JP2023071074A - Farm field work machine - Google Patents

Abstract

To provide a farm field work machine capable of surely starting automatic straight advance, after starting revolving.SOLUTION: A farm field work machine 1 comprises: a farm field work part supported to a travel part; and a work clutch 18 for switching a state of power of the farm field work part, between a connection state and a disconnection state. The farm field work machine 1 comprises: a work clutch 18 for switching a state of the power of the farm field work part, between the connection state and the disconnection state; a positional information acquiring part for acquiring positional information of the farm field work machine 1; a target travel path setting part setting a target travel path of the travel part; an automatic steering control part executing automatic steering control for steering the travel part, along the target travel path on the basis of the acquired positional information; a revolving detection part for detecting a fact that the travel part performs a revolving motion; and a prescribed distance setting part which allows an operator to optionally set a prescribed distance. After start of the revolving motion by the travel part, since the work clutch 18 is switched from the disconnection state to the connection state, automatic steering control is performed on the basis of automatic steering permission determination by the determination part.SELECTED DRAWING: Figure 8

Description

TECHNICAL FIELD The present invention relates to a field working machine that transplants seedlings into a field while traveling, and more particularly to a field working machine that autonomously travels along a target orientation.

Japanese Unexamined Patent Application Publication No. 2020-31558 (Patent Document 1) describes a conventional transplanter that acquires position information and is controlled to automatically move straight along a set target orientation. In Patent Document 1, automatic straight-ahead control is started on the condition that the work clutch is turned "on" after turning operation is started.

Japanese Patent Application Laid-Open No. 2020-31558

A conventional transplanter that acquires position information and is controlled to automatically move straight along a set target orientation is configured as described above. However, since the turning motion depends on the driving habits of the operator, the conditions may not be suitable for starting the automatic straight running at the time when the work clutch is "engaged" after the turning motion.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-described problems and to provide a field work machine capable of reliably starting automatic straight travel after starting a turn.

An agricultural field working machine according to the present invention includes an agricultural field working part supported by a traveling part, and a working clutch for switching the power of the agricultural field working part between a connected state and a disconnected state. The field work machine includes a work clutch that switches the power of the field work unit between a connected state and a disconnected state, a position information acquisition unit that acquires position information of the field work machine, and a target travel route setting that sets the target travel route of the travel unit. an automatic steering control unit that executes automatic steering control to steer the traveling unit along the target traveling route based on the acquired position information; and a turning detection unit that detects that the traveling unit makes a turning motion. and a predetermined distance setting unit that allows an operator to arbitrarily set a predetermined distance, and after the traveling unit starts turning operation, the work clutch is switched from the disengaged state to the engaged state, and then the automatic steering of the determination unit. Automatic steering control is executed based on the permission determination.

According to this invention, automatic steering control is executed based on the automatic steering permission judgment of the judging section after the working clutch is switched from the disengaged state to the engaged state after the traveling section starts turning motion.

As a result, after the start of turning, the operator can operate the steering wheel or the like to adjust the conditions of the field implement before the automatic steering control until the running unit travels an arbitrary predetermined distance. It is possible to provide a field work machine capable of starting automatic straight travel.

Preferably, the determination unit determines based on conditions for automatic steering of the aircraft (orientation of the aircraft with respect to the target travel route, etc.).

The determination unit may determine based on the traveling unit traveling a predetermined distance arbitrarily set by the worker using the predetermined distance setting unit, or based on the predetermined time arbitrarily set by the worker using the predetermined time setting unit. The determination may be made based on the running of the running section.

According to one embodiment of the present invention, an informing means for informing that the automatic steering control is to be executed may be provided.

By notifying that the automatic steering control will be executed, the operator can grasp the operation of the field implement.

According to this invention, automatic steering control is executed based on the automatic steering permission judgment of the judging section after the working clutch is switched from the disengaged state to the engaged state after the traveling section starts turning motion. By the time the traveling unit travels an arbitrary predetermined distance from the work clutch "on", the operator can operate the handle etc. to adjust the conditions of the field implement until automatic steering control. , it is possible to provide a field work machine capable of reliably starting automatic straight running.

