JP6677286B2 - Work vehicle and automatic running support system for work vehicle - Google Patents

Description

  The present invention relates to a work vehicle and an automatic straight traveling support system for the work vehicle.

  Conventionally, some work vehicles such as seedling transplanters used when performing work such as planting of seedlings are provided with an automatic steering device that supports straight running, for example, by controlling the steering wheels of the steering device. There is known a device that performs automatic straight running by holding the vehicle in a straight running position (for example, see Patent Document 1).

JP 2016-24541 A

  However, for example, in the conventional working vehicle disclosed in Patent Literature 1, field conditions such as hardness and depth of the field and water volume are not taken into consideration in controlling the steering wheels.

  For this reason, in the conventional work vehicle, for example, the traveling progresses at a preset speed even in a field edge where the field is relatively rough, so that the straightness is impaired, and as a result, for example, the planting accuracy of the seedlings also decreases. There was a risk of doing so. It is also conceivable to correct the traveling route when it is detected that straightness has been impaired, but this may cause a section in which seedlings are not planted or a section in which seedlings are repeatedly planted. .

  The present invention has been made in view of the above, and has a work vehicle in which straightness does not decrease even in a field peripheral portion where a field state is relatively inferior to that near the center, and an automatic straight traveling support for the work vehicle. The purpose is to provide a system.

In order to solve the above-described problem and achieve the object, a work vehicle (1) according to claim 1 includes a steered wheel (4) steered by a steering device (110) and a motor (10). Detecting a traveling vehicle body (2) traveling in a field (F), a work machine (50) connected to the rear of the traveling vehicle body (2) so as to be able to move up and down, and a peripheral portion (F1) of the field (F). The power from the steering device (110) and the prime mover (10) is controlled based on the distance between the host vehicle and the periphery (F1) of the field (F) detected by the detection unit. A control device (150) for controlling the traveling of the traveling vehicle body (2); a first detecting means (120) including a position information acquisition unit (121) capable of using a satellite navigation system; From the traveling vehicle body (2) to the periphery of the field (F) A second detecting means (130) for detecting a distance to F1), wherein the control device (150) is configured to detect a distance from a satellite by the position information acquisition unit (121) in the first detecting means (120) When the reception state does not satisfy the certain level, the vehicle speed is controlled based on the detection result obtained by using the second detection means (130),
When the second detecting means (130) determines that the peripheral portion (F1) is made of concrete, the distance from the set own vehicle to the peripheral portion (F1) is increased by one step from a specified value. The travel route is corrected as described above .

In the work vehicle (1) according to claim 2, when the peripheral portion (F1) is determined not to be made of concrete by the second detection means (130), the second detection means By (130), it is determined whether the periphery (F1) is soft soil or hard soil,
If it is determined that the soil is soft, the travel route is corrected so that the distance from the set vehicle to the peripheral portion (F1) is increased by 0.5 sections from the specified value,
When it is determined that the soil is hard, the vehicle travels at a specified value from the set vehicle to the peripheral portion .

According to a third aspect of the present invention, there is provided the work vehicle (1) according to the first or second aspect, further comprising: a tilt sensor (180) provided on the traveling vehicle body (2) for detecting a tilt of an airframe; A leveling rotor (67) for leveling the field is provided so as to be able to move up and down, and when the inclination sensor (180) detects that the forward rising attitude of the body is equal to or more than a predetermined angle, the leveling rotor (67) is lowered. It is not characterized by Rukoto.

A work vehicle (1) according to any one of claims 1 to 3, wherein the work vehicle (1) according to any one of claims 1 to 3, further includes a detection result obtained by the detection unit and the unmanned flight , the camera being equipped with a camera (136). Based on the image analysis by the camera (136) mounted on the body (20), the traveling power of the traveling body (2) is controlled by controlling the power from the steering device (110) and the prime mover (10). A control seat (28) provided on the traveling vehicle body (2), and the camera (136) of the unmanned aerial vehicle (20) determines that the worker is not seated on the control seat (28). In this case, the traveling speed of the traveling vehicle body (2) is reduced, and the steering speed of the steering device (110) is decreased .

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According to the work vehicle of the first aspect, it is possible to detect in advance the approach of the field peripheral portion where the field state is relatively inferior to the vicinity of the center, so that the vehicle speed is automatically controlled according to the field state. Thus, it is possible to prevent a decrease in straightness due to the field condition. Accordingly, it is possible to prevent the disturbance of the field work and the like caused by the decrease in the straightness.
When the second detecting means determines that the peripheral portion is made of concrete, the traveling route is corrected so that the distance from the set own vehicle to the peripheral portion is increased by one step from the specified value. , Safety is improved.

According to the work vehicle described in claim 2, in addition to the effect of the invention described in claim 1, when the second detecting means determines that the periphery is not made of concrete, the second detecting means Judge whether the periphery is soft soil or hard soil,
If it is determined that the soil is soft, the travel route is corrected so that the distance from the set vehicle to the peripheral portion is increased by 0.5 sections from the specified value. By traveling at a specified value from the vehicle to the peripheral portion, it is possible to improve the safety of the aircraft in which straight running stability on soft soil is reduced.

According to the work vehicle described in claim 3, in addition to the effects of the invention described in claim 1 or 2, in addition to the effects of the invention described above, when the tilt sensor detects that the forward rising posture of the body is equal to or greater than a predetermined angle, By lowering the rotor, it is possible to control the inclination of the fuselage by keeping it in a state of being stretched behind the center of gravity of the fuselage in the field scene, so that the driving torque of the front wheels can be secured and straightness can be improved. it can.

According to the work vehicle described in claim 4, in addition to the effect described in any one of claims 1 to 3, it is determined by the camera of the unmanned aerial vehicle that the worker is not sitting on the control seat. In such a case, the traveling speed of the traveling vehicle body is reduced and the steering speed of the steering device is decreased, so that the worker can be prevented from falling off the machine body.

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FIG. 1 is an explanatory diagram illustrating an outline of travel control in the work vehicle according to the embodiment. FIG. 2 is a side view of a seedling transplanter, which is a working vehicle of the above. FIG. 3A is a front view of a seedling transplanter that is the work vehicle of the above. FIG. 3B is an explanatory diagram illustrating an antenna frame of the seedling transplanter including the visor. FIG. 4 is a functional block diagram focusing on the controller. FIG. 5 is an explanatory diagram illustrating an example of the seating sensor. FIG. 6 is a flowchart illustrating an example of the automatic straight-ahead support. FIG. 7 is a flowchart illustrating an example of a ridge position detection process by image analysis. FIG. 8 is a flowchart illustrating an example of a travel route correction process based on image analysis. FIG. 9 is a flowchart illustrating an example of a travel route correction process using a drone. FIG. 10A is a flowchart showing an example of straight-ahead support using a drone. FIG. 10B is a flowchart showing an example of straight-ahead support using a drone. FIG. 11 is a schematic explanatory diagram illustrating a configuration of a traveling unit of a work vehicle according to a modification. FIG. 12 is a schematic explanatory view showing an example of a state in which the traveling unit of the work vehicle is switched to 4WS. FIG. 13 is an explanatory diagram showing, in a front view, a spare seedling placement unit provided in a seedling transplanter that is a working vehicle according to a modification. FIG. 14 is an explanatory diagram showing the reserve seedling placement unit in the above in a side view. FIG. 15 is an explanatory diagram of an empty box insertion tool provided in the same reserve seedling mounting section.

  Hereinafter, a work vehicle according to an embodiment of the present invention will be described in detail as a riding-type seedling transplanter with reference to the drawings. The components in the following embodiments include components that can be easily replaced by those skilled in the art, or components that are substantially the same, that is, components in an equivalent range. Furthermore, the present invention is not limited to the above embodiment, and can be implemented with various modifications without departing from the gist of the present invention. In the following, the entire seedling transplanter may be referred to as a machine.

