JP2022033560A - Work vehicle - Google Patents

Abstract

To provide a seedling transplanter 1 that reduces the burden on a worker.SOLUTION: A work vehicle according to one embodiment has a steering device that adjusts the amount of steering of a travel body, a motor that rotates the steering device, and a control device that controls the motor. The control device controls the motor on the basis of the amount of slip of wheels to control the steering device.SELECTED DRAWING: Figure 5

Description

The present invention relates to a work vehicle.

Conventionally, a work vehicle in which an operating device is held in a straight-ahead position and a traveling vehicle body is automatically driven in a straight-ahead position is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-24541

However, when traveling in a field, the traveling direction of the traveling vehicle body changes depending on the state of the field, so that the actual traveling vehicle body may deviate from the steering amount. Therefore, there is a possibility that the desired traveling direction and the actual traveling direction may deviate from each other.

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 traveling in a stable traveling direction.

In order to solve the above-mentioned problems and achieve the object, the work vehicle according to one embodiment controls a steering device that adjusts the steering amount of the traveling vehicle body, a motor that rotates the steering device, and a motor. It is equipped with a control device. The control device controls the steering device by controlling the motor based on the slip amount of the wheels.

According to one aspect of the embodiment, the work vehicle can travel in a stable traveling direction.

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 seedling transplanter. FIG. 4 is an explanatory diagram of autonomous running of the seedling transplanter in the field. FIG. 5 is a flowchart illustrating the automatic turning process according to the first embodiment. FIG. 6 is a flowchart illustrating the automatic turning process according to the second embodiment. FIG. 7 is a side view showing an outline of the seedling transplanting machine. FIG. 8 is a diagram showing a modified example of the auxiliary member.

(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 a 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 goes 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 horizontally orthogonal to the front-back direction, and defines left-right toward the "front" side. That is, with the operator (also referred to as an operator) seated 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.

In the embodiment, the work vehicle will be described as a passenger-type seedling transplanting machine 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 transplanting machine 1 is provided with a seedling planting section 4 capable of raising and lowering 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 transplanting machine 1, a sowing device or the like for supplying seeds may be provided as the working 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 wheels and drive 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 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 are 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 that switches 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 projected 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 both left and right sides of the rear frame 22 (see FIG. 2) provided in the lateral direction, and the left and right rear wheel gear cases 11a project outward from each other. The rear wheels 11 are attached to the rear axles 11b, respectively.

Further, on the upper part of the rear frame 22, left and right link support frames 23 for supporting the elevating link mechanism 3 are projected upward. 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. A hydraulically operated elevating cylinder 25 is provided between 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 side of the upper link arm 26, each of which has one end connected to the traveling vehicle body 2, are mounted on 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 mission 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 hydraulic 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 taken out 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 upper side in the transmission direction than the left and right drive shafts 42. 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 having a control panel 38 for operating each part is provided on the front upper portion of the traveling vehicle body 2. The control panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

Further, the bonnet 39 is provided with a handle 35 for steering the traveling vehicle body 2, a shift control lever 36 for operating the HST 14 and the seedling planting portion 4, an auxiliary shift operation lever 37 for operating the auxiliary shift 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 covering 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 a driver's seat 41 on which the driver sits is provided on the upper portion of the engine cover 30a. It will be 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 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, behind the floor step 33, a rear step 330 is connected as shown in FIG. 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, 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 for sliding 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 left-right 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 has 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 are planted at the same time, and the planting transmission case 56 is spaced below the seedling tank 53. Two planting rotary 57s are 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 in which fertilizer is stored is partitioned into the same number as the number of working rows of the seedling planting section 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. May be good.

At the bottom 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, a ventilation duct 72 through which the transport air for moving the fertilizer passes is provided in the left-right direction. 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 section 4. Further, at one end of the ventilation duct 72, a blower 74 that is operated by an electric motor 76 for a blower to generate 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 the left and right 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, on the front side of the float 62, a ground leveling rotor 63 for leveling the unevenness of the field scene is provided. For example, the driving force is transmitted to the leveling rotor 63 from the rear wheel gear cases 11a on the left and right sides 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 guideline for running in the next work line (next step). A line drawing marker 65 is 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, the seedling planting portion 4 is separated. One side on the left and right is separated upward and the other side touches the ground.

Further, as shown in FIGS. 1 and 2, a center mascot 66 that is long in the vertical direction is provided in 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 in front of the left and right line drawing markers 65. That is, by moving the left and right side markers 19 outward 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 seedling transplanting machine 1 includes a position acquisition device 150 (position information acquisition device, orientation acquisition device). The position acquisition device 150 acquires the current position and orientation of the seedling transplanting machine 1. The position acquisition device 150 includes, for example, a directional sensor and positioning means such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System). The position acquisition device 150 may be composed of a plurality of devices. The position acquisition device 150 may include a camera or an ultrasonic sensor, and may acquire a turning position in the field and detect the distance to the turning position.

For example, the position acquisition device 150 receives the positioning information from the positioning means, creates the current position information and the direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and the direction. 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 turn 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 turning control program is stored in, for example, the turning control ECU 100b housed in the bonnet 39. .. The straight-ahead control ECU 100a and the turn control ECU 100b are included in the control device 100 (see FIG. 3) described later. The straight-ahead control ECU 100a and the turn control ECU 100b may be stored in the same ECU.

<Control system of seedling transplanter>
Next, the control system of the seedling transplanting machine 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 seedling transplanting machine 1. The seedling transplanting machine 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), 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 transplanting machine 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, as actuators, a throttle motor 80, hydraulic control valves 81, 82, a planted clutch operating solenoid 83, a side clutch operating solenoid 84, an HST14 motor 85, a drawing marker elevating motor 87, and a steering motor 95 (motor). ), The differential lock switching motor 96 and the like are connected.

The throttle motor 80 increases or decreases the number of revolutions 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 wheel 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuating solenoids 84 are provided corresponding to each side clutch 44.

The HST14 motor 85 changes the tilt angle of the swash plate of the HST14 by changing the rotation angle of the trunnion of the HST14. 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) 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 (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. When the diff lock mechanism 97 is turned on, the left and right traveling wheels rotate at the same rotation speed.

A rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, and the like, which are detection devices, are connected to the controller 100. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, 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, 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, the traveling vehicle body 2 as a reference position when traveling straight ahead. The tilt sensor 92 detects the tilt angle, which is the tilt of the traveling vehicle body 2.

Further, as operation signals, the controller 100 receives signals from the shift operation lever 36, the auxiliary shift operation lever 37, the mode changeover switch 46, the planting part up / down switch 47, the automatic turn changeover switch 48, the line drawing marker automatic up / down switch 49, and the like. Entered.

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.

The first mode is a mode in which the traveling vehicle body 2 is stopped at a predetermined turning position. The predetermined turning position is, for example, the end position of the automatic straight-ahead in the automatic straight-ahead mode described later.

The second mode is a mode in which automatic turning is started when the seedling planting portion 4 changes from a working state to a non-working state between a predetermined turning position and a predetermined turning position. Is. The predetermined distance is a preset distance.

The planting section raising / lowering switch 47 is a switch for switching whether or not to raise / lower the seedling planting section 4. The planting portion elevating switch 47 is changed to the "ascending" and "descending" positions.

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

The draw marker automatic elevating switch 49 is a switch for switching whether or not to automatically elevate the draw marker 65 in conjunction with the operation amount of the handle 35, that is, the steering amount of the front wheel 10. When the draw marker automatic elevating switch 49 is "ON", control for automatically elevating and elevating the draw marker 65 is executed in conjunction with the steering amount. 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 traveling vehicle body 2 and the like are input to the controller 100 from the position acquisition device 150. The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 automatically travels while performing work.

<Autonomous driving mode>
Here, with reference to FIG. 4, autonomous traveling (automatic traveling) including automatic turning in the field by the seedling transplanting machine 1 will be described. FIG. 4 is an explanatory diagram of autonomous traveling in the field of the seedling transplanting machine 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 wheel 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 transplanting machine 1 automatically performs the seedling planting work in the field while repeating straight traveling and turning along the planned traveling route. As described above, the controller 100 acquires the current position information of the seedling transplanting machine 1 and the information regarding the turning position by the position acquisition device 150 arranged above the traveling vehicle body 2.

The seedling transplanting machine 1 plantes seedlings while reciprocating in a predetermined work area in the field. In this case, as for the straight-ahead travel, the controller 100 executes the automatic straight-ahead mode to automatically travel along the set straight-ahead travel 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 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 controls the steering motor 95 so that the steering amount of the handle 35 becomes a predetermined steering amount while the seedling transplanting machine 1 is turning. In this case, the controller 100 executes the process regardless of the position information acquired by the position acquisition device 150. The predetermined steering amount is a preset value. The predetermined steering amount is set according to the type of the seedling transplanting machine 1 and the like. The predetermined steering amount is set so that the transfer from the automatic turning to the automatic straight running is smoothly performed.

If the position of the seedling transplanter 1 after the automatic turn is deviated from the automatic straight running path L1 of the next process, the adjustment is made so as to match the automatic straight running path L1 of the next process after the automatic turning. This is done, and the shaking of the traveling vehicle body 2 becomes large. Further, for example, the operator must operate the handle 35 to perform line alignment so as to match the straight traveling path L1 of the automatic straight traveling in the next process, which increases the load on the operator. In addition, there is a risk that the traveling posture of the seedling transplanting machine 1 will not be disturbed. In view of such a point, the predetermined steering amount is set so that the transfer from the automatic turning to the automatic straight running is smoothly performed.

