JP2022085468A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of simplifying registration work for automatic steering and performing automatic steering of the outer circumference of a farm field.SOLUTION: A work vehicle includes traveling wheels attached to a traveling vehicle body, a steering device for adjusting a steering amount of the traveling wheels, a motor 95 for driving the steering device, a position acquisition device 150 for receiving positioning information from positioning means and acquiring the present position information of a machine body on the basis of the received positioning information, and a control device 100 for controlling the motor 95, enables automatic steering travel in traveling on the outer circumference of a farm field, and can recognize a work area in which the traveling vehicle body performs farm field work during the automatic steering travel by the control device 100.SELECTED DRAWING: Figure 3

Description

The present invention relates to a work vehicle.

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

Japanese Unexamined Patent Publication No. 2016-21890

In a work vehicle as described above, it is conceivable to automatically turn based on the acquired position information. However, in order to perform automatic steering including automatic turning and straight ahead, the registration work must be performed manually. In addition, it is necessary to drive manually around the field.

The present invention has been made in view of the above, and an object thereof is a work vehicle capable of simplifying registration work for automatic steering and automatically steering the outer periphery of a field.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to claim 1 includes a traveling wheel (10, 11) attached to a traveling vehicle body (2) and the traveling wheel (10). ), The steering device (35) that adjusts the steering amount, the motor (95) that drives the steering device (35), and the positioning information received from the positioning means, and the current position information of the aircraft based on the received positioning information. A position acquisition device (150) for acquiring a wheel and a control device (100) for controlling the motor (95) are provided, and automatic steering traveling is possible when traveling around the outer periphery of the field. ..

The work vehicle (1) according to claim 2 is the work vehicle (1) according to claim 1, wherein the traveling vehicle body (2) performs field work by the control device (100) during the automatic steering running. It is characterized by being able to recognize the work area to be performed.

The work vehicle (1) according to claim 3 is characterized in that, after recognizing the work area, the work vehicle (1) according to claim 2 can be automatically steered to a predetermined work start position. do.

The work vehicle (1) according to claim 4 is the work vehicle (1) according to any one of claims 1 to 3, and the automatic steering running is performed by the control device (100). It is characterized in that the vehicle speed of (2) is controlled.

According to the first aspect of the present invention, since the outer periphery of the field can be automatically steered, the operator does not have to manually operate the field, so that the work load can be reduced.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the outer periphery of the field can be automatically steered, and the work area of the field is recognized by the control device while traveling around the outer periphery of the field. For example, since the registration work for automatic steering running can be automatically performed and the operator does not have to manually perform the registration work, it is possible to reduce the inability to work and improve the work efficiency.

According to the invention of claim 3, in addition to the effect of the invention of claim 2, after recognizing the work area, the automatic steering running to a predetermined work start position is possible, so that the work is performed after the registration work. Since the person does not manually move the machine to the work start position, it is possible to reduce the inability to work and improve the work efficiency.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, the automatic steering running is performed by the control device (100) to the traveling vehicle body (2). By controlling the vehicle speed of the vehicle, it is possible to start, stop, and steer automatically, so that unmanned registration work and traveling around the field are possible.

FIG. 1 is a side view showing an example of a work vehicle. FIG. 2 is a plan view showing an example of a work vehicle. FIG. 3 is a block diagram showing a control system centered on a control device. FIG. 4 is an explanatory diagram of autonomous traveling of a work vehicle in a field. FIG. 5 is an explanatory diagram of automatic turning control according to the first embodiment. FIG. 6 is a flowchart showing a processing procedure of automatic turning control according to the first embodiment. FIG. 7 is a flowchart showing a control processing procedure for starting automatic turning control. FIG. 8 is a flowchart showing a control processing procedure for shifting from the first turning operation mode to the second turning operation mode. FIG. 9 is an explanatory diagram of automatic turning control according to the second embodiment. FIG. 10 is a flowchart showing a processing procedure of automatic turning control according to the second embodiment. FIG. 11 is an explanatory diagram of automatic turning control according to the third embodiment. FIG. 12 is a flowchart showing a processing procedure of automatic turning control according to the third embodiment.

Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

<Overview of work vehicle>
First, an outline of the work vehicle (1) according to the embodiment will be described with reference to FIGS. 1 and 2.

FIG. 1 is a side view (left side surface) 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) travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the work vehicle (1) is the direction from the driver's seat (41) to the steering wheel (35) 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.