  FIG. 1 is an explanatory diagram illustrating an outline of travel control in a seedling transplanter 1 that is a working vehicle according to an embodiment. FIG. 2 is a side view of the same seedling transplanter 1, and FIG. 3A is a front view of the same. The seedling transplanter 1 according to the present embodiment is provided with a pair of left and right front wheels 4 and a rear wheel 5 and is capable of traveling on a field F. A control seat 28 on which a worker can sit is provided. A traveling vehicle body 2 to which a seedling planting section 50 as a machine is connected so as to be able to move up and down freely is provided.

  Note that the front wheels 4 of the seedling transplanter 1 according to the present embodiment are steered wheels that are turned left and right by a steering device 110 (see FIG. 4), which will be described later, including a steering wheel 32 that is a steered wheel. In the following description, the reference for the front, rear, left, and right directions of the seedling transplanter 1 is a direction viewed from an operator sitting in the control seat 28 in a proper posture.

  In the seedling transplanter 1 of the present embodiment, the controller 150 (see FIG. 4) controls the steering device 110 based on the steering angle (turning angle) of the steered wheels of the seedling transplanter 1 and the position information of the seedling transplanter 1. It has a straight-ahead support function that supports automatic straight-ahead travel of the seedling transplanter 1 in the field F by controlling the operation. Here, the steering angle is the turning angle of the front wheels 4, but for example, the steering angle of the steering wheel 32 may be detected as the steering angle. The position information of the seedling transplanter 1 is acquired by the first detecting means 120 provided on the traveling vehicle body 2 as will be described later in detail.

  In addition, the straight traveling support function of the seedling transplanter 1 according to the present embodiment detects, for example, a field periphery F1 such as a shore of the field F, and based on the detection result, not only the steering device 110 described above, Travel control can be performed by controlling the vehicle speed. That is, the vehicle speed can be controlled based on the distance between the field peripheral portion F1 detected by the first detection unit 120 and the vehicle (the seedling transplanter 1 according to the present embodiment).

For example, as shown in FIG. 1, a case will be described in which a seedling transplanting machine 1 performs a seedling transplanting operation in a field F while the operator automatically moves straight ahead without operating the handle 32. It is assumed that the seedling transplanter 1 is controlled to run at a relatively high first speed V1 or higher in a region (high-speed region) F2 including the center of the field F. At this time, the seedling transplanter 1 runs only at a speed lower than the second speed V2, which is relatively lower than the first speed V1, in a region (low speed region) F3 close to the field edge F1 near the ridge. It is controlled so that it cannot be done.

  That is, as shown in FIG. 1A, when the seedling transplanter 1 is traveling in the high speed range F2 at the first speed V1 or higher, the first detection provided on the traveling vehicle body 2 is performed. It is assumed that the means 120 has detected the field peripheral portion F1 (for example, “shore”).

  For example, the field periphery F1 is likely to have a rougher field scene than other areas due to traveling of a tractor or the like used in a tilling operation or the like, resulting in more unevenness or increased water volume. If the field scene is rough, the rolling wheels (the front wheels 4) are directly affected, and the straightness may be impaired.

  Therefore, in the seedling transplanter 1 according to the present embodiment, as shown in FIG. 1B, when it is detected that the field peripheral portion F1 is approaching, the vehicle speed is reduced to less than the second speed V2 and the steering is performed. The operation of the device 110 is performed smoothly.

  If the second speed V2 is relatively low, appropriate control of the rolling wheels (the front wheels 4) can be easily performed during automatic straight running, so that straight running performance is not impaired. In addition, even when the seedling transplanter 1 turns, since it is running at a low speed, it is possible to reduce as much as possible the risk of contact with the ridges when the rising timing of the seedling planting section 50 does not match. Further, as shown in FIG. 1 (b), the straight traveling performance when the vehicle automatically travels on the headland after turning is not reduced.

  In particular, if the controller 150 determines that the distance between the field peripheral portion F1 and the host vehicle detected by the first detection means 120 is equal to or less than a predetermined distance, the controller 150 reduces the speed to a constant speed lower than the second speed V2. I have to.

  Therefore, it is possible to more reliably prevent a decrease in straightness due to the state of the field peripheral portion F1. In addition, by setting the constant speed to a speed at which the vehicle can turn sufficiently safely, it is possible to greatly reduce the risk of the seedling planting portion 50 coming into contact with the shore during the above-described turning or the like. Note that the distance between the field peripheral portion F1 and the host vehicle is a distance between the field peripheral portion F1 such as the shore of the field F in the front-rear direction of the seedling transplanting machine 1 and the horizontal distance of the seedling transplanting machine 1. Included.

  Hereinafter, the specific configuration of the seedling transplanter 1 will be described with reference to FIGS. 2, 3A, and 4. FIG. FIG. 4 is a functional block diagram focusing on the controller.

  As shown in FIG. 2 and FIG. 3A, a seedling planting section 50 is attached to the traveling vehicle body 2 of the seedling transplanting machine 1 via a seedling planting section elevating mechanism 40 as an elevating device so as to be able to move up and down. The traveling vehicle body 2 is a four-wheel drive vehicle in which a pair of left and right front wheels 4 and a pair of left and right rear wheels 5 are driven together. It is possible to run on F and ridges.

  The traveling vehicle body 2 includes a main frame 7 disposed substantially at the center of the vehicle body, an engine 10 as a prime mover mounted on the main frame 7, and a front / rear wheel 4, 5 for driving the engine 10. And a power transmission device 15 for transmitting the seedlings to the seedling plant 50. In this seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used as an engine 10 as a power source, and the generated power is used not only for moving the traveling vehicle body 2 forward and backward but also for seedling. It is also used to drive the planting section 50.

Further, the power transmission device 15 shifts and outputs the driving force transmitted from the engine 10.
The hydraulic continuously variable transmission 16 is a so-called HST (Hydro Static Transmission), and a power transmission unit 17 that transmits power from the engine 10 to the hydraulic continuously variable transmission 16.

  The power transmission device 15 has a transmission case 18, and the driving force from the engine 10 is transmitted to a hydraulic continuously variable transmission 16 via a power transmission unit 17. The shifted power is transmitted to the transmission case 18. The transmission case 18 is attached to the front of the main frame 7.

  Part of the power transmitted from the transmission case 18 to the front wheels 4 and the rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the remaining power can be transmitted via the left and right rear wheel final cases 22. Transmission to the wheel 5 is possible. The left and right front wheel final cases 13 are disposed on the left and right sides of the transmission case 18, respectively. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via an axle 131. The front wheel final case 13 can be driven in accordance with the steering operation of the steering wheel 32 to steer the front wheels 4.

  Similarly, the rear wheels 5 are connected to the left and right rear wheel final cases 22 via axles 220. On the other hand, power is transmitted from the transmission case 18 to a seedling planting section 50 from a working machine drive shaft (not shown) via a planting clutch 500 provided at the rear of the traveling vehicle body 2. The planting clutch 500 is operated by a planting clutch motor 510 connected to a controller 150 described later in detail (see FIG. 4).

  By the way, the engine 10 is disposed substantially at the center in the left-right direction of the traveling vehicle body 2 and in a state of protruding above the floor step 26 on which the operator places his / her feet when riding. The floor step 26 is provided between the front part of the traveling vehicle body 2 and the rear part of the engine 10 and is mounted on the main frame 7. Mud can be dropped into the field F. Further, a rear step 27 also serving as a fender of the rear wheel 5 is provided behind the floor step 26. The rear step 27 has an inclined surface that is inclined upward in the rearward direction, and is disposed on each of the left and right sides of the engine 10.

  The engine 10 protrudes upward from the floor step 26 and the rear step 27, and an engine cover 11 that covers the engine 10 is provided at a portion protruding from the steps 26 and 27.

