JP6788229B2 - Automatic steering device for field work vehicles - Google Patents

Description

The present invention relates to an automatic steering device in a field work vehicle such as a rice transplanter that performs work while traveling in the field.

In Patent Document 1 below, as an automatic steering system for a traveling work machine, a positioning unit that outputs positioning data that measures the position of the traveling work machine in a field, a route calculation unit that calculates a target traveling route, and positioning data are provided. A direction calculation unit that calculates the direction of the traveling aircraft with respect to the target traveling route based on this, a steering data output unit that outputs automatic steering data for traveling along the target traveling route, and a traveling aircraft based on the automatic steering data. A technique for providing an automatic steering unit that generates a steering signal for steering is described.

Japanese Unexamined Patent Publication No. 2016-24541

In the field where the field work vehicle travels, there are paddy fields with deep water and sticky swamps, etc., and it is difficult to drive straight, and fine steering operation by the operator is required. For this reason, it is difficult to drive straight ahead only by the conventional technique of recognizing the position of the own aircraft from the positioning data from the GPS satellite, calculating the direction of the traveling aircraft with respect to the target traveling route, and performing automatic steering.

The present invention enables autonomous straight running by controlling steering according to field conditions such as water depth and mud viscosity, and enables efficient field work such as planting and cultivated land by automatic steering. That is the issue.

The above-mentioned problem of the present invention is solved by the following technical means.

According to the first aspect of the present invention, in a field work vehicle that autonomously travels by outputting a steering signal to the steering actuator 206 of the automatic steering device 205 by the control device 100 based on the position information from the positioning device 199, the field state is detected. The recognition means 209 is provided, and a steering control signal is output from the control device 100 to the steering actuator 206 based on the field state detected by the field recognition means 209.
The field recognition means 209 is a work detection sensor that detects the rotation of the leveling rotor 63. When the work detection sensor detects a rotation higher than a predetermined value, it is stronger than a predetermined value, and when it detects a rotation lower than a predetermined value, it is weaker than a predetermined value. An automatic steering device for a field work vehicle, characterized in that a steering control signal is output to the steering actuator 206.
According to the second aspect of the present invention, in a field work vehicle that autonomously travels by outputting a steering signal to the steering actuator 206 of the automatic steering device 205 by the control device 100 based on the position information from the positioning device 199, the field state is detected. The recognition means 209 is provided, and a steering control signal is output from the control device 100 to the steering actuator 206 based on the field state detected by the field recognition means 209.
The positioning device 199 is provided with a radio wave detection device 102 that detects the strength of the radio wave from the GPS antenna 200, and when the radio wave detected by the radio wave detection device 102 is lower than a predetermined value, the operating speed of the steering actuator 206 is slower than the predetermined value. The automatic steering device for a field work vehicle is characterized in that it outputs a steering control signal that makes the traveling speed slower than a predetermined value.
The invention according to claim 3 is characterized in that an antenna frame 201 for attaching the GPS antenna 200 is provided above the work seat 41 of the traveling vehicle body 2, and a roof 110 is provided above the antenna frame 201. It will be an automatic steering device for field work vehicles.
The first invention related to the present invention is a field state in a field work vehicle that autonomously travels by outputting a steering signal to the steering actuator 206 of the automatic steering device 205 by the control device 100 based on the position information from the positioning device 199. An automatic steering device for a field work vehicle, which is provided with a field recognition means 209 for detecting the above, and outputs a steering control signal from the control device 100 to the steering actuator 206 based on the field state detected by the field recognition means 209. To do.

A second invention related to the present invention is a work detection sensor in which the field recognition means 209 detects the rotation of the leveling rotor 63, and when the work detection sensor detects a rotation higher than a predetermined value, it is stronger than a predetermined value and more than a predetermined value. The automatic steering device of the field work vehicle of the first invention related to the present invention, which is weaker than a predetermined value when a low rotation is detected and outputs a steering control signal to the steering actuator 206.

In the third invention related to the present invention , the positioning device 199 is provided with a radio wave detection device 102 for detecting the strength of the radio wave from the GPS antenna 200, and when the radio wave detected by the radio wave detection device 102 is lower than a predetermined value, the steering actuator The automatic steering device of the field work vehicle of the first invention related to the present invention, characterized in that it outputs a steering control signal that makes the operating speed of 206 slower than a predetermined value and makes the traveling speed slower than a predetermined value.

A fourth invention relating to the present invention, the antenna frame 201 mounting the GPS antenna 200 to the working seat 41 above the vehicle body 2 is provided, according to the invention, characterized in that a roof 110 to the top of the antenna frame 201 The automatic steering device of the field work vehicle of the third invention related to the above.

In the present invention, the field work vehicle is automatically steered by the steering control signal output from the control device 100 to the steering actuator 206 of the automatic steering device 205, and the steering control signal is in the field state detected by the field recognition means 209. Since the correction is made based on the above, even if the water depth of the field is deep or the viscosity of the field scene is high, automatic steering is possible with an accurate target trajectory.
In the first invention relating to the present invention, 圃field working vehicles, automatic steering is although, the steering control signal is field recognized by the steering control signal output from the control device 100 to the steering actuator 206 of the automatic steering apparatus 205 Since the correction is made based on the field condition detected by the means 209, automatic steering can be performed with an accurate target trajectory even if the water depth of the field is deep or the viscosity of the field scene is high.