Side view of field work machine Top view of field work machine One side view of the planting part (Right side view of the aircraft) Other side view of the planting part (left side view of the fuselage) Diagram showing dashboard Diagram showing switch box Control block diagram of control device Diagram showing automatic turning A diagram showing a monitor having an icon of the work equipment automatic mode during turning

An embodiment of the present invention will be described below with reference to the drawings.

<Overall composition>
The overall configuration of the farm working machine 1 will be described with reference to FIGS. 1 and 2. FIG. The field working machine 1 includes a traveling body (traveling section) 2 and a field working section (planting section) 3 attached to its rear part. configured to do so. In this embodiment, the number of planting rows of the field working machine 1 is 6, but of course, the number of planting rows of the field working machine 1 may be any number.

The traveling body 2 includes an engine 4, a transmission 5 for shifting power from the engine 4, a body frame 6 for supporting the engine 4 and the transmission 5, front wheels 7 and rear wheels driven by the power transmitted from the engine 4 and the transmission 5. Equipped with 8th grade.

Power from the engine 4 and the transmission 5 is transmitted to a front axle case 9 and a rear axle case 10, respectively. The front axle case 9 is supported on the front portion of the body frame 6, and the front wheels 7 are supported on both left and right ends thereof. Similarly, the rear axle case 10 is supported on the rear part of the body frame 6, and the rear wheels 8 are supported on both left and right ends thereof. The upper part of the body frame 6 is covered with steps 11 on which the operator can move.

Further, the power from the engine 4 and the transmission 5 is transmitted to the farm field working unit 3 through the plant spacing setting device 9a (see FIG. 7). The spacing setter 9a is configured to be able to steplessly change the planting interval of seedlings planted along the traveling direction of the traveling body 2. - 特許庁A control device 70, which will be described later, is connected to the spacing setter 9a and configured to be able to acquire the planting interval of seedlings.

Further, the traveling machine body 2 is provided with a GNSS receiver (position information acquiring unit) 49 as a positioning device for positioning the traveling machine body 2 in the field and calculating the actual vehicle speed.

A driver's seat 12 is arranged in the middle of the front and rear of the traveling body 2, and a steering handle 13, an operation pedal 14, a dashboard 15, and the like are provided in front of the driver's seat 12. - 特許庁On the dashboard 15, in addition to the steering handle 13, operation tools for various operations and a display device are arranged.

Here, the GNSS receiver 49 will be described. A preliminary seedling platform main body 17a and a preliminary seedling platform frame 17b are provided in front of the traveling body 2, and a GNSS receiver 49 is placed on a GNSS receiver support frame 50 extending upward from this. The traveling machine body 2 is capable of positioning in the field and calculating the actual vehicle speed by the GNSS receiver 49 .

The field working unit 3 is connected to the traveling machine body 2 via an elevating link mechanism 20 . The elevating link mechanism 20 includes an upper link 21, a pair of left and right lower links 22, an elevating cylinder, and the like. The lifting cylinder rotates the lower link 22 and the upper link 21 to raise and lower the field working unit 3 .

The field working unit 3 includes a planting arm 31, a planting claw 32, a seedling platform 33, a lateral feed mechanism for reciprocating the seedling platform 33 in the lateral direction (body width direction), and a seedling mat placed on the seedling platform 33. is provided with a vertical feed mechanism, a float 34, and the like, which transports in the vertical direction (the longitudinal direction of the machine body) toward the lower end side. A planting claw 32 is attached to the planting arm 31 . In this embodiment, since the field working machine 1 has six planting rows, it has six planting arms 31 and twelve planting claws 32 . The field working unit 3 is driven by a PTO shaft 16 extending rearward from the transmission 5 .

More specifically, power is transmitted from the PTO shaft 16 through the planting center case 35 to the three planting transmission cases 36 provided in the field working unit 3, and the planting is carried out from each of the three planting transmission cases 36. Power is distributed to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for each transmission case 36 . A work clutch 18 is provided in the planting center case 35 , and the work clutch 18 is configured to connect and disconnect power transmission from the engine 4 to the farm field working unit 3 .