In the controller 100, the seedling transplanting machine 1 reaches any desired position on the set turning traveling path L2 based on the position information acquired by the position acquisition device 150 while the seedling transplanting machine 1 is turning. The steering motor 95 may be controlled as such. Further, the controller 100 may perform automatic turning by combining the above two automatic turning modes.

The controller 100 controls the steering motor 95 so that the seedling transplanting machine 1 reaches the planting start position by the automatic straight-ahead in the next step after turning by the automatic turning.

The controller 100 calculates the slip amount of the wheels while the traveling vehicle body 2 is traveling, for example, automatically traveling. The controller 100 calculates the slip amount based on the rotation speed of the rear wheel 11 detected by the rotation speed sensor 90 and the position information of the traveling vehicle body 2 acquired by the position acquisition device 150.

Specifically, the controller 100 calculates the difference (deviation) between the vehicle speed of the traveling vehicle body 2 calculated based on the rotation speed and the vehicle speed (actual vehicle speed) of the traveling vehicle body 2 calculated based on the position information. , The slip amount of the wheel is calculated based on the calculated difference. The slip amount may be a slip ratio. For example, the slip amount may be a ratio of the vehicle speed of the traveling vehicle body 2 calculated based on the rotation speed and the vehicle speed of the traveling vehicle body 2 calculated based on the position information. The slip amount of the wheel may be calculated based on the rotation speed of the front wheel 10. Further, the slip amount of the wheel may be calculated based on the rotation speed of the wheel on the inner side of the turn, or may be calculated based on the rotation speed of the wheel on the outer side of the turn.

The traveling mode of the controller 100 is set to the second traveling mode by the mode changeover switch 46, and the seedling planting unit 4 is located between the traveling vehicle body 2 and the predetermined turning position from a predetermined distance before the predetermined turning position. When is changed from the working state to the non-working state, it is determined that the automatic turning condition is satisfied, and the automatic turning is started.

It should be noted that the determination as to whether or not the vehicle is in front of the predetermined turning position by a predetermined distance is performed based on the position information acquired by the position acquisition device 150, the mileage in the current work process, and the like.

<Automatic turning process>
Next, the automatic turning process according to the first embodiment will be described with reference to the flowchart of FIG. FIG. 5 is a flowchart illustrating the automatic turning process according to the first embodiment. Here, it is assumed that the automatic turning changeover switch 48 is set to "ON".

The controller 100 determines whether or not the automatic turning condition is satisfied (S100). If the controller 100 does not satisfy the automatic turning condition (S100: No), the controller 100 ends the current process.

When the automatic turning condition is satisfied (S100: Yes), the controller 100 starts automatic turning (S101). Specifically, the controller 100 controls the steering amount of the steering wheel 35 to be a predetermined steering value, and starts automatic turning.

The controller 100 determines whether or not the orientation of the traveling vehicle body 2 is a predetermined orientation (S102). The predetermined direction is the direction set at each turn and is set for each turn start position. The predetermined direction is a position (direction) in which the steering of the steering wheel 35 can be adjusted so that the traveling vehicle body 2 matches the straight traveling path L1 in the next process. The predetermined direction is set with reference to the direction of the turning start position.

If the direction of the traveling vehicle body 2 is not the predetermined direction (S102: No), the controller 100 continues automatic turning until the orientation of the traveling vehicle body 2 becomes the predetermined direction (S102). The controller 100 maintains the steering amount of the steering wheel 35 at a predetermined steering value and continues automatic turning.

When the direction of the traveling vehicle body 2 becomes a predetermined direction (S102: Yes), the controller 100 calculates the slip amount from the start of turning to the predetermined direction (S103).

The controller 100 adjusts the steering of the steering wheel 35 (S104). The controller 100 adjusts the steering of the steering wheel 35 based on the calculated slip amount. Specifically, the controller 100 calculates the steering amount of the steering wheel 35 based on the slip amount so that the traveling vehicle body 2 matches the straight traveling path L1 in the next process.

Specifically, the controller 100 calculates the steering amount of the steering wheel 35 so that the transfer from the automatic turning to the automatic straight running is smoothly performed and the shaking of the traveling vehicle body 2 is reduced. Then, the controller 100 adjusts the steering amount of the steering wheel 35 according to the calculated steering amount. That is, the controller 100 corrects the turning path with respect to the turning path when automatically turning by a predetermined steering amount.

For example, when the slip amount is smaller than the first predetermined slip amount, the controller 100 determines that the traveling vehicle body 2 is turning more than the desired turning path, and adjusts the steering of the steering wheel 35. The desired turning path is a turning path in which transfer from automatic turning to automatic straight running is smoothly performed. The first predetermined slip amount is a lower limit value of a slip range in which it can be determined that the traveling vehicle body 2 is traveling on a desired traveling path during automatic turning. For example, the first predetermined slip amount is set based on the slip amount calculated at the time of automatic straight running in the same field.

When the slip amount is smaller than the first predetermined slip amount, the controller 100 increases the steering amount of the steering wheel 35, for example. That is, the controller 100 makes the steering angle of the steering wheel 35 larger than the steering angle corresponding to the predetermined steering value. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is increased turns with a turning radius smaller than the turning radius when the steering amount of the steering wheel 35 is not increased. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius is smaller than the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling path L1 in the next process.

When the slip amount is smaller than the first predetermined slip amount, the controller 100 increases the steering amount of the steering wheel 35 so that the smaller the slip amount, the smaller the turning radius of the traveling vehicle body 2.

When the slip amount is larger than the second predetermined slip amount, the controller 100 determines that the traveling vehicle body 2 is turning smaller than the desired turning path, and adjusts the steering of the steering wheel 35. The second predetermined slip amount is an upper limit value of a slip range in which it can be determined that the traveling vehicle body 2 is traveling on a desired traveling route during automatic turning. For example, the second predetermined slip amount is set based on the slip amount calculated at the time of automatic straight running in the same field. The second predetermined slip amount is larger than the first predetermined slip amount.

When the slip amount is larger than the second predetermined slip amount, the controller 100 reduces the steering amount of the steering wheel 35, for example. That is, the controller 100 makes the steering angle of the steering wheel 35 smaller than the steering angle corresponding to the predetermined steering value. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is reduced turns with a turning radius larger than the turning radius when the steering amount of the steering wheel 35 is not reduced. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius becomes larger than the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling path L1 in the next process.

When the slip amount is larger than the second predetermined slip amount, the controller 100 reduces the steering amount of the steering wheel 35 so that the larger the slip amount, the larger the turning radius of the traveling vehicle body 2.

When the slip amount is equal to or greater than the first predetermined slip amount and is equal to or less than the second predetermined slip amount, the controller 100 automatically turns without adjusting the steering of the handle 35. That is, the controller 100 maintains the steering amount of the steering wheel 35 at a predetermined steering value and continues automatic turning.

The method of adjusting the steering of the steering wheel 35 is not limited to the steering amount of the steering wheel 35, and may include the operating speed of the steering wheel 35 and the like. For example, the controller 100 slows down the return speed of the steering wheel 35 when the traveling vehicle body 2 has a small turn, and increases the return speed of the steering wheel 35 when the traveling vehicle body 2 has a large turn.

The controller 100 determines whether or not the return timing has come (S105). For example, the controller 100 determines that the return timing is reached when the difference between the direction of the traveling vehicle body 2 and the direction in the straight traveling path L1 in the next process is equal to or less than the steering wheel return angle. The handle return angle is a preset angle. The handle return angle may be set by an operator or the like.

If the return timing is not reached (S105: No), the controller 100 continues automatic turning (S104). When the return timing comes (S105: Yes), the controller 100 returns the handle 35 to the reference position (S106).

The method of adjusting the steering of the steering wheel 35 is not limited to the above method. For example, the method of adjusting the steering of the steering wheel 35 may be the timing of returning the steering wheel 35 to the reference position. For example, the controller 100 may delay the timing at which the steering wheel 35 starts to return, correct the turning path so that the turning radius becomes smaller, and perform automatic turning.

The controller 100 may perform automatic turning by correcting the turning path so that the turning radius becomes smaller by, for example, braking or locking the rear wheel 11 inside the turning. As a result, the seedling transplanting machine 1 can perform highly accurate automatic turning by simple control.

Further, the controller 100 may advance the timing at which the handle 35 starts to return, correct the turning path so that the turning radius becomes large, and perform automatic turning. For example, when the side clutch 44 inside the rear wheel 11 is in the disengaged state during turning, the controller 100 turns the side clutch 44 inside the rear wheel 11 into the engaged state so that the turning radius becomes large. The route may be corrected and automatic turning may be performed.

Further, the controller 100 may correct the turning path by changing the vehicle speed in the automatic turning. For example, when the traveling vehicle body 2 makes a smaller turn than the desired turning path, the controller 100 lowers the vehicle speed, corrects the turning path, and performs automatic turning. Further, when the traveling vehicle body 2 makes a larger turn than the desired turning path, the controller 100 increases the vehicle speed, corrects the turning path, and performs automatic turning.