In the second invention related to the present invention, when the ground leveling rotor 63 that is in contact with the field scene accurately detects the state of the field as a work detection sensor and the work detection sensor detects high-speed running at high rotation, strong steering is performed. The control signal quickly corrects the trajectory to prevent wobbling, and when the work detection sensor detects low-speed running at low speed, the weak steering control signal prevents sudden trajectory correction and steers safely.

In the third invention related to the present invention, if the radio wave detected by the radio wave detection device 102 is lower than a predetermined value and the position recognition of the own machine in the field is low, the traveling speed is slowed down and sudden steering is not performed, which is safe. Can work on.

In the fourth invention related to the present invention, since the GPS antenna 200 is provided at a high position of the antenna frame 201, it is easy to receive radio waves from GPS and the position recognition of the own machine in the field is well performed. It is possible to block the sunlight to the worker sitting in the work seat 41.

Side view of the seedling transplanter. Top view of the seedling transplanter. Top view of the main part of the traveling vehicle body. Rear view of the main part of the control unit including the steering wheel. (A) Rear view of the main part showing the configuration of the automatic steering device of the steering wheel. (B) A side view of a main part showing a configuration of an automatic steering device for a steering wheel. A block diagram showing members related to various controls. A flowchart showing a control for correcting the acquired position coordinates according to the inclination of the aircraft. A flowchart showing automatic straight-ahead control by an automatic steering device. The flowchart which shows acquisition of the 1st and 2nd reference position by operation of the automatic straight-ahead setting member, and on / off of automatic straight-ahead control. The flowchart which shows the erasing operation of the 1st reference position and the 2nd reference position. The flowchart which shows the control which erases the 1st reference position by the handle operation after the 1st reference position acquisition. The schematic diagram of the work which shows the 1st reference position, the 2nd reference position, and the reference line, and also shows the target position. A 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 notification device is operated. The flowchart which shows the control which erases the 1st reference position, the 2nd reference position and the reference line by running on the headland of a field. The perspective view of the first embodiment which attached the roof to the antenna frame. The perspective view of the second embodiment which attached the roof to the antenna frame. A partial plan view of the second embodiment. The whole perspective view of the third embodiment which attached the roof to the antenna frame. A simplified right side view of the third embodiment.

Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. In the description of the embodiment, the left and right directions are referred to as left and right, respectively, the forward direction is referred to as forward, and the reverse direction is referred to as backward toward the forward direction of the aircraft, but the configuration of the present invention is not limited.

The passenger-type rice transplanter disclosed in FIG. 2 as an embodiment of the working machine of the present invention has an eight-row planting configuration, but this configuration may be used for a rice transplanter having a different number of planting rows. .. As shown in FIGS. 1 and 2, the rice transplanter takes seedlings from the seedling tank 53 via the elevating link device 3 on the rear side of the traveling vehicle body 2, and uses a plurality of seedling planting devices 55 ... to plant seedlings in the field. A work device 4 such as a seedling planting part to be planted, a sowing device for supplying seeds, or a rotary for cultivating a field is provided so as to be able to move up and down, and a main body portion of the fertilizer application device 5 is arranged on the upper rear side of the traveling vehicle body 2. There is.

First, the main frame 15 constituting 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 fuselage, a rear beam frame 17 at the rear of the fuselage, and a central beam frame between the front and rear beam frames 16 and the rear beam frame 17. 18 is provided, and the front beam frame 16 and the center beam frame 18 are connected by a pair of left and right front side connecting frames 19 and 19, and the center beam frame 18 and the rear side beam frame 17 are connected by a pair of left and right rear side connecting frames 20. Connect at 20.

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

The left-right spacing between the left and right front connecting frames 19 and 19 and the rear connecting frames 20 and 20 is substantially the same. Further, the left-right lengths of the central beam frame 18 and the rear beam frame 17 are longer than the left-right lengths of the front beam frame 16. Since the left and right front connecting frames 19 and 19 and the rear connecting frames 20 and 20 are welded at the lower part of the central beam frame 18, the left and right front connecting frames 19 and 19 and the rear connecting frames 20 and 20 are connected. It may be composed of an integral metal square timber.

The driving force is transmitted to the left and right front wheels 10, 10, the rear wheels 11, 11, the work device 4, and the like 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. A transmission case 13 and a hydraulic continuously variable transmission (HST) 14 that outputs the driving force supplied from the engine 30 to the transmission case 13 are provided.

Then, the left and right lifting frames 21 and 21 are provided at the rear portion of the rear beam frame 18 at a distance narrower than the left and right spacing of the left and right rear connecting frames 20 and 20 so as to project rearward. The rear support frame 22 is attached to the lower part of the upper frames 21 and 21.

Rear wheel transmission cases 11a and 11a for driving the left and right rear wheels 11 and 11 of the traveling vehicle body 2 are provided on both left and right sides of the rear support frame 22, and the elevating link mechanism is provided on the upper portion of the rear support frame 22. The left and right link frames 23, 23 that support 3 are provided so as to face 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 and between the left and right, and an elevating cylinder 25 is provided between the left and right lower link arms 24, 24. And an upper link arm 26 is provided above the elevating cylinder 25. The left and right lower link arms 24 and 24, the elevating 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 work device 4.

Further, front side transmission cases 10a and 10a that transmit to the left and right front wheels 10 and 10 of the traveling vehicle body 2 are provided on the front side of the left and right end portions of the central beam frame 18 and on the left and right outside of the left and right front side connecting frames 19 and 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 and 27, respectively. The left and right extension frames 27, 27 have a longitudinal direction in the front-rear direction.