Further, in the following description, the work vehicle 1 may be referred to as an "airframe". In the embodiment, the work vehicle will be described as a passenger-type seedling transplanter (1) provided with a seedling planting unit (4) as a work device and accepting seedlings in a field. As shown in FIGS. 1 and 2, the seedling transplanting machine (1) is a seedling planting unit that can be raised and lowered to plant seedlings in a field via an elevating link mechanism (3) on the rear side of the traveling vehicle body (2). 4) Equipped with (working equipment).

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 traveling wheels and driving wheels. The front side of the main frame (15) constituting the vehicle body skeleton of the traveling vehicle body (2) is supplied from a mission case (13) for transmitting driving force to a seedling planting portion (4) and the like, and an engine (30). A hydraulic continuously variable transmission (14) (main speed change mechanism) that outputs the driving force, that is, the rotation generated by the engine (30) 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 HST (14) will be described.

The transmission case (13) is provided with an auxiliary transmission mechanism (16) for switching the traveling mode of the traveling vehicle body (2) when traveling on the road in the high-speed mode or when planting seedlings in the low-speed mode.

Front wheel final cases (10a) are provided on the left and right sides of the mission case (13), and the left and right front wheel final cases (10a) project outward from the front wheel support portions whose steering directions can be changed. The front wheel (10) is attached to the front axle (10b).

Further, on the rear side of the main frame (15), rear wheel gear cases (11a) are attached to the left and right sides of the rear frame (22) (see FIG. 2) provided in the lateral direction of the fuselage, and the rear wheel gear case (11a) is attached. The rear wheels (11) (traveling wheels) are attached to the left and right rear axles (11b) protruding outward from 11a), 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) (elevating device) 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), one end of which is connected to the traveling vehicle body (2) side, are seedling planting portions. It is attached to the front part of (4).

Further, an 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) (see FIG. 3) of the handle (35), 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 is planted from the planting clutch case (27). It is transmitted to the seedling planting section (4) by the transmission axis (67).

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 inside of the turn is depressed to disengage the side clutch (44) and then the steering wheel (35) is operated to run the turn, the rear of the inside of the turn The drive rotation of the wheel (11) can be completely cut off.

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

In this way, the transmission to the rear wheel (11) inside the turn can be stopped at the time of turning, the turning radius can be reduced, and the working position before turning and the working position after turning can be prevented from being separated from each other. The operation of re-adjusting the work start position later becomes unnecessary, and work efficiency and work accuracy are improved.

In the embodiment, in the automatic turning control described later, when the traveling vehicle body (2) is turned by operating the steering wheel (35), the side clutch (44) located inside the turning is turned off and the inside of the turning is turned. It is configured to stop the transmission to the rear wheel (11).

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 an automatic turning switch (48) for switching whether or not automatic turning control, which will be described later, is performed, a monitor (86) (see FIG. 3), and the like.

Further, the bonnet (39) has a handle (35) for steering the machine body, a shift operation lever (36) for operating the HST (14) and the seedling planting portion (4), and a sub for operating the auxiliary shift mechanism (16). A shift operation lever (37) or the like is provided.

Further, a front cover (40) that can be opened and closed is provided on the front side of the bonnet (39). Inside the front cover (40), an interlocking mechanism is provided to rotate the lower side of the left and right front wheels (10) and the left and right front wheel final cases (10a) 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 the upper portion of the engine cover (30a). Is provided with a driver's seat (41) in which the driver is seated.

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

By the way, substantially horizontal floor steps (33) are formed on 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. Fall.

Further, as shown in FIG. 1, the seedling transplanting machine (1) is provided with a position acquisition device (150). The position acquisition device (150) receives positioning information from positioning means such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System), and creates and acquires the current position information of the aircraft based on the received positioning information. do. The position acquisition device (150) is attached to, for example, the attachment stay (59) 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, a straight-ahead control ECU (Electronic Control Unit) (100a) in the position acquisition device (150), and the turning control program is stored in, for example, a bonnet (39). It is stored in the ECU (100b). The straight-ahead control ECU (100a) and the turning control ECU (100b) are included in the control device (100) (see FIG. 3) described later.

<Control system for work vehicle>
Next, the control system C of the seedling transplanting machine (1) will be described with reference to FIG. FIG. 3 is a block diagram showing a control system C centered on the control device (100) in 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 mutually provided. It is connected and can 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), a hydraulic control valve (81, 82), a planted clutch operating solenoid (83), a side clutch operating solenoid (84), and an HST motor (85). , The wire drawing marker lifting motor (87), the steering motor (95), and the like are connected.

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

The side clutch actuating solenoid (84) activates the side clutch (44) that switches the power transmission state to the rear wheel (11). The side clutches (44) are provided on the left and right rear wheels (11), respectively, and two side clutch actuating solenoids (84) are provided corresponding to each side clutch (44).