The controller 100 may change the range of the rotation speed sensor 90 of the rear wheel 11 when it is determined that the traveling vehicle body 2 makes a small turn or a large turn in consideration of the wheelbase of the traveling vehicle body 2. Further, the controller 100 may change the range of the rotation speed sensor 90 of the rear wheel 11 when it is determined that the traveling vehicle body 2 makes a small turn or a large turn in consideration of the inter-row space for each model. Further, the controller 100 may change the range of the rotation speed sensor 90 of the rear wheel 11 when it is determined that the traveling vehicle body 2 makes a small turn or a large turn in consideration of the diameter and type of the wheel.

Further, the controller 100 changes the steering amount of the steering wheel 35, for example, for adjusting the steering of the steering wheel 35 when the traveling vehicle body 2 makes a small turn or a large turn, in consideration of the wheelbase of the traveling vehicle body 2. You may. The controller 100 may change the steering amount of the steering wheel 35 for adjusting the steering of the steering wheel 35, for example, in consideration of the inter-row space for each model when the traveling vehicle body 2 makes a small turn or a large turn. good. The controller 100 changes the steering amount of the steering wheel 35, for example, for adjusting the steering of the steering wheel 35 when the traveling vehicle body 2 makes a small turn or a large turn, in consideration of the diameter and type of the wheels. May be good.

Further, the controller 100 may change the steering wheel return angle according to the number of rows of the traveling vehicle body 2 and the vehicle speed. The controller 100 may change the steering wheel return angle in consideration of the wheelbase of the traveling vehicle body 2. The controller 100 may change the handle return angle in consideration of the inter-row space for each model. The controller 100 may change the handle return angle in consideration of the diameter and type of the wheel.

Although the steering of the steering wheel 35 in the automatic turning has been described above, it may be applied to the steering of the steering wheel 35 in the automatic straight running.

The controller 100 may adjust the steering of the steering wheel 35 based on the slip amount in the automatic straight running. For example, the controller 100 reduces the steering amount of the steering wheel 35 as the slip amount increases. The controller 100 reduces the steering amount of the steering wheel 35, for example, as the slip amount increases when the traveling vehicle body 2 deviates from the straight traveling path L1 in the automatic straight traveling. For example, when the slip amount is "P1" and "P2" and "P2" is larger than "P1", the steering amount H2 of the handle 35 corresponding to the slip amount P2 corresponds to the slip amount P1. It is smaller than the steering amount H1 of the steering wheel 35.

When the field is easy to slip and the amount of slip is large, it is easily affected by the operation by the handle 35, the wobbling in the left-right direction of the traveling vehicle body 2 becomes large, and the straight running performance of the seedling transplanting machine 1 may decrease. ..

Therefore, for example, the controller 100 reduces the steering amount of the steering wheel 35 as the slip amount increases. As a result, the controller 100 can improve the straight running performance of the seedling transplanting machine 1 in the automatic straight running. Further, the controller 100 can stabilize the traveling posture of the seedling transplanting machine 1 in the automatic straight running and improve the safety.

The controller 100 may calculate the slip amount in automatic straight running for each predetermined mileage. In this case, for example, the controller 100 adjusts the steering of the steering wheel 35 based on the slip amount calculated immediately before adjusting the steering of the steering wheel 35. Further, the controller 100 may adjust the steering of the steering wheel 35 based on the average value of the plurality of slip amounts calculated immediately before adjusting the steering of the steering wheel 35. As a result, the controller 100 can improve the straight running performance of the seedling transplanting machine 1 in the automatic straight running. Further, the controller 100 can stabilize the traveling posture of the seedling transplanting machine 1 in the automatic straight running and improve the safety.

<Effect>
Next, the effect of the seedling transplanting machine 1 (working vehicle) according to the first embodiment will be described.

The seedling transplanting machine 1 includes a handle 35, a steering motor 95, and a controller 100. The steering wheel 35 adjusts the steering amount of the traveling vehicle body 2. The steering motor 95 rotates the steering wheel 35. The controller 100 controls the steering motor 95. The controller 100 controls the steering wheel 35 by controlling the steering motor 95 based on the slip amount of the wheels.

Thereby, for example, when the seedling transplanting machine 1 automatically turns in the automatic turning mode, the turning path can be corrected based on the slip amount of the wheels, and the automatic turning with high accuracy can be performed. That is, the seedling transplanting machine 1 can be run with a stable traveling direction.

Further, the seedling transplanting machine 1 can smoothly transfer from the automatic turning to the automatic straight running when shifting from the automatic turning to the automatic straight running. Therefore, the seedling transplanting machine 1 can stabilize the traveling posture of the seedling transplanting machine 1 and improve the safety when shifting from the automatic turning to the automatic straight traveling.

Further, the seedling transplanting machine 1 can execute the automatic turning with simple control without setting the turning path in the automatic turning in advance.

The seedling transplanting machine 1 includes a position acquisition device 150. The position acquisition device 150 acquires the current position information of the traveling vehicle body 2 based on the information received from the positioning means. The controller 100 calculates the slip amount based on the difference between the vehicle speed calculated based on the number of rotations of the wheels and the actual vehicle speed of the traveling vehicle body 2 calculated based on the information acquired by the position acquisition device 150. ..

As a result, the seedling transplanting machine 1 can accurately calculate the slip amount. Therefore, the seedling transplanting machine 1 can perform automatic turning with high accuracy, for example, when performing automatic turning in the automatic turning mode.

When the traveling vehicle body 2 is automatically traveling straight, the controller 100 reduces the operation of the steering wheel 35 as the slip amount increases.

As a result, the seedling transplanting machine 1 operates the steering wheel according to the slip amount when the seedling transplanting machine 1 goes straight in the automatic straight-ahead mode. The seedling transplanting machine 1 can prevent the traveling vehicle body 2 from shaking due to a large change in the steering amount of the handle 35, for example, when the field is likely to slip. Therefore, the seedling transplanting machine 1 can improve the straight-ahead running performance in the automatic straight-ahead when the seedling transplanter 1 goes straight in the automatic straight-ahead mode. In addition, the seedling transplanting machine 1 can stabilize the traveling posture in automatic straight running and improve safety.

The controller 100 calculates the slip amount for each predetermined mileage when the traveling vehicle body 2 is automatically traveling straight.

Thereby, for example, when adjusting the operation amount of the handle 35, the seedling transplanting machine 1 can adjust the operation amount of the handle 35 based on the slip amount in the immediately preceding field. Therefore, the seedling transplanting machine 1 can adjust the operating amount of the handle 35 according to the slip amount that changes depending on the location of the field. Therefore, the seedling transplanting machine 1 can improve the straight-ahead running performance in the automatic straight-ahead when the seedling transplanter 1 goes straight in the automatic straight-ahead mode. In addition, the seedling transplanting machine 1 can stabilize the traveling posture in automatic straight running and improve safety.

When the traveling vehicle body 2 is automatically turning, the controller 100 controls the steering wheel 35 so that the turning radius of the traveling vehicle body 2 increases as the slip amount increases.

As a result, when the seedling transplanting machine 1 turns in the automatic turning mode, the turning path can be corrected according to the slip amount, and the seedling transplanting machine 1 can turn along a desired turning path. For example, when the slip amount is large and the traveling vehicle body 2 is turning toward the inside of the turning, the seedling transplanting machine 1 can automatically turn along a desired turning path by operating the handle 35. Therefore, the seedling transplanting machine 1 can perform automatic turning with high accuracy when turning in the automatic turning mode.

When the traveling vehicle body 2 automatically turns, the controller 100 calculates the slip amount from the start of turning to the predetermined direction.

As a result, the seedling transplanting machine 1 can correct the turning path after the predetermined direction is reached, based on the slip amount from the start of the turn to the predetermined direction. Therefore, the seedling transplanting machine 1 can correct the turning path after the predetermined orientation is adjusted according to the state of the field, and can perform automatic turning according to the desired turning path. Therefore, the seedling transplanting machine 1 can perform automatic turning with high accuracy.

When the traveling vehicle body 2 starts automatic turning, the controller 100 sets the operating amount of the steering wheel 35 as a predetermined operating amount, calculates the slip amount from the start of turning to a predetermined direction, and travels based on the slip amount. The steering wheel 35 is controlled so that the vehicle body 2 matches the straight traveling path L1 in the next process.

As a result, the seedling transplanting machine 1 can smoothly transfer from the automatic turning to the automatic straight running when shifting from the automatic turning to the automatic straight running. Therefore, the seedling transplanting machine 1 can stabilize the traveling posture and improve the safety when shifting from the automatic turning to the automatic straight traveling.

(Second Embodiment)
Next, the seedling transplanting machine 1 according to the second embodiment will be described. Here, the parts different from the seedling transplanting machine 1 according to the first embodiment will be mainly described, and detailed description about the same configuration and control as the seedling transplanting machine 1 according to the first embodiment will be omitted. In the seedling transplanting machine 1 according to the second embodiment, the automatic turning process is different from the automatic turning process according to the first embodiment.

<Automatic turning process>
Next, the automatic turning process according to the second embodiment will be described with reference to the flowchart of FIG. FIG. 6 is a flowchart illustrating the automatic turning process according to the second embodiment. Here, it is assumed that the automatic turning changeover switch 48 is set to "ON".

The controller 100 determines whether or not the automatic turning condition is satisfied (S200). If the controller 100 does not satisfy the automatic turning condition (S200: No), the controller 100 ends the current process.

When the automatic turning condition is satisfied (S200: Yes), the controller 100 starts automatic turning (S201). Specifically, the controller 100 controls the steering amount of the steering wheel 35 to be a predetermined steering value, and starts automatic turning.

