JP6690518B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle that travels in a field and performs ground work with a work device that travels on a traveling vehicle body.

  In the conventional work vehicle, the coordinates of the work start position and the work end position are respectively acquired, and when the aircraft reaches the coordinates that match the work start position and the work end position of each work strip, the notification device is activated, There is a device provided to notify the worker of arrival at the work start position and the work end position. (Patent Document 1)

JP, 2016-7196, A

  However, in the work vehicle of Patent Document 1, since the notification device operates when the work end position is reached, the worker travels beyond the work end position while performing the ground work while the worker is not aware of the operation of the notification device. Resulting in.

  At the work end position, the work of the work equipment is stopped, or the vehicle starts turning to move the machine to the next work line. Work will be done to the side (headland).

  As a result, when the vehicle travels on the edge of the field, the work is performed again at the already-worked place, which causes a problem that the work material is excessively consumed.

  Also, in order to align the work end position before turning and the work start position after turning, it is necessary to move the machine backward to the work end position, stop once, and then start turning, so extra running is required. , There is a problem that the working time becomes long.

  SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide a work vehicle capable of letting a worker notice before an unnecessary work or traveling is performed when a machine body approaches a target position. Is.

According to the first aspect of the invention, a steering member (35) for steering the airframe, a position information acquisition device (200) for acquiring position information of the airframe, and the steering member (35) are actuated to travel straight on the airframe. In a work vehicle including an automatic rectilinear movement device (205) for controlling the vehicle body and a control device (100) for controlling each part of the machine body, the position information acquisition device (200) causes each of the work sections to operate while the automatic rectilinear movement device (205) is operating. When the position information of the position where the predetermined distance is reached to the target position is detected, the control device (100) operates the notification device (208), and the aircraft moves a predetermined distance from the position where the notification device (208) operates. If the automatic rectilinear device (205) is operating when the first predetermined time has elapsed after the alarm device (208) is activated, the control device (100) automatically decelerates the machine body. So that the control device (100), if the from the start of the automatic deceleration to a second predetermined time elapses automatic straight device (205) is not stopped operating the traveling of the machine body is stopped, the second predetermined time has elapsed The work vehicle is characterized in that the traveling speed is maintained or the traveling speed is increased when the automatic rectilinear device (205) is stopped before the operation .

(Delete)

According to a second aspect of the present invention, a work device for performing ground work is provided on the machine body, and a work detection member (209) for detecting whether the work device is turned on or off is provided, and the control device (100) is provided with the work detection member (209). ) acquires as the end reference position the position of detecting the entry of the working device, the target position is set to the work vehicle according to claim 1, characterized in that the termination criterion position acquired in the last working conditions .

According to a third aspect of the present invention, an operation member (207) is provided that acquires a reference position that serves as a reference for straight traveling of the airframe, and that turns on and off the automatic rectilinear device (205), and the operation member (207) is a first member. The reference position is obtained when operated in the direction (W1), and the automatic rectilinear device (205) is turned on and off when the operation member (207) is operated in the second direction (W2). The work vehicle according to claim 1, wherein (100) enables the automatic rectilinear movement device (205) by operating the operation member (207) while the reference position is acquired. And
In addition to the above, in the first related invention relating to claim 2 , the working device is a leveling device (63) for leveling the surface of a field, and the work detection member (209) is the leveling device (63). ) Is a work vehicle characterized by detecting the on / off of.
A second related invention according to claim 3 is that, in the control device (100), when the reference position operation member is continuously operated for a predetermined time in a state where the reference position is acquired, The work vehicle is characterized by deleting the reference position.

  According to the invention of claim 1, when the machine body approaches the target position of each work line, the alarm device (208) operates, so that the worker can be prepared for the operation of the machine body to be performed at the target position. improves.

  In addition, after the alarm device (208) is activated, the aircraft automatically decelerates when the automatic straight advance device (205) is moved after moving a predetermined distance or when the first predetermined time has elapsed. Even if the operator does not notice (208), the worker can be made aware of the approach to the target position due to the decrease in traveling speed.

  Although the automatic straight-ahead device (205) requires the automatic straight-ahead device to carry out work traveling on a straight line, at the target position, for example, a position at a predetermined distance from the end of the field, the automatic straight-ahead device (205) is used. It is necessary to stop the automatic rectilinear movement device (205) in order to prevent the () from blocking. Whether or not the control device (100) automatically decelerates depending on whether or not this automatic rectilinear device (205) has been operated until a predetermined distance has passed since the operation of the notification device (208) or until the first set time has elapsed. To judge.

  If the automatic straightening device (205) is turned off by the movement of a predetermined distance or the first set time has elapsed, it can be determined that the worker is aware of the approach to the target position, and no further action is required. Is.

  On the other hand, if the turning operation of the automatic rectilinear device (205) is not performed, it can be determined that the worker is unaware of the approach to the target position. Make them aware of approaching position.

  As a result, since it is possible to prevent the machine body from going straight beyond the target position, it is not necessary to move the machine body to the target point, and the work efficiency is improved.

In addition , if the automatic rectilinear movement device (205) is not stopped by the second predetermined time after the start of automatic deceleration, the traveling of the aircraft will stop, preventing the aircraft from going straight beyond the target position significantly. Since it is possible to do so, the operation for moving the aircraft to the target point is unnecessary, and the work efficiency is improved.

  On the other hand, if the automatic rectilinear device (205) is stopped before the second predetermined time elapses, the traveling speed at the time of the stop operation is maintained or the traveling speed is increased to stop the machine body. Since the vehicle can be driven to the target position without any trouble, it is possible to prevent the work efficiency from decreasing.

According to the invention of claim 2 , in addition to the effect of the invention of claim 1 , by setting the end reference position acquired in the latest work article as the target position, work articles with different positions for inserting the work device can also be used. Since the notification device (208) operates at the same distance as the work article, it is possible to suppress variation in distance or time from when the worker notices the approach to the target position to when the worker reaches the target position.

According to the invention of claim 3 , in addition to the effect of the invention of claim 1, since the machine body can be automatically moved straight on the basis of the acquired reference position, the traveling loci are aligned in a straight line and the working accuracy is improved.
Further, since it is not necessary to operate the steering member (35) to maintain straight traveling, the labor of the operator is reduced.
Moreover, since the acquisition of the reference position and the turning on / off of the automatic rectilinear device (205) can be performed by the same operation member (207), the number of parts can be reduced.
Further, according to the first related invention related to claim 3 above, the start of the work of each work strip is set by setting the position at which the ground leveling device (63) for leveling the field scene during work traveling is turned on as the end reference position. The position can be the end reference position. This prevents forgetting to acquire the end reference position.
Further, according to the second related invention related to the above-mentioned claim 4, the operation of deleting the reference position can be simplified, so that it becomes easy to change the reference position for the automatic straight traveling, and the working accuracy is improved. .