The HST motor (85) changes the tilt angle of the swash plate of the HST (14) by changing the rotation angle of the trunnion of the HST (14). The steering motor (95) drives the steering wheel (35), which is a steering device that adjusts the steering amount (steering angle) of the front wheels (10) (see FIG. 1), which are traveling wheels, when automatic turning control is performed. It is a motor. The steering motor (95) rotates the steering wheel (35). The draw marker elevating motor (87) raises and lowers the draw marker (65).

Further, 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), which are traveling wheels, and detect the rotation speeds of the left and right rear wheels (11), respectively. The rotation speed sensor (90) may detect the rotation speed of the left and right front wheels (10).

The steering amount sensor (91) detects the operating amount of the steering wheel (35), that is, the steering amount (steering angle) of the front wheels (10). The steering amount is detected in each of the left and right directions with reference to the case where the operation amount of the steering wheel (35) is zero, that is, with reference to the straight running time of the traveling vehicle body (2). The tilt sensor (92) detects the tilt angle, which is the tilt of the traveling vehicle body (2).

Further, on the controller (100), as operation signals, a shift operation lever (36), an auxiliary shift operation lever (37), a planting portion automatic elevating switch (47), an automatic swivel switch (48), and a line drawing marker automatic elevating switch are used. A signal is input from (49) or the like.

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

The draw marker automatic 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 switch (48) is a rebound switch with a lamp, and is a switch for switching whether to start or stop automatic turning. The automatic turning switch (48) is turned on while the operator turns it "ON" and the automatic turning is performed, and when the automatic turning is completed, the automatic turning switch (48) is turned "OFF" and turned off. Further, the automatic turning switch (48) is turned "OFF" by the operator during automatic turning, and turns off when the automatic turning is stopped. This makes it possible for the operator to recognize whether or not automatic turning is being performed.

Further, the current position information of the aircraft is input to the controller (100) from the position acquisition device (150). The controller (100) executes an autonomous traveling mode in which the aircraft automatically travels while performing work based on the position information. The automatic turning switch (48), rotation speed sensor (90), steering amount sensor (91), steering motor (95), steering wheel (35) and position acquisition device (150) will be described later with the controller (100) at the center. The control system (C) of the automatic turning mode is configured.

<Autonomous driving mode>
Here, with reference to FIG. 4, the automatic traveling (autonomous traveling) including the automatic turning in the field by the seedling transplanting machine (1) will be described. FIG. 4 is an explanatory diagram of autonomous traveling of a work vehicle (seedling transplanting machine (1)) in a field. The controller (100) (see FIG. 3) controls the steering motor (95) (see FIG. 3) while feeding back the steering amount of the front wheels (10) (see FIG. 1) to control the steering wheel (35) (see FIG. 3). Has an autonomous driving mode to operate. 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 (F) 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) by the position acquisition device (150) arranged above the traveling vehicle body (2).

The seedling transplanting machine (1) plants seedlings while reciprocating in a predetermined work area in the field (F). In this case, for the straight-ahead travel, the controller (100) executes the automatic straight-ahead mode to automatically travel along the set straight-ahead travel route (L1). Further, regarding the turning running, the controller (100) executes the automatic turning mode to automatically turn along the set turning running path (L2).

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

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

In the first turning operation mode, the controller (100) controls the steering motor (95) so that the steering amount of the handle (35) becomes a predetermined value 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).

In the second turning operation mode, the controller (100) is at any desired position on the turning traveling path (L2) based on the position information acquired by the position acquisition device (150) during the turning of the seedling transplanting machine 1. The steering motor (95) is controlled so that the seedling transplanter (1) reaches.

As described above, since the controller (100) has the first turning operation mode and the second turning operation mode and executes the first turning operation mode which is not the operation mode based on the position information during the turning of the aircraft, it is automatic. It is not necessary to use the position information for all the controls related to turning. Therefore, the control using the position information during the automatic turning becomes better in some parts, and the automatic turning can be performed by the simple control.

In the automatic turning mode, the controller (100) is a position acquisition device (150) when the seedling transplanting machine (1) is turning (large turn or small turn) deviating from the turning travel path (L2) during turning. ) Is corrected based on the acquired position information.

<Automatic turning mode according to the first embodiment>
Next, the automatic turning mode according to the first embodiment will be described with reference to FIGS. 5 to 8. FIG. 5 is an explanatory diagram of the automatic turning control (automatic turning mode) according to the first embodiment. FIG. 6 is a flowchart showing a processing procedure of the automatic turning control (automatic turning mode) according to the first embodiment.

