JP6832719B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle that works in the field.

In a passenger-type rice transplanter, which is an example of a work vehicle that works in a field, as disclosed in Patent Document 1, seedlings are planted while traveling substantially straight from one ridge toward the other ridge in the field. Work such as planting seedlings with an attachment device and supplying fertilizer to the field with a fertilizer application device. Next, when the traveling machine reaches the other ridge, the work running is interrupted, a turn is made at the other ridge, and the next work running is started from the other ridge toward one ridge. And turning is repeated.

Japanese Unexamined Patent Publication No. 2010-20711 (see FIG. 6)

As described above, there is room for improvement in reducing the burden on the driver who drives the work vehicle in the work vehicle that repeatedly runs and turns.
An object of the present invention is to reduce the burden on the driver in the work vehicle as described above.

The work vehicle of the present invention
A work device that works on the field, a positioning unit that detects the position of the traveling machine, and
A work travel line acquisition unit that acquires a work travel line on which the traveling machine travels,
A swivel line acquisition unit for acquiring a swivel line connecting the end portion of the work travel line and the end portion of the next work travel line is provided.
Based on the position of the traveling machine, an automatic running control unit that automatically controls the traveling machine so that the traveling machine travels along the work running line.
An automatic turning control unit that automatically controls the traveling machine is provided so that the traveling machine travels along the turning line based on the position of the traveling machine.
A control unit for switching between a work mode in which the automatic driving control unit operates and a turning mode in which the automatic turning control unit operates is provided.
Right and left side clutches that can transmit and cut power to the right and left traveling devices,
It is provided with a side clutch operating unit that operates both the right and left side clutches in the transmission state when going straight and operates the side clutch on the turning center side in the disengaged state when turning.
The control unit
Based on the position of the traveling machine, the transition from the working traveling line to the turning line of the traveling machine switches to the turning mode, and the transition to the transmission state of both the right and left side clutches causes the movement. Switch to work mode.

According to the present invention, a work running line on which a traveling machine travels while working on a field by a working apparatus, and a turning line connecting an end of the work traveling line and the end of the next work traveling line are set. Will be done.
As a result, in the state of being switched to the work mode, the traveling machine automatically travels along the working running line while the position of the traveling machine is detected by the positioning unit, and the work device works on the field. It can be carried out.
In the state of being switched to the turning mode, the traveling machine automatically travels along the turning line while the position of the traveling machine is detected by the positioning unit.
As described above, the traveling machine automatically travels along the work traveling line and the turning line while switching to the working mode and the turning mode, and the working running and turning are repeated. It is possible to improve workability by reducing the burden on the person.
In general, in a work vehicle that works in a field, the work running is often in a straight-ahead state or a substantially straight-ahead state in which the direction is gradually changed. On the other hand, the turn is often a small turn with a small turning radius such as a 180 degree turn.
As a result, the autopilot of the traveling aircraft along the work traveling line and the autopilot of the traveling aircraft along the turning line are significantly different in the control state of the autopilot of the traveling aircraft, and one control unit may be used. The autopilot of the traveling aircraft along the work traveling line and the autopilot of the traveling aircraft along the turning line increase the control load.
According to the present invention, the automatic traveling control unit includes an automatic traveling control unit that automatically controls the traveling vehicle along the work traveling line and an automatic turning control unit that automatically controls the traveling aircraft along the turning line. Can be easily configured so that the autopilot of the traveling aircraft along the work traveling line can be appropriately performed, and the automatic turning control unit is appropriately used for the autopilot of the traveling aircraft along the turning line. It can be easily configured into something that can be done.
According to the present invention, by providing the automatic traveling control unit and the automatic turning control unit as described above, the traveling machine body can travel accurately along the working traveling line and the turning line, and the traveling performance of the work vehicle can be improved. Can be improved.
According to the present invention, since the work traveling line and the turning line are recognized as position data and the position of the traveling machine body is recognized as positioning data, the positional relationship between the working running line and the turning line and the traveling machine body can be easily recognized. it can.

In work vehicles such as passenger-type rice transplanters, passenger-type direct seeders, and combine harvesters, the right and left traveling devices are equipped with right and left side clutches that can transmit and cut power, and right and left side clutches when traveling straight. There is a work vehicle in which both of them are operated in the transmission state and the side clutch on the turning center side is operated in the shutoff state when turning. At the time of turning, the side clutch on the turning center side is operated in the disengaged state to set the traveling device on the turning center side to the free rotation state, so that the state in which the field is disturbed by the traveling device on the turning center side can be suppressed.
In the above-mentioned state, when both the right and left side clutches are operated in the transmission state, it can be determined that the traveling machine is in the working running state, and when the side clutch on the turning center side is operated in the shutoff state, It can be determined that the traveling aircraft is in a turning state.

As a result, the state in which the working mode should be switched to the turning mode can be appropriately recognized by the position of the traveling aircraft, and the state in which the working mode should be switched to the working mode can be appropriately recognized by the right and left side clutches. Then, the switching to the working mode and the switching to the turning mode can be appropriately performed.

The work vehicle of the present invention
A work device that works on the field, a positioning unit that detects the position of the traveling machine, and
A work travel line acquisition unit that acquires a work travel line on which the traveling machine travels,
A swivel line acquisition unit for acquiring a swivel line connecting the end portion of the work travel line and the end portion of the next work travel line is provided.
Based on the position of the traveling machine, an automatic running control unit that automatically controls the traveling machine so that the traveling machine travels along the work running line.
An automatic turning control unit that automatically controls the traveling machine is provided so that the traveling machine travels along the turning line based on the position of the traveling machine.
A control unit for switching between a work mode in which the automatic driving control unit operates and a turning mode in which the automatic turning control unit operates is provided.
Right and left side clutches that can transmit and cut power to the right and left traveling devices,
It is provided with a side clutch operating unit that operates both the right and left side clutches in the transmission state when going straight and operates the side clutch on the turning center side in the disengaged state when turning.
The control unit
The shift to the disengaged state of the side clutch on the turning center side switches to the swivel mode, and the shift to the transmission state of both the right and left side clutches switches to the working mode.