Further, 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 between the front and rear of the central beam frame 18 and the rear beam frame 17, and left and right rear portions. Front and rear support plates 29 and 29 for supporting the engine 30 are provided between the left and right of the connecting frames 20 and 20.

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

Then, left and right auxiliary frames 31, 31 that pass under the rear beam frame 17 and project rearward are provided on the left and right sides of the front and rear support plates 29, 29, and the 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 ends of the left and right auxiliary frames 31, 31 are connected to the left and right rear wheel transmission cases 11a, 11a.

As described above, the main frame 15 is configured. Of the main frame 15, the front and rear widths from the front beam frame 16 to the rear beam frame 17, and the left and right widths of the left and right front connecting frames 19 and 19 and the rear connecting frames 20 and 20 are the floors on which the operator board. Cover with step 33. The floor tape 33 is integrally formed to improve the strength or reduce the number of parts, or is configured to be separable on the front side and the rear side, and on the left side and the right side, respectively, so that it can be easily attached and detached.

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

With the above configuration, since the main frame 15 is configured by connecting a plurality of frame components, the strength is improved as compared with the conventional case.

Further, by arranging the central connecting frame 28 under the front and rear support plates 29 and 29 on which the engine 30 is mounted and connecting the front and rear support plates 29 and 29 with the left and right rear auxiliary frames 32 and 32, a heavy object is used. The engine 30 can be firmly held.

On the front side of the traveling vehicle body 2, as shown in FIGS. 1 and 2, a handle 35 for steering the aircraft, a speed change operating lever 36 for operating the continuously variable transmission 14 and the working device 4, and traveling transmission of the traveling vehicle body 2 are provided. A bonnet 39 is provided at the top, which is provided with an auxiliary shift operation lever 37 for operating an auxiliary shift changeover device (not shown) for switching the above and a control panel 38 for operating each part of the machine body. A front cover 40 that can be opened and closed is provided on the front side of the bonnet 39, and inside the front cover 40, a fuel tank, a battery, the left and right front wheels 10 and 10 for steering the steering wheel 35, and left and right front wheel transmission cases. An interlocking mechanism (not shown) that rotates the lower side of 10a and 10a is installed.

Further, in front of the front cover 40, various information such as the work state of the work device 4, the reduction of work materials consumed during the work, and the operation and non-operation of the automatic steering device 205, which will be described later, are displayed by lighting LEDs and the like. A center mascot 70 to be displayed is provided. The center mascot 70 is composed of a work display unit 71 arranged on the lower side and the rear side, and an automatic straight-ahead display unit 72 arranged on the upper side and the front side in a side view.

An engine cover 30a that covers the upper side and the side of the engine 30 is provided on the rear side of the bonnet 39 and above the engine 30, and the work seat 41 on which the worker sits on the engine cover 30a. Is provided.

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 application device 5 is transmitted by the fertilizer application transmission mechanism 5a arranged from the left and right sides of the left and right rear wheel transmission cases 11a toward the fertilizer application device 5.

The front side of the mission case 13 is transmitted to the left and right front wheel transmission cases 10a and 10a (not shown), and the rear part of the mission case 13 is transmitted to the left and right rear wheel transmission cases 11a and 11a. Left and right drive shafts 42, 42 are provided. Side clutch mechanisms 43, 43 for turning on / off the transmission to the left and right drive shafts 42, 42 are arranged on the side superior to the left and right drive shafts 42, 42 in the transmission direction, and the handle 35 is turned off. When the traveling vehicle body 2 is turned, the side clutch mechanism 43 located inside the turning is turned off, and the transmission to the rear wheels 11 inside the turning is stopped.

As shown in FIG. 3, left and right clutch on / off shafts 44 and 44 are provided in the vertical direction near the left and right centers on the rear side of the mission case 13, and the left and right clutch on / off shafts 44 and 44 are directed toward the outside of the machine body above the left and right clutch on / off shafts 44 and 44. Clutch on / off arms 45 and 45 are provided, respectively. Then, side clutch pedals 43a and 43a for turning on and off the left and right side clutch mechanisms 43 and 43 are provided on the lower front side and one left and right side of the control seat 41.

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

The ground leveling rotor 63 is provided with a work detection sensor 209 as a field recognition means. If the water depth of the field is deep or the viscosity of the field is high, the rotation of the leveling rotor 63 will be slow, and if it runs at high speed or the field is rough, the rotation will be fast. Therefore, the state of the field can be determined and the work detection sensor. The detection result of 209 is input to the control device 100 to adjust the steering control signal to the steering actuator 206 of the automatic steering device 205. For example, when the ground leveling rotor 63 rotates quickly, the water depth is shallow, the field scene is hard, and the traveling speed is high, so the steering angle is controlled to be large.

The center float 62C is provided with a rotation potentiometer 64 for detecting the rotation angle of the center float 62C, and it is determined that the depth of the field has changed when the rotation angle of the rotation potentiometer 64 changes by a predetermined angle or more. The control device 100 expands and contracts the elevating cylinder 25 to rotate the elevating link mechanism 3 up and down, so that the up and down height of the work device 4, that is, the work position corresponds to the depth of the field.

When planting seedlings, sowing seeds, or performing topdressing or weeding after the seedlings have grown using the work device 4 in the field, the vehicle body 2 travels from one side to the other side of the field. It is common to drive straight ahead. However, when the wheels of the traveling vehicle body 2 face a direction deviated from the straight traveling direction due to the unevenness of the tillage board in the field or the viscosity of the topsoil, the traveling vehicle body 2 may gradually move in the deviated direction. Further, depending on the maneuvering technique of the operator, the traveling vehicle body 2 may not be aligned in the straight-ahead direction and may be moved in a direction deviated from the straight-ahead direction.