The controller 100 starts measuring the number of rotations of the wheels (S202). Specifically, the controller 100 starts measuring the number of rotations of the wheel from the turning start position. For example, the controller 100 starts measuring the rotation speed of the rear wheel 11 inside the turn. The controller 100 may start measuring the rotation speed of the rear wheel 11 on the outer side of the turn. The controller 100 may start measuring the rotation speed of the front wheel 10.

The controller 100 determines whether or not the orientation of the traveling vehicle body 2 is a predetermined orientation (S203). If the direction of the traveling vehicle body 2 is not the predetermined direction (S203: No), the controller 100 continues automatic turning until the orientation of the traveling vehicle body 2 becomes the predetermined direction (S203). The controller 100 maintains the steering amount of the steering wheel 35 at a predetermined steering value and continues automatic turning. The measurement of the number of rotations of the wheels will also be continued.

When the direction of the traveling vehicle body 2 becomes a predetermined direction (S203: Yes), the controller 100 calculates the reached rotation speed of the wheels from the start of turning to the predetermined direction (S204). For example, the controller 100 calculates the reached rotation speed of the rear wheel 11 inside the turn from the start of the turn to the predetermined direction. The controller 100 may calculate the reached rotation speed of the rear wheel 11 on the outer side of the turn. The controller 100 may calculate the reached rotation speed of the front wheel 10. That is, the wheel may be the front wheel 10 or the rear wheel 11.

The controller 100 adjusts the steering of the steering wheel 35 (S205). The controller 100 adjusts the steering of the steering wheel 35 based on the calculated reached rotation speed of the wheel. Specifically, the controller 100 calculates the steering amount of the steering wheel 35 so that the traveling vehicle body 2 matches the straight traveling path L1 in the next process based on the reached rotation speed of the wheels. Then, the controller 100 adjusts the steering amount of the steering wheel 35 according to the calculated steering amount. That is, the controller 100 corrects the turning path in the automatic turning.

For example, when the reached rotation speed of the wheel is larger than the first predetermined rotation speed, the controller 100 determines that the traveling vehicle body 2 is turning more than the desired turning path, and adjusts the steering of the steering wheel 35. The first predetermined rotation speed is an upper limit value of the reached rotation speed that can be determined that the traveling vehicle body 2 is traveling on a desired traveling path. The first predetermined rotation speed may be set in advance, or may be set, for example, based on the slip amount calculated at the time of automatic straight running.

When the reached rotation speed of the wheel is larger than the first predetermined rotation speed, the controller 100 increases the steering amount of the steering wheel 35, for example. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is increased turns with a turning radius smaller than the turning radius when the steering amount of the steering wheel 35 is not increased. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius is smaller than the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling path L1 in the next process.

When the reached rotation speed of the wheel is larger than the first predetermined rotation speed, the controller 100 increases the operation amount of the handle 35 as the reached rotation speed of the wheel increases.

When the reached rotation speed of the wheel is smaller than the second predetermined rotation speed, the controller 100 determines that the traveling vehicle body 2 is turning smaller than the desired turning path, and adjusts the steering of the steering wheel 35. The second predetermined rotation speed is a lower limit value of the reached rotation speed that can be determined that the traveling vehicle body 2 is traveling on a desired traveling path. The second predetermined rotation speed may be set in advance, or may be set, for example, based on the slip amount calculated at the time of automatic straight running. The second predetermined rotation speed is smaller than the first predetermined rotation speed.

When the reached rotation speed of the wheel is smaller than the second predetermined rotation speed, the controller 100 reduces the steering amount of the steering wheel 35, for example. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is reduced turns with a turning radius larger than the turning radius when the steering amount of the steering wheel 35 is not reduced. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius becomes larger than the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling path L1 in the next process.

When the reached rotation speed of the wheel is smaller than the second predetermined rotation speed, the controller 100 reduces the operation amount of the handle 35 as the reached rotation speed of the wheel becomes smaller.

When the reached rotation speed of the wheel is equal to or higher than the first predetermined rotation speed and is equal to or less than the second predetermined rotation speed, the controller 100 automatically turns without adjusting the steering of the handle 35.

The controller 100 determines whether or not the controller 100 has reached the return timing (S206). If the return timing has not been reached (S206: No), the controller 100 continues automatic turning (S205). When the return timing comes (S206: Yes), the controller 100 returns the handle 35 to the reference position (S207).

<Effect>
Next, the effect of the seedling transplanting machine 1 (working vehicle) according to the second embodiment will be described.

The seedling transplanting machine 1 includes a handle 35, a steering motor 95, a position information acquisition device, and a controller 100. The steering wheel 35 adjusts the steering amount of the traveling vehicle body 2. The steering motor 95 rotates the steering wheel 35. The position information acquisition device acquires the current direction information of the traveling vehicle body 2 based on the information received from the positioning means. The controller 100 controls the steering wheel 35 by controlling the steering motor 95 to perform automatic turning. The controller 100 automatically turns based on the direction of the traveling vehicle body 2 with respect to the turning start position.

As a result, the seedling transplanting machine 1 can perform automatic turning with high accuracy by performing automatic turning based on the direction of the traveling vehicle body 2 with respect to the turning start position. Further, the seedling transplanting machine 1 can stabilize the traveling posture of the seedling transplanting machine 1 and improve the safety when shifting from the automatic turning to the automatic straight traveling.

Further, the seedling transplanting machine 1 can execute the automatic turning with simple control without setting the turning path in the automatic turning in advance.

The controller 100 controls the steering wheel 35 based on the number of rotations reached by the wheels of the traveling vehicle body 2 from the turning start position until the orientation of the traveling vehicle body 2 with respect to the turning start position becomes a predetermined direction.

As a result, the seedling transplanting machine 1 can perform highly accurate automatic turning at each turning point by controlling the handle 35 based on the number of rotations of the wheels at each turning point.

When the reached rotation speed is smaller than the first predetermined rotation speed, the controller 100 determines that the traveling vehicle body 2 is making a small turn, controls the steering wheel 35, and corrects the turning path in the automatic turning. When the reached rotation speed is larger than the second predetermined rotation speed, the controller 100 determines that the traveling vehicle body 2 is making a large turn, controls the steering wheel 35, and corrects the turning path in the automatic turning running. The second predetermined rotation speed is larger than the first predetermined rotation speed.

As a result, the seedling transplanting machine 1 can control the steering wheel 35 according to the turning state of the traveling vehicle body 2 at each turning point, and can correct the turning path in the automatic turning. Therefore, the seedling transplanting machine 1 can perform automatic turning with high accuracy at each turning point.

(Modification example)
The controller 100 may adjust the steering of the steering wheel 35 based on the direction of the traveling vehicle body 2 when the rotation speed of the wheels of the traveling vehicle body 2 reaches a predetermined rotation speed with respect to the turning start position. The predetermined rotation speed is a preset rotation speed. The predetermined rotation speed is a rotation speed at which the steering of the steering wheel 35 can be adjusted so that the traveling vehicle body 2 matches the straight traveling path L1 in the next process. The predetermined rotation speed is set according to the type of the traveling vehicle body 2 and the like.

When the change amount of the direction of the traveling vehicle body 2 when the predetermined rotation speed is reached is smaller than the first predetermined change amount, the controller 100 determines that the traveling vehicle body 2 is making a large turn, for example, a steering wheel. Adjust the steering amount of 35. The amount of change in direction is the amount of change based on the direction of the turning start position. The first predetermined change amount is a lower limit change amount that can be determined that the traveling vehicle body 2 is traveling on a desired traveling path during automatic turning.

Further, when the change amount of the direction of the traveling vehicle body 2 when the predetermined rotation speed is reached is larger than the second predetermined change amount, the controller 100 determines that the traveling vehicle body 2 is making a small turn, for example. , Adjust the steering amount of the handle 35. The second predetermined change amount is an upper limit change amount that can be determined that the traveling vehicle body 2 is traveling on a desired traveling route at the time of automatic turning. The second predetermined change amount is larger than the first predetermined change amount.

As a result, the seedling transplanting machine 1 can perform highly accurate automatic turning at each turning point, as in the above embodiment.

Further, the controller 100 may adjust the steering of the steering wheel 35 based on the distance traveled from the turning start position when the rotation speed of the wheels of the traveling vehicle body 2 reaches a predetermined rotation speed with respect to the turning start position. good. The distance is calculated based on the number of revolutions and the diameter of the wheel. The average value of the values calculated for the left and right wheels may be calculated as the distance. Further, the slip amount described above may be calculated based on the distance. In this case, the slip amount is calculated from the distance calculated by the rotation speed of the wheel and the distance calculated based on the position information acquired by the position information acquisition device.

When the distance traveled from the turning start position is smaller than the lower limit of the predetermined distance that can be determined that the traveling vehicle body 2 is traveling on the desired traveling path, the controller 100 turns so that the turning radius becomes large. Correct the route and turn automatically.

Further, when the distance traveled from the turning start position is larger than the upper limit value of the predetermined distance, the controller 100 corrects the turning path so that the turning radius becomes smaller and automatically turns.

The controller 100 may calculate the slip amount based on the orientation of the traveling vehicle body 2 when the rotation speed of the wheels of the traveling vehicle body 2 reaches a predetermined rotation speed with respect to the turning start position. The controller 100 may correct the turning path based on the calculated slip amount and perform automatic turning. The controller 100 calculates the slip amount based on the direction of the traveling vehicle body 2 when the predetermined rotation speed is reached and the orientation of the traveling path when the predetermined rotation speed is reached in the desired traveling path.