  A control seat 28 on which an operator sits is provided above the engine cover 11, and a control section 30 is provided in front of the control seat 28 and at a front central portion of the traveling vehicle body 2. The control unit 30 is disposed so as to protrude upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into right and left.

  The steering section 30 is provided with a steering post 315. Above the steering post 315, a handle 32 that can be steered by an operator is provided. The instrument panel 33 provided on the steering post 315 is provided with various switches 153 (see FIG. 4) including a straight support start switch 83, a meter, and the like. Further, the control unit 30 includes a tablet terminal device 140 described below, which is detachably attached to a lower portion of the steering post 315. At a predetermined position of the control unit 30, for example, a lamp 210 and a buzzer 215, which are examples of the notification device 200, are provided (see FIG. 4).

Further, a main transmission lever 81 and an auxiliary transmission lever 82 are provided in the steering section 30 near the steering post 315. The main transmission lever 81 is provided on the right side of the control unit 30, and the auxiliary transmission lever 82 is provided below the handle 32.

  The main transmission lever 81 is a lever for switching between forward and backward traveling and traveling output of the traveling vehicle body 2, and adjusts a turning angle of a trunnion (not shown) of the hydraulic stepless transmission 16 by being operated by an operator. Thus, the speed of the traveling vehicle body 2 can be adjusted.

  On the other hand, the auxiliary transmission lever 82 is a lever that switches a traveling mode that regulates the traveling speed of the traveling vehicle body 2 between a low-speed mode and a high-speed mode according to a traveling location. Here, the low speed mode is a traveling mode defined in a speed range suitable for the seedling transplanter 1 to perform the planting operation in the field F. Therefore, the first speed V1 and the second speed V2 shown in FIG. 1 are both speeds specified when the low speed mode is selected.

  On the other hand, the high-speed mode is, for example, a traveling mode when the seedling transplanter 1 is moved on a ridge or the like, and can run at a higher speed than in the low-speed mode. The mode switching is performed by a subtransmission mechanism provided in the transmission case 18 according to the position of the subtransmission lever 82.

  A front cover 31 that can be opened and closed is provided at a front portion of the control unit 30. A center mascot 353 as an index member serving as an index for traveling is mounted so as to be located at the center of the front end of the front cover 31. Although not shown in FIG. 2 for the sake of convenience, as shown in FIG. 3A, a work passage Q is provided between the control unit 30 and the spare seedling placement unit on the front left and right sides of the traveling vehicle body 2. 400, 400 are provided.

  Further, in the seedling transplanter 1 according to the present embodiment, as shown in FIGS. 2 and 3A, a GNSS unit 121 connected to a receiving antenna 122 (see FIG. It is arranged. The GNSS unit 121 can acquire position information on the earth at predetermined intervals by acquiring GNSS coordinates at regular intervals by the receiving antenna 122. Although not shown, the GNSS unit 121 according to the present embodiment includes an inertial navigation device using a gyro sensor and an acceleration sensor, and a control board for controlling these devices.

  The GNSS unit 121 is mounted on the top of an antenna frame 124 whose base end is connected to the front end of the traveling vehicle body 2 so as to be located directly above the axle 131 of the front wheel 4. The height of the antenna frame 124 in the normal state is set to such a height that a standard general man does not interfere with the head even when standing on the floor step 26.

  As shown in FIGS. 2 and 3A, the antenna frame 124 is connected to left and right lower frames 124a, 124a via connecting members 124f, 124f at the upper ends thereof, and pivotally connecting plates 125 provided respectively in the middle. And left and right upper frames 124b, 124b rotatable rearward by a predetermined angle via the (see the two-dot chain line in FIG. 2). A rotation support shaft 124d is provided between the rotation connection plates 125, 125, and the upper frame 124b rotates around the rotation support shaft 124d.

  The GNSS unit 121 is provided between the upper portions of the left and right upper frames 124b. The GNSS unit 121 is provided on an aluminum block 124g. That is, the reception sensitivity can be improved by interposing the aluminum block 124g between the GNSS unit 121 and the steel pipe antenna frame 124.

  As described above, the upper portion of the antenna frame 124 is configured to be rotatable rearward by a predetermined angle. Specifically, the upper side of the upper frame 124b is rotated and folded through the rotation connection plate 125 provided in the middle of the upper frame 124b. Therefore, even in the folded state, the worker can sit on the control seat 28 and perform normal work.

  Further, as in the related art, there is no frame extending from the rear part of the control seat 28 to the front side and supporting the upper frame 124b. There is no hindrance to the work of replenishing the 70 storage hopper 71 with fertilizer.

  Further, since the weight of the antenna frame 124 can be reduced, the seedling transplanter 1 in which the engine 10 is mounted below the control seat 28 has a lighter front side of the fuselage, so that the traction of the front wheels 4 can be reduced. Although the antenna frame 124 may not be sufficiently generated, the antenna frame 124 is disposed only on the front side of the body, so that the weight balance between the front and rear of the body is improved, and the straightness is improved.

  The base ends of the lower frames 124a, 124a are attached to the bumper 700 of the traveling vehicle body 2. The first reinforcing frame 124e is stretched between the connecting members 124f, 124f provided at the upper ends of the lower frames 124a, 124a and the front cover 31.

  Further, the base end of the first reinforcement frame 124e and the rotation connection plate 125 provided on the upper frame 124b are connected by the second reinforcement frame 124c.

  Meanwhile, some seedling transplanters 1 are provided with a visor 126 above the control unit 30. FIG. 3B is an explanatory diagram illustrating the antenna frame 124 of the seedling transplanter 1 including the visor 126.

  In the seedling transplanter 1 including the resin visor 126, as shown in FIG. 3B, the antenna frame 124 may use a support frame 124h having a length that straddles the visor 126 while connecting the visor 126. it can.

  That is, the left and right sides of the support frame 124h and the reinforcing frame of the visor 126 may be connected, and the left and right ends of the support frame 124h may be connected to a frame whose base end is connected to the floor step 26. Then, the GNSS unit 121 is disposed substantially at the center of the support frame 124h via an aluminum block 124g. In this case, if the visor 126 itself is configured to be foldable, the antenna frame 124 does not need to be provided with a rotation connecting portion or the like, and the strength can be increased.

  Next, the seedling planting section 50 and other configurations will be described. As shown in FIG. 2, the seedling planting section 50 is attached to the rear of the traveling vehicle body 2 via a seedling plant raising / lowering mechanism 40 so as to be able to move up and down. The seedling placement section lifting mechanism 40 includes a lifting link device 41, and the lifting link device 41 includes a parallel link mechanism that connects the rear portion of the traveling vehicle body 2 and the seedling placement section 50. The parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably mounted on a rear-view portal type link base frame 43 erected at the rear end of the main frame 7. Be linked. The other ends of the links 41a and 41b are rotatably connected to the seedling planting section 50. Thus, the seedling planting section 50 is connected to the traveling vehicle body 2 so as to be able to move up and down.

Further, the seedling plant raising / lowering mechanism 40 has a hydraulic raising / lowering cylinder 44 which expands / contracts by hydraulic pressure, and the raising / lowering operation of the hydraulic raising / lowering cylinder 44 can raise / lower the seedling planting unit 50. The hydraulic raising / lowering cylinder 44 is driven by the above-described hydraulic type continuously variable transmission 16, and the raising / lowering operation of the seedling raising / lowering mechanism 40 raises the seedling transplanting part 50 to the non-working position or moves the seedling growing part 50 to the ground work position (planting position). To the attached position).

  In addition, the seedling planting section 50 can plant a range in which seedlings are planted in a plurality of sections or a plurality of rows. For example, a so-called six-row seedling planting section 50 in which seedlings are planted in six sections can be used.

