever to the right.

As a result, the seedling transplanter 1 can acquire the reference start point (point A) and the reference end point (point B) of the automatic straight-ahead mode and set the direction of automatic turning by one operation lever. Therefore, the seedling transplanter 1 can improve the operability and can be operated without taking the hand off the handle 35, so that the safety can be improved.

Further, the rice transplanter 1 may start automatic turning by two consecutive operations of the operation lever in the left-right direction. For example, the rice transplanter 1 starts automatic turning to the left when the operating lever is operated twice in succession to the left. As a result, for example, even if the operator's hand accidentally touches the operating lever, automatic turning is not executed. Therefore, the seedling transplanter 1 can suppress the start of automatic turning due to an erroneous operation and can improve the safety.

When the condition for starting the automatic turning is satisfied, the seedling transplanter 1 starts the automatic turning after a predetermined waiting time, for example, 1 second has elapsed. For example, if the condition for starting the automatic turning is satisfied and the automatic turning is started immediately and the traveling vehicle body 2 starts to move, the worker is not ready for the automatic turning and the worker may lose his / her posture. is there. The safety of the seedling transplanter 1 can be improved by starting automatic turning after a predetermined waiting time has elapsed.

The seedling transplanter 1 includes a flat floor step 33. As a result, the worker can easily walk in the left-right direction when replenishing the seedlings, and no step is generated, so that the safety and workability can be improved. In addition, the worker can get on the vehicle comfortably when getting on the vehicle.

The seedling transplanter 1 arranges a liquid crystal screen on the monitor 86. Various information is displayed on the liquid crystal screen. As a result, the rice transplanter 1 can notify the operator by characters, for example, and can improve the operability. In addition, the seedling transplanter 1 can improve the commercial value.

In the seedling transplanting machine 1, before starting planting of seedlings in the field, the number of stocks, the number of times of lateral feeding of the seedling planting section 4, and the amount of seedlings taken by the planting rod 58 are input as work information on the monitor 86 of the liquid crystal screen. To. In addition, after the planting of seedlings is started, an image of the work viewed from the rear is displayed on the screen. Then, during the seedling planting operation, an image of the seedling transplanter 1 planting the seedlings in the field is displayed. Further, in the seedling tank 53 of the seedling transplanter 1 displayed on the screen, the number of seedlings gradually decreases according to the planting work of the seedlings, and when the remaining amount of seedlings becomes low, a warning indicating that the number of seedlings has decreased is displayed on the screen. Is displayed. For example, an animated image is displayed on the screen.

In this way, since the state in which the seedlings in the seedling tank 53 are decreasing is displayed on the liquid crystal screen, the operator can easily know the state of the seedling tank 53. In addition, the operator can easily understand the warning displayed on the screen. You can also enjoy it visually.

Further, the seedling transplanter 1 displays the remaining amount of seedlings for each row on the screen when a ridge clutch for switching the planting for each row is used. For example, when the remaining amount of seedlings in a certain line is low, a warning indicating that the number of seedlings in a certain line is low is displayed on the screen. As a result, the worker can know the state of the seedling tank 53 for each row.

When the seedling transplanter 1 is stopped, the image of the seedling transplanter 1 displayed on the screen is also stopped. That is, the image of the seedling transplanter 1 displayed on the screen changes according to the actual operation of the seedling transplanter 1. Since an image corresponding to the state of the seedling transplanter 1 is displayed on the screen, the operator can know the state of the seedling transplanter 1 by checking the image. Therefore, the seedling transplanter 1 can improve workability.

If, for example, 5 seconds have passed since the seedling transplanter 1 was stopped and the stop pedal was not depressed, a warning indicating that the stop pedal was not depressed is displayed on the screen. For example, "Please step on the stop pedal." Is displayed. As a result, the rice transplanter 1 can prevent the operator from forgetting to depress the stop pedal and improve the safety.

In the seedling transplanting machine 1, before starting planting of seedlings in the field, the specific gravity of the fertilizer to be sprayed in the field and the amount of fertilizer applied per 10a are input as work information on the monitor 86 of the liquid crystal screen. Further, after the planting of the seedlings is started, the amount of fertilizer applied per 10a and the total amount of fertilizer applied up to the present based on the number of rotations of the fertilizer roll are displayed on the screen.