Side view of seedling transplanter Top view of seedling transplanter Plan view of the main parts of the running car body Rear view of the main part of the control part including the handle (A) Rear view of essential parts showing the configuration of the automatic steering device for a steering wheel, (b) Side view of essential parts showing the configuration of an automatic steering device for a steering wheel Block diagram showing members related to various controls Flowchart showing control for correcting the acquired position coordinates according to the inclination of the machine body, etc. Flowchart showing automatic straight ahead control by automatic steering device The flowchart which shows acquisition of the 1st and 2nd reference position by operation of an automatic straight advance setting member, and the on / off of automatic straight advance control. Flowchart showing the erasing operation of the first reference position and the second reference position The flowchart which shows the control which erase | eliminates a 1st reference position by a steering wheel operation after acquisition of a 1st reference position. A schematic diagram of the work showing the target position while showing the first reference position, the second reference position, and the reference line Flowchart showing the operation of the notification device and the automatic deceleration control when the stop operation of the automatic steering device is not performed after the operation of the notification device The flowchart which shows the control which erase | eliminates a 1st reference position, a 2nd reference position, and a reference line by headland traveling of an agricultural field.

  Embodiments of the present invention will be described with reference to the drawings.

  In the present case, in the plan view, the left side with respect to the traveling direction of the machine body is referred to as the left and right side of the vehicle body, and the right side with respect to the traveling direction of the machine body is referred to as the other side of the vehicle body. Hereinafter, details of each part will be specifically described.

  The riding type rice transplanter disclosed in FIG. 2 as an example of the working machine of the present invention has a configuration of 8 rows planting, but this configuration may be used for a rice planting machine with a different number of planting rows. . As shown in FIGS. 1 and 2, the rice transplanter of the present case has a working device 4 such as a seedling planting part for planting seedlings in a field or a seeding device for supplying seeds via a lifting link device 3 on the rear side of the traveling vehicle body 2. Is provided so as to be able to move up and down, and the main body portion of the fertilizer application device 5 is arranged above the rear part of the traveling vehicle body 2.

  First, the main frame 15 that constitutes the traveling vehicle body 2 will be described.

  As shown in FIG. 3, the main frame 15 includes a front beam frame 16 at the front of the machine body, a rear beam frame 17 at the rear of the machine body, and a central beam frame between the front and rear beam frames 16 and 17. 18, the front beam frame 16 and the center beam frame 18 are connected by a pair of left and right front connecting frames 19, 19, and the center beam frame 18 and the rear beam frame 17 are connected by a left and right rear connecting frame 20, Connect at 20.

  The front beam frame 16, the center beam frame 18, and the rear beam frame 17 have the left-right direction as the longitudinal direction, and the front connecting frame 19 and the rear connecting frame 20 have the front-back direction as the longitudinal direction.

  The left and right front connecting frames 19 and 19 and the rear connecting frames 20 and 20 are set to have substantially the same horizontal distance. The left and right lengths of the central beam frame 18 and the rear beam frame 17 are longer than the left and right lengths of the front beam frame 16. Since the left and right front connecting frames 19, 19 and the rear connecting frames 20, 20 are welded at the lower portion of the center beam frame 18, the left and right front connecting frames 19, 19 and the rear connecting frames 20, 20 are It may be formed of an integral metal square bar.

  In the space formed by the front beam frame 16, the center beam frame 18, and the left and right front connecting frames 19, 19, the driving force is transmitted to the left and right front wheels 10, 10, the rear wheels 11, 11, the working device 4, etc. A mission case 13 and a hydraulic continuously variable transmission (HST) 14 that outputs the driving force supplied from the engine 30 to the mission case 13 are provided.

  The left and right lifting frames 21 and 21 are provided at the rear portion of the rear beam frame 18 so as to project rearward at intervals smaller than the left and right distances of the left and right rear coupling frames 20 and 20. The rear support frame 22 is attached to the lower part of the upper frames 21 and 21. Rear wheel transmission cases 11a, 11a for respectively driving the left and right rear wheels 11, 11 of the traveling vehicle body 2 are provided on both left and right sides of the rear support frame 22, and the lifting link mechanism is provided on an upper portion of the rear support frame 22. The left and right link frames 23, 23 for supporting 3 are provided facing upward.

  The elevating link mechanism 3 is provided with a pair of left and right lower link arms 24, 24 on the lower side of the left and right link frames 23, 23 between the left and right, and an elevating cylinder 25 between the left and right of the left and right lower link arms 24, 24. And an upper link arm 26 is provided above the elevating cylinder 25. The ends of the left and right lower link arms 24, 24, the lifting cylinder 25, and the upper link arm 26 on the opposite side of the traveling vehicle body 2 are mounted on the front side of the machine body of the working device 4.

  Further, front transmission cases 10a, 10a respectively transmitting power to the left and right front wheels 10, 10 of the traveling vehicle body 2 are provided in front of the left and right ends of the central beam frame 18 and on the left and right outer sides of the left and right front connecting frames 19, 19, respectively. At the same time, the left and right ends of the central beam frame 18 and the rear beam frame 17 are connected by the left and right extension frames 27, 27, respectively. The left and right extension frames 27, 27 have a longitudinal direction in the front-rear direction.

  A central connecting frame 28 in the front-rear direction is provided below the central beam frame 18, the rear beam frame 17, and the rear support frame 22, and the front and rear portions of the central beam frame 18 and the rear beam frame 17 and the left and right rear portions are provided. Front and rear support plates 29, 29 for supporting the engine 30 are provided between the left and right sides of the coupling frames 20, 20.

  On the front and rear support plates 29, 29, receiving plates 29a ... Receiving the engine 30 are provided on both left and right sides of the central connecting frame 28, respectively.

  Then, left and right auxiliary frames 31, 31 passing below the rear beam frame 17 and projecting rearward are provided on both left and right sides of the front and rear support plates 29, 29, and rear portions of the left and right auxiliary frames 31, 31 are provided. Are connected by a rear auxiliary frame 32 in the left-right direction. The rear end portions of the left and right auxiliary frames 31, 31 are connected to the left and right rear wheel transmission cases 11a, 11a.