The planting arm 31 is rotated by power transmitted from the planting transmission case 36 . Seedlings are supplied to the planting claws 32 from a seedling loading table 33 . As the planting arm 31 rotates, the planting claw 32 is inserted into the field, and the seedlings are planted to a predetermined planting depth. In this embodiment, a rotary planting claw is used, but a crank type planting claw may be used.

The seedling mounting base 33 is composed of a plate-like member and is arranged so as to be inclined in a front-high and rear-low shape when viewed from the side of the machine body. On the rear surface of the seedling mounting table 33, mounting surfaces for mounting the seedling mats M are arranged side by side in the body width direction according to the number of the planting arms 31 (the number of rows of the field working machine 1). Since the field work machine 1 of the present embodiment has six planting rows, six placement surfaces are formed. A seedling mat M is placed in an inclined state on the placement surface.

The float 34 is attached to a planting frame 37 (see Figures 3 and 4). Specifically, the front end of the float 34 is supported so as to be vertically swingable with respect to the planting frame 37, and the rear end of the float 34 is a pivot shaft 38 provided on the planting frame 37 (see FIG. 7). via an elevating link mechanism 20 so as to be able to ascend and descend.

The float 34 is provided with an agricultural field surface detection sensor 40 (see FIG. 7) for detecting the agricultural field surface (field surface) just before the planting position of the planting claw 32 . The sensor 40 extends from the front toward the rear. The sensor 40 is supported by the planting frame 37 so as to be swingable about an axis along the pitching direction (that is, swingable in the vertical direction), and hangs down by gravity around the swing fulcrum, so that the tip portion of the sensor 40 is attached to the field. Stay in contact with the surface. In other words, the agricultural field working machine 1 advances in a state where the tip of the sensor 40 always follows the surface of the agricultural field.

A transverse feeding mechanism for reciprocating the seedling mounting table 33 in the width direction of the machine body will be described with reference to FIG. 3 .

As shown in FIG. 3, a feed screw 41 extends from the planting center case 35 toward one side in the body width direction (the left side of the body). Intersecting grooves are formed along the axial direction on the outer peripheral surface of the feed screw 41 . The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42 . The slider receiver 43 is formed in a substantially T shape. The slide receiver 43 has the feed screw 41 penetrating therethrough and accommodates the slide 42 so as to be slidable along the groove of the feed screw 41 .

A lower rail 44 is attached to the lower part of the front surface of the seedling mounting table 33 (the rear surface of the mounting surface). The lower rail 44 is arranged with the machine body width direction as its longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45 .

A guide rail 46 is provided below the lower rail 44 to support the lower rail 44 so as to be slidable in the machine width direction. The guide rails 46 are arranged with the body width direction as the longitudinal direction. The guide rail 46 is composed of an engaging portion 46a that engages with the lower rail 44 and an extending portion 46b that extends from the engaging portion 46a along the shape of the bottom portion of the seedling mounting base 33. As shown in FIG. The lower rail 44 is configured to be slidable along the guide rail 46 in the machine body width direction by engaging the lower rail 44 with the engaging portion 46 a of the guide rail 46 . A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably attached to the guide rail 46 with a bolt.

A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling mounting base 33 is provided on the side surface of the planting center case 35 from which the feed screw 41 extends. The lateral feed switching lever 48 is provided with a lateral feed number detection sensor 48 a (see FIG. 7 ) that detects the number of lateral feeds of the seedling mounting table 33 by detecting the position of the lateral feed switching lever 48 .

The control device 70 is connected to the lateral feed number detection sensor 48a, is configured to detect the number of lateral feeds of the seedling mounting table 33, and is configured to be able to detect the interception amount, which will be described later, from the number of lateral feeds. Further, the lateral feed switching lever 48 is provided with an actuator 48b (see FIG. 7). The lateral feed switching lever 48 is configured to be operable by driving and controlling the actuator 48b. Therefore, by operating the lateral feed switching lever 48 by the actuator 48b, the amount of lateral feed of the seedling mounting table 33 can be adjusted, and the number of times of lateral feeding of the seedling mounting table 33 can be changed.