As a result, the work trajectory of planting and sowing seedlings, weeding and topdressing becomes diagonal, and the place where seedlings can be planted and sowed becomes an empty space, and the operator can manually plant the seedlings later. It becomes necessary to sow, which causes extra labor for the worker, and the space between the planting rows and the seeding rows of the seedlings becomes narrower than the gaps of the working device 4, resulting in poor ventilation and pest damage. Sometimes. Alternatively, when performing post-planting or sowing work such as weeding or topdressing, the seedlings may be trampled, resulting in a decrease in yield, or by maneuvering so as not to trample the seedlings. Problems that reduce work efficiency may occur.

In order to solve these problems, it is conceivable to install a so-called automatic straight-ahead system in which the traveling vehicle body 2 is automatically steered and the straight-ahead traveling posture is maintained without the hands of an operator.

First, as shown in FIGS. 1 and 2, an antenna frame 201 for mounting a GPS (GNSS) antenna 200 is provided on the traveling vehicle body 2. The antenna frame 201 is a front view of a gate-shaped front frame 201a in which left and right bases are attached to left and right antenna stays 202 and 202 provided on the front side of the main frame 15, and an airframe from the left and right center portions of the front frame 201a. It is composed of a rear frame 201b that faces rearward and faces the left and right central portions on the rear side of the traveling vehicle body 2. It is assumed that the bonnet 32 and the driver's seat 41 are located behind the space portion of the gate-shaped front frame 201a.

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

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 can be improved.

The GPS antenna 200 is mounted near the connection portion between the front frame 201a and the rear frame 201b. The connecting portion between the front frame 201a and the rear frame 201b is near the front and rear of the bonnet 32 and the driver's seat 41, and is near the central portion of the traveling vehicle body 2 in the front-rear direction.

As a result of the above, since the mounting position of the GPS antenna 200 is near the center of the aircraft in the front-rear and left-right directions, it is difficult for the acquired coordinates of the aircraft to deviate from the actual position of the aircraft, and the straight traveling position by the automatic straight-ahead system. The setting of is appropriate and the work accuracy is improved.

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

As the GPS antenna 200, it is preferable to use an independent positioning method, a DGPS (relative positioning) method, an RTK (interference positioning) method, or the like, which is suitable for the working area.

However, if the ground height of the GPS antenna 200 fluctuates due to the influence of the tilt or vibration of the aircraft, the coordinate position different from the actual aircraft position is measured, the reception accuracy is lowered, and the aircraft travels in a direction deviated from the straight line. There is a problem that it ends up.

In order to prevent this, as shown in FIG. 6, an IMU (Inertial Measurement Unit) 203 is provided in addition to the GPS antenna 200. The IMU 203 was 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 tilted posture and the height from the ground surface to the GPS antenna 200 when the traveling vehicle body 2 is not tilted. The position coordinates are corrected by the control device 100.

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 with the three-axis acceleration sensor and the angular velocity sensor built in the IMU 203.

In addition to this, the directional sensor 204 is provided so that the control device 100 can more reliably determine whether or not the traveling direction of the aircraft 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 aircraft can be determined by the measured direction, so that the accuracy of straight running 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 directional sensor 204. Then, the control device 100 compares the current position information with the previously acquired position information, and if the difference in the position information exceeds the permissible range, the left and right front wheels 10 in order to return the aircraft to the straight traveling position. , 10 are steered in the left-right direction.

An automatic steering device 205 for rotating the steering wheel 35 with a steering actuator 206 is provided in order to automate the steering of the left and right front wheels 10 and 10 or the turning of a crawler or the like. 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 reference position information previously acquired. Based on this, the operating amount of the steering actuator 206 fluctuates, so that the steering wheel 35 is turned left and right in order to direct the aircraft to the straight running position, and when the steering actuator 206 comes to the straight running position, the steering actuator 206 is stopped and the steering wheel 35 is automatically operated. It stops the steering. The rudder actuator 206 is composed of an electric or hydraulic motor or a cylinder.

A radio wave detection device 102 for detecting radio waves from the GPS antenna 200 is provided, and when the received radio wave is lower than a predetermined value, the traveling speed is lowered and the steering angle control to the steering actuator 206 is reduced for work. For safety. When the received radio wave is restored to a predetermined value, the traveling speed and the steering angle control to the steering actuator 206 are restored.

With the above configuration, the handle 35 is automatically steered according to the difference in the X coordinates of the calculated position information, and the machine body can be automatically adjusted to the straight running position, so that the work position by the work device 4 is in the left-right direction. It is prevented from shifting, and it is less likely that there will be places in the field where work is not performed. As a result, it is not necessary to manually perform the work later in the place where the work was not performed, and the labor of the worker is reduced.

In addition, since it is possible to prevent the work positions of the work line of the previous process and the work line of the current work line from overlapping, it is possible to prevent extra consumption of work materials such as seedlings, seeds and fertilizers, and to reduce work costs. 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 seeding machine travel to the field edge of the work line, turn about 180 degrees, and move to the next work line. If the automatic straight-ahead system is operating during turning, it may be determined that the aircraft is deviated from the position where it should travel straight, and the steering actuator 206 may be operated to disturb the turning trajectory. Therefore, the automatic straight-ahead system needs to be configured to be turned off when turning the aircraft. It is conceivable that the automatic straight-ahead system will be turned off when the steering wheel 35 is turned, but the direction of travel of the aircraft may be significantly deviated depending on the conditions of the field, or the operator may turn the steering wheel 35 to avoid obstacles. Since the automatic straight-ahead system is turned off when the operation is made larger than the same as the operation, the operator has to turn on the automatic steering system again while going straight, which increases the labor of the operator and the automatic straight-ahead system. There is a problem that the work accuracy is lowered because the machine runs while the work position is shifted without noticing that it is turned off.