  The main frame 15 is configured as described above. Of the main frame 15, the front-rear width from the front beam frame 16 to the rear beam frame 17 and the left-right widths of the left and right front connecting frames 19, 19 and the rear connecting frames 20, 20 are the floors on which an operator rides. Cover with step 33. The floor step 33 is integrally formed to improve the strength or reduce the number of parts, or the front step and the rear side, and the left side and the right side are separately separable to facilitate the attachment / detachment.

  In the above description, as shown in FIG. 3, the periphery of the left and right end portions of the central beam frame 18 and the rear beam frame 17 and the left and right extension frames 27, 27 are not covered by the floor step 33 and are exposed. At this time, the floor step 33 may be enlarged so as to cover the entire main frame 15, but the floor step 33 may be shared among machines having different sizes and number of planting work. The left and right extension steps 34, 34 are respectively arranged on both the left and right sides of the.

  With the above-described configuration, the main frame 15 is configured by connecting a plurality of frame components, so that the strength is improved as compared with the conventional one.

  Further, by disposing the central connecting frame 28 below the front and rear support plates 29, 29 on which the engine 30 is mounted and connecting the front and rear support plates 29, 29 with the left and right rear auxiliary frames 32, 32, It is possible to firmly hold the engine 30.

  As shown in FIGS. 1 and 2, on the front side of the traveling vehicle body 2, a steering wheel 35 for steering the vehicle body to the upper portion, a shift operation lever 36 for operating the continuously variable transmission 14 and the working device 4, a traveling transmission of the traveling vehicle body 2, A bonnet 39 having an auxiliary gear shift operation lever 37 for operating an auxiliary gear shift device (not shown) for switching between and a control panel 38 for operating various parts of the machine is provided at the top. A front cover 40 that can be opened and closed is provided on the front side of the bonnet 39. Inside the front cover 40, the left and right front wheels 10, 10 and the left and right front wheel transmission cases are used to steer the fuel tank, the battery, and the handle 35. An interlocking mechanism (not shown) for rotating the lower side of 10a, 10a is installed.

  Further, in front of the front cover 40, various information such as the working state of the working device 4 and the amount of working materials consumed at the time of working, and the operation and non-operation of the automatic steering device 205 described later can be lit by an LED or the like. A center mascot 70 for displaying is provided. The center mascot 70 is composed of a work display section 71 arranged on the lower side of the machine body and on the rear side of the machine body and an automatic straight-ahead display section 72 arranged on the upper side of the machine body and on the front side of the machine body in a side view.

  An engine cover 30a that covers the upper side and the lateral side of the engine 30 is provided on the rear side of the vehicle body with respect to the bonnet 39 and above the engine 30, and a work seat 41 on which an operator sits is provided above the engine cover 30a. To provide.

  Further, the fertilizer application device 5 is loaded on the rear side of the work seat 41, specifically, on the rear end side of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by the fertilizer applicator mechanism 5a arranged toward the fertilizer applicator 5 from one side of the left and right rear wheel transmission cases 11a.

  A front transmission shaft (not shown) that is transmitted to the left and right front wheel transmission cases 10a and 10a is provided on the front side of the mission case 13, and is transmitted to the left and right rear wheel transmission cases 11a and 11a at the rear portion of the mission case 13. The left and right drive shafts 42, 42 are provided. Side clutch mechanisms 43, 43 for turning on and off the transmission to the left and right drive shafts 42, 42 are arranged on the transmission direction upper side of the left and right drive shafts 42, 42, and the handle 35 is turned off. When the traveling vehicle body 2 is operated to turn, the side clutch mechanism 43 located inside the turn is disengaged, and the transmission to the rear wheel 11 inside the turn is stopped.

  As shown in FIG. 3, left and right clutch engagement / disengagement shafts 44, 44 are provided in the vertical direction near the center of the rear side of the transmission case 13, and the left and right clutch engagement / disengagement shafts 44, 44 are directed toward the outside of the vehicle. Clutch engagement / disengagement arms 45, 45 are provided respectively. Then, side clutch pedals 43a, 43a for opening and closing the left and right side clutch mechanisms 43, 43 are provided on the lower front side of the control seat 41 and on the left and right sides.

  In addition, as shown in FIGS. 1 and 2, a center float 62C and left and right side floats 62L and 62R that are grounded and slide in the field scene are provided below the working device 4, and the center float 62C and the left and right sides are provided. A leveling rotor 63 for leveling unevenness in a field scene is provided on the front side of the fuselage with respect to the floats 62L and 62R. The driving force to the leveling rotor 63 is transmitted by the leveling transmission shaft 65 provided on the rear wheel transmission case 11a on the left and right sides. A grounding clutch 66 for turning on / off the power transmission to the leveling rotor 63 is provided on the left and right rear wheel transmission case 11a.

  The leveling rotor 63 includes the left and right ends of the center rotor 63a that levels the front of the center float 62C, and the inside ends of the left and right side rotors 63b and 63b that level the front of the left and right side floats 62L and 62R. The parts are connected by the ground leveling transmission cases 67, 67, respectively.

  The center float 62C is provided with a turning potentiometer 64 for detecting the turning angle of the center float 62C. When the turning angle of the turning potentiometer 64 changes by a predetermined angle or more, it is determined that the depth of the field has changed. The control device 100 extends and retracts the elevating cylinder 25 to vertically rotate the elevating link mechanism 3 so that the vertical height of the working device 4, that is, the working position corresponds to the depth of the field.

  When performing work such as planting seedlings, sowing seeds, or adding fertilizer or weeding after growing seedlings using the working device 4 in the field, the traveling vehicle body 2 moves from one side of the field to the other side. It is common to drive the vehicle straight. However, the traveling vehicle body 2 may move in a direction that gradually deviates when the wheels face a direction deviating from the straight traveling direction due to the unevenness of the cultivator in the field and the viscosity of the topsoil. In addition, depending on the operator's control technique, the traveling vehicle body 2 may not be aligned in the straight traveling direction and may be moved in a direction deviating from the straight traveling direction.

  As a result, the work loci for planting and sowing seedlings, weeding, and topdressing become diagonal, and the areas where seedlings can be planted and seeded originally become vacant spaces. It is necessary to perform sowing, which causes extra labor for the operator, and the spacing between the planting rows of the seedlings and the spacing between the seeding rows becomes narrower than the spacing between the rows of the working device 4, resulting in poor ventilation and pest damage. Sometimes. Alternatively, when performing post-planting or sowing post-process work such as weeding work or additional fertilization work, the seedlings are trampled, leading to a decrease in yield, or by manipulating the seedlings so that they do not traverse. There may occur a problem of lowering work efficiency.