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

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

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

In the second turning operation mode, the seedling transplanting machine 1 is next at a preset desired turning end position (in the case of an agricultural machine such as the seedling transplanting machine (1), it is also the work start position in the next article) P2. The vehicle advances (straight ahead) while gradually correcting the position along the straight traveling path (L1) of the article, and when the progress in the second turning operation mode is completed, the progress in the next article starts in the automatic straight traveling mode.

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

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

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

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

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

Here, in the first turning operation mode, the controller (100) has a steering motor (95) so that, for example, the direction of the aircraft is 70 degrees on either the left or right side with 0 degree as the straight traveling direction. 3) is controlled. The controller (100) controls the steering motor (95) so that when the orientation of the aircraft reaches 70 degrees, it starts to return to straight running, that is, the orientation of the aircraft becomes 90 degrees.

When the controller (100) shifts from the first turning operation mode to the second turning operation mode, the direction of the aircraft is set to be within the range of, for example, 0 to 20 degrees with respect to the straight traveling path (L1) of the next article. It controls the steering motor (95). The controller (100) keeps the orientation of the aircraft within the range of 0 to 20 degrees at the start of the second turning operation mode, so that the position acquisition device (150) (see FIG. 3) acquires it in the second turning operation mode. Based on the position information to be performed, the direction of the aircraft is corrected so as to follow the straight traveling path (L1), and the turning operation is completed.

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

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

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

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

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

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

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

When the distance to the turning start position (P1) exceeds the predetermined distance D (step S1011: No) in the process of (step S1011), the controller (100) operates the automatic turning switch (48) to "ON". Also, the automatic straight-ahead mode is continued without executing the first turning operation mode (step S1013).

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

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

According to the first embodiment described above, the first turning operation mode is executed at the start of turning of the seedling transplanting machine 1, and the second turning operation mode is executed at the end of turning, so that automatic turning can be performed with simpler control. It can be carried out.

Further, the counting of the rotation speed of the rear wheel (11) is started with the start of the first turning operation mode, and when the rotation speed of the rear wheel (11) reaches a predetermined count value, the process shifts to the second turning operation mode. Control using position information during automatic turning is partially improved, and automatic turning can be performed with simple control.

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

Further, when the second turning operation mode toward the turning end position (P2) is completed, the automatic straight-ahead mode is immediately entered and the automatic straight-ahead is started, so that the work can be continuously performed and the workability is improved. Can be done.

In the first embodiment, the first turning operation mode is executed and then the second turning operation mode is executed. As a modification, for example, the second turning operation mode is executed and then the first turning operation mode is executed. It may be executed to reach the turn end position (P2).

<Automatic turning mode according to the second embodiment>
Next, the automatic turning mode according to the second embodiment will be described with reference to FIGS. 9 and 10. FIG. 9 is an explanatory diagram of the automatic turning control (automatic turning mode) according to the second embodiment. FIG. 10 is a flowchart showing a processing procedure of the automatic turning control (automatic turning mode) according to the second embodiment.

As shown in FIG. 9, in the automatic turning mode according to the second embodiment, the seedling transplanting machine (1), which has proceeded in the automatic straight-ahead mode as in the first embodiment described above, starts a desired turning set in advance. When the automatic turning switch (48) (see FIG. 3) is pressed by the operator at a position close to the position (P1), the automatic turning is started.

When the automatic turning is started, the seedling transplanting machine (1) starts the progress in the second turning operation mode (first time) and proceeds along the turning traveling path (L2). The seedling transplanting machine (1) ends the progress in the first second turning operation mode at the ending position (mode ending position) (P4) on the turning traveling path (L2).

When the seedling transplanting machine (1) finishes the progress in the first second turning operation mode, the seedling transplanting machine (1) starts the progress in the first turning operation mode. The seedling transplanting machine (1) ends the progress in the first turning operation mode at the mode ending position (P5) on the turning traveling path (L2). When the seedling transplanting machine (1) finishes the progress in the first turning operation mode, the seedling transplanting machine (1) starts the progress in the second turning operation mode (second time) again.

In the second second turning operation mode, the seedling transplanting machine (1) gradually corrects the position along the straight traveling path (L1) of the next article at the desired turning end position (P2) set in advance. When the progress (straight) is completed while the second turn operation mode is completed, the progress in the next article is started in the automatic straight mode.