In the above-described embodiment, the controller 100 may turn on the diff lock mechanism 97 when the traveling vehicle body 2 makes a large turn during automatic turning.

As a result, the seedling transplanting machine 1 can correct the turning path in the automatic turning and make a small turn. Therefore, the seedling transplanting machine 1 can perform automatic turning with high accuracy.

Further, the controller 100 may turn off the diff lock mechanism 97 when the traveling vehicle body 2 makes a large turn during automatic turning.

As a result, the seedling transplanting machine 1 can correct the turning path in the automatic turning and make a large turn. Therefore, the seedling transplanting machine 1 can perform automatic turning with high accuracy.

When the controller 100 adjusts the operation of the handle 35 to correct the turning path during automatic turning, the diff lock mechanism 97 is turned on and off based on the actual turning path after the operation of the handle 35 is adjusted. You may switch the state. The controller 100 controls the ON-OFF pulse output for the diff lock switching motor 96.

When the controller 100 increases the correction for a large turn (correction for making a small turn), the controller 100 prolongs the time in which the diff lock mechanism 97 is engaged. Further, the controller 100 may shorten the pulse period for the diff lock switching motor 96.

The controller 100 shortens the time in which the diff lock mechanism 97 is engaged when the correction for a small turn (correction for a large turn) is increased. Further, the controller 100 may lengthen the pulse period for the diff lock switching motor 96.

As a result, the seedling transplanting machine 1 can perform automatic turning with high accuracy.

Further, the controller 100 may correct the turning path by operating the pumping by the pumping clutch at the time of automatic turning. Pumping is to repeat the transmission of the driving force to the rear wheels 11 ON / OFF.

The controller 100 operates the pumping to correct the turning path when the correction for the small turn (correction for the large turn) is performed. The controller 100 lengthens the pumping operation time when it is desired to strengthen the correction that the turning path becomes a large turn. Specifically, the controller 100 lengthens the pulse-on time of pumping when the correction that the turning path becomes a large turn is increased. The controller 100 may shorten the pulse period of pumping when the correction that the turning path becomes a large turn is increased. It should be noted that the controller 100 performs an operation such as shortening the pumping operation time when the correction that the turning path becomes a large turn is reduced.

Further, the controller 100 may correct the turning path by switching the left and right side clutches 44 into the engaged state and the disengaged state at the time of automatic turning.

The controller 100 operates the side clutch 44 to correct the turning path when making a correction for a small turn (correction for a large turn). Specifically, the controller 100 lengthens the operating time (time in the engaged state) of the side clutch 44 when the correction that the turning path becomes a large turn is increased. The controller 100 may lengthen the pulse-on time of the side clutch 44 in order to reduce the correction that makes the turning path large. The controller 100 may shorten the pulse period of the side clutch 44 when increasing the correction that makes the turning path large.

Further, the controller 100 prohibits automatic turning when the reference start point and the reference end point in the automatic straight running are not acquired.

As a result, the controller 100 prohibits starting automatic turning when the turning end position in automatic turning is not determined, and suppresses the position of the traveling vehicle body 2 from being displaced with respect to planting in the next process after turning. be able to. Therefore, the seedling transplanting machine 1 can reduce the load of the line alignment by the operator after turning.

The controller 100 may have a mode mode that enables automatic turning regardless of the elevating position of the seedling planting unit 4 and the driving state of the seedling planting unit 4. For example, when the demo mode is selected by switching the switch, the traveling vehicle body 2 executes automatic turning in the demo mode. In the automatic turning in the demo mode, the steering amount of the steering wheel 35, specifically, the turning angle of the steering wheel 35 becomes larger than the automatic turning in the field. Further, the controller 100 reduces the steering angle of the steering wheel 35 when returning the steering wheel 35, and reduces the turning radius in the turning running. This is because the road surface on which the demo mode is executed does not slip as much as the field.

As a result, the seedling transplanting machine 1 can easily make the worker, the visitor, and the like confirm the traveling state in the automatic turning. For example, workers can easily test and demonstrate automatic turning outside the field. Further, the seedling transplanting machine 1 can accurately perform automatic turning even when the automatic turning is performed outside the field.

When the automatic turning is performed in the demo mode, the height of the seedling planting portion 4 at the lowest position is made higher than the height in the normal automatic turning. As a result, it is possible to prevent the seedling planting portion 4 from coming into contact with the road surface during automatic turning in the demo mode. Further, the seedling transplanting machine 1 can execute automatic turning in the demo mode without performing a support member for suppressing the seedling planting portion 4 from coming into contact with the road surface or adjusting the hydraulic pressure.

Further, in the demo mode, the controller 100 moves the seedling planting unit 4 up and down according to the operation of the handle 35 from the condition for executing the automatic turning, and the switch for switching the planting state by the seedling planting unit 4 is turned on. The condition is excluded. That is, in the demo mode, the condition that the seedling planting unit 4 is in the non-working state is removed from the working state.

Further, in the demo mode, the controller 100 raises and lowers the seedling planting unit 4 when the switch for switching the planting state in the seedling planting unit 4 is turned on in response to the operation of the handle 35 and automatically turns. , The rotation of the implant rod 58 may be prohibited. As a result, it is possible to suppress the rotation of the implant rod 58 in the demo mode.

Further, in the demo mode, the controller 100 sets the distance traveled in the previous process from the reference start point (point A) to the reference end point (point B). Thereby, for example, while the demo mode on the road is being executed, the seedling planting portion 4 can be automatically turned without moving up and down.

Further, in the demo mode, the controller 100 uses the distance from the start of automatic driving to the start of turning as the distance in the previous process. Thereby, for example, while the demo mode on the road is being executed, the seedling planting portion 4 can be automatically turned without moving up and down.

The demo mode may be switchable depending on the setting mode on the monitor 86. During the demo mode, when the key is turned on, the demo mode is displayed in a pop. The pop may indicate how to turn off the demo mode. As a result, the seedling transplanting machine 1 can suppress forgetting to turn off the demo mode.

The demo mode may be executed when the automatic turning switch is ON and the straight-ahead assist lever is operated in a predetermined direction for a predetermined time (for example, 10 seconds). The demo mode may be automatically turned off when the key is turned off.

The above-described embodiments and modifications can be combined as appropriate. The seedling transplanting machine 1 may have the following configurations in addition to the above configurations.

The seedling transplanting machine 1 that can be operated by remote control prohibits the start of the engine 30 when the operator does not have a remote controller.

When the remote controller is paired, the seedling transplanter 1 that can be operated by the remote control prohibits pairing of another remote controller unless the pairing is canceled by the paired remote controller.

The seedling transplanting machine 1 that can be operated by remote control notifies the base station when the engine 30 is started when the remote controller is separated by a certain distance.

The seedling transplanter 1 that can be operated by remote control notifies the base station when the wheels rotate when the remote controller is separated by a certain distance.

The seedling transplanter 1 that can be operated by remote control notifies the base station when the hydraulic pressure is activated when the remote controller is separated by a certain distance.

The seedling transplanter 1 that can be operated by remote control notifies the base station when the switch is operated when the remote controller is separated by a certain distance.

The seedling transplanting machine 1 that can be operated by remote control notifies the base station when the angle of the seedling transplanting machine 1 changes when the remote controller is separated by a certain distance.

The seedling transplanting machine 1 that can be operated by remote control detects the movement by the GPS device and notifies the base station when the remote control is separated by a certain distance and the seedling transplanting machine 1 moves.

The seedling transplanting machine 1 that can be operated by remote control gives priority to manual operation even during remote control operation.

The seedling transplanting machine 1 that can be operated by remote control does not stop the work when the remote control is within the riding range of the seedling transplanting machine 1, and stops for safety when the remote control is within a certain distance range.

The seedling transplanting machine 1 that can be operated by the remote control does not stop when the remote control is behind or in front of the seedling transplanting machine 1 and the remote control is on the shore. It should be noted that this may be limited to after the reference line L0 is stored.

The seedling transplanting machine 1 that can be operated by remote control does not stop when the remote control is in the left-right direction of the seedling transplanting machine 1 and the remote control is on the shore. It should be noted that this may be limited to after the reference line L0 is stored.

In the seedling transplanting machine 1 that can be operated by remote control, the safety mechanism does not operate during the work of storing the reference line L0.

The seedling transplanting machine 1 that can be operated by remote control may be configured to have automatic hydraulic sensitivity. For example, when the field is soft, the seedling transplanting machine 1 may regulate the vehicle speed and suppress the maximum speed even if the operation of increasing the vehicle speed is performed by the remote controller. Further, for example, even if a water depth sensor is provided in the seedling planting section 4 and an operation of increasing the vehicle speed is performed by a remote controller in the case of deep water, the seedling transplanting machine 1 regulates the vehicle speed and suppresses the maximum speed. May be good.

The seedling transplanting machine 1 that can be operated by remote control is provided with an angular velocity sensor in the seedling planting section 4, and when the vibration becomes large, even if the operation to increase the vehicle speed is performed by the remote controller, the vehicle speed is regulated and the maximum speed is suppressed. good.

The seedling transplanting machine 1 that can be operated by remote control regulates the vehicle speed and suppresses the maximum speed even if the approach is detected by GPS, for example, and the vehicle speed is increased by the remote control when approaching the adjacent row when going straight. You may.