By changing the number of times of lateral feeding of the seedling mounting table 33, the amount of lateral feeding (lateral feeding speed) of the seedling mounting table 33 is changed, and the amount of interception from the seedling mat M by the planting claws 32 can be changed. can. Here, the width of the planting claws 32 refers to the width of the seedling mat M scraped in the machine body width direction of the traveling machine body 2 in a plan view. By adjusting the amount of interception, the amount of seedlings taken from the seedling mat M by the planting claws 32 can be changed.

A longitudinal feeding mechanism for downwardly feeding the seedling mat M placed on the seedling mounting table 33 will be described with reference to FIG.

As shown in FIG. 4 , a vertical feed cam shaft 52 to which a vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the machine body width direction (the right side of the machine body). The vertical feed cam shaft 52 is connected to the feed screw 41 and comes into contact with the driven cam 53 when reaching the stroke end. The driven cam 53 is provided on a conveyor belt drive shaft 55 that drives the conveyor belt 54 under the seedling mounting table 33 . As the vertical feed cam shaft 52 rotates, the driven cam 53 rotates when the vertical feed cam 51 and the driven cam 53 come into contact with each other. As the driven cam 53 rotates, the conveyor belt driving shaft 55 rotates, so that the conveyor belt 54 is circulated to convey the seedling mat M placed on the conveyor belt 54 by a predetermined distance.

A seedling base rail support shaft 56 is rotatably supported in the left-right direction on the front upper portion of each planting transmission case 36 . A plurality of support frames 57 are protruded rearward and upward from the seedling bed rail support shaft 56 at appropriate intervals, and the guide rail 46 is supported by the support frames 57 in the left and right horizontal directions. Further, an arm 58 is attached forwardly upward from the seedling platform rail support shaft 56 . A rotation angle detection sensor 59 (see FIG. 7) for detecting the rotation angle of the seedling platform rail support shaft 56 is provided at the other end of the arm 58 . A rotation angle detection sensor 59 is attached to the planting frame 37 . The seedling platform rail support shaft 56 is provided with an actuator 56a (see FIG. 7). The control device 70 is connected to the rotation angle detection sensor 59 and is configured to be able to detect the lengthwise harvesting amount from the seedling mat M. As shown in FIG.

The seedling platform rail support shaft 56 is rotatable by driving and controlling the actuator 56a. Therefore, when the support frame 57 is rotated with the rotation of the seedling platform rail support shaft 56, the guide rail 46 (seedling platform 33) is moved up and down (configured to be able to move up and down), and the planting claws 32 are moved. The distance between the supporting planting transmission case 36 and the seedling mounting base 33 can be changed.

Therefore, it is possible to change the lengthwise amount of the seedling mat M taken by the planting claws 32 . Here, the vertical picking amount refers to the width of the seedling mat M that is scraped in the traveling direction of the traveling body 2 in a plan view. By adjusting the lengthwise picking amount, the seedling picking amount from the seedling mat M by the planting claws 32 can be changed.

Also, the seedling platform rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60 . As the seedling platform rail support shaft 56 rotates, the driven cam 53 is rotated by a predetermined angle due to the tension of the interlocking wire 60, so that the feed amount by the conveying belt 54 is adjusted in accordance with the vertical picking amount from the seedling mat M. are adjusting.

In the above configuration, the power from the engine 4 is transmitted to the feed screw 41 through the planting center case 35, so that the slider 42 slides against the groove of the feed screw 41 and slides along with it. The child receiver 43 slides in the machine body width direction. As the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling mounting base 33 slides in the machine width direction along with this. Then, when the seedling mounting table 33 reaches the stroke end in the width direction of the machine body, the vertical feed cam 51 comes into contact with the driven cam 53 and the conveyor belt driving shaft 55 rotates, so that the conveyor belt 54 is circulated.