As shown in FIG. 10, in the second embodiment, the controller (100) determines whether or not the automatic swivel switch (48) has been "ON" operated (step S201). When the automatic swivel switch (48) is operated "ON" (step S201: Yes), the controller (100) determines whether or not the seedling transplanter (1) has reached the swivel start position (P1) (step S201: Yes). Step S202). When the controller (100) determines that the turning start position (P1) has been reached (step S202: Yes), the controller (100) starts executing the second turning operation mode (first time) (step S203).

If the automatic swivel switch (48) is not operated "ON" in the process of (step 201) (step S201: No), the controller (100) repeats the process until it is operated "ON". Further, when the seedling transplanter (1) has not reached the turning start position (P1) in the process of (step 202) (step S202: No), the controller (100) reaches the turning start position (P1). Repeat the process up to.

Next, the controller (100) determines whether or not the seedling transplanting machine (1) has reached the end position (mode end position) (P4) of the first second turning operation mode (step S204). When the controller (100) reaches the mode end position (P4) (step S204: Yes), the controller (100) ends the execution of the first second turning operation mode (step S205), and starts the execution of the first turning operation mode. (Step S206).

When the seedling transplanter (1) does not reach the mode end position (P4) in the process of (step 204) (step S204: No), the controller (100) performs such a process until it reaches the mode end position (P4). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the end position (mode end position) (P5) of the first turning operation mode (step S207). When the controller (100) reaches the mode end position (P5) (step S207: Yes), the controller (100) ends the execution of the first turning operation mode (step S208), and executes the second turning operation mode (second time). Start (step S209).

When the seedling transplanter (1) does not reach the mode end position (P5) in the process of (step 207) (step S207: No), the controller (100) performs such a process until it reaches the mode end position (P5). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the turning end position (P2), which is also the ending position of the second second turning operation mode (step S210). When the controller (100) reaches the turning end position (P2) (step S210: Yes), the controller (100) ends the execution of the second second turning operation mode (step S211), and ends the turning operation mode.

When the seedling transplanter (1) does not reach the turning end position (P2) in the processing of (step S210) (step S210: No), the controller (100) performs such processing until it reaches the turning end position (P2). repeat. When the controller (100) ends the turning operation mode, the controller (100) starts executing the automatic straight-ahead mode.

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

Further, also in the second embodiment, as in the first embodiment, the controller (100) is in the process of the process shown in FIG. 10 (step S201) in the automatic straight-ahead mode, and the position acquisition device (150) (FIG. 3). Based on the position information acquired by (see), it is determined whether or not the distance from the current position of the seedling transplanter (1) to the turning start position (P1) is equal to or less than the predetermined distance (D).

When the distance to the turning start position (P1) is equal to or less than the predetermined distance (D), the controller (100) operates the automatic turning switch (48) to "ON" for the first second turning operation mode. To execute.

When the distance to the turning start position (P1) exceeds the predetermined distance (D), the controller (100) does not execute the first turning operation mode even if the automatic turning switch (48) is operated "ON". , Continue the automatic straight-ahead mode.

Further, also in the second embodiment, as in the first embodiment, the end position (P5) of the first turning operation mode is the rear wheel (11) (see FIG. 3) counted by the rotation speed sensor (90) (see FIG. 3). It is set based on the rotation speed of (see FIG. 1). When the controller (100) starts executing the first turning operation mode in the process shown in FIG. 10 (step S206), the controller (100) starts counting the number of rotations of the rear wheels (11), and the rear wheels (11) start counting. It is determined whether or not the rotation speed of 11) has reached a predetermined count value.

When the rotation speed of the rear wheel (11) reaches a predetermined count value, the controller (100) determines that the mode end position (P5) has been reached, ends the execution of the first turning operation mode, and the second time. The second turning operation mode of is executed. If the rotation speed of the rear wheel (11) is not a predetermined count value, the controller (100) repeats such a process until the predetermined count value is reached.

According to the second embodiment described above, the first turning operation mode is executed at the start of turning of the seedling transplanting machine 1, and the second turning operation mode is executed at the end of turning, so that automatic turning can be performed with simpler control. It can be carried out.

Further, since the first turning operation mode is executed when the aircraft goes straight during the turning after the end of the first second turning operation mode, the running error due to the slip of the rear wheel (11) in the first turning operation mode is reduced. Therefore, the automatic turning can be performed accurately as a whole of the turning stroke.

Further, the counting of the rotation speed of the rear wheel (11) is started with the start of the first turning operation mode, and when the rotation speed of the rear wheel (11) reaches a predetermined count value, the process shifts to the second second turning operation mode. Therefore, the control using the position information during the automatic turn becomes better in some parts, and the automatic turn can be performed by the simple control.