The seedling transplanting machine 1 that can be steered by the remote control may regulate the vehicle speed and suppress the maximum speed even if the operation of increasing the vehicle speed is performed by the remote controller when the shore is detected.

The seedling transplanter 1 that can be steered by remote control may automatically stop or prohibit the start of the engine 30 when the remote controller is separated by a certain distance during work.

When the seedling reduction is detected, the seedling transplanting machine 1 that can be steered by the remote control may be stopped even if the operation of increasing the vehicle speed is performed by the remote controller.

The seedling transplanting machine 1 that can be steered by remote control is provided with a remote control antenna on the upper part of the auxiliary seedling frame. The seedling transplanting machine 1 is provided so that a part of the remote control antenna is at the highest position on the auxiliary seedling frame regardless of whether the auxiliary seedling frame is in the stored state or the working state.

The remote control antenna is provided, for example, in the vicinity of the GNSS sensor. For example, the remote control antenna is attached to the bottom of the stay of the GNSS sensor. As a result, the remote control antenna can be installed with an inexpensive configuration by using the stay of the GNSS sensor. The remote control antenna can be removed while attached to the stay. As a result, the remote control antenna can be removed and the height when stored can be lowered.

The remote control antenna may be attached to the stay of the GNSS sensor via the attachment stay. The mounting stay is provided with a notch in the bolt tightening portion. The notch is provided so that the bolt of the stay of the GNSS sensor can be inserted into the notch. As a result, the mounting stay can be attached from the side surface of the bolt with the bolt loosened in order to remove the bolt of the stay of the GNSS sensor.

The remote control antenna is provided on the handrail for workers to get on and off. For example, the remote control antenna is mounted inside the handrail via a mounting stay. As a result, the remote control antenna can be installed with an inexpensive configuration by using the handrail.

The remote control antenna may be attached to a stay that can be expanded and contracted in the vertical direction. The stay is composed of pipes having different diameters, for example, and by sliding the pipes in the vertical direction, the stay expands and contracts in the vertical direction. The remote control antenna is provided inside the stay. As a result, the seedling transplanting machine 1 can suppress an increase in the length and width of the seedling transplanting machine 1. The remote control antenna may be provided outside the stay. As a result, the seedling transplanting machine 1 can secure a working space.

The seedling transplanting machine 1 does not start when the seedling planting portion 4 rises when moving between fields and is not hydraulically locked. When moving between fields, the seedling transplanting machine 1 does not start if the line drawing marker 65 is not housed. When moving between fields, the seedling transplanting machine 1 does not start if the seedling tanks 53 at both ends are not stored. The seedling transplanting machine 1 stores the seedling tanks 53 at both ends when moving between fields, and does not start if the seedling tanks 53 are not aligned. The seedling transplanting machine 1 does not start when moving between fields and when the maetas at both ends are not stored. The seedling transplanting machine 1 does not start when moving between fields and when the maeta guards at both ends are not stored.

The seedling transplanting machine 1 may be provided with, for example, a camera for detecting the left end of the road, and when moving between fields, the seedling transplanting machine 1 may detect the left end of the road and travel. The seedling transplanting machine 1 detects the white line at the left end of the road and travels.

The seedling transplanting machine 1 avoids obstacles when there are obstacles while moving between fields. When traveling on the road, the seedling transplanting machine 1 travels at the left end, and if there is an obstacle, it turns to the right and avoids the obstacle. The seedling transplanting machine 1 may travel toward the left end after avoiding obstacles. The seedling transplanter 1 slows down or stops before the curve when moving between fields.

The seedling transplanting machine 1 may increase the engine speed by 30 rpm when it goes uphill while moving between fields. The seedling transplanting machine 1 may lower the engine speed by 30 rpm when it goes downhill while moving between fields.

The seedling transplanting machine 1 may be stopped when the seedling planting portion 4 moves up and down while moving between fields. For example, the seedling transplanting machine 1 may be stopped when the seedling planting portion 4 descends while moving between fields. The seedling transplanting machine 1 may raise the seedling planting portion 4 when the seedling planting portion 4 descends while moving between fields. The seedling transplanting machine 1 may sound an alarm when the seedling planting unit 4 moves up and down while moving between fields. The seedling transplanting machine 1 may stop the engine 30 when the seedling planting portion 4 moves up and down while moving between fields. The seedling transplanting machine 1 may contact the cloud when the seedling planting unit 4 moves up and down while moving between fields.

The seedling transplanter 1 may stop when it detects a moving obstacle while moving between fields. The seedling transplanting machine 1 may stop when the traveling vehicle body 2 suddenly tilts while moving between fields.

The seedling transplanting machine 1 may be stopped when there is an obstacle that cannot be detoured while moving between fields. The seedling transplanter 1 may contact the cloud if there are obstacles that cannot be detoured while moving between fields. The seedling transplanter 1 may search for a different route if there are obstacles that cannot be detoured while moving between fields. The seedling transplanting machine 1 may stop the engine 30 when a trouble occurs while moving between fields. The seedling transplanter 1 may contact the cloud if a problem occurs while moving between fields.

The seedling transplanting machine 1 may stop the engine 30 when the route is changed to an unplanned route while moving between fields. The seedling transplanter 1 may contact the cloud if the route is changed to an unplanned route while moving between fields. The seedling transplanter 1 may be stopped if the route is changed to an unplanned route while moving between fields. The seedling transplanter 1 may sound an alarm when the route is changed to an unplanned route while moving between fields.

When moving between fields, the seedling transplanting machine 1 memorizes the entrance / exit of the designated field and stops at the memorized entrance / exit. When the seedling transplanting machine 1 moves between fields, the engine 30 may be stopped at the entrance of the field when the seedling transplanting machine 1 arrives at the target field. Further, the seedling transplanting machine 1 may stop the engine 30 after entering the field.

When the seedling transplanting machine 1 moves between fields, if an error is detected before traveling, the seedling transplanting machine 1 may be prohibited from starting. The seedling transplanting machine 1 may contact the cloud when it detects an error before traveling when moving between fields. When the seedling transplanting machine 1 moves between fields, if the fuel is low before traveling, the seedling transplanting machine 1 may be prohibited from starting. The seedling transplanter 1 may contact the cloud when moving between fields if the fuel is low before traveling.

The seedling transplanting machine 1 may stop the engine 30 when the seedling transplanting machine 1 moves between fields and is stopped unexpectedly. The seedling transplanter 1 may contact the cloud, for example, if it makes an unplanned stop when moving between fields. The seedling transplanting machine 1 may be provided with a weight sensor in the seat, and when moving between fields, the engine 30 may be stopped when the weight is detected. The seedling transplanter 1 may contact the cloud when it senses the weight when moving between fields. Only a worker having a remote controller can change the setting of the seedling transplanting machine 1.

The seedling transplanting machine 1 may be prohibited from restarting when the instruments are touched when the seedling transplanting machine 1 is stopped while moving between fields. When the seedling transplanting machine 1 is stopped while moving between fields, the engine 30 may be stopped when the instruments are touched. The seedling transplanting machine 1 may sound an alarm when the instruments are touched when the seedling transplanting machine 1 is stopped while moving between fields. The seedling transplanter 1 may contact the cloud when the instruments are touched when it is stopped while moving between fields.

The seedling transplanting machine 1 may be prohibited from restarting when the working machine moves up and down when the seedling transplanting machine 1 is stopped while moving between fields. When the seedling transplanting machine 1 is stopped while moving between fields, the engine 30 may be stopped when the working machine moves up and down. The seedling transplanting machine 1 may sound an alarm when the working machine moves up and down when the seedling transplanting machine 1 is stopped while moving between fields. The seedling transplanting machine 1 may contact the cloud when the working machine moves up and down when the seedling transplanting machine 1 is stopped while moving between fields.

The seedling transplanting machine 1 detects the road width by a sensor while moving between fields, and if the road width is shorter than the width obtained by adding the margin (for example, 2000 mm) to the width of the seedling transplanting machine 1, even if it is stopped. good.

The seedling transplanting machine 1 may be stopped while moving between fields when the road width for avoiding obstacles is shorter than the width of the seedling transplanting machine 1. In this case, the seedling transplanting machine 1 may retreat to a branch road on the traveled route. Further, the seedling transplanting machine 1 may search for another traveling route on the branch road.

The seedling transplanter 1 may recognize the traffic light based on the image taken by the camera while moving between fields, and may stop if the traffic light is "red".

The seedling transplanting machine 1 may recognize the tail lamp of the moving vehicle in front based on the image taken by the camera while moving between fields, and may stop when the tail lamp emits red light.

The seedling transplanting machine 1 may be prohibited from running when the seedling planting portion 4 is in the raised position and the seedling planting portion 4 is not in the locked state when moving between fields.

The seedling transplanting machine 1 may automatically turn on the light when moving between fields. The seedling transplanting machine 1 may prohibit starting when the light is not lit when moving between fields. The seedling transplanting machine 1 may automatically turn on the turn signal when moving between fields.

The seedling transplanter 1 may decelerate when it detects an object approaching from the front while moving between fields. The seedling transplanting machine 1 may stop when it detects an object approaching from the front while moving between fields. When the seedling transplanting machine 1 detects an object approaching from the front while moving between fields, the seedling transplanting machine 1 may stop until the objects pass each other, and then restart after the objects pass each other.

The seedling transplanting machine 1 may be stopped when it detects an abnormal vibration when moving between fields.