In addition, it is conceivable to turn on the automatic straight-ahead system by returning the handle 35 from turning to straight-ahead, but when returning from turning to straight-ahead, in order to adjust the aircraft to the straight-ahead position in the next work line, the fine handle 35 It is necessary to perform steering operation. If the automatic steering system is turned on during this operation, the steering actuator 206 will operate when the control device 100 determines that the aircraft has deviated from the straight traveling position, and the position of the aircraft will be adjusted to the position where the aircraft should originally travel straight. There is a problem that it cannot be done.

An automatic straight-ahead system capable of preventing the occurrence of this problem, allowing the aircraft to travel straight in an appropriate direction, and operating in an appropriate section will be described with reference to FIGS. 6 and 8 to 11.

The position coordinates in the front-rear direction of the traveling vehicle body 2 are defined as Y coordinates, and the position coordinates in the direction orthogonal to the traveling vehicle body 2 in the front-rear direction, that is, the left-right direction are defined as X coordinates.

First, the automatic straight-ahead setting member 207 that causes the traveling vehicle body 2 to acquire the coordinates of one side of the field, which is the start point of automatic straight-ahead, and the other side of the field, which is the end point of automatic straight-ahead, and turns on / off the automatic straight-ahead system. Is provided. The automatic straight-ahead setting member 207 is equipped with at least one member that can be operated in at least two directions such as a vertical direction, a horizontal direction, a pushed state and a return state, or is equipped with two or more operating members. ..

In the present application, as the automatic straight-ahead 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, the second reference position B) and the on / off operation of the automatic steering device 205 are automatically performed with one hand on the same side. Since the straight-ahead setting member 207 may be operated, the operability is improved.

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

When the automatic straight-ahead setting member 207 is operated and there is no other position coordinate recorded, the calculated position coordinate is recorded as the first reference point A, and when the first reference point A is recorded, the calculated position coordinate is recorded. The calculated position coordinates are recorded as the second reference point B. When the automatic straight-ahead 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.

In addition, when the automatic straight-ahead cannot be performed accurately during the work in the field, it is necessary to reacquire the first reference point A and the second reference point B. Therefore, as shown in FIG. Is a setting in which the recorded first reference point A and second reference point B are erased when the automatic straight-ahead setting member 207 is operated in the first direction W1 for a predetermined time (example: 2 to 3 seconds). It is good to say. Alternatively, a button for erasing the record (not shown) may be provided so that the first reference point A and the second reference point B are deleted when operated.

The closer the distance between the first reference point A and the second reference point B, which are the reference positions for straight running of the automatic straight-ahead system, the smaller the deviation of the X coordinate, but if the distance between the two points is short, automatic straight-ahead is used. It is possible to drive straight ahead without it. Further, when the distance between the two points becomes short, it is conceivable that the operator unintentionally touches the automatic straight-ahead setting member 207 and acquires the second reference point B.

In order to prevent the occurrence of this problem, when the automatic straight-ahead 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. If it is less than, the control device 100 deletes the second reference point B and prevents recording. After that, if the automatic straight-ahead setting member 207 is operated again and the distance from the position where the first reference point A is acquired is equal to or greater than a predetermined distance, the control device 100 shall record the second reference point.

As shown in FIG. 11, with the first reference point A acquired, the steering wheel 35 was operated by a predetermined amount or more within a predetermined time without acquiring the second reference point B, and the traveling vehicle body 2 was turned. At that time, the control device 100 deletes the recorded first reference point A. After that, when the automatic straight line 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 records the position coordinates as the first reference point A. The configuration may be such that the line connecting the Y coordinate of the point A and the Y coordinate of the second reference point B is prevented from becoming straight.

As a result, the first position is a predetermined position at one end and the other end of the field, for example, a position where the traveling vehicle body 2 starts turning after the straight running and a position where the working device 4 is lowered to start the straight running after the turning is completed. A reference point A and a second reference point B can be set, and the automatic straight-ahead system is operated at a position where the work device 4 is lowered to travel straight, and the work position does not shift in the left-right direction with respect to the traveling direction. Accurate work becomes possible.

In addition, since it is possible to prevent the second reference point B from being different from the actual position to be set due to an erroneous operation by the operator, there is no need to reacquire the first reference point A and the second reference point B in the next work section. , The number of work lines that use automatic straight-ahead can be increased, and the work accuracy in the field can be further improved.

In the work line in which the work is performed first after entering the field, the automatic straight-ahead 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 described above. Since the work to be performed is indispensable, the operator operates the steering wheel 35 to drive the aircraft straight ahead without using automatic straight travel.

As described above, when the first reference point A and the second reference point B are acquired by the operation of the automatic straight-ahead setting member 207, the reference connecting the Y coordinates of the first reference point A and the second reference point B. The line R serves as a guideline for automatic straight-ahead, and it is determined whether or not the X-coordinate of the position coordinate of the running aircraft matches the X-coordinate of the line that serves as a guideline for automatic straight-ahead, and it must match. For example, by automatically steering the steering wheel 35 in the direction in which the automatic steering device 205 matches, automatic straight running can be realized.