  The seedling planting section 50 includes a seedling planting device 60, a seedling mounting table 51, and floats 47 (48, 49). Among them, the seedling mounting table 51 is provided as a seedling mounting member for stacking a plurality of seedlings at the rear portion of the traveling vehicle body 2, and the number of seedlings for the number of planted lines divided in the left-right direction of the traveling vehicle body 2. It has a surface 52, and it is possible to place a mat-shaped seedling with soil on each seedling placing surface 52.

  The seedling planting device 60 is a device that is disposed below the seedling mounting table 51 on which the seedlings are mounted, takes the seedlings from the seedling mounting table 51, and plants the seedlings in the field F, and is provided on the front side of the seedling mounting table 51. Is supported by the planting support frame 55. The seedling-planting device 60 has a planting transmission case 64 and a planting body 61. The planting body 61 has a pair of planting plants so that the seedlings can be taken from the seedling mounting table 51 and planted in the field F. It has a rod 62 and is rotatably connected to a planting transmission case 64.

  The planting transmission case 64 is configured to be able to supply the plant body 61 with power transmitted from the engine 10 to the seedling planting unit 50. The planting body 61 supports the planting rod 62 so as to be rotatable and can rotate with respect to the planting transmission case 64 in addition to the planting rod 62 that takes the seedlings from the seedling mounting table 51 and plants them in the field F. The rotary case 63 is connected to the rotary case 63. The rotary case 63 incorporates an unequal-speed transmission mechanism (not shown) that can rotate while changing the rotation speed when rotating the implantation rod 62 by the driving force transmitted from the implantation transmission case 64. ing. Thus, when the implant 61 rotates, the implant rod 62 rotates while the rotation speed changes depending on the rotation angle with respect to the rotary case 63.

  The seedling planting apparatus 60 configured as described above is provided for every two rows. That is, in the case of six-row planting, three seedling planting apparatuses 60 are provided. Each planting transmission case 64 is provided with two rows of planting bodies 61 rotatably. That is, two rotary cases 63 are connected to one planting transmission case 64 on both sides in the lateral direction of the machine.

  The float 47 slides on a field scene with the movement of the traveling vehicle body 2 to level the ground, and includes a center float 48 located at the center of the seedling planting section 50 in the lateral direction of the traveling vehicle body 2, And the side floats 49 located on both sides of the seedling planting section 50 in FIG.

  The center float 48 in the present embodiment is provided with a float potentiometer 154 (see FIG. 4) that functions as a hydraulic sensitivity mechanism for raising and lowering the seedling planting section 50 up and down in accordance with the situation of the field F. The float potentiometer 154 can change the range of sensitivity for detecting the vertical movement of the center float 48. For example, if the sensitivity is increased, a small vertical movement of the center float 48 is detected, and a detection signal is transmitted to the controller 150. On the other hand, if the sensitivity is made insensitive, a small vertical movement of the center float 48 is not detected, but only a vertical movement with a certain amplitude or more is detected and a detection signal is transmitted to the controller 150.

In addition, a plurality of leveling rotors (here, three rotors at the left, right, and center) 67 for leveling the field F are provided on the front side at a position below the seedling planting section 50. The leveling rotor 67 is configured to be rotatable by an output from the engine 10 transmitted through the rear wheel final case 22, and is provided to be able to move up and down by a rotor motor 165 (see FIG. 4) which is an electric motor. Have been.

  By the way, with respect to the plurality of terrain rotors 67, 67, the driving force is not received from the engine 10, but an independent drive motor (not shown) can be provided for each. As described above, if the plurality of terrain rotors 67, 67 can be driven independently, for example, when the direction of the body is deviated to the left or right, the rotation of the terrain rotor 67 on the deviated side is accelerated. It can be modified so that the orientation of the aircraft is straight. Further, if the center grading rotor 67 is configured to be dragged with a slower rotation than the left and right terrain rotors 67, it is possible to assist the body in straight running. In addition, in the case of assisting the straight running of the aircraft, the center ground adjustment rotor 67 may be raised and returned to the storage position, and only the left and right ground adjustment rotors 67, 67 may be driven.

Note that, in the seedling transplanter 1 according to the present embodiment, a controller 150 described later executes the straight traveling support on condition that the rotors for leveling 67, 67 are grounded.
However, the condition for executing the straight traveling support is not necessarily required.

  Further, on both left and right sides of the seedling planting section 50, line drawing markers 68 for forming a line which serves as a guide in the traveling direction for the next planting line are provided. When the seedling transplanter 1 advances straight ahead in the field F, the drawing marker 68 draws a mark on the field F when turning forward on the ridge of the field F and then going straight ahead. However, since the seedling transplanter 1 according to the present embodiment can execute straight-line support using a GNSS (Global Navigation Satellite System), the line drawing marker 68 can be eliminated.

  In addition, a fertilizer device 70 is mounted behind the control seat 28 on the traveling vehicle body 2. The fertilizer application device 70 includes left and right storage hoppers 71 for storing fertilizer, a feeding device 72 that feeds the fertilizer supplied from the storage hopper 71 by a set amount, and a fertilizer passage that feeds the fertilizer fed by the feeding device 72 to the field F. A fertilizing hose 74 and a blower 73 for supplying the carrier air to the fertilizing hose 74 are provided. The fertilizer in the fertilizer hose 74 is transferred to the seedling planting section 50 by the blower 73. Further, the fertilizer application device 70 includes a fertilizer guide 75 to which the fertilizer is transferred by the fertilizer hose 74, and a fertilizer that drops the fertilizer transferred by the fertilizer hose 74 into a fertilizer groove formed near the side of the seedling streak. 76.

By the way, the seedling transplanter 1 according to the present embodiment can perform the straight traveling support by electronic control and can control each part. For this purpose, the seedling transplanter 1 includes a controller 150 as a control device for controlling each unit, as shown in FIG. The controller 150 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, which are connected to each other. Can exchange signals with each other. In the storage unit,
A computer program for controlling the seedling transplanter 1 is stored. The storage unit also stores various types of image data relating to the field edge F1 such as the field F and ridges.

  As illustrated, the controller 150 is communicably connected to the tablet terminal device 140, various actuators, sensors for acquiring information of each unit, and the like. In the present embodiment, the controller 150 and the tablet terminal device 140 are wirelessly connected according to a predetermined wireless communication standard.

  The controller 150 is connected to the controller 150 as actuators, for example, a throttle motor 100 for adjusting the intake amount of the engine 10, a rotor motor 165 for raising and lowering the terrain rotor 67, and a planting clutch motor 510 for operating the planting clutch 500. Is done. Although not shown, a trunnion drive motor that changes the turning angle of the trunnion of the hydraulic continuously variable transmission 16 is also connected to the controller 150.

  The controller 150 includes a steering angle sensor 160, an azimuth sensor 170, an attitude sensor 175, an inclination sensor 180, a seating sensor 190, and a lever that detects an operation amount of the main shift lever 81 and the auxiliary shift lever 82 by a tilt angle. Various sensors 199 including sensors are connected.

  The steering angle sensor 160 is, for example, a sensor that detects the turning angle of the steering wheel 32 that is a steered wheel, or a sensor that detects the turning angle when the front wheel 4 that is a steered wheel is steered by operating the handle 32. . The controller 150 stores the value detected by the steering angle sensor 160 in the RAM of the storage unit.

  The direction sensor 170 is a sensor that detects the direction of the body, and is generally employed in a car navigation system of an automobile. The controller 150 can derive the actual traveling direction of the aircraft based on the value acquired from the direction sensor 170.

  The attitude sensor 175 detects how much the attitude of the traveling vehicle body 2 is inclined with respect to the automatic straight line, and is configured by a gyro sensor or the like.

  The tilt sensor 180 detects the vertical tilt of the traveling vehicle body 2, that is, the degree of the forward leaning posture or the backward leaning posture, and is configured using an acceleration sensor or the like.