As a result, the worker can know the remaining amount of fertilizer and the total amount of fertilizer applied, and the seedling transplanter 1 can improve the workability. In addition, the worker can compare the prepared fertilizer with the amount used in real time, and can suppress the occurrence of fertilizer shortage. Therefore, the seedling transplanter 1 can improve the work efficiency.

Further, when the work start button is pressed at the start of the work and the work end button is pressed at the end of the work, the total amount of fertilizer applied per field is stored. As a result, the amount of fertilizer applied to each field is stored in the seedling transplanter 1. Therefore, it is not necessary to record the total amount of fertilizer applied each time the work is performed in the field, and the seedling transplanter 1 can improve the workability. By pressing the work end button, the total fertilizer application amount is reset to "0 kg".

Further, the position of the field obtained by a positioning means such as GPS and the total amount of fertilizer applied in the field may be linked and stored. As a result, the total amount of fertilizer applied to each field can be automatically stored, the input work by the operator can be omitted, and the seedling transplanter 1 can improve the workability. The total amount of fertilizer applied to each field may be stored in the information terminal.

Further, in the seedling transplanter 1, when the number of stocks, the number of times of lateral feeding of the seedling planting section 4 and the amount of seedlings taken by the planting rod 58 are input as work information, the required number of seedling boxes per 10a is obtained. It is displayed on the screen.

As a result, the worker does not need to calculate the required number of seedling boxes. Therefore, the seedling transplanter 1 can improve workability. Further, even in the field where the work is performed for the first time, the worker can obtain the required number of seedling boxes if the area is known. Therefore, the seedling transplanter 1 can improve workability.

When the work start button is pressed at the start of work, the seedling transplanter 1 calculates the number of seedling boxes used based on the number of rotations of the rear wheel 11, and displays the current number of seedling boxes currently used on the screen. indicate. This eliminates the need for the operator to count the number of seedling boxes used. Therefore, the seedling transplanter 1 can improve workability. By pressing the work end button at the end of the work, the number of seedling boxes used is reset to "0".

Further, the position of the field obtained by a positioning means such as GPS and the number of seedling boxes used in the field may be linked and stored. As a result, the number of seedling boxes used for each field can be automatically stored, and the input work by the operator can be omitted. It can also be used as useful data when planning the next planting of seedlings. The number of seedling boxes used for each field may be stored in the information terminal.

Further, a correction value based on the state of seedlings such as poor rooting may be input to the number of seedling boxes used. As a result, the seedling transplanter 1 can accurately display the number of seedling boxes displayed on the screen according to the actual state of the seedlings, suppresses the shortage of seedlings, and improves workability. Can be done.

An image in which the number of seedlings decreases according to the correction value is displayed on the screen. As a result, the state of the seedling tank 53 in the image of the seedling transplanter 1 and the image of the seedling transplanter 1 displayed on the screen can be matched, and the operator can accurately know the state of the seedling tank 53.

When the ridge clutches of Articles 1 and 2 are released, the value obtained by multiplying the rotation speed of the fertilizer application roll by "0.75" is calculated as the fertilizer application amount, and the total fertilizer application amount is added. As a result, the seedling transplanter 1 can display an accurate amount of fertilizer applied on the screen, suppress the occurrence of fertilizer shortage, and improve workability.

Further, the reception sensitivity of the received radio wave by a positioning means such as GPS may be displayed on the screen. This allows the operator to know the current reception sensitivity.

When the work start button is pressed at the start of work, the work area is calculated based on the number of rotations of the rear wheels 11, and the current work area is displayed on the screen. As a result, the worker can know the progress of the current planting work and can easily make a work plan. Therefore, work efficiency can be improved. When the work end button is pressed, the work area is reset to "0".

Further, the position of the field obtained by a positioning means such as GPS and the working area may be linked and stored. The work area can be automatically memorized, and the input work by the operator can be omitted. The working area may be stored in the information terminal.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 Seedling transplanter (working vehicle)
2 Traveling vehicle body 4 Seedling planting part (field work equipment)
10 Front wheels (wheelies)
11 Rear wheel (running wheel)
25 Lifting cylinder (lifting device)
35 steering wheel (steering device)
36 Shift operation lever (forward / backward switching operation unit)
37 Sub-transmission operating lever (vehicle speed adjustment unit)
46 Mode changeover switch 47 Planting part up / down switch (up / down changeover operation part)
48 Automatic swivel changeover switch 90 Rotation speed sensor (rotation speed measurement unit)
95 Steering motor (motor)
96 Differential lock switching motor 97 Differential lock mechanism (same speed rotation mechanism)
98 Swivel mode changeover switch (Swivel mode changeover operation unit)
100 controller (control device)
150 Position acquisition device (distance measurement unit)