  In order to solve these problems, it is conceivable to install a so-called automatic rectilinear system in which the traveling vehicle body 2 is automatically steered to maintain the rectilinear traveling posture regardless of the operator's hand.

  First, as shown in FIGS. 1 and 2, the traveling vehicle body 2 is provided with an antenna frame 201 on which the GPS (GNSS) antenna 200 is mounted. The antenna frame 201 includes a left and right antenna stays 202, 202 provided on the front side of the main frame 15, the left and right bases thereof being mounted on the front frame 201a, which is a gate-shaped front view, and a front and rear central portion of the front frame 201a. The rear frame 201b is configured to face rearward and to the left and right central portions on the rear side of the traveling vehicle body 2. The bonnet 32 and the control seat 41 are located behind the space of the gate-shaped front frame 201a.

  Further, the vertical height of the antenna frame 201 is the highest in the body. The upper end of the antenna frame 201 is located about 2.5 to 3.5 m above the ground surface to prevent the operator from hitting his / her head while standing on the floor step 33 and to improve the reception accuracy. I shall.

  As a result, the operator can easily move on the floor step 33, the work efficiency is improved, and the GPS antenna 200 can be separated upward from the ground surface, so that the reception accuracy is improved.

The GPS antenna 200 is mounted near the connection between the front frame 201a and the rear frame 201b. The front frame 201a and the rear frame 201b are connected to each other near the front and rear of the hood 32 and the control seat 41 and near the center of the traveling vehicle body 2 in the front-rear direction.

  As described above, since the mounting position of the GPS antenna 200 is near the central portion in the front-rear direction and the left-right direction of the machine body, the coordinates of the acquired machine body are unlikely to be separated from the actual position of the machine body, and the straight traveling position by the automatic rectilinear system is set. The setting of is appropriate and the work accuracy is improved.

  Further, since the control seat 41 is located behind the space of the front frame 201a, it is possible to prevent the antenna frame 201 from obstructing the field of view of the operator, so that the visibility is improved and the alignment before straight running is accurate. At the same time, the condition of the field in front of the machine and obstacles can be found earlier, so it is possible to switch to manual operation by the worker and to safely and prevent the work position from shifting.

  It should be noted that the GPS antenna 200 may be a single positioning method, a DGPS (relative positioning) method, an RTK (interference positioning) method, or the like, which is suitable for the area where the work is performed.

  However, when the ground height of the GPS antenna 200 fluctuates due to the influence of the tilt or vibration of the airframe, a coordinate position different from the actual airframe position is measured, the reception accuracy decreases, and the airframe travels in a direction deviating from straight ahead. There is a problem.

  In order to prevent this, as shown in FIG. 6, an IMU (inertial measurement device) 203 is provided in addition to the GPS antenna 200. The IMU 203 is acquired by the GPS antenna 200 based on the difference between the height from the ground surface to the GPS antenna 200 when the traveling vehicle body 2 is in the inclined posture and the height from the ground surface to the GPS antenna 200 when the traveling vehicle body 2 is not inclined. The position coordinates are corrected by the control device 100.

  It should be noted that the height from the ground surface to the GPS antenna 200 is determined by measuring the behavior such as the inclination of the traveling vehicle body 2 by a triaxial acceleration sensor and an angular velocity sensor built in the IMU 203.

  In addition to this, a direction sensor 204 is provided in order to make the control device 100 more surely determine whether or not the traveling direction of the airframe by the automatic straight ahead system is correct.

  The correction of the position coordinates at this time is as shown in S1 to S5 of FIG.

  As a result, the course of the airframe can be determined by the azimuth to be measured, so that the accuracy of straight traveling is further improved.

  The position information acquired by the GPS antenna 200 is corrected by the control device 100 based on the information detected by the IMU 203 and the azimuth sensor 204. Then, the control device 100 compares the current position information with the previously acquired position information. If the difference in the position information exceeds the allowable range, the left and right front wheels 10 are returned to return the aircraft to the straight traveling position. , 10 are steered in the left-right direction.

  In order to automate the steering of the left and right front wheels 10, 10 or the turning of a crawler or the like, an automatic steering device 205 for rotating the handle 35 by a steering actuator 206 is provided. As shown in S6 to S9 of FIG. 8, the automatic steering device 205 determines the difference between the X coordinate of the current position information calculated by the control device 100 and the X coordinate of the previously acquired reference position information. Based on the change in the operation amount of the steering actuator 206, the steering wheel 206 is turned to the left or right to move the aircraft to the straight traveling position, and when the straight traveling position is reached, the steering actuator 206 is stopped and the steering wheel 35 is automatically moved. The steering is stopped.

  The steering actuator 206 is composed of an electric or hydraulic motor or a cylinder.

  With the above configuration, the handle 35 is automatically steered in accordance with the difference in the X coordinate of the calculated position information, and the machine body can be automatically adjusted to the straight traveling position. It is possible to prevent slippage in the field, and it is less likely that there will be a place in the field where work is not performed. As a result, it becomes unnecessary to manually perform the work afterwards on the place where the work is not performed, and the labor of the worker is reduced.

  Further, it is possible to prevent the work positions of the work strip of the previous process and the current work strip from overlapping, so that it is possible to prevent excessive consumption of work materials such as seedlings, seeds and fertilizers, thereby reducing the work cost. At the same time, the occurrence of poor growth due to excessive supply of work materials is prevented.

  The tractor equipped with the cultivator, the seedling transplanter, and the seeder travel to the field end of the work strip, turn about 180 degrees, and move to the next work strip. If the automatic rectilinear system operates during turning, the steering actuator 206 may be actuated by determining that the machine body deviates from the position where it should travel straight, and the turning trajectory may be disturbed. Therefore, the automatic rectilinear system needs to be turned off when the vehicle body is turned. It is conceivable that the automatic rectilinear system will be turned off when the steering wheel 35 is turned, but the traveling direction of the machine may be greatly deviated due to the state of the field, etc., and the operator turns the steering wheel 35 to avoid obstacles. The automatic rectilinear system turns off when the operation is performed at a level equal to or greater than the operation, so the operator must turn on the automatic steering system again during the course of the rectilinear operation. There is a problem that the machine body travels while the work position is deviated without noticing that it is turned off, and the work accuracy is reduced.