  The seating sensor 190 is a sensor including a load cell, a pressure-sensitive film sensor, and the like, and functions as seating detecting means, and can detect whether or not the worker is sitting on the control seat 28. FIG. 5 is an explanatory view showing an example of the seating sensor 190. As shown in the drawing, the control seat 28 is configured to be able to swing back and forth around a pivot 281 provided at the front of the seat, and at the rear of the seat. For example, an elastic body 282 such as a coil spring is provided to support the control seat 28. A seating sensor 190 is provided on the engine cover 11 so that the rear surface of the control seat 28 abuts.

  With this configuration, when the operator sits down, the seat portion of the control seat 28 slightly sinks, and the seating sensor 190 is pressed to apply pressure. By detecting the pressure by the seating sensor 190, the controller 150 can determine that the worker is seated. Conversely, when no pressure is applied to the seating sensor 190, the controller 150 determines that the worker is not seated.

In the present embodiment, when the seating sensor 190 detects that the operator is not sitting on the control seat 28, the controller 150 performs control to stop the traveling vehicle body 2.
Therefore, in the ridge where the state of the field F may be rough, that is, in a region (low-speed region) F3 close to the field peripheral portion F1 in FIG. Therefore, there is no possibility that an unexpected bounce will occur due to the unevenness of the field F or the like, and the worker will largely stagger or fall from the traveling vehicle body 2.

  When the seating sensor 190 detects that the operator is not sitting on the pilot seat 28, the controller 150 does not stop the traveling vehicle body 2 but performs control such that the traveling vehicle 2 is greatly decelerated to about the creep speed. Can also. In the present embodiment, stopping the traveling vehicle body 2 is included in the concept of decelerating until the traveling speed becomes zero.

In addition, a sensor disconnection button for disabling the function of the seating sensor 190 is separately provided, and the straight-line support is performed in a state where the seating sensor 190 is forcibly disabled. It is also possible to perform necessary other work.

  When using any of the sensors including the various sensors 199, the detection result may be displayed on the touch panel 142 of the tablet terminal device 140 via the controller 150 in real time.

  In addition, the controller 150 is connected with, for example, a lamp 210 that emits light to notify the user, and a buzzer 215 that issues an alarm or the like, as the notification device 200. The notification device 200 is provided in the control unit 30 such as the instrument panel 33. Using the notification device 200 including the buzzer 215 and the lamp 210, the controller 150 can notify the support status including the execution and stop of the straight-ahead support.

  The seedling transplanter 1 includes a steering device 110 that can be controlled by the controller 150, a GNSS unit 121, which is an example of a detection unit, and is a position information acquisition unit serving as a first detection unit 120, and an information processing terminal device. And a tablet terminal device 140 which is connected to the controller 150.

  The steering device 110 includes the handle 32, a transmission mechanism 112 that is interlocked with the shaft of the handle 32, and a straight-ahead support mechanism 310 that applies an arbitrary rotational force to the shaft of the handle 32. Automatic steering is possible. The transmission mechanism 112 includes a steering motor that rotates the handle 32. The controller 150 automatically steers the steered wheels (the front wheels 4) via the straight-ahead support mechanism 310 based on the position information acquired by the GNSS unit 121 when the straight-ahead support start switch 83 is operated, for example. 2 can be maintained in the straight traveling direction.

  The GNSS unit 121, which is the first detection means 120, has a receiving antenna 122 (see FIG. 4) for receiving a signal from an artificial satellite used in the GNSS, and has position information (coordinates) of the seedling transplanter 1 on the earth. Information), and transmits the obtained position information to the controller 150.

  From the position data of the machine acquired by the GNSS unit 121 and the map data of the field F stored in the storage unit of the controller 150 in advance, the field periphery F1 is used by using the GNSS unit 121 as the first detection means 120. Is detected, and as a result, the distance between the field peripheral portion F1 and the vehicle (the seedling transplanter 1) can be derived. In the GNSS unit 121, the actual speed of the seedling transplanter 1 can be derived. That is, since the actual traveling speed can be sequentially calculated from the amount of movement of the aircraft within a certain period of time, the controller 150 determines whether the traveling wheels 4 and 5 slip, regardless of the rotation amount of the rear wheels 5, for example. The actual vehicle speed of the seedling transplanter 1 can be obtained.

  Further, a camera 135 is connected to the controller 150 as the second detection means 130. As shown in FIGS. 2 and 3A, the camera 135 is provided as a pair of left and right cameras on the upper frame 124b of the antenna frame 124 provided on the traveling vehicle body 2. The controller 150 can derive the distance between the host vehicle and the field periphery F1 from the data simultaneously captured by the pair of left and right cameras 135. Here, the seedling transplanter 1 has a configuration in which a pair of cameras 135 with the lens directed to the front of the fuselage are provided. In addition, the distance to the field peripheral portion F1 in the left-right direction can be derived.

The second detection unit 130 can perform, for example, binarization processing on the data captured by the camera 135 to detect a field edge F1 (see FIG. 1) such as a shore. Since the second detecting means 130 is the camera 135, the field edge F1 (ridge) can be detected with higher accuracy than the first detecting means 120 using the satellite navigation system.

  The controller 150 normally uses the distance between the field periphery F1 obtained by using the GNSS unit 121, which is the first detection means 120, and the host vehicle. If not, the vehicle speed is controlled based on the detection result obtained using the camera 135.

  As described above, since the detection of the field peripheral portion F1 is performed in duplicate, the safety of the straight traveling support in an area where the field scene is rough near the field peripheral portion F1 is further improved. .

  The tablet terminal device 140 is configured to be wirelessly connectable between the terminal communication unit 144 incorporated therein and the vehicle body communication unit 151 connected to the controller 150. The tablet terminal device 140 includes a control unit 141, a touch panel 142 serving also as a display unit for displaying information and an input operation unit for performing various input operations, and a storage unit 143 for storing information. The storage unit 143 stores map information of one or a plurality of fields F and various programs and various data necessary for controlling the seedling transplanter 1. These are stored in the storage unit of the controller 150. It may be stored.

  The tablet terminal device 140 has a so-called map function, and the seedling transplanter 1 according to the present embodiment sets the body position on the touch panel 142 based on the position information of the traveling vehicle body 2 acquired by the GNSS unit 121. It can be superimposed and displayed on the map information of the field F including the work area.

  Then, as described above, the controller 150 can notify the tablet terminal device 140 of the support status including the availability of the straight-ahead support and information on the remaining amount of seedlings, fertilizers, and the like.

  The seedling transplanter 1 also includes various switches 153 such as a straight support support start switch 83, which are connected to the controller 150.

  The float potentiometer 154 is provided in the center float 48 that moves up and down following the unevenness of the field F, and detects the up and down movement of the center float 48 to move the seedling planting section 50 up and down according to the unevenness of the field F. Can be done.

  The controller 150 can also perform the following control during execution of the straight traveling support. That is, when the inclination sensor 180 detects that the forward rising posture of the traveling vehicle body 2 is equal to or more than the predetermined angle, the controller 150 controls the drive of at least a part of the seedling planting unit 50, for example, the rotor motor 165, The inclination of the traveling vehicle body 2 can be suppressed by lowering the leveling rotor 67 to a state where the rotor 67 is stretched behind the center of gravity of the fuselage in the field scene. Therefore, the drive torque of the front wheels 4 can be secured to improve the straightness, and the accuracy of the straight support can be improved.

  In addition, the controller 150 determines whether the steering angle detected by the steering angle sensor 160 after the traveling vehicle body 2 has turned is not a value indicating the straight traveling state, or that the posture of the traveling vehicle body 2 detected by the posture sensor 175 is in the traveling direction. If the vehicle is in an oblique posture, straight support is prohibited.