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

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

In the second embodiment, the second turning operation mode is executed, the first turning operation mode is executed, and the second turning operation mode is executed again. As a modification, for example, the first turning operation mode is used. After the execution, the second turning operation mode may be executed, and the first turning operation mode may be executed again to reach the turning end position (P2).

Further, the automatic turning mode may be set in which the first turning operation mode and the second turning operation mode are executed twice or more.

<Automatic turning mode according to the third embodiment>
Next, the automatic turning mode according to the third embodiment will be described with reference to FIGS. 11 and 12. FIG. 11 is an explanatory diagram of the automatic turning control (automatic turning mode) according to the third embodiment. FIG. 12 is a flowchart showing a processing procedure of the automatic turning control (automatic turning mode) according to the third embodiment.

As shown in FIG. 11, the third embodiment is an automatic turning mode in the case of a so-called back turning with a don, in which the seedling transplanting machine (1) advances to the ridge, moves backward by a predetermined distance, and then turns.

In the automatic turning mode according to the third embodiment, in the seedling transplanting machine (1) that has advanced to the ridge in the automatic straight-ahead mode, the shift operation lever (referred to as HST lever) (36) (see FIG. 3) is set to the reverse side by the operator. When operated to, the work line (turning travel path (L2) and the straight traveling route (L1) of the next article) in the next article is acquired, and automatic turning including the reverse operation is started.

When the automatic turning is started, the seedling transplanting machine (1) starts traveling in the second turning operation mode (first time) after moving backward by a predetermined distance, and proceeds along the turning traveling path (L2). The seedling transplanting machine (1) ends the progress in the first second turning operation mode at the ending position (mode ending position) (P6) on the turning traveling path (L2).

When the seedling transplanting machine (1) finishes the progress in the first second turning operation mode, the seedling transplanting machine (1) starts the progress in the first turning operation mode. The seedling transplanting machine (1) ends the progress in the first turning operation mode at the mode ending position (P7) on the turning traveling path (L2). When the seedling transplanting machine (1) finishes the progress in the first turning operation mode, the seedling transplanting machine (1) starts the progress in the second turning operation mode (second time) again.

In the second second turning operation mode, the seedling transplanting machine (1) gradually corrects the position along the straight traveling path (L1) of the next article at the desired turning end position (P2) set in advance. When the progress (straight) is completed while the second turn operation mode is completed, the progress in the next article is started in the automatic straight mode.

As shown in FIG. 12, in the third embodiment, the controller (100) determines whether or not the HST lever (36) has been operated to the “backward” side (step S301). When the HST lever (36) is operated to the "backward" side (step S301: Yes), the controller (100) starts the backward movement of the seedling transplanter (1) (step S302).

The controller (100) determines whether or not the seedling transplanting machine (1) has reached the turning start position (P1) (step S303). When the controller (100) determines that the turning start position (P1) has been reached (step S303: Yes), the controller (100) ends the reverse movement of the seedling transplanting machine (1) (step S304), and the second turning operation mode (first time). Is started (step S305).

If the HST lever (36) is not operated to the "reverse" side in the process of (step 301) (step S301: No), the controller (100) repeats the process until it is operated to the "reverse" side. Further, when the seedling transplanter (1) has not reached the turning start position (P1) in the process of (step 303) (step S303: No), the controller (100) reaches the turning start position (P1). Repeat the process up to.

Next, the controller (100) determines whether or not the seedling transplanting machine (1) has reached the end position (mode end position) (P6) of the first second turning operation mode (step S306). When the controller (100) reaches the mode end position (P6) (step S306: Yes), the controller (100) ends the execution of the first second turning operation mode (step S307), and starts the execution of the first turning operation mode. (Step S308).

When the seedling transplanter (1) does not reach the mode end position (P5) in the process of (step 306) (step S306: No), the controller (100) performs such a process until it reaches the mode end position (P6). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the end position (mode end position) (P7) of the first turning operation mode (step S309). When the controller (100) reaches the mode end position (P7) (step S309: Yes), the controller (100) ends the execution of the first turning operation mode (step S310), and executes the second turning operation mode (second time). Start (step S311).

When the seedling transplanter (1) does not reach the mode end position (P7) in the process of (step 309) (step S309: No), the controller (100) performs such a process until it reaches the mode end position (P7). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the turning end position (P2), which is also the ending position of the second second turning operation mode (step S312). When the controller (100) reaches the turning end position (P2) (step S312: Yes), the controller (100) ends the execution of the second second turning operation mode (step S313), and ends the turning operation mode.