  Further, it is possible to turn on the automatic straight-ahead system by the operation of returning the steering wheel 35 from the turning to the straight traveling. However, when returning from the turning to the straight traveling, to adjust the aircraft to the straight traveling position in the next work article, the fine handle 35 It is necessary to perform steering operation. If the automatic steering system is turned on during this operation, if the control device 100 determines that the aircraft has deviated from the straight traveling position, the steering actuator 206 will be activated, and the position of the aircraft will be adjusted to the position where the vehicle should originally travel straight. There is a problem that cannot be met.

  An automatic rectilinear system that prevents the occurrence of this problem and allows the machine to travel straight in an appropriate direction and operate in an appropriate section will be described with reference to FIGS. 6 and 8 to 11.

  It should be noted that the position coordinates of the traveling vehicle body 2 in the forward / rearward traveling direction are Y coordinates, and the position coordinates in the direction orthogonal to the forward / backward traveling direction of the traveling vehicle body 2, that is, the left / right direction are the X coordinates.

  First, the traveling vehicle body 2 is made to acquire the coordinates of one side of the field, which is the start point of the automatic rectilinear movement, and the other side of the field, which is the end point of the automatic rectilinear traveling, and the automatic rectilinear movement setting member 207 is turned on and off. To provide. The automatic rectilinear movement setting member 207 is equipped with at least one member that can be operated in at least two directions such as vertical direction, horizontal direction, pushed state and returned state, or two or more operating members. .

  In the present application, as the automatic straight travel setting member 207, a finger up lever that can be operated in the vertical direction is attached as shown in FIG. 4, but a toggle switch, a push switch, a joystick, or the like may be used.

  As a result, the number of parts can be reduced, and the acquisition operation of the reference position (first reference position A, second reference position B) and the on / off operation of the automatic steering device 205 can be automatically performed by one hand on the same side. Since it suffices to operate the straight travel setting member 207, operability is improved.

  As shown in FIG. 4, when the automatic straight travel setting member 207 is operated in the first direction W1, that is, in the present application, toward the upper side of the aircraft, the GPS antenna 200 is acquired at the operated position, and the detection results of the IMU 203 and the direction sensor 204 are obtained. The position coordinates calculated by the control device 100 are recorded using. The operation of the automatic straight travel setting member 207 in the first direction W1 corresponds to the operation of the reference position acquisition member.

  When the automatic rectilinear movement setting member 207 is operated, if the other position coordinates are not recorded, the calculated position coordinates are recorded as the first reference point A, and when the first reference point A is recorded, The calculated position coordinates are recorded as the second reference point B. When the automatic rectilinear movement setting member 207 is operated while the first reference point A and the second reference point B are recorded, the position coordinates are not recorded.

  It should be noted that, as shown in FIG. 10, it is necessary to re-acquire the first reference point A and the second reference point B when the automatic straight traveling cannot be performed accurately during the work in the field. When the automatic straight travel setting member 207 is operated in the first direction W1 for a predetermined time (for example, 2 to 3 seconds), the recorded first reference point A and second reference point B are deleted. It is good to Alternatively, a record erasing button (not shown) may be provided which deletes the first reference point A and the second reference point B when operated.

  The first reference point A and the second reference point B, which are reference positions for straight traveling of the automatic straight traveling system, have smaller X-coordinate deviations as the distance is shorter, but if the distance between the two points is short, the automatic straight traveling is used. It is possible to drive straight ahead even without it. In addition, when the distance between the two points becomes short, the operator may unintentionally touch the automatic straight travel setting member 207 and acquire the second reference point B.

  In order to prevent the occurrence of this problem, when the automatic reference setting member 207 is operated to acquire the second reference point B, the distance from the position where the first reference point A is acquired is less than a predetermined distance, for example, 8 to 12 m. When it is less than, the control device 100 deletes the second reference point B and does not record it. After that, if the automatic straight travel setting member 207 is operated again and the distance from the position where the first reference point A is acquired is a predetermined distance or more, the control device 100 records the second reference point.

  As shown in FIG. 11, in a state where the first reference point A is acquired, the steering wheel 35 is operated by a predetermined amount or more within a predetermined time without acquiring the second reference point B, and the traveling vehicle body 2 is turned. At this time, the control device 100 deletes the recorded first reference point A. After that, when the automatic straight travel setting member 207 is operated in the first direction W1, the control device 100 records the position coordinates of the place acquired by the GPS antenna 200 as the first reference point A, and the first reference point A is used. The line connecting the Y coordinate of the point A and the Y coordinate of the second reference point B may be prevented from becoming a straight line.

  As a result, the first position is set at a predetermined position at one end and the other end of the field, for example, a position where the traveling vehicle body 2 starts to rotate after finishing the straight traveling and a position where the working device 4 is lowered after the completion of the turning to start the straight traveling. The reference point A and the second reference point B can be set, the working device 4 is lowered, and the automatic rectilinear system is operated at the position where the work device 4 travels straight. Precise work is possible.

  Further, it is possible to prevent the second reference point B from being different from the position to be actually set due to an erroneous operation of the operator, so that it is not necessary to reacquire the first reference point A and the second reference point B in the next work article. Further, it is possible to increase the number of work lines using the automatic straight movement and further improve the work accuracy in the field.

  In addition, in the work article to be first worked after entering the field, the automatic straight-movement setting member 207 is operated in the first direction W1 at a predetermined position to acquire the first reference point A and the second reference point B. Since the work to be performed is indispensable, the operator operates the handle 35 to cause the machine body to travel straight, without using the automatic straight travel.

  As described above, when the first reference point A and the second reference point B are acquired by operating the automatic straight-movement setting member 207, the reference that connects the Y coordinates of the first reference point A and the second reference point B is obtained. The line R serves as a guideline for automatic straight travel, and it is determined whether or not the X coordinate of the position coordinates of the machine during traveling matches the X coordinate of the line serving as a guideline for automatic straight travel. For example, by automatically steering the steering wheel 35 in the matching direction by the automatic steering device 205, automatic straight traveling can be realized.

  The above-described automatic straight-ahead traveling is started by operating the automatic straight-ahead setting member 207 in the second direction W2, which is the lower side of the machine body in the present application, in a state where the first reference point A and the second reference point B are recorded. To be done. When the automatic straight travel setting member 207 is operated in the second direction W2, the control device 100 compares the Y coordinate of the position coordinate acquired by the GPS antenna 200 with the Y coordinate of the reference line R, and operates the steering actuator 206. Control for rotating the steering wheel 35 in the left-right direction and moving the traveling vehicle body 2 to a position where the traveling vehicle body 2 should travel straight ahead is started. The operation of the automatic straight travel setting member 207 in the second direction W2 corresponds to the operation of the on / off member.