The seedling transplanter 1 according to the present embodiment has the configuration described above. Hereinafter, an example of the straight traveling support executed by the seedling transplanter 1 will be described. FIG. 6 is a flowchart illustrating an example of straight-ahead support, and FIG. 7 is a flowchart illustrating an example of ridge position detection processing by image analysis.

  As shown in FIG. 6, when the straight-ahead support start switch 83 is operated to start the straight-ahead support, the controller 150 determines whether the operator is not seated on the control seat 28, in other words, whether or not the operator is away. If it is determined (step S110) and it is determined that the operator is seated on the control seat 28 (step S110: No), this processing flow ends. That is, the processing flow in the straight-ahead support is such that when the worker is away from the cockpit 28, the seedling transplanter 1 approaches the field periphery F1 where there is a high possibility that the field scene is rough. This is because the purpose is to prevent the danger of the problem.

  If it is determined that the worker is away (Step S110: Yes), the controller 150 determines whether the reception state of the GNSS unit 121 is good (Step S120).

  When it is determined that the reception state of the GNSS unit 121 is good (step S120: Yes), the controller 150 shifts the processing to step S130, and performs ridge position detection processing using the satellite navigation system. On the other hand, if the controller 150 determines that the reception state of the GNSS unit 121 is not good (step S120: No), the controller 150 shifts the processing to step S140 and performs ridge position detection processing by image analysis using the camera 135.

  The ridge position detection processing by the satellite navigation system using the GNSS unit 121 compares the field information stored in advance in the storage unit of the controller 150 with the position information of the traveling vehicle body 2 obtained by the GNSS unit 121, and compares the field information with the field information. The distance between F1 and the host vehicle is derived.

  On the other hand, in the ridge position detection processing by image analysis, as shown in FIG. 7, the controller 150 acquires and analyzes image data captured by the camera 135. For example, the image data is decomposed by color attributes such as hue, saturation, and lightness, and an attribute having the largest difference is selected. Then, a portion where signals indicating the same tone are continuous is detected (step S210).

  Next, the controller 150 determines whether or not the acquired image matches the shore-shaped pattern (Step S220). That is, the controller 150 compares the portion where the signal indicating the same tone is continuous with the image data of the ridge previously stored, and determines that the image data corresponds to the linear pattern indicating the ridge (step S220: Yes), it is recognized as a ridge. Then, after that, the controller 150 stores the ridge position in the storage unit (Step S230), and ends this processing. On the other hand, if it is determined that the acquired image does not match the shore-shaped pattern (step S220: No), this processing ends.

  As described above, according to the present embodiment, the detection of the field peripheral portion F1 can be performed by the GNSS unit 121 as the first detection means 120 and the camera 135 as the second detection means 130 in a double manner. I have. Therefore, even when the reception state of the GNSS unit 121 is not good, the ridge position detection processing by image analysis can be performed by using the camera 135, so that the security ensuring capability is further improved.

  Returning to FIG. 6, the processing after step S150 will be described. The controller 150 receives the processing result of step S130 or step S140, and determines whether or not the vehicle is approaching beyond the predetermined range to the field peripheral portion F1, which is the ridge position (step S150). As the predetermined range, a value predetermined according to the type of the seedling transplanter 1 and the like is stored in the storage unit of the controller 150. The value indicating the predetermined range may be appropriately updated by an operator.

  When the controller 150 determines that the field peripheral portion F1 and the host vehicle are not in an approaching state beyond the predetermined range (step S150: No), the processing flow ends. On the other hand, when it is determined that the field peripheral portion F1 and the own vehicle are approaching beyond the predetermined range (step S150: Yes), the travel restriction control process is performed (step S160).

  Here, the driving regulation control process includes, for example, a process of decelerating to a predetermined speed or a process of decelerating to a stop. As described above, when the field peripheral portion F1 approaches, the field scene can be estimated to be rough. Therefore, by reducing the speed, the automatic steering can be performed while suppressing the influence of the unevenness of the field scene. As a result, it is possible to suppress a decrease in straightness due to unevenness in the field scene.

  By the way, regarding the process of step S140 shown in FIG. 6 (see FIG. 7), as a modified example, the ridge that becomes the field peripheral portion F1 captured by the camera 135 is formed of concrete or soil. It is possible to perform control to determine whether the plant is present and to correct the travel route of the seedling transplanter 1 according to the determination result. FIG. 8 is a flowchart illustrating an example of a travel route correction process based on image analysis.

  Here, between step S230 in FIG. 7 and step S150 in FIG. 6, that is, before determining whether or not approaching the field edge F1, the ridge is formed of concrete or soil. Is determined. It should be noted that the determination of the nature of the furrow can be made by using, for example, hue, saturation, and lightness as color attributes of the image data. For example, when using hue, if it is determined that there is a hue, it can be determined that it is made of concrete. In addition, although there is no hue, if the saturation and the brightness are equal to or more than a certain value, it can be determined that the shore is on the soil.

  As shown in FIG. 8, after storing the row position (step S610), the controller 150 determines whether the type of the row is concrete (step S620). When it is determined that the plant is concrete (step S620: Yes), the controller 150 corrects the traveling route so that the interval up to the ridge is extended by one step from a prescribed value set in the seedling transplanter 1 in advance (step S620). Step S630).

  On the other hand, if it is determined that the ridge is not concrete (step S620: No), the controller 150 determines whether the type of the ridge is soil having low straightness (step S640). Here, relatively soft soil is referred to as low straightness soil, and relatively hard soil is referred to as high straightness soil.

  If it is determined that the soil has low straightness (Step S640: Yes), the controller 150 widens the interval up to the ridge by 0.5 steps from a predetermined value set in the seedling transplanter 1 in advance. The traveling route is corrected (Step S650). On the other hand, if it is determined that the soil is not soil with low straightness (step S640: No), the straightness can be determined to be high, and no correction is made (step S660).

  As a system that supports automatic straight-running, an automatic straight-running support system using a drone 20 that is an unmanned aerial vehicle can be constructed as shown by a two-dot chain line in FIG. That is, the automatic straight traveling support system can be configured to include the traveling vehicle body 2, the seedling planting section 50, the GNSS unit 121, the drone 20 equipped with the camera 136, and the controller 150. The controller 150 controls the steering device 110 and the vehicle speed based on the detection result of the GNSS unit 121 and the image analysis by the camera 136 mounted on the drone 20 to control the traveling of the traveling vehicle body 2. In addition, in the case of this automatic straight traveling support system, the camera 135 as the second detecting means 130 described above may be omitted.

  In the automatic straight running support system having the drone 20, the running at the time of the straight running support set in the seedling transplanter 1 is used as an example of running control using image data obtained by aerial photography by the camera 136 provided in the drone 20. The route can be corrected.

  For example, the controller 150 corrects the traveling route based on the difference between the planting line of the crop detected based on the image analysis by the camera 136 mounted on the drone 20 and the autonomous traveling route of the traveling vehicle body 2. be able to. The storage unit of the controller 150 stores, in advance, seedling ordinance pattern data serving as a reference set for each type of the seedling transplanter 1. As the seedling ordinance pattern data serving as a reference, data obtained by aerial photographing of the work results of last year may be stored.

  FIG. 9 is a flowchart illustrating an example of a traveling route correction process using the drone 20. FIGS. 10A and 10B are flowcharts illustrating an example of straight-ahead support using the drone 20.

  As shown in FIG. 9, first, the controller 150 acquires image data obtained by aerial photographing by the camera 136 of the drone 20, and performs two-coloring to identify a field scene and a row of seedlings ( Step S310). Here, the start of the aerial photography may be a timing at which the seedling planting operation for at least one row is completed.

  Next, the controller 150 repeats the imaging and the two-coloring until the continuous pattern obtained from the two-colored acquired image matches the seedling ordinance pattern data serving as the reference stored in the storage unit in advance (Step S320).

  Next, based on the acquired image data, the controller 150 recognizes the rows of the seedlings that have actually worked, and stores them in the storage unit (Step S330).