The above automatic straight running is started by operating the automatic straight setting member 207 toward the second direction W2, in the present application, downward of the machine body in a state where the first reference point A and the second reference point B are recorded. Will be done. When the automatic straight-ahead 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. The control of rotating the handle 35 in the left-right direction to move the traveling vehicle body 2 to a position where the traveling vehicle body 2 should travel straight is started. The operation of the automatic straight-ahead 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 at which the traveling vehicle body 2 is turned within a predetermined time, or when the automatic straight-ahead setting member 207 is operated in the second direction W2. The steering angle of the steering wheel 35 shall be detected by the steering wheel potentiometer 35a.

The automatic straight-ahead control may be terminated when the traveling vehicle body 2 reaches a position 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 terminated by turning the steering wheel 35 or reaching the vicinity of the start point of the turning running at the field edge. Since the position where the traveling vehicle body 2 makes a turning run is a position close to the field edge, if the operator is performing work other than maneuvering by leaving it to the automatic straight-ahead control, if the turning operation is delayed, the seedlings will be placed in an unplanned position. Along with the planting, the traveling vehicle body 2 moves to the edge of the field, and it is necessary to move backward to a position where the vehicle turns, which causes a problem that the work efficiency is lowered.

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

In order to prevent this problem, as shown in FIGS. 6 and 13, a work detection sensor 209 is provided to detect the on / off and rotation speed of the ground leveling rotor 63 by turning on / off (stopping) the ground leveling clutch 66. When the work detection sensor 209 detects the entry (operation) of the leveling rotor 63, the control device 100 acquires the target position coordinates (end reference position) which are the position coordinates (X coordinate and Y coordinate) of the traveling vehicle body 2. To do. It should be noted that the target position coordinates can be simultaneously held in the control device 100 or the memory area attached to the control device 100 at at least two locations.

The acquisition of the target position coordinates (end reference position) by the work detection sensor 209 is performed by raising or lowering the work device 4, turning on / off the transmission to the work device 4, and turning the handle 35 instead of turning on / off the ground leveling rotor 63. The configuration may be such that the turning start steering or the turning end steering is performed on condition.

Then, in the work line following the work line for which the position coordinates have been acquired, when the automatic steering device 205 is operated to automatically drive the traveling vehicle body 2 in a straight line, the control device 100 determines the current position coordinates acquired by the GPS antenna 200. The distance from the Y coordinate to the Y coordinate of the target position coordinate acquired in the immediately preceding work line (the latest work line) 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 coordinates to the target position coordinates is a predetermined distance, for example, 8 to 12 m, the traveling vehicle body 2 approaches the field edge, and the automatic straight-ahead setting member 207 In order to inform the operator that it is necessary to end the automatic straight-ahead control by operating in the second direction W2, a buzzer, a lamp, or a configuration in which a notification device 208 that displays numerical values or characters on the screen is activated. To do.

Numerical values and characters are displayed on the notification device 208 by providing a display panel (not shown) on the traveling vehicle body 2 or by transmitting information to an information terminal (smartphone, tablet, etc.) brought by the operator. The configuration to make it is conceivable.

In addition, since the distance between the traveling vehicle body 2 and the target position cannot be calculated in the work strip for which the target position coordinates have not been acquired, the operator visually checks the field edge and determines that automatic straight-ahead control is unnecessary. It is necessary to operate the automatic straight-ahead setting member 207.

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

However, even if the notification device 208 is activated, the traveling vehicle body 2 cannot be turned at an appropriate position unless the operator notices and terminates the automatic straight-ahead control. In order to deal with this, the traveling vehicle body 2 advances over a predetermined distance (for example, 2 to 5 m) after the notification device 208 is activated without the automatic straight-ahead setting member 207 being operated 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 does not operate the automatic straight-ahead setting member 207 in the second direction W2 for a predetermined time (for example, 2 to 5 seconds) after the notification device 208 is activated. When traveling forward, the control device 100 reduces the output of the continuously variable transmission 14 and decelerates the traveling vehicle body 2.

To decelerate the traveling vehicle body 2, the HST servomotor 211 that rotates the trunnion shaft 14a of the continuously variable transmission 14 via a trunnion arm (not shown) is operated, and the trunnion shaft 14a is rotated to the deceleration side. It is done by letting.

As a result, when the traveling vehicle body 2 approaches the field edge, the traveling speed of the traveling vehicle body 2 decreases, so that the operator can recognize that the turning position of the field edge is approaching, and the traveling vehicle can perform the turning traveling on an appropriate trajectory. Therefore, it is prevented that the work device 4 performs the ground work overlappingly on the four sides of the outer periphery of the field, so-called headland, and consumes extra work materials (seedlings, fertilizer, chemicals, etc.).

Further, since the position where the ground leveling rotor 63 is turned on after turning and the ground leveling work is started can be adjusted to the position where the ground leveling work is completed before turning, the ground leveling work is not performed by the ground leveling rotor 63. The occurrence of places where the work device 4 does not perform ground work is prevented. This prevents the occurrence of problems such as the planting depth of seedlings being disturbed, the degree of fertilizer penetration being different, and the running being disturbed in places where the ground leveling work was not performed, and the position where the ground work was not performed. As for, the worker does not have to perform the work manually, and the labor of the worker is reduced.