  This automatic steering control ends when the steering wheel 35 is operated to an angle to turn the traveling vehicle body 2 within a predetermined time, or when the automatic straight travel setting member 207 is operated in the second direction W2. The steering angle of the steering wheel 35 is detected by the steering wheel potentiometer 35a.

  Note that the automatic straight ahead control may be terminated when the traveling vehicle body 2 reaches a location that coincides with the Y coordinate of the first reference point A or the second reference point B.

  As described above, the automatic straight ahead control is ended by turning the handle 35 or reaching the vicinity of the start point of turning traveling at the end of the field. Since the position where the traveling vehicle body 2 turns is close to the end of the field, if the operator is performing operations other than maneuvering while leaving the automatic straight ahead control, if the turning operation is delayed, the seedlings will be placed at an unexpected position. As the planting is performed, the traveling vehicle body 2 moves to the end of the field, and it is necessary to move backward to the position where the vehicle makes a turn, which causes a problem of lowering work efficiency.

  Note that FIG. 12 is a schematic diagram showing the first reference position A, the second reference position B, the reference line R, the target position, and the current position of the airframe.

  In order to prevent this problem, as shown in FIGS. 6 and 13, a work detection sensor 209 for detecting the on / off of the leveling rotor 63 due to the on / off (operation) and off (stop) of the leveling clutch 66 is provided. When the sensor 209 detects the entry (operation) of the leveling rotor 63, the control device 100 acquires target position coordinates (end reference position) which are position coordinates (X coordinate and Y coordinate) of the traveling vehicle body 2. At least two target position coordinates can be held simultaneously in the control device 100 or a memory area associated with the control device 100.

  The target position coordinates (end reference position) are acquired by the work detection sensor 209, instead of turning on / off the leveling rotor 63, raising / lowering the working device 4, turning on / off the power transmission to the working device 4, and handling the handle 35. It may be configured to perform the turning start steering or the turning end steering as described above.

  Then, when the automatic steering device 205 is actuated to cause the traveling vehicle body 2 to travel straight ahead in the work article next to the work article whose position coordinates are acquired, the control device 100 controls the current position coordinates acquired by the GPS antenna 200. The distance from the Y coordinate to the Y coordinate of the target position coordinates acquired in the immediately preceding work article (nearest work article) is sequentially calculated. At this time, the control device 100 may be configured to correct the X coordinate of the target position coordinate to the X coordinate of the current position coordinate.

  Then, when the traveling vehicle body 2 reaches the notification position where the distance from the current position coordinate to the target position coordinate becomes a predetermined distance, for example, 8 to 12 m, the traveling vehicle body 2 approaches the field edge, and the automatic straight advance setting member 207 is set. Is operated in the second direction W2 to notify the operator that it is necessary to end the automatic straight ahead control. A notification device 208 for displaying a numerical value or characters on a buzzer, a lamp, or a screen is operated. To do.

  It should be noted that displaying the numerical values and characters on the notification device 208 is performed by a configuration in which a display panel (not shown) is provided on the traveling vehicle body 2 or by transmitting information to an information terminal (smartphone, tablet, etc.) carried by an operator. It is conceivable to have a configuration that allows it.

  Note that in a work article in which the target position coordinates have not been acquired, the distance between the traveling vehicle body 2 and the target position cannot be calculated, so the worker visually confirms the field edge and determines that automatic straight ahead control is not required. It is necessary to operate the automatic straight travel setting member 207.

  Regarding the distance from the current position coordinate to the target position coordinate, rear wheel rotation sensors 210, 210 for detecting the rotation of the left and right drive shafts 42, 42 to the left and right rear wheels 11, 11 are provided, and the leveling rotor 63 is set. Based on the number of rotations detected by the rear wheel rotation sensors 210, 210 from the turned-on position, the control device 100 calculates the moving distance, and the moving distance and the Y-coordinate position of the position where the leveling rotor 63 is turned on. The distance may be calculated, and the notification device 208 may be operated if the distance is within the predetermined distance.

  However, even if the alarm device 208 is activated, the traveling vehicle body 2 cannot be turned at an appropriate position unless the operator notices and ends the automatic straight ahead control. In order to deal with this, the traveling vehicle body 2 moves forward for a predetermined distance (for example, 2 to 5 m) after the notification device 208 is operated without operating the automatic straight travel setting member 207 in the second direction W2. When traveling, the control device 100 rotates the trunnion shaft 14a of the continuously variable transmission 14 to decelerate the traveling vehicle body 2.

  Alternatively, instead of the distance, the traveling vehicle body 2 is operated without the automatic straight travel setting member 207 being operated in the second direction W2 for a predetermined time (for example, 2 to 5 seconds) after the notification device 208 operates. When the vehicle travels forward, the control device 100 reduces the output of the continuously variable transmission 14 to decelerate the traveling vehicle body 2.

  To decelerate the traveling vehicle body 2, the HST servomotor 211 for rotating the trunnion shaft 14a of the continuously variable transmission 14 via a trunnion arm (not shown) is actuated to rotate the trunnion shaft 14a toward the deceleration side. It is done by letting.

  As a result, the traveling speed of the traveling vehicle body 2 decreases when approaching the edge of the field, so that the worker can be made aware that the turning position of the edge of the field is approaching, and turning travel can be performed with an appropriate trajectory. Therefore, it is possible to prevent the work device 4 from redundantly consuming work materials (seedlings, fertilizers, chemicals, etc.) by performing redundant ground work on the four sides of the outer circumference of the field, so-called headland.

  Further, since the position where the leveling rotor 63 is turned on after the turning to start the leveling work can be adjusted to the position where the leveling work is finished before the turning, occurrence of a part where the leveling rotor 63 does not perform the leveling work, and Occurrence of a place where the work device 4 does not perform ground work is prevented. This prevents problems such as disturbed planting depth of seedlings, different infiltration rate of fertilizers, and disturbed traveling at locations where ground preparation work was not performed, and locations where ground work was not performed. With respect to the above, the worker does not need to perform the work manually, and the labor of the worker is reduced.

  In the automatic deceleration described above, it is assumed that the traveling speed is gradually reduced with the passage of time, and if the control configuration is gradually decelerated, the ground work accuracy by the work device 4 and the ground leveling accuracy of the ground leveling rotor 63 are reduced, and the operator Is prevented from being shaken.