  Then, the controller 150 compares the result of the seedling planting operation performed by the current autonomous running, that is, the automatic straight running, with the pre-stored reference seedling ordinance pattern data. That is, it is determined whether or not the distance between the line by the autonomous traveling and the actual line by the captured image is wider than 1.5 lines (step S340). If there is a deviation of 1.5 or more between the corresponding rows, that is, if the actual interval is 1.5 or more times wider than the reference data (step S340: Yes), the controller 150 The autonomous traveling route is corrected until the number is less than 5. (Step S350). In the processing of step S340, when there is no deviation of 1.5 or more between the rows (step S340: No), the controller 150 ends this processing.

  Further, in the above-described automatic straight traveling support system, the drone 20 can be used as a safety device. That is, the seedling transplanter 1 is aerial photographed by the camera 136 of the drone 20, and the aerial photograph data is transmitted to the controller 150 of the seedling transplanter 1. The controller 150 analyzes the acquired aerial photography data, determines whether or not the worker is seated, and controls the steering device 110 based on the determination result. Here, the description will be made assuming that the drone 20 includes a control unit having a function of analyzing the imaging data of the camera 136.

  That is, as shown in FIG. 10A, the control unit of the drone 20 analyzes the captured image data (Step S410). For example, the image data centering on the pilot seat 28 is converted into two hues, for example, to obtain image data in which the part centering on the pilot seat 28 is two hues.

  Then, the acquired image data and the control unit determine whether the acquired image data matches the previously stored seating pattern (step S420). Then, when it is determined that they match (Step S420: Yes), the control unit determines whether or not an upright flag indicating that the worker is standing up is set (Step S430). (Step S430: Yes), the release signal is transmitted (Step S440), and the process is terminated. On the other hand, if the flag is not set (Step S430: No), the process is terminated as it is.

  In the process of step S420, when it is determined that the acquired image data does not match the sitting pattern (step S420: No), the control unit transmits an upright signal to the controller 150 of the seedling transplanter 1 (step S450), The upright flag is set (step S460), and the process ends. The series of processes described above is repeatedly executed by the control unit while the drone 20 is flying.

  Next, the processing on the seedling transplanter 1 will be described. As shown in FIG. 10B, the controller 150 determines whether or not a rising signal indicating that the worker is standing has been received from the drone 20 ( If it has not been received (step S510) (step S510: No), this process ends.

  When it is determined that the upright signal has been received (step S510: Yes), the controller 150 performs a predetermined traveling restriction process (step S520). The travel regulation process here is, for example, a process of reducing the travel speed or decreasing the steering speed.

  Next, the controller 150 determines whether or not a cancellation signal has been received from the drone 20 (step S530), and when it is determined that the cancellation signal has not been received (step S530: No), the process is completed, and it is determined that it has been received. In this case (step S530: Yes), a regulation release process is performed (step S540), and the process ends.

  As described above, according to the automatic straight traveling support system according to the present embodiment, when it is determined that the worker is not seated, the traveling speed is reduced, or the steering speed is reduced to be like a sharp steering wheel. Since it can be prevented from moving, it is possible to prevent the possibility that the worker will drop off beforehand.

In the above-described processing, the control unit included in the drone 20 determines whether or not the worker is seated, and transmits an upright signal to the controller 150 of the seedling transplanter 1 when determining that the worker is not seated. . However, the drone 20 only transmits the aerial photograph data centering on the pilot seat 28 of the seedling transplanter 1 to the controller 150, and performs the above-described series of controls by the controller 150 that has acquired the aerial photograph data. Can also.
(First Modification)
Meanwhile, the GNSS unit 121 included in the seedling transplanter 1 described above includes a rolling sensor (not shown). Using such a rolling sensor, when the degree of rolling (swaying) of the body exceeds a certain level, the controller 150 can also control the traveling.

  For example, when the rolling sensor of the GNSS unit 121 disposed immediately above the front wheel 4 detects the shaking of the aircraft due to the roughness of the field scene, if the shaking is equal to or more than a certain level, the rear wheel 5 detects the detected position. Decrease the running speed until passing. By doing so, it is possible to minimize the occurrence of poor planting of seedlings due to the shaking of the airframe.

Although not shown, the controller 150 determines the level of the body sway (rolling), but the behavior of the suspension of the front wheels 4 is detected by a stroke sensor, and when the change rate of the detection result is equal to or more than a certain value, the sway is constant. It can also be determined that it is at or above the level.
(Second Modification)
By the way, the traveling vehicle body 2 of the seedling transplanter 1 can be a four-wheel steering vehicle. FIG. 11 is a schematic explanatory diagram illustrating a configuration of a traveling unit of a work vehicle according to a modification. FIG. 12 is a schematic explanatory view showing an example of a state in which the running unit of the seedling transplanter 1 is switched to 4WS (four-wheel steering).

  As shown in FIG. 11, in order to easily realize a four-wheel steering configuration, connection holes are provided in the case bodies of the front wheel final case 13 and the rear wheel final case 22, and these connection holes are connected to each other. It is configured to be detachably connected by a rod 600. That is, a front connection hole (not shown) is provided at an outer position and an inner position of the king pin 4a in the front wheel final case 13, and a rear connection hole (not shown) is provided at an inner position of the king pin 5a in the rear wheel final case 22. .

  Then, as shown in FIG. 11A, when the outside of the front wheel final case 13 and the rear wheel final case 22 are connected, the phase becomes 4WS in the opposite phase. That is, if the handle 32 (see FIG. 2) is turned clockwise (clockwise), the front wheel 4 rotates clockwise as indicated by an arrow 4R, and the rear wheel 5 counterclockwise as indicated by an arrow 5R. Rotate.

  That is, assuming that the seedling transplanter 1 has the opposite phase of 4WS, as shown in FIG. 12, when traveling in the field F, when turning at the field peripheral portion F1, the turning radius becomes small and the turning is performed. The turning path can be shortened because the turning can be performed without any trouble. Moreover, it is hard to slip when turning, and it is hard to break the headland. In addition, since the turning radius can be reduced, the platform of the seedling transplanter 1 can be expanded, so that the loading capacity of the seedlings can be improved.

  Further, as shown in FIG. 11B, when the rod 600 is detached from the front wheel final case 13 and connected to the frame of the traveling vehicle body, the steering force is not transmitted to the rear wheels 5, so that the normal 2WS is achieved. For example, when traveling at a relatively high speed in traveling on a road or the like, it is preferable to switch to 2WS.

  Also, as shown in FIG. 11C, when the inside of the front wheel final case 13 and the rear wheel final case 22 are connected, the phase is 4WS. That is, when the handle 32 (see FIG. 2) is turned clockwise (clockwise), the front wheel 4 rotates clockwise as indicated by an arrow 4R, and the rear wheel 5 also turns clockwise as indicated by an arrow 5R. Move. In this case, the seedling transplanter 1 is suitable for traveling on a ridgeway or the like as the small-turning seedling transplanter 1, and the wheels including the rear wheel 5 are less likely to slip.

Thus, in the seedling transplanter 1 having the above-described configuration, it is possible for the operator to easily switch to 4WS in the opposite phase, 4WS in the same phase, or 2WS. In the case of 4WS, the rear wheels 5 are also steered wheels.
(Third Modification)
Further, as a modified example of the seedling transplanter 1, as shown in FIGS. 13 to 15, the spare seedling mounting portion 400 is arranged in a row from a state where the seedling mounting tables 410 are stacked in a plurality of stages (here, three stages). In addition to being configured so that it can be displaced to the unfolded state, the empty box insert 420 can be attached to the spare seedling mounting part 400.