When the seedling transplanter (1) does not reach the turning end position (P2) in the processing of (step S312) (step S312: No), the controller (100) performs such processing until it reaches the turning end position (P2). repeat. When the controller (100) ends the turning operation mode, the controller (100) starts executing the automatic straight-ahead mode.

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

Further, also in the third embodiment, as in the first and second embodiments, the end position (P7) of the first turning operation mode is the rear wheel (see FIG. 3) counted by the rotation speed sensor (90). 11) It is set based on the rotation speed of (see FIG. 1). When the controller (100) starts executing the first turning operation mode in the process of (step S308) shown in FIG. 12, the controller (100) starts counting the rotation speed of the rear wheel (11) accordingly, and the rear wheel (11) starts counting. It is determined whether or not the rotation speed of 11) has reached a predetermined count value.

When the rotation speed of the rear wheel (11) reaches a predetermined count value, the controller (100) determines that the mode end position (P7) has been reached, ends the execution of the first turning operation mode, and the second time. The second turning operation mode of is executed. If the rotation speed of the rear wheel (11) is not a predetermined count value, the controller (100) repeats such a process until the predetermined count value is reached.

The controller (100) determines whether or not the turning start position (P1) has been reached based on the rotation speed of the rear wheel (11), which is a traveling wheel, even in the reverse running at the initial stage of the turning operation.

According to the third embodiment described above, as in the first and second embodiments, the first turning operation mode is executed at the start of turning of the seedling transplanter (1), and the second turning operation mode is executed at the end of turning. By doing so, automatic turning can be performed with simpler control.

Further, since the first turning operation mode is executed when the aircraft goes straight during the turning after the end of the first second turning operation mode, the running error due to the slip of the rear wheel (11) in the first turning operation mode is reduced. Therefore, the automatic turning can be performed accurately as a whole of the turning stroke.

Further, the counting of the rotation speed of the rear wheel (11) is started with the start of the first turning operation mode, and when the rotation speed of the rear wheel (11) reaches a predetermined count value, the process shifts to the second second turning operation mode. Therefore, the control using the position information during the automatic turn becomes better in some parts, and the automatic turn can be performed by the simple control.

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

Also in the third embodiment, as a modification, for example, the first turning operation mode is executed, the second turning operation mode is executed, and the first turning operation mode is executed again to execute the turning end position (P2). May be reached.

Further, the automatic turning mode may be set in which the first turning operation mode and the second turning operation mode are executed twice or more.

In the first to third embodiments, it is preferable that the controller (100) limits the vehicle speed by setting an upper limit value for the traveling speed of the seedling transplanting machine 1 in the automatic turning mode. As a result, the turning operation is stable and safety can be ensured. Further, when the controller (100) determines that the turn is completed based on the position information from the position acquisition device (150), the vehicle speed limitation is released and the vehicle speed according to the position of the shift operation lever (HST lever) (36) is released. And.

Further, in the first to third embodiments, the controller (100) sets the rotation speed of the rear wheel (11) so as to be changeable. Further, when the assist lever is "raised" by the operator during the execution of the automatic straight-ahead mode or the automatic turning mode, the controller (100) cancels each mode.

Further, in the first to third embodiments, the controller (100) cancels the automatic turning mode when the operator is operated to turn the Z turn "OFF" while the automatic turning mode is being executed. Further, the controller (100) cancels the automatic turning mode when the line drawing marker automatic raising / lowering switch (49) (see FIG. 3) is operated by the operator while the automatic turning mode is being executed.

Further, in the first to third embodiments, in the controller (100), the HST lever (shift operation lever) (36) (see FIG. 3) is operated by the operator to the "reverse" side while the automatic turning mode is being executed. If so, the automatic turning mode is canceled. Further, the controller (100) cancels the automatic turning mode when the steering wheel (35) (see FIG. 3) is operated by the operator while the automatic turning mode is being executed.

Further, in the first to third embodiments, when the seedling transplanter (1) or the engine (30) (see FIG. 1) is stopped while the automatic turning mode is being executed, the controller (100) is used. Suspend (hold) the automatic turning mode. Further, the controller (100) may control to stop the automatic turning mode when the seedling transplanting machine (1) is stopped or the engine (30) is stopped while the automatic turning mode is being executed.

Further, in the first to third embodiments, when the ridge alarm release switch is pressed, the controller (100) releases the ridge stop when the ridge alarm is activated. Further, the controller (100) may display on the monitor (86) (see FIG. 3) whether or not automatic turning is possible. The controller (100) may display an alert on the monitor (86), for example, when automatic turning is not possible.