  Alternatively, if the control configuration is such that the rapid deceleration is performed once or a plurality of times at predetermined time intervals after the start of the automatic deceleration, the worker easily notices the approach of the field edge due to the shaking of the traveling vehicle body 2.

  Further, when the automatic straight travel setting member 207 is operated to cancel the automatic straight travel control within a predetermined time (second predetermined time) during which the automatic deceleration control is performed, the control device 100 maintains the traveling speed at that time. It may be configured to. As a result, since the work traveling is not stopped, it is possible to quickly shift to the turning traveling at the end of the field, and the work efficiency is prevented from lowering.

  Alternatively, the control device 100 operates the HST servomotor 211 of the continuously variable transmission 14 to shift to a preset traveling speed or a traveling speed at the time when the automatic deceleration is started, and the trunnion shaft 14a. May be rotated to the speed increasing side.

  Since the traveling speed is automatically increased, it is not necessary for the operator to operate the shift operation lever 36 to increase the traveling speed, so that the operability is improved.

  In addition to the operation of the notification device 208, it is expected that the traveling vehicle body 2 recognizes the turning position near the field edge, specifically, near the field edge by the automatic deceleration control of the traveling vehicle body 2 described above. It is conceivable that the driver may not be aware of the automatic deceleration of the running speed because he / she is immersed in another work, or the worker is fainted.

  Therefore, the automatic deceleration control of the traveling vehicle body 2 is performed until the continuously variable transmission 14 enters a neutral state in which neither the forward traveling speed nor the backward traveling speed is increased or decreased. At this time, the engine 30 is not stopped. As a result, since the traveling vehicle body 2 can be stopped on the spot, the vehicle body is prevented from moving forward until it comes into contact with the field edge, so-called ridge, and the vehicle body is damaged or the distance for moving the vehicle body backward to recover the work is increased. It can be suppressed.

  When the traveling of the traveling vehicle body 2 is automatically stopped due to the approach to the end of the field, if the speed change lever 36 that controls the traveling speed of the traveling vehicle body 2 and the forward / backward movement is returned to the neutral position, the control device 100 can perform continuously variable transmission. The device 14 is brought into a state of accepting an operation for increasing or decreasing the traveling speed. Then, when the shift operation lever 36 is operated to the forward side, the traveling of the traveling vehicle body 2 is restarted. As a matter of course, in a state where the auxiliary shift operating lever 37 is operated to the neutral position and the driving force is not transmitted to the traveling system, the traveling is continued until the auxiliary transmission operating lever 37 is operated to the position where the traveling transmission is performed. Not started.

  The reference line R connecting the first reference point A and the second reference point B, and the first reference point A and the second reference point B, which is a reference of the above-described automatic straight-ahead control, is a straight line that goes from one end of the field to the other end. It is necessary for work traveling and for traveling straight from one end to the other end of the field.

  However, although the four sides of the field, so-called headland work traveling, is a straight traveling work traveling, there is one working side having a traveling direction different from the above straight traveling working traveling, and the reference line R is used in the working side. However, automatic straight ahead control cannot be performed.

  In addition, when the machine body is moved to the loading platform of a truck for transporting outside the field or stored in a barn or the like, the automatic straight travel setting member 207 is erroneously operated in the second direction W2, and the automatic steering device is operated. When 205 is in an operable state, the X coordinate of the reference line (R) and the X coordinate of the aircraft do not match when moving the aircraft, and it is determined that the vehicle is displaced from the straight traveling position, and the automatic steering device 205 It may happen that the steering wheel 35 is automatically steered. As a result, the course of the machine body is located at a position deviated from the course on which it should originally travel, and extra work is required for loading and storing the machine body.

  To prevent this, it is necessary to delete the first reference point A, the second reference point B, and the reference line R before the aircraft exits the field. As shown in FIG. 6 and FIG. 14, among the four sides of the field, when the traveling body 3 travels on three sides including at least one traveling direction orthogonal to the traveling direction of the straight traveling work, headland work is performed. If so, the control device 100 deletes the first reference point A, the second reference point B, and the reference line R.

  The traveling direction of the traveling vehicle body 2 on the headland is determined by the continuous change in the X-axis coordinate or the Y-axis coordinate of the position coordinates of the traveling vehicle body 2 acquired by the GPS antenna 200.

  As a result, the first reference point A, the second reference point B, and the reference line R can be deleted while the aircraft is traveling in the field. Even if it is operated, the automatic straight traveling is not carried out, the vehicle is prevented from traveling in a direction deviating from the planned traveling direction, the work efficiency is prevented from being lowered, and the work safety is improved.

  Further, when the aircraft is moved to another field, the first reference point A, the second reference point B, and the reference line R are not recorded. Since it is possible to prevent the straight ahead control from being performed, the accuracy of the automatic straight ahead is improved.

  When the vehicle is moved outside the field, the sub-transmission operation lever 37 is operated to the traveling position in order to move the truck to a transfer truck or move it to a barn in a short time. An auxiliary gear shift position detection switch 37a for detecting the operation of the auxiliary gear shift operation lever 37 to the traveling position is provided, and when the auxiliary gear shift position detection switch 37a detects that the auxiliary gear shift operation lever 37 has been operated to the traveling position, the first The reference point A, the second reference point B, and the reference line R may be deleted.

  By deleting the first reference point A, the second reference point B, and the reference line R based on the operation of the auxiliary shift operation lever 37 to a traveling position that is not used in the field, the first reference point during headland traveling. When A, the second reference point B, and the reference line R are not deleted, they can be surely deleted, so that automatic straight ahead control is not performed when the traveling vehicle body 2 is moved or when working in another field. The work accuracy is prevented from being lowered.

  In addition, it is possible to prevent the first reference point A, the second reference point B, and the reference line R from being mistakenly deleted in the field due to an erroneous operation of the auxiliary shift operation lever 37. It is possible to prevent the automatic straight traveling from being disabled by the work article for reacquiring the point B, and the work accuracy is improved.

  Alternatively, when the traveling vehicle body 2 is in a forward-inclined posture at a predetermined angle or more (for example, 10 to 15 degrees) using the IMU 203 or the inclination sensor 212 that detects the inclination of the traveling vehicle body 2 in the front-back and left-right directions, the control device 100 may be configured to delete the first reference point A, the second reference point B, and the reference line R.

  When the vehicle exits the field, the traveling vehicle body 2 passing through the doorway of the field has a forward-inclined tilting posture at an angle that cannot be substantially reduced during work. Therefore, when this inclination angle is detected, it is time to leave the field. I can judge.