  FIG. 13 is an explanatory view showing the reserve seedling placement part 400 provided in the seedling transplanter 1 according to the modification in a front view, and FIG. 14 is an explanatory view showing the reserve seedling placement part 400 in the same as a side view. FIG. 15 is an explanatory view of an empty box insert 420 provided in the spare seedling mounting section 400 of the above.

  As shown in FIG. 13, the seedling transplanter 1 pivotally mounts a shaft provided at the base of the empty box holder 420 on the outer frame of the preliminary seedling mounting part 400. In addition to being able to accommodate the plate 800, the empty box 850 of seedlings can be stacked in the lying state. Here, empty box insert 420 is attached to the outer frame of seedling mounting table 410 located at the middle level.

  By providing the empty box insert 420 on the outer frame of the spare seedling placement part 400, a space for forming a work passage Q between the control part 30 having the handle 32 and the instrument panel 33 and the spare seedling placement part 400 is formed. Can be used widely, and getting on and off from the front of the aircraft is also possible, improving workability.

  In addition, the swinging of the empty box insert 420 can be linked with the unfolding operation of the spare seedling placement unit 400. In other words, as shown in FIG. 14, when the three-stage seedling mounting table 410 is stacked, the empty box insert 420 holds the locking claw 421 formed at the upper edge portion of the seedling mounting table 410 positioned at the upper level. The stopper 422 provided on the table 410 is locked on the hook portion to maintain the upright state (see FIG. 13).

  From this state, when the worker slides the seedling mounting table 410 located at the upper stage forward with a gripping part (not shown) (see the two-dot chain line in the figure), the stopper 422 also moves forward, and the empty box receiving tool is moved. The locking claw 421 of the 420 becomes free. Therefore, the empty box insert 420 falls outward, and finally, as shown in FIG. 15, is in a substantially horizontal state in which the empty box 850 can be placed. As shown in the figure, the empty box insert 420 is attached to the seedling table 410 located at the center (the middle stage in the stacked state), so that both the operator at the control unit 30 and the auxiliary worker outside the machine can handle it. Is easy to reach and usability is improved.

  In this case, the empty box insert 420 is slightly inclined outward in the upright state, so that it falls down by its own weight. However, the shaft at the base end attached to the seedling mounting table 410 is used. May be provided with a tension spring or the like for urging in the falling direction.

  By the way, as shown in FIG. 13 to FIG. 15, the empty box insert 420 may be configured by assembling a linear body such as an aluminum material, a stainless steel material, or a steel material so as to reduce the weight as much as possible. The configuration in which the empty box holder 420 is swingably attached can be appropriately designed in addition to the above-described example.

  The following seedling transplanter 1 is realized from the above-described embodiment.

  (1) A traveling vehicle body 2 that runs on a field F with the steered wheels 4 steered by the steering device 110 and the engine 10, a seedling planting unit 50 that is connected to the rear of the traveling vehicle body 2 so as to be able to move up and down, Detecting means for detecting the peripheral portion F1 of the field F, and controlling the power from the steering device 110 and the engine 10 on the basis of the distance between the field peripheral portion F1 and the host vehicle detected by the detecting means; A seedling transplanter 1 including a controller 150 that performs control.

  (2) The seedling transplanter 1 according to (1), wherein the controller 150 decelerates to a certain speed when the controller 150 determines that the distance between the field peripheral portion F1 and the vehicle detected by the detection means is equal to or less than a predetermined distance.

  (3) In the above (1) or (2), there is provided a seating sensor 190 for detecting whether or not an operator is sitting on the control seat 28 provided on the traveling vehicle body 2. The seedling transplanter 1 that stops the running vehicle body 2 when it is detected that the operator is not sitting on the control seat 28.

(4) In any one of the above (1) to (3), the detecting means includes: a first detecting means 120 including a GNSS unit 121 capable of using a satellite navigation system; and a detecting means from the traveling vehicle body 2 to the field periphery F1. A second detecting means for detecting the distance, and the controller 150 uses the second detecting means 130 when the reception state from the satellite by the GNSS unit 121 in the first detecting means 120 does not satisfy a certain level. Seedling transplanter 1 that controls the vehicle speed based on the detection result obtained by the above.

  (5) In the above (4), the second detection means 130 is the seedling transplanter 1 which is the camera 135 provided on the traveling vehicle body 2.

  In addition, the following automatic straight traveling support system for a work vehicle is realized from the above-described embodiment.

  (6) The traveling vehicle body 2 that travels on the field F with the steered wheels 4 steered by the steering device 110 and the engine 10, and the seedling planting unit 50 that is connected to the rear of the traveling vehicle body 2 so as to be able to move up and down. Based on detection means for detecting the field edge F1, a drone 20 equipped with a camera 136, and power from the steering device 110 and the engine 10 based on the detection result of the detection means and image analysis by the camera 136 mounted on the drone 20. And a controller 150 for controlling traveling of the traveling vehicle body 2 by controlling the vehicle.

  (7) In the above (6), the controller 150 determines the planting sequence of the crop detected based on the image analysis by the camera 136 mounted on the drone 20 and the difference between the autonomous traveling route of the traveling vehicle body 2. Automatic traveling support system for work vehicles that corrects the travel route.

  The embodiment described above is merely an example, and is not intended to limit the scope of the invention. The embodiments can be implemented in other various forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. In addition, the specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration, shape, display element, etc. are changed as appropriate. Can be implemented.

1 Seedling transplanter (working vehicle)
2 Running body 4 Front wheel (steering wheel)
20 drone (unmanned aerial vehicle)
28 Pilot seat 50 Seedling plant (working machine)
110 steering device 120 first detection means 121 GNSS unit (position information acquisition unit)
130 second detecting means 135 camera 136 camera 150 controller (control device)
F Field F1 Field edge

Claims (4)

A steered wheel that is steered by a steering device, and a traveling vehicle body that travels on a field with a prime mover,
A work implement that is connected to the rear of the traveling vehicle body so as to be able to move up and down, detecting means for detecting a peripheral part of the field, and a distance between the peripheral part of the field and the vehicle detected by the detecting means, A control device for controlling traveling power of the traveling vehicle body by controlling power from a steering device and the prime mover,
The detecting means includes a first detecting means including a position information acquiring unit capable of using a satellite navigation system, and a second detecting means for detecting a distance from the traveling vehicle body to a periphery of the field, The control device controls a vehicle speed based on a detection result obtained by using the second detection means when a reception state from the satellite by the position information acquisition unit in the first detection means does not satisfy a certain level. ,
When the second detecting means determines that the peripheral portion is made of concrete, the traveling route is corrected so that the distance from the set own vehicle to the peripheral portion is increased by one step from a specified value. And working vehicle. When the second detecting means determines that the peripheral part is not made of concrete, the second detecting means determines whether the peripheral part is soft soil or hard soil,
When it is determined that the soil is soft, the traveling route is corrected so that the distance from the set vehicle to the peripheral portion is increased by 0.5 lines from the specified value,
The work vehicle according to claim 1, wherein when the vehicle is determined to be the hard soil, the vehicle travels at a set value from the set own vehicle to a peripheral portion . An inclination sensor for detecting the inclination of the body provided on the traveling vehicle body, and a grading rotor for grading the field in the work machine is provided so as to be able to ascend and descend, and that the forward rising posture of the body is a predetermined angle or more. If the tilt sensor has detected, the work vehicle according to claim 1 or 2, characterized in Rukoto lowers the ground leveling rotor. An unmanned aerial vehicle equipped with a camera, based on a detection result by the detection means and an image analysis by the camera mounted on the unmanned aerial vehicle, controlling power from the steering device and the prime mover to control the traveling vehicle body Performing a traveling control, including a control seat provided on the traveling vehicle body, and, when it is determined by the camera of the unmanned aerial vehicle that an operator is not seated on the control seat, the traveling speed of the traveling vehicle body is reduced. The work vehicle according to any one of claims 1 to 3, wherein the steering speed of the steering device is reduced at the same time .

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