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

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

Further, when the automatic straight-ahead setting member 207 is operated to cancel the automatic straight-ahead control within a predetermined time (second predetermined time) in which the automatic deceleration control is performed, the control device 100 maintains the traveling speed at that time. It may be configured to be used. As a result, since the work running does not stop, it is possible to quickly shift to the turning running at the field edge, and the deterioration of the work efficiency is prevented.

Alternatively, the control device 100 operates the HST servomotor 211 of the continuously variable transmission 14 to shift to the preset traveling speed or the traveling speed at the time when the automatic deceleration is started, and the trunnion shaft 14a May be configured to rotate 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 at the field edge, specifically near the field edge, by the automatic deceleration control of the traveling vehicle body 2, but the operator It is assumed that the operator may not even notice the automatic deceleration of the running speed because he / she is absorbed in another work or the worker faints.

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

When the traveling vehicle body 2 automatically stops traveling due to approaching the field edge, the control device 100 shifts steplessly when the shifting operation lever 36 that operates the traveling speed of the traveling vehicle body 2 increases or decreases and moves forward and backward is returned to the neutral position. The device 14 is set to accept the operation of increasing / decreasing the traveling speed. Then, when the shift operation lever 36 is operated to the forward side, the traveling vehicle body 2 is restarted. As a matter of course, when the auxiliary transmission 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 the reference for the automatic straight-ahead control, goes straight from one end to the other end of the field. It is necessary for work running and straight work running from the other end to one end of the field.

However, although the work running on the four sides of the field, the so-called headland, is a straight-ahead work run, there is one work side that has a traveling direction different from that of the straight-ahead work run, and the reference line R is used for that work side. However, automatic straight-ahead control cannot be performed.

Further, when moving the aircraft to the loading platform of a transport truck or storing it in a barn or the like outside the field, the automatic straight-ahead setting member 207 is mistakenly operated in the second direction W2 to be an automatic steering device. When the 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 the aircraft is moved, and it is determined that the 205 is deviated from the straight running position, and the automatic steering device 205 is set. It is possible that the steering wheel 35 is automatically steered. As a result, the course of the aircraft is deviated from the originally intended course, and extra labor is required for loading and storing the aircraft.

To prevent this, it is necessary to erase the first reference point A, the second reference point B, and the reference line R before the aircraft leaves the field. As shown in FIGS. 6 and 14, when the traveling vehicle body 2 travels on three sides including at least one of the four sides of the field including the traveling direction orthogonal to the traveling direction in which the traveling vehicle travels straight, the headland work is performed. 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 of 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, so that the automatic straight-ahead setting member 207 can be moved after going out of the field. Even if it is operated, it does not automatically go straight, it is prevented from traveling in a direction deviating from the planned traveling direction, a decrease in work efficiency is prevented, and work safety is improved.

In addition, 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, so that the automatic operation is based on the reference line R that is not suitable for the field being worked on. Since it is possible to prevent straight-ahead control, the accuracy of automatic straight-ahead is improved.

When the vehicle is moved out of the field, the auxiliary transmission lever 37 is operated to the traveling position in order to move the truck to the truck for transfer in a short time or to the barn. An auxiliary shift position detection switch 37a for detecting the operation of the auxiliary shift operation lever 37 to the traveling position is provided, and when the auxiliary shift position detection switch 37a detects that the auxiliary 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 the traveling position that is not used in the field, the first reference point is traveled on the headland. When A, the second reference point B, and the reference line R are not deleted, they can be reliably deleted, so that automatic straight-ahead control is not performed when the traveling vehicle body 2 is moved or when working in another field. Deterioration of work accuracy is prevented.

Further, since it is possible to prevent the first reference point A, the second reference point B, and the reference line R from being accidentally deleted in the field due to the erroneous operation of the auxiliary shift operation lever 37, the first reference point A and the second reference can be prevented. The work line for reacquiring point B prevents the automatic straight-ahead from becoming unusable, and improves work accuracy.

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

When leaving the field, the traveling vehicle body 2 passing through the doorway of the field is in a forward-upward tilting posture at an angle that cannot be abbreviated during work. Therefore, when this tilting 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 reliably deleted, so that the traveling vehicle body 2 can be moved or work in another field. Occasionally, automatic straight-ahead control is not performed, and deterioration of work accuracy is prevented.

Depending on the field and the content of the work, it is possible to move the traveling vehicle body 2 backward and exit from the doorway. Therefore, the first reference point A and the second reference point are based on not only the forward rising tilt angle but also the rear rising tilt angle. The control configuration may be such that B and the reference line R are deleted.

Even when the traveling vehicle body 2 is automatically driven straight by the automatic steering device 205, when the work material consumed by the work device 4 or the like is replenished, or when some problem occurs in the machine body or the field, etc. , The worker needs to stop running. In this running stop operation, the shift operation lever 36 is operated to the neutral position to neutralize the continuously variable transmission 14, the brake pedal is stepped on to apply the brake, and the side clutch pedal 43a is stepped on to disengage the side clutch 43. A method of putting it in a state is conceivable.

The control device 100 is configured so that the automatic steering device 205 is not stopped even when the traveling vehicle body 2 is stopped by any of the above methods.

As a result, when the running stop is released by moving the shift operation lever 36 forward, canceling the operation of the brake pedal or the side clutch pedal 43a, etc., it becomes possible to immediately return to the automatic straight running, and the work efficiency becomes high. Is prevented from decreasing.