When the seedling transplanting machine 1 moves to the barn, the engine 30 may be stopped in front of the barn in response to the instruction to move to the barn. When the seedling transplanting machine 1 moves to the barn, the seedling transplanting machine 1 may enter the barn and stop the engine 30 in response to the instruction to move to the barn. When moving to the barn, the seedling transplanting machine 1 may return to the accommodation position of the barn in response to the instruction to move to the barn.

The seedling transplanting machine 1 gradually deepens the rotor when the traveling vehicle body 2 starts to rise forward at the time of planting. The seedling transplanting machine 1 may lower the rotor to the lowest position, and when the center float 62C hangs down, it may determine that the seedling transplanting machine 1 has come out of the field and raise the seedling planting portion 4. Further, the seedling transplanting machine 1 may further lock the hydraulic pressure.

The seedling transplanting machine 1 is provided with an ultrasonic sensor, and when the traveling vehicle body 2 starts to rise forward, the depth becomes close to zero by the ultrasonic sensor, so that it is determined that the planting is not possible and the planting is stopped. Further, the seedling transplanting machine 1 may raise the seedling planting portion 4 or lower the rotor at that time.

When the operation mode is changed by operating the remote controller, the seedling transplanter 1 may display a confirmation screen on the liquid crystal panel on the remote controller. As a result, the seedling transplanting machine 1 can suppress erroneous operation.

When the operation mode is changed by the remote control operation, the seedling transplanting machine 1 may display a confirmation screen after the button operation for changing the operation mode is performed. Further, the seedling transplanting machine 1 changes the operation mode when the enter button is pressed after the confirmation screen is displayed. The display of the confirmation screen may be omitted depending on the setting.

When the seedling transplanting machine 1 operates the HST 14, the handle 35, the hydraulic pressure, and the motor in the remote control mode, the confirmation screen may be displayed on the liquid crystal panel on the remote controller. As a result, it is possible to suppress an erroneous operation due to a mistaken pressing by the operator. The seedling transplanting machine 1 may display a confirmation screen after an operation such as HST14 is performed in the remote control mode. Further, the seedling transplanting machine 1 may start the operation of the HST 14 or the like when the enter button is pressed after the confirmation screen is displayed. The display of the confirmation screen may be omitted depending on the setting.

The seedling transplanter 1 may be able to use the remote mode only when the auxiliary transmission is at the planting speed. The position of the auxiliary shift lever is detected by a switch or a potentiometer.

The seedling transplanting machine 1 may sound a buzzer or display it on the liquid crystal panel of the remote controller when the auxiliary shift is not the planting speed at the time of the remote mode transition operation.

The seedling transplanting machine 1 may delete the apex of the field range or display an error when the position information used for detecting the field range is large and the automatic planting route cannot be created. After the measurement of the field area, the point where the position information is acquired may be displayed on the tablet. After displaying the location information, the automatic planting route may be displayed. On the tablet, the vertices of the field range may be displayed on the map, and the vertices displayed on the map may be selected and deleted one by one. If the automatic planting route cannot be created, the calculation of the automatic planting route may be performed every time the vertex is deleted.

The seedling transplanting machine 1 may be capable of canceling the automatic operation mode by operating a lever. The seedling transplanting machine 1 may switch from the automatic operation mode to the manual operation mode when the main shift lever is tilted to the forward side during the automatic operation mode. The movement of the lever is detected by a potentiometer provided in the column.

When the seedling transplanting machine 1 shifts from the automatic operation mode to the manual operation mode, the seedling transplanting machine 1 may set the HST 14 to the neutral position. In this case, the seedling transplanter 1 may not be able to move forward or backward unless the HST14 lever is returned to the neutral position. Further, the seedling transplanting machine 1 may not be able to move forward or backward unless the parking pedal is depressed and the safety switch is pressed. Further, the seedling transplanting machine 1 may not be able to move forward or backward unless the HST14 lever is returned to the neutral position and the parking pedal is depressed.

The seedling transplanting machine 1 may automatically deploy the electric seedling rail when the seedlings are replenished by the shore gathering. As a result, work efficiency and energy saving can be realized.

The seedling transplanting machine 1 may be stopped when the work is performed from the side of the material supply side to a position of, for example, 3 m during the automatic operation. In this case, the motor of the electric seedling rail may be operated and the electric seedling rail may be deployed when the width adjustment (forward) signal is transmitted by the remote controller.

When the receiver receives the forward signal of the remote controller, the seedling transplanter 1 may output a signal for rotating the HST motor to the forward side and a signal for deploying the electric seedling rail to the motor of the electric seedling rail.

The seedling transplanting machine 1 does not have to automatically deploy the electric seedling rail when the direction of the electric seedling rail is not parallel to the traveling direction of the traveling vehicle body 2. The orientation of the electric seedling rail is detected by a potentiometer or switch provided at the rotation fulcrum of the auxiliary seedling frame.

The seedling transplanting machine 1 may propose an order for acquiring the reference line L0 before the planting work. This facilitates the work for the worker to acquire the reference line L0.

The shape of the field may be created on the map application. The shape of the field may be created based on the drone and the data taken by the camera provided on the drone. The shape of the field may be created based on the data obtained by going around the outer circumference of the field during the tractor scraping operation.

The seedling transplanting machine 1 may propose an order for acquiring the reference line L0 based on the shape of the field created by the above method. The monitor 86 of the seedling transplanting machine 1 displays the order for acquiring the reference line L0 on the tablet terminal.

The seedling transplanting machine 1 may be capable of electrically changing the amount of fertilizer applied in the fertilizer application device 5. The seedling transplanting machine 1 may be provided with a switch capable of inputting in two directions as a switch for adjusting the amount of fertilizer applied. The switch is provided on the right side of the center of the operation panel at the bottom of the handle 35.

The seedling transplanter 1 reduces the amount of fertilizer applied when the switch is operated in the first direction. For example, the seedling transplanting machine 1 reduces the fertilizer application amount by 5% for one switch operation with respect to the set standard fertilizer application amount. The range in which the amount of fertilizer applied can be reduced is 5% to 50%. The seedling transplanting machine 1 invalidates the input of the switch when the operation of the switch is below the range that can be reduced. When the input of the switch is invalidated, the seedling transplanting machine 1 sounds, for example, a buzzer to warn.

When the seedling transplanting machine 1 reduces the fertilizer application amount by operating a switch, the monitor 86 may display that the fertilizer application amount is reduced and at least one of the reduction rates.

When the switch is operated in the second direction, the seedling transplanting machine 1 resets the decrease in the fertilizer application amount to the standard fertilizer application amount. The seedling transplanting machine 1 may reset the decrease in the amount of fertilizer applied when the seedling planting portion 4 rises. Further, the seedling transplanting machine 1 may be reset when the start key is turned off and then turned on again.

The seedling transplanting machine 1 may automatically adjust the automatic steering sensitivity for operating the steering wheel 35 according to the slip amount or the slip ratio of the rear wheel 11.

After the electric trial feeding of the fertilizer application device 5, the seedling transplanting machine 1 may rotate the rows other than those used in the trial feeding to fill all the rows with fertilizer. As a result, the seedling transplanting machine 1 can suppress the start of fertilizer application in a state where the feed roll of the fertilizer application device is not filled with fertilizer. For example, in the seedling transplanting machine 1, the trial feeding is performed by the two rows at the right end.

The seedling transplanting machine 1 uses a motor to disengage the fertilizer application side clutches other than the two on the right end where the trial feeding is performed. The trial feeding is performed by rotating the feeding roll 10 times. The trial feeding is performed by driving a motor provided at the right end of the fertilizer application device 5. After the trial feeding, the two fertilizer application side clutches on the right end are in the disengaged state, and the fertilizer application side clutches other than the two on the right end are in the on state. After that, the fertilizer feeding rod makes a half turn. After half a turn of the fertilizer feeding rod, all fertilizer side clutches are engaged. These operations are executed by pressing a button provided at the right end of the fertilizer application device 5.

The seedling transplanting machine 1 stops when the instruments are touched while traveling in the field in the autonomous traveling mode. The seedling transplanting machine 1 stops the engine 30 when the instruments are touched while traveling in the field in the autonomous traveling mode. The seedling transplanting machine 1 sounds an alarm when the instruments are touched while traveling in the field in the autonomous traveling mode. The seedling transplanting machine 1 contacts the cloud when the instruments are touched while traveling in the field in the autonomous traveling mode.

The seedling transplanting machine 1 stops when the route becomes an unplanned route when traveling in the field in the autonomous traveling mode. When the seedling transplanting machine 1 is traveling in the field in the autonomous traveling mode, the engine 30 is stopped when the route becomes an unplanned route. The seedling transplanting machine 1 sounds an alarm when the route becomes an unplanned route when traveling in the field in the autonomous traveling mode. The seedling transplanting machine 1 contacts the cloud when the route becomes an unplanned route when traveling in the field in the autonomous traveling mode.

When driving in the field in the autonomous driving mode, if the operator does not have the remote controller, the cloud cannot be operated.

The seedling transplanting machine 1 stops when the seedling planting unit 4 moves up and down unexpectedly when traveling in the field in the autonomous traveling mode. When the seedling transplanting machine 1 is traveling in the field in the autonomous traveling mode, the engine 30 is stopped when the seedling planting portion 4 moves up and down unexpectedly. The seedling transplanting machine 1 sounds an alarm when the seedling planting unit 4 moves up and down unexpectedly when traveling in the field in the autonomous traveling mode. The seedling transplanting machine 1 informs the cloud when the seedling planting unit 4 moves up and down unexpectedly when traveling in the field in the autonomous traveling mode.