As the slide 42 reciprocates along the groove of the feed screw 41, the seedling mounting base 33 reciprocates along the guide rail 46. - 特許庁The seedling mounting table 33 is reciprocated along the guide rail 46 by the lateral feeding mechanism, so that the seedling mat M placed on the seedling mounting table 33 is moved from one side in the width direction of the machine body (left side of the machine body) to the other side in the width direction of the machine body. (Right side of machine body) or the other side in the machine body width direction (right side of machine body) toward one side in the machine body width direction (left side of machine body) with planting claws 32 to scrape and transplant the seedlings. When the planting claws 32 scrape the seedlings on one side of the seedling mat M in the machine width direction (right side of the machine body) or on the other side in the machine body width direction (left side of the machine body), the conveying belt 54 is actuated by the vertical feeding mechanism to move the seedling mat. It is possible to transport M toward the lower end (rear end) of the mounting surface. As described above, the seedling mat M is reciprocated in the width direction of the machine body and conveyed downward as appropriate, so that the seedlings can be scraped off from the seedling mat M placed on the seedling placement table 33 .

Next, the dashboard 15 will be described with reference to FIG. A steering handle 13 is arranged at the left-right central portion of the dashboard 15 , a main transmission lever 61 is provided to the left of the steering handle 13 , and a planted lifting lever is provided to the right of the steering handle 13 . 62 are provided. Below the steering handle 13 are a row stop switch 63 for stopping the driving of the planting claws 32 for each row, a speed setting volume 64 for setting the maximum speed, and a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34. A select dial 66 for setting various items such as the planting depth and the amount of seedlings taken from the seedling mat M (lengthwise amount and sideways amount (number of times of horizontal feeding)) is provided. A monitor 67 is provided in front of the steering handle 13 to display the settings of the select dial 66 and the like, the speed of the traveling body 2, and the like.

The select dial 66 can set various work conditions such as planting depth, amount of seedlings taken (vertical amount, transverse amount (horizontal feeding number)), work speed and other work contents, notification reference value for seeding succession alarm, etc. Dial. The operator rotates the select dial 66 left and right to select an item to be set from various items, and presses the select dial 66 to confirm. For example, when it is desired to set the vertical harvesting amount as the seeding amount, the select dial 66 is rotated left and right to select the item of the vertical harvesting amount, and by pressing the select dial 66, the item is selected, and the select dial 66 is pressed. By rotating the dial left and right to select the adjustment amount of the vertical take-up amount, and pressing the select dial 66, the vertical take-up amount is set to the adjustment amount. The select dial 66 is connected to a control device 70 (see FIG. 7).

That is, based on the input of the field area and the number of seedling mats to be used, the field working machine 1 automatically controls the vertical picking amount and the horizontal feeding amount to plant the seedlings in the field. Specifically, the field working machine 1 includes a planting section (field working section 3) that scrapes seedlings from the seedling mat M on the seedling loading table 33 and transplants them into the field, and a vertical A take-up amount setting unit, a take-up amount setting unit (select dial 66) for setting the take-up amount of seedlings, and the take-up amount setting unit and the take-up amount of seedlings set by the take-up amount setting unit. and a display device (monitor 67) for displaying.

Next, the switch box will be explained. FIG. 6 is a diagram showing a switch box. The field work machine 1 includes a switch box (operation member) 80 for performing operations related to automatic steering, and a support arm 24 that supports the switch box 80 . The switch box 80 is fixed to the auxiliary seedling mounting base frame 17b of the auxiliary seedling mounting base main body 17a via the support arm 24. As shown in FIG. Thereby, the switch box 80 can be firmly supported. The switch box 80 is arranged outside the dashboard 15 as an operation panel in the machine body width direction. The switch box 80 is arranged on the right side of the driver's seat 12, but may be arranged on the left side. However, by arranging the switch box 80 on the same side as the operation pedal 14 (generally on the right side), it is easy to press the AUTO button 81 of the switch box 80, which will be described later, at the same timing as accelerating when starting straight-ahead work. and improve operability.