Further, in the third embodiment, the controller (100) does not stop the automatic turning mode even if the seedling transplanting machine (1) is stopped while the seedling transplanting machine (1) is moving backward. As a result, even if the vehicle is stopped when moving backward due to an accident such as a seedling jumpsuit, the automatic turning can be continued.

Further, in the first to third embodiments, the automatic turning mode (in the third embodiment, the operation of the automatic turning mode excluding the reverse operation) may be configured to be completed only in the first turning operation mode. Alternatively, it may be configured to be completed only in the second turning operation mode.

Further, in the first to third embodiments, the start of the automatic turning may be the timing at which the "raising operation" of the raising / lowering operation of raising / lowering the seedling planting portion (4) is performed. That is, the automatic swivel switch (48) may be a switch that raises the seedling planting portion (4) by the operation of the operator, detects the rise of the seedling planting portion (4), or raises the seedling planting portion (4). It may be a detection unit that detects the start of control for raising 4).

Further, the start of automatic turning is the timing when the power transmission to the seedling planting device (55) is "cut", the timing when the feeding device (71) of the fertilizer application device (5) is stopped, and the ground leveling rotor (63). It may be the timing when the power transmission to is "cut".

As described above, the timing for starting the automatic turning may be any time as long as the drive of the field work device such as the seedling planting portion (4) is "cut".

Further, the work vehicle (1) may be a tractor. In this case, the field work apparatus is a rotary or the like. The above-mentioned turning control can also be applied to the turning of the tractor.

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. Thus, various modifications can be made without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents.

As a method of recognizing (registering) a traveling route, it is possible to travel on at least one side of the outer circumference of the field and recognize the size of the field, that is, the work area by the position acquisition device 150.

When automatically traveling around the outer periphery of the field, a controller 100 automatically steers the handle 35 along the outer periphery of the field using a camera device, an ultrasonic sensor, or the like (not shown). By recognizing the work area of the field by the position acquisition device 150 during the automatic running of the outer circumference of the field using a camera device or the like, the operator manually operates the handle 35 to run on the outer circumference of the field and recognizes the work area. Workability is improved because it is not necessary to perform the above.

Further, after recognizing the work area, automatic steering is performed by the position acquisition device 150 that receives the positioning information from the positioning means and acquires the current position information of the aircraft based on the received positioning information, and the control device 100 that controls the motor 95. Can be done. Further, when the outer periphery of the field is automatically steered after the field is recognized, the position acquisition device 150 for acquiring the current position information of the machine and the control device 100 for controlling the motor 95 are used. Therefore, it is possible to automatically steer the headland running, which is the final step of planting.

In addition, after recognizing the work area, the aircraft is automatically steered when it is moved to a predetermined work start position. For example, the machine may be automatically steered toward the position where the recognition of the work area is started. Further, since the position where the recognition of the work area is started is the outer periphery of the field, the machine may be automatically steered so as to face the position inside one process of the field. Of course, a configuration in which the work start position can be arbitrarily set may be used as long as it is within the work area.

Further, the entrance / exit of the field may be arbitrarily set. Further, a camera device or the like may be used to recognize the entrance / exit of the field and derive the optimum work start position.

Further, in the automatic steering, the structure is such that forward / backward / stop is automatically performed, and the operator does not have to operate the aircraft. That is, not only the automatic steering during the field work but also the registration work for recognizing the work area for performing the automatic steering during the field work can be automatically performed, so that the workability is improved. In addition, since the field outer circumference running in the final planting process can be automatically steered, automatic running including the field full-scale automatic steering becomes possible.

1 Seedling transplanter (working vehicle)
2 Traveling vehicle body 10 Front wheels (traveling wheels)
35 steering wheel (steering device)
95 Steering motor (motor)
100 controller (control device)
150 Position acquisition device

Claims (4)

The traveling wheels (10, 11) attached to the traveling vehicle body (2), the steering device (35) for adjusting the steering amount of the traveling wheels (10), and the motor (95) for driving the steering device (35). A position acquisition device (150) that receives positioning information from the positioning means and acquires the current position information of the aircraft based on the received positioning information, and a control device (100) that controls the motor (95). Prepare,
A work vehicle characterized by being capable of automatic steering when traveling on the outer circumference of a field. The work vehicle according to claim 1, wherein the traveling vehicle body (2) can recognize a work area where field work is performed by the control device (100) during the automatic steering running. The work vehicle according to claim 2, wherein after recognizing the work area, the vehicle can be automatically steered to a predetermined work start position. The work vehicle according to any one of claims 1 to 3, wherein the automatic steering running is characterized in that the vehicle speed of the traveling vehicle body (2) is controlled by the control device (100).

Images