The seedling transplanting machine 1 prohibits restarting when the seedling transplanting machine 1 is stopped in an unplanned manner while traveling in the field in the autonomous traveling mode. When the seedling transplanting machine 1 is traveling in a field in an autonomous traveling mode, the engine 30 is stopped when an unexpected stop is made. When the seedling transplanting machine 1 is traveling in the field in the autonomous traveling mode, the seedling transplanting machine 1 sounds an alarm when the vehicle is stopped unexpectedly. When the seedling transplanting machine 1 is traveling in the field in the autonomous traveling mode, the seedling transplanting machine 1 informs the cloud when an unplanned stop is made.

In the seedling transplanting machine 1, after the handle 35 detects within a predetermined angle α (for example, 10 degrees) of the target position during automatic turning, the handle 35 deviates from the target position by a predetermined angle β (for example, 30 degrees) or more. May be stopped when the automatic turning is detected. As a result, the seedling transplanting machine 1 can stop the automatic turning by giving priority to the manual operation in the event of an emergency during the automatic turning.

In the seedling transplanting machine 1, if the target angle changes due to control after the handle 35 detects within a predetermined angle α (for example, 10 degrees) of the target position during automatic turning, the handle 35 again moves to the target position. It is not necessary to detect an abnormality until the predetermined angle α of the above is reached.

When the seedling transplanting machine 1 detects an abnormality during automatic turning, the seedling transplanting machine 1 may notify the operator of the abnormality with, for example, a long horn with a buzzer sound. When the seedling transplanting machine 1 detects an abnormality during automatic turning, the seedling transplanting machine 1 may notify the operator of the abnormality by pop-displaying the monitor 86.

When the seedling transplanting machine 1 detects an abnormality during the automatic turning, the seedling transplanting machine 1 does not have to cancel the automatic turning and stop the traveling. As a result, the seedling transplanting machine 1 can run while avoiding obstacles, for example. When the seedling transplanting machine 1 detects an abnormality during the automatic turning, the seedling transplanting machine 1 may cancel the automatic turning and stop the traveling.

The seedling transplanting machine 1 detects the vehicle speed by the rotation speed sensor 90 provided on the rear wheel 11, and when the external auxiliary wheel is set, the slip ratio is low, for example, 3% lower to calculate the vehicle speed. You may. The seedling transplanting machine 1 detects the vehicle speed by the rotation speed sensor 90 provided on the rear wheel 11, and when the internal auxiliary wheel is set, the slip ratio is low, for example, 3% lower to calculate the vehicle speed. You may.

The seedling transplanting machine 1 calculates the working area based on the rotation speed detected by the rotation speed sensor 90 provided on the rear wheel 11, and slips when the external auxiliary wheel or the internal auxiliary wheel is set. The vehicle speed may be calculated by lowering the rate, for example, by 3%.

The seedling transplanting machine 1 may change the descent timing of the seedling planting unit 4 in the turn in which the planting state is switched by the seedling planting unit 4 according to the operation of the handle 35, that is, the so-called Z turn, in consideration of the wheelbase of the traveling vehicle body 2. good. Similarly, the seedling transplanting machine 1 may change the descent timing of the seedling planting portion 4 even at the time of automatic turning in the above embodiment. The seedling transplanting machine 1 may change the descent timing of the seedling planting portion 4 in the Z turn in consideration of the space between the rows of each type of the seedling transplanting machine 1. The seedling transplanting machine 1 may change the descent timing of the seedling planting portion 4 in the Z turn in consideration of the diameter and type of the wheel.

The seedling transplanting machine 1 may change the timing at which the seedling planting portion 4 starts planting in the Z turn in consideration of the wheelbase of the traveling vehicle body 2. The seedling transplanting machine 1 may change the timing at which the seedling planting unit 4 starts planting in the Z turn in consideration of the space between the rows of each type. The seedling transplanting machine 1 may change the timing at which the seedling planting unit 4 starts planting in the Z turn in consideration of the diameter and type of the wheel.

As shown in FIG. 7, the seedling transplanting machine 1 may be provided with an auxiliary member 200 above the seedling tank 53 so that seedlings can be replenished from behind. FIG. 7 is a side view showing an outline of the seedling transplanting machine 1. The auxiliary member 200 is a seedling frame. The auxiliary member 200 projects rearward. A belt 201 is provided on the auxiliary member 200, and the seedlings can be moved in the front-rear direction. A stopper 202 that can be tilted only forward is provided on the rear end side of the auxiliary member 200. The stopper 202 prevents the seedlings from falling. The auxiliary member 200 is rotatable around the front end side as a fulcrum. The auxiliary member 200 is rotated by the actuator 203. Actuators 203 are provided on both sides in the left-right direction. The stopper 202 tilts forward when the auxiliary member 200 rotates downward. As a result, the seedlings slide down from the auxiliary member 200 toward the seedling tank 53, and the seedlings are replenished in the seedling tank 53. The auxiliary member 200 is provided so as to surround the fertilizer application device 5.

As shown in FIG. 8, the auxiliary member 200 may be provided with a slide portion 210 that can slide in the front-rear direction. FIG. 8 is a diagram showing a modified example of the auxiliary member 200. When the seedling transplanting machine 1 is planting seedlings, the slide portion 210 is housed forward so that the center of gravity is on the center side. The support frame 211 that supports the slide portion 210 is provided outside the fertilizer application device 5. The support frame 211 is provided above the raised position of the seedling planting portion 4. The support frame 211 may be movable in the vertical direction. The support frame 211 is provided with a fulcrum for folding behind the fertilizer application device 5. The slide portion 210 can be rotated by an actuator 212 provided near the fulcrum. Further, the slide portion 210 can be moved in the front-rear direction by another actuator. When the seedling planting portion 4 starts planting the seedlings, the slide portion 210 moves forward by the actuator.

The seedling transplanting machine 1 is provided with a potentiometer for detecting the angle of the line drawing marker 65 and a potentiometer for detecting the rolling angle of the seedling planting portion 4, and the angle of the drawing marker 65 is set according to the rolling amount of the seedling planting unit 4. You may control it. As a result, the seedling transplanting machine 1 can surely draw a line in the field even when the traveling vehicle body 2 is tilted.

For example, the seedling transplanting machine 1 raises the angle of the drawing marker 65 when the traveling vehicle body 2 is tilted to the left while the drawing marker 65 is on the left side. As a result, the seedling transplanting machine 1 can prevent the line drawing marker 65 from biting into the field and draw a line accurately in the field. Further, the seedling transplanting machine 1 lowers the angle of the drawing marker 65 when the traveling vehicle body 2 is tilted to the right while the drawing marker 65 is on the left side. As a result, the seedling transplanting machine 1 can prevent the line drawing marker 65 from floating from the field and draw a line accurately in the field.

The seedling transplanting machine 1 sets the angle of the line drawing marker 65 according to the amount of inclination of the traveling vehicle body 2 detected by the potentiometer for detecting the rolling angle of the seedling planting portion 4. As a result, the seedling transplanting machine 1 can adjust the angle of the line drawing marker 65 according to the inclination of the traveling vehicle body 2, and can accurately draw a line in the field.

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 described and described above. Accordingly, 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 10 Front wheel 11 Rear wheel 35 Steering wheel (steering device)
90 Rotation speed sensor 95 Steering motor (motor)
97 Differential lock mechanism 100 Controller 150 Position acquisition device (position information acquisition device, orientation information acquisition device)

Claims (8)

A steering device that adjusts the steering amount of the traveling vehicle body, and
A motor that rotates 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 the steering device is controlled by controlling the motor based on the slip amount of the wheels. It is equipped with a position information acquisition device that acquires the current position information of the traveling vehicle body based on the information received from the positioning means.
The control device is
The slip amount is calculated based on the difference between the vehicle speed calculated based on the number of rotations of the wheels and the actual vehicle speed of the traveling vehicle body calculated based on the information acquired by the position information acquisition device. The work vehicle according to claim 1. The control device is
The work vehicle according to claim 1 or 2, wherein when the traveling vehicle body is automatically traveling straight, the operation of the steering device is reduced as the slip amount increases. The control device is
The work vehicle according to any one of claims 1 to 3, wherein when the traveling vehicle body is automatically traveling straight, the slip amount is calculated for each predetermined mileage. The control device is
Any of claims 1 to 4, wherein when the traveling vehicle body is automatically turning, the steering device is controlled so that the turning radius of the traveling vehicle body increases as the slip amount increases. The work vehicle described in one. The control device is
The invention according to any one of claims 1 to 5, wherein when the traveling vehicle body automatically turns and the slip amount is smaller than the predetermined slip amount, the wheels on the inside of the turn are locked. Work vehicle. The control device is
The work vehicle according to any one of claims 1 to 6, wherein when the traveling vehicle body automatically turns, the slip amount from the start of turning to a predetermined direction is calculated. The control device is
When the traveling vehicle body starts automatic turning, the operation amount of the steering device is set as a predetermined operation amount, the slip amount from the start of the turn to the predetermined direction is calculated, and the slip amount is calculated based on the slip amount. The work vehicle according to claim 7, wherein the steering device is controlled so that the traveling vehicle body matches the straight traveling path of the next process.

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