Note that the switch box 80 operates as a target travel route setting unit that sets the target travel route of the travel unit 2 .

The support arm 24 includes a stay-like upper arm portion 25a fixed to the preliminary seedling mounting frame 17b, a forearm portion 25c that rotates horizontally with respect to the upper arm portion 25a with a hinge 25b as a fulcrum, and a forearm portion 25c. and a holder 25e that rotates in the horizontal direction with the hinge 25d as a fulcrum. The switch box 80 is attached to the holder 25e.

In this embodiment, as shown in FIG. 6, a switch box 80 includes an AUTO button 81, which is an indicator for instructing the start of automatic steering, and an indicator that constitutes a notification unit (notification means) 68, which will be described later. and an indicator lamp 82 as. Further, the switch box 80 is an indicator for registering the positional information of the point A in order to set a reference line when the farm working machine 1 moves between the two points A and B as a reference. and a B button 84 which is an instruction tool for registering the position information of the B point. The AUTO button 81 is arranged at the center of the operation surface 80f of the switch box 80, and the display lamp 82 is arranged at the upper left thereof. The A button 83 and the B button 84 are arranged horizontally below the AUTO button 81 .

The AUTO button 81 is operated when starting and stopping automatic steering. Since the AUTO button 81 is operated more frequently than the A button 83 and the B button 84, the AUTO button 81 is formed larger than the A button 83 and the B button 84 when viewed from the front so that it can be easily pressed. Also, the AUTO button 81 protrudes more than the A button 83 and the B button 84 . The A button 83 and the B button 84 have the same shape and are arranged symmetrically. A ring-shaped light-emitting portion 85 is provided around the AUTO button 81 . The light emitting unit 85 has a function of informing the operator of various states related to automatic steering by means of its light color and lighting pattern.

The switch box 80 basically has the function of creating a target heading for automatic straight running. Therefore, the A button and the B button 83, 84 are used to perform operations such as acquiring the start point position and the end point position, and starting/ending the automatic straight movement of the field work machine along the created target heading. These operations are manually performed by the operator.

FIG. 7 shows control blocks of a control device 70 that controls the entire field work machine 1 according to this embodiment.

Next, the operation of the field work machine 1 in this embodiment will be described. In this embodiment, when the straight-ahead assist mode of the field work machine 1 and the turning work machine automatic mode are interlocked, the work clutch "on" and "automatic steering preparation completion" after turning are controlled by the turning work machine automatic mode. , and has an automatic steering ON mode in which the automatic steering is “ON” without pressing the AUTO button 81 of the operating member 80 . Therefore, first, the straight-ahead assist mode and the turning-time working machine automatic mode, which are the premises of this embodiment, will be described.

The straight-ahead assist mode is a mode for assisting the straight-ahead movement of the farm working machine 1 . Specifically, point A, which is the start point of the movement of the field work machine 1, and point B, which is the end point of movement of the field work machine 1, are set by the A button 83 and the B button 84 of the operation member 80. Set and register the moving reference line. When the AUTO button 81 is pressed thereafter, the field working machine 1 is in a mode in which steering is started parallel to the registered movement reference line.

The turn-time work machine automatic mode is a mode in which the farm work machine 1 automates a series of operations when turning at the edge of the field. In the turn-time work machine automatic mode, when the operator turns the steering wheel, planting stops (work clutch "disengages"), the planting part 3 rises, and the marker is retracted. Next, when the operator returns the handle, the planting part 3 descends, the marker appears, and the planting work is started (work clutch "on").

Next, a description will be given of the automatic steering ON (automatic turning processing) mode when the straight-ahead assist mode and the turning-time working machine automatic mode are interlocked.

Here, after the turn-time working machine automatic mode ends, the agricultural field working machine 1 turns on the "interlocking permission distance" flag for a period of 0 to 10 m from the "on" of the work clutch. In the meantime, when the operation pedal 14 is depressed beyond a certain level while the automatic steering preparations are completed, the switching announcement is made for 1.0 seconds after the interlocking timing 0-6m, and the automatic steering is turned on.