However, if the steering wheel 35 is manually steered while the vehicle is stopped, or if the automatic steering device 205 is activated to automatically steer the steering wheel 35, the traveling direction at the time of resuming the automatic straight running is deviated 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 GPS satellites, etc., and are different from the actual positions where the traveling vehicle body 2 exists. Coordinates may be acquired, and it is easy to be mistaken 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 to stop the running during automatic straight running. When it is detected, the control device 100 does not reflect the steering operation of the steering wheel 35 or makes the steering wheel 35 immobile.

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 is immobile means that the operating torque of the steering actuator 206 is increased to bring the steering wheel into a locked state.

With the above configuration, it is possible to prevent the traveling direction from shifting after resuming the traveling, so that the working traveling is performed in a straight line and the working accuracy is improved.

The steering wheel 35 is automatically steered by the steering actuator 206 during automatic straight running, but the state of the field on the course is not suitable for automatic straight running (rough, deep field depth, etc.), and there are obstacles. In situations such as doing so, it is necessary to take evasive 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 steering wheel shaft 351 that rotates in conjunction with the steering operation of the steering wheel 35, and an output gear 353 is provided on the steering actuator 206.

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

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 becomes stronger even when the steering actuator 206 is operating in order to prevent the manual operation of the steering wheel 35 from being hindered. To do.

As a result, it is possible to prevent the force required for manual operation of the handle 35 from increasing even during automatic straight-ahead travel, so that operability is improved and fields and obstacles that may affect driving are reliably avoided. Because it can be done, the safety of work is ensured.

In FIG. 1, a depth sensor 103 composed of an ultrasonic sensor is attached to the traveling vehicle body 2 in front of the front wheel 10 toward the field scene to detect the distance to the water storage surface, and the front wheel 10 detects the fertility of the field. An energization sensor 104 is provided to detect the fertility of the field, or a temperature sensor 105 is provided on the traveling vehicle body 2 to detect the outside air temperature, and each of them is displayed on the control panel 38 by the operator. Make it easier to recognize the condition of the field. Further, when the temperature sensor 105 detects an abnormally low temperature, it determines that there is no water in the field and weakens the control output to the steering actuator 206, and when the detection value of the energization sensor 104 is high, it determines that the field is soft and the steering actuator. 206 edition Increases the control output.

Next, a configuration in which a roof 110 covering the upper part of the work seat 41 is provided will be described with reference to FIGS. 15 to 19.

In the first embodiment of FIG. 15, the resin-molded roof 110 is attached to the left and right attachment pieces 95L and 95R provided on the front frame 201a of the antenna frame 201 and the rear attachment crosspiece 96 of the rear frame 201b. The front-rear width of the roof 110 is the distance between the steering wheel 35 and the fertilizer application device 5, and the left-right width is slightly narrower than the left-right width of the traveling vehicle body 2. The GPS antenna 200 is located above the roof 110.

In the second embodiment of FIG. 16, the left and right side roof arms 111L and 111R are pivotally supported on the upper left and right brackets 114 of the front frame 201a, and the left and right side roof arms 111L and 111R are fixed to the fixing holes of the bracket 114 with the lock pin 113 so as to be openable and closable. A curtain-shaped roof 110 is stretched between the rear frame 201b and the central rod 201bc, and the left and right side roof arms 111L and 111R are aligned with the central rod 201bc to close the roof 110 when not in use.

In the third embodiment of FIG. 18, left and right roof columns 115L and 115R are provided on the side step frame 116 to which the side step 117 is attached to the side of the floor step 33, and the resin molded roof 110 is provided on the left and right roof columns 115L and 115R. As shown in FIG. 19, the left and right roof columns 115L and 115R are bent rearward at the upper and lower middle portions so that the roof 110 can be stored low.

The present invention can be applied not only to a passenger rice transplanter but also to various field work machines such as an automatically traveling seeder equipped with a field work device.

2 Traveling vehicle body 41 Work seat 100 Control device 102 Radio wave detection device 110 Roof 199 Positioning device 200 GPS antenna 201 Antenna frame 205 Automatic steering device 206 Steering actuator 209 Field recognition means (work detection sensor)

Claims (3)

Based on the position information from the positioning device (199), the control device (100) outputs a steering signal to the steering actuator (206) of the automatic steering device (205) to detect the field state in the field work vehicle that autonomously travels. A field recognition means (209) is provided, and a steering control signal is output from the control device (100) to the steering actuator (206) based on the field state detected by the field recognition means (209).
The field recognition means (209) is a work detection sensor that detects the rotation of the leveling rotor (63). When the work detection sensor detects a rotation higher than a predetermined value, it is stronger than a predetermined value, and when it detects a rotation lower than a predetermined value, it is determined. weaker than the value, the automatic steering system圃field work vehicle and outputs a steering control signal to said steering actuator (206). Based on the position information from the positioning device (199), the control device (100) outputs a steering signal to the steering actuator (206) of the automatic steering device (205) to detect the field state in the field work vehicle that autonomously travels. A field recognition means (209) is provided, and a steering control signal is output from the control device (100) to the steering actuator (206) based on the field state detected by the field recognition means (209).
The positioning device (199) is provided with a radio wave detection device (102) for detecting the strength of the radio wave from the GPS antenna (200), and when the radio wave detected by the radio wave detection device (102) is lower than a predetermined value, the steering actuator ( automatic steering system圃field work vehicle and outputs a steering control signal for slower than a predetermined value the slower and traveling speed predetermined value the operating speed of 206). An antenna frame (201) for attaching the GPS antenna (200) is provided above the work seat (41) of the traveling vehicle body (2), and a roof (110) is provided above the antenna frame (201). The automatic steering device for a field work vehicle according to claim 2 .

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