Claims (10)

The running wheels attached to the running body and
A field work device that works on the field and
A steering device that adjusts the steering amount of the traveling wheels, and
The motor that drives the steering device and
It is equipped with a control device that controls the motor.
The control device is
A work vehicle characterized in that when the field work apparatus changes from a working state to a non-working state, the motor is controlled so that the steering amount becomes a predetermined steering amount, and the traveling vehicle body starts turning. .. Equipped with an elevating device attached to the traveling vehicle body to elevate and elevate the field work device.
The control device is
The work vehicle according to claim 1, wherein when the field work device is raised by the elevating device, the motor is controlled to start turning of the traveling vehicle body. In the first mode in which the traveling vehicle body is stopped at a predetermined turning position, and when the field work device changes from the working state to the non-working state, the motor makes the steering amount the predetermined steering amount. The work vehicle according to claim 1 or 2, further comprising a mode changeover switch that is controlled and switches between a second mode in which the traveling vehicle body starts turning. It is equipped with a same-speed rotation mechanism that rotates the left and right wheels of the traveling wheels at the same rotation speed.
The control device is
Claims 1 to 3 characterized in that when the field work apparatus changes from the working state to the non-working state, the left and right wheels are rotated at the same rotation speed by operating the same speed rotation mechanism. The work vehicle described in any one of. A rotation speed detection unit for detecting the rotation speed of the traveling wheel is provided.
The control device is
When the left and right wheels start rotating at the same rotation speed and the number of rotations after the traveling vehicle body starts turning reaches a predetermined number of rotations, the operation of the same speed rotation mechanism is stopped. The work vehicle according to claim 4. The control device is
The first turning mode in which the motor is controlled to start turning of the traveling vehicle body after the traveling vehicle body has traveled forward, and the motor is controlled after the traveling vehicle body has traveled backward to start the rotation of the traveling vehicle body. The work vehicle according to any one of claims 1 to 5, further comprising a second turning mode for starting the turning of the vehicle body. An elevating device attached to the traveling vehicle body to elevate and elevate the field work device,
An elevating switching operation unit that switches the elevating and lowering of the field work device by the elevating device, and
A forward / backward switching operation unit for switching between forward traveling and reverse traveling in the traveling vehicle body,
A swivel mode switching operation unit for switching the swivel mode between the first swivel mode and the second swivel mode is provided.
The control device is
When the turning mode is the first turning mode and the elevating switching operation unit is operated to raise the field work device, the motor is controlled to start turning the traveling vehicle body.
When the turning mode is the second turning mode and the forward / backward switching operation unit is operated to switch the traveling vehicle body from the reverse traveling to the forward traveling, the motor is controlled to control the traveling vehicle body. The work vehicle according to claim 6, wherein the work vehicle starts turning. Equipped with a distance measuring unit that measures the distance to a predetermined turning position
The control device is
When the distance to the predetermined turning position is less than or equal to the predetermined distance, turning in the first turning mode and the second turning mode is permitted.
The work vehicle according to claim 7, wherein when the distance to the predetermined turning position is longer than the predetermined distance, turning in the first turning mode and the second turning mode is prohibited. It is equipped with a rotation speed measuring unit that measures the rotation speed of the traveling wheel.
The control device is
When the turning mode is the second turning mode, the traveling vehicle body is stopped when the rotation speed during the reverse traveling reaches a predetermined rotation speed, and the forward / backward switching operation unit is operated to cause the traveling vehicle body to operate. The work vehicle according to claim 7 or 8, wherein when the reverse travel is switched to the forward travel, the motor is controlled to start turning of the traveling vehicle body. It is equipped with a vehicle speed adjustment unit that adjusts the vehicle speed of the traveling vehicle body.
The control device is
When the traveling vehicle body is stopped by the operation of the vehicle speed adjusting unit and the traveling vehicle body is restarted during the turning of the traveling vehicle body in the first turning mode or the second turning mode, the first turning mode. The work vehicle according to any one of claims 6 to 9, wherein the turning of the traveling vehicle body is continued in one turning mode or the second turning mode.