FIG. 8 is a diagram for explaining the contents of the automatic turning processing mode. Referring to the portion indicated by the upward arrow on the left side of FIG. 8, the agricultural implement 1 moves straight along the reference line in the agricultural field with the automatic steering "on". When approaching the end of the field (planting end/planting start position), the operator presses down the AUTO button 81 (position (A) in the figure). Accordingly, the farm working machine 1 turns 180 degrees (from position A to position B in the drawing).

Note that, in the present invention, since turning is assumed to be performed manually, the operator operates the handle from position A to start turning. In addition, in the embodiment, since the steering wheel operation from position A is detected and the automatic steering is automatically terminated, the AUTO button is not pressed.

When the vehicle starts to turn, the work clutch 18 is "disengaged" to stop the work of the planting part 3, and then the work clutch 18 is turned "on" so that the work of the planting part 3 can be performed.

It should be noted that the detection of turning of the field work machine 1 is performed by the turning detection section 29 (see FIG. 7).

After that, the field work machine 1 first moves by an interlocking permission distance (approximately 0 to 10 m). A determination unit 71 (see FIG. 7) determines whether or not the automatic steering of the traveling unit 2 is permitted. After that, it moves an interlocking timing distance (approximately 0 to 6m) (during (D) in the figure) and makes an interlocking announcement (1.0 second) ((E) in the figure).

Here, the preparation for automatic steering is completed between the position (B) in the figure and the position (C) in the figure (a period indicated by F in the figure, an automatic steering preparation completion period).

That is, after the running unit 2 starts turning operation, after the work clutch 18 is switched from the disengaged state to the engaged state, the automatic steering control unit 28 (see FIG. ) to perform automatic steering control.

Here, the determination unit 71 determines the conditions for automatic steering while the vehicle travels 0 to 10 m as the interlocking permitted distance. Here, the determination unit 71 determines whether or not the field work machine 1 is in a state of automatic steering after turning (for example, the field work machine 1 moves in a predetermined direction (along the target travel route). the orientation of the aircraft, such as whether or not it is on).

When the working clutch 18 is "on" at the initial position indicated by (C) in FIG. 8 and the operation pedal 14 is depressed continuously for a certain amount or more, the interlocking timing indicated by (D) in the drawing is entered.

This interlocking timing is set by a predetermined distance (0 to 6 m) that can be arbitrarily set by the operator using the predetermined distance setting unit 30 (see FIG. 7). This interlocking timing is for the operator to judge whether the field working machine 1 faces a predetermined direction, but is too close to the next seedling planted before that and is likely to be stepped on, or is too far away. is set in

The predetermined distance traveled arbitrarily set by the predetermined distance setting unit 30 is a distance at which the operator can stop the transition to automatic steering or the traveling of the aircraft itself. determines that there is an intention to shift to automatic steering. For example, it is conceivable to appropriately adopt conditions such as that the work clutch 18 is "on" and the speed of the machine body that is traveling a predetermined distance continues to be equal to or higher than a predetermined value.

Further, the condition that the operation pedal 14 is depressed more than a certain amount may be a condition that the amount of depression of the operation pedal continues to be a certain value or more, for example, 15% or more.

Here, the case where the automatic steering control is performed under two conditions of the interlocking permission distance determined by the determination unit 71 and the interlocking timing set by the operator has been described. The conditions for automatic steering may be determined based only on the allowable distance.

Further, the determining unit 71 may determine based on the traveling unit traveling for a predetermined time arbitrarily set by the operator using the predetermined time setting unit 72 (see FIG. 7) instead of the predetermined distance.

A notification means (notification section) 68 for notifying that the automatic steering control section 28 will perform the automatic steering control may be provided.

It may have an automatic "on" function for turning the work clutch 18 associated with turning, which turns "on" automatic straight travel in conjunction with the work machine automatic mode during turning. As a result, the operator's operation, which is usually required to start automatic straight running, is simplified and the burden is reduced.

This interlocking function (auto-turn function) can be switched between interlocking and non-interlocking, and in the "interlocking" state, an icon may be lit on the monitor 67 to notify the operator.