  As a result, when the first reference point A, the second reference point B, and the reference line R are not deleted when traveling on the headland, they can be surely deleted, so that the traveling vehicle body 2 is moved or another field work is performed. At times, automatic straight ahead control is not performed, and work accuracy is prevented from decreasing.

  Depending on the field and work contents, it may be possible to move the traveling vehicle body 2 backward and out of the doorway. Therefore, the first reference point A and the second reference point A are determined based on the backward rising inclination angle as well as the forward rising inclination angle. B and the reference line R may be deleted.

  Even when the traveling vehicle body 2 is automatically traveling straight ahead by the automatic steering device 205, when replenishing work materials consumed by the working device 4 or the like, or when any problem occurs in the machine body or the field, etc. It is necessary for the worker to stop traveling. This traveling stop operation is performed by operating the shift operation lever 36 to the neutral position to make the continuously variable transmission 14 neutral, depressing the brake pedal to activate the brake, and depressing the side clutch pedal 43a to disengage the side clutch 43. The method of putting it in a state can be considered.

  Even when the traveling of the traveling vehicle body 2 is stopped by any of the above methods, the control device 100 is configured not to stop the automatic steering device 205.

  As a result, when the traveling stop is released by operating the shift operation lever 36 forward, releasing the operation of the brake pedal or the side clutch pedal 43a, it is possible to immediately return to the automatic straight traveling, and the work efficiency is improved. Is prevented.

  However, if the steering wheel 35 is manually steered while the vehicle is stopped, or if the automatic steering device 205 is operated and the steering wheel 35 is automatically steered, the traveling direction at the time of restart of the automatic straight traveling deviates from the traveling direction at the time of stopping. The traveling direction of the traveling vehicle body 2 may not be linear.

  In particular, when the traveling vehicle body 2 is stopped, the position coordinates acquired by the GPS antenna 200 are easily affected by the rotation of the earth, the revolution of the GPS satellites, etc., and are different from the actual location of the traveling vehicle body 2. The coordinates may be acquired, and it is likely to be erroneously recognized as being at a position away from the reference line R.

  In order to prevent this, a lever potentiometer 36a for detecting the operation position of the shift operation lever 36, and a stepping detection switch 213 for detecting the stepping operation of the brake pedal or the clutch pedal are provided, and the operation for stopping the traveling during the automatic straight traveling is performed. When detected, the control device 100 does not reflect the steering operation of the steering wheel 35 or does not move the steering wheel 35.

  The configuration that does not reflect the steering operation of the steering wheel 35 means that the steering actuator 206 is not operated even if the X coordinate of the position coordinate of the traveling vehicle body 2 when the vehicle is stopped deviates from the X coordinate of the reference line R by a predetermined value or more. .

  Further, the configuration in which the steering wheel 35 does not move means that the operating torque of the steering actuator 206 is increased and the steering wheel is locked.

  With the above configuration, it is possible to prevent the traveling direction from deviating after the traveling is restarted, so that the working traveling is performed linearly and the working accuracy is improved.

  The steering wheel 35 is automatically steered by the steering actuator 206 during the automatic straight traveling, but the condition of the field on the path is not suitable for the automatic straight traveling (rough, deep field depth, etc.), and there is an obstacle. In situations such as doing, it is necessary to take avoidance action by manual operation.

  The steering operation of the steering wheel 35 by the steering actuator 206 is performed by the following configuration. An input gear 352 is provided below the handle shaft 351 that rotates in conjunction with the steering operation of the handle 35, and an output gear 353 is provided at the steering actuator 206.

  The input gear 352 and the output gear 353 are installed in a steering gear case 354 arranged below the steering wheel 35 and the steering actuator 206. Then, between the input gear 352 and the output gear 353, a relay gear 355 for changing the transmission ratio and transmitting the driving force is provided.

  The gear ratios of the input gear 352, the output gear 353, and the relay gear 355 are the gear ratios in which the torque due to the manual operation is increased even when the steering actuator 206 is operated in order to prevent the manual operation of the steering wheel 35 from being disturbed. To do.

  As a result, it is possible to prevent an increase in the force required for the manual operation of the handle 35 even during the automatic straight traveling, so that the operability is improved and the field and the obstacle that may affect the traveling are surely avoided. Therefore, the safety of work is ensured.

35 steering wheel (steering member)
63 Leveling rotor (leveling device)
100 control device 200 GPS antenna (position information acquisition device)
205 Automatic steering device (Automatic rectilinear device)
207 Automatic straight travel setting member (operation member)
208 Notification device 209 Work detection sensor (work detection member)
W1 first direction W2 second direction

Claims (3)

A steering member (35) for steering the airframe, a position information acquisition device (200) for acquiring position information of the airframe, and an automatic rectilinear device (205) for operating the steering member (35) to drive the airframe straight. In a work vehicle including a control device (100) for controlling each part of the machine body,
When the position information acquisition device (200) detects position information of a position that is a predetermined distance to the target position of each work line during the operation of the automatic rectilinear movement device (205), the control device (100) causes the notification device. Activate (208),
When the airframe moves a predetermined distance from the position where the notification device (208) is operated, or when a first predetermined time has elapsed after the notification device (208) was operated, the automatic rectilinear device (205) is operating. Then, the control device (100) automatically decelerates the aircraft ,
The control device (100) stops traveling of the airframe unless the automatic rectilinear device (205) is stopped by the second predetermined time after the start of automatic deceleration,
A work vehicle characterized in that, when the automatic rectilinear device (205) is stopped before the second predetermined time elapses, the traveling speed is maintained or the traveling speed is increased . A work device for performing ground work is provided on the machine body, and a work detection member (209) for detecting whether the work device is turned on or off is provided. The control device (100) causes the work detection member (209) to turn on or off the work device. Acquire the detected position as the end reference position,
The work vehicle according to claim 1 , wherein the target position is an end reference position acquired by the latest work line. An operation member (207) for turning on and off the automatic rectilinear device (205) is provided while acquiring a reference position that is a reference for the straight traveling of the airframe .
When the operating member (207) is operated in the first direction (W1), the reference position is acquired, and when the operating member (207) is operated in the second direction (W2), the automatic rectilinear device (205) is turned on. It will be cut off,
Wherein the control device (100), by entering operating the operation member (207) while obtaining a reference position, according to claim 1, characterized in that to enable operation the automatic linear device (205) Working vehicle.

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