In addition, the so-called auto-turn, which is a function that interlocks the work clutch "on" after turning motion and automatic straight "on", can be selected with a switch (not shown) to "interlock" or "not interlock". can be In the "interlocked" state, as shown in FIG. 9, the monitor 67 may light up an interlock icon 67a indicating "interlocked".

In the above-described embodiment, specific numerical values are given for the timing at which the automatic steering is turned on after the turning-time working machine automatic mode ends, but these numerical values are examples and are limited to these. nothing.

In the above-described embodiment, only the case where the field work machine moves forward has been described, but the present invention is not limited to this. Automatic straight running may be started at the timing when the PTO of is switched from off to on.

Furthermore, conventionally, the method of interrupting the automatic steering state at the operator's will has been limited, but the automatic steering start state is canceled by turning on/off the work clutch 18 or raising or lowering the working machine. You can do so.

Similarly, the timing of starting automatic steering may be adjusted. By making it possible to adjust the timing of starting the automatic steering, even if the operator makes an erroneous operation, the automatic steering interrupting operation can be performed with a margin.

Further, even if the interlocking function is turned ON by an erroneous operation, the automatic steering standby state may be canceled by traveling a certain distance.

In addition, when the PTO is turned off and then on, the automatic straight standby state is activated. When the automatic turning function (automatic work machine mode during turning) or the interlocking function switch is turned off, the standby state is canceled when the machine travels a certain distance (time). You can do it.

Furthermore, the interlocking and automatic turning functions may be turned on and off to cancel the state and operate safely.

Furthermore, with the interlocking function that starts automatic steering in conjunction with PTO off→on (turning work equipment automatic mode), there is no start instruction even if the conditions (approach angle, error conditions, etc.) for automatic straight ahead are met. If the vehicle has traveled a certain distance (time) in this state, the interlocked automatic steering may be interrupted.

Furthermore, in addition to the automatic steering interruption condition (velocity fixation, etc.), an interruption operation that can be performed by the operator may be added. Even if the automatic steering is interrupted by turning on/off the work clutch, raising and lowering the work equipment, and turning on/off the interlocking function and the automatic turning function until the automatic steering by the interlocking function is started. good.

1 Field work machine 2 Traveling body (traveling part)
3 Field work section (planting section)
14 Operation pedal 18 Work clutch 24 Support arm 28 Automatic steering control unit 29 Turn detection unit 30 Predetermined distance setting unit 49 GNSS receiver 67 Monitor 68 Notification unit 71 Judgment unit 72 Predetermined time setting unit 80 Operation member (switch box)
81 AUTO button

Claims (5)

a field work unit supported by the running unit;
A field working machine including a work clutch that switches the power of the field working unit between a connected state and a disconnected state,
The field work machine includes a position information acquisition unit that acquires position information of the field work machine;
a target travel route setting unit that sets a target travel route of the travel unit;
an automatic steering control unit that executes automatic steering control to steer the traveling unit along a target travel route based on the position information acquired by the position information acquisition unit;
a turning detection unit that detects that the traveling unit makes a turning motion;
a predetermined distance setting unit that allows an operator to arbitrarily set a predetermined distance;
a determination unit that determines whether or not the turning operation of the traveling unit and the automatic steering control can be interlocked,
After the traveling unit starts turning operation, after the work clutch is switched from the disengaged state to the engaged state, the automatic steering control unit performs automatic steering based on the automatic steering permission determination of the determination unit. A field implement that performs control. The field working machine according to claim 1, wherein the determination unit determines based on conditions for automatic steering of the machine body. The field working machine according to claim 1 or 2, wherein the determining unit determines based on the traveling unit traveling a predetermined distance arbitrarily set by the predetermined distance setting unit. The farm working machine according to claim 1 or 2, wherein the determining unit determines based on the traveling unit traveling for a predetermined time arbitrarily set by the predetermined time setting unit. The field working machine according to any one of claims 1 to 4, further comprising an informing means for informing that the automatic steering control is to be executed.

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