According to the present invention, a work running line on which a traveling machine travels while working on a field by a working apparatus, and a turning line connecting an end of the work traveling line and the end of the next work traveling line are set. Will be done.
As a result, in the state of being switched to the work mode, the traveling machine automatically travels along the working running line while the position of the traveling machine is detected by the positioning unit, and the work device works on the field. It can be carried out.
In the state of being switched to the turning mode, the traveling machine automatically travels along the turning line while the position of the traveling machine is detected by the positioning unit.
As described above, the traveling machine automatically travels along the work traveling line and the turning line while switching to the working mode and the turning mode, and the working running and turning are repeated. It is possible to improve workability by reducing the burden on the person.
In general, in a work vehicle that works in a field, the work running is often in a straight-ahead state or a substantially straight-ahead state in which the direction is gradually changed. On the other hand, the turn is often a small turn with a small turning radius such as a 180 degree turn.
As a result, the autopilot of the traveling aircraft along the work traveling line and the autopilot of the traveling aircraft along the turning line are significantly different in the control state of the autopilot of the traveling aircraft, and one control unit may be used. The autopilot of the traveling aircraft along the work traveling line and the autopilot of the traveling aircraft along the turning line increase the control load.
According to the present invention, the automatic traveling control unit includes an automatic traveling control unit that automatically controls the traveling vehicle along the work traveling line and an automatic turning control unit that automatically controls the traveling aircraft along the turning line. Can be easily configured so that the autopilot of the traveling aircraft along the work traveling line can be appropriately performed, and the automatic turning control unit is appropriately used for the autopilot of the traveling aircraft along the turning line. It can be easily configured into something that can be done.
According to the present invention, by providing the automatic traveling control unit and the automatic turning control unit as described above, the traveling machine body can travel accurately along the working traveling line and the turning line, and the traveling performance of the work vehicle can be improved. Can be improved.
In work vehicles such as passenger-type rice transplanters, passenger-type direct seeders, and combine harvesters, the right and left traveling devices are equipped with right and left side clutches that can transmit and cut power, and right and left side clutches when traveling straight. There is a work vehicle in which both of them are operated in the transmission state and the side clutch on the turning center side is operated in the shutoff state when turning. At the time of turning, the side clutch on the turning center side is operated in the disengaged state to set the traveling device on the turning center side to the free rotation state, so that the state in which the field is disturbed by the traveling device on the turning center side can be suppressed.
In the above-mentioned state, when both the right and left side clutches are operated in the transmission state, it can be determined that the traveling machine is in the working running state, and when the side clutch on the turning center side is operated in the shutoff state, It can be determined that the traveling aircraft is in a turning state.

Thereby, according to the present invention, the right and left side clutches can appropriately recognize the state in which the working mode should be switched to the turning mode, and the state in which the working mode should be switched to the working mode can be appropriately recognized. As a result, the switching to the working mode and the switching to the turning mode can be appropriately performed.

In the present invention
The control unit
When switched to the work mode, it is preferable to put the work device in a working state in which work is performed on the field, and when switched to the turning mode, it is preferable to put the work device in a non-working state in which work is not performed on the field. is there.

According to the present invention, when the turning mode is switched, the working device is automatically operated to the non-working state, and when the working mode is switched to, the working device is automatically operated to the working state. The operability can be improved.

Work vehicles that work in the field include riding-type rice transplanters, riding-type direct seeders, combine harvesters, and tractors.
In the riding type rice transplanter and the riding type direct sowing machine, the working state of the working device is that the seedling planting device (corresponding to the working device) and the direct sowing device (corresponding to the working device) are lowered to the field and the seedling planting device is operated. And it is considered that the direct seeding device is in operation. The non-working state of the working device is considered to be a state in which the seedling planting device and the direct sowing device are stopped and the seedling planting device and the direct sowing device are raised from the field (or lowered to the field). ..

In the combine, the working state of the working device is considered to be a state in which the cutting section (corresponding to the working device) is lowered to the field and the cutting section is operated. The non-working state of the working device is considered to be a state in which the cutting section is operated (or stopped) and the cutting section is lifted from the field.

In the tractor, the working state of the working device is considered to be a state in which the rotary tilling device (corresponding to the working device) is lowered to the field and the rotary tilling device is operated. The non-working state of the working device is considered to be a state in which the rotary tilling device is stopped (or operated) and the rotary tilling device is lifted from the field.

In the first reference form, it is an overall side view of a passenger-type rice transplanter. In the first reference form, it is an overall plan view of a passenger-type rice transplanter. In the first reference embodiment, it is a schematic plan view which shows the steering operation system of a front wheel, the transmission system to a front wheel and a rear wheel. In the first reference embodiment, it is a figure which shows the linkage state of a control device and each part. It is a top view which shows the setting state of the work running line and the turning line in 1st reference form. It is a top view which shows the setting state of the work running line and the turning line in 1st reference form. It is a top view which shows the setting state of the work running line and the turning line in 1st reference form. In the first reference embodiment, it is a top view which shows the traveling state along the work traveling line and the turning line of a traveling machine body. In the first reference embodiment, it is a top view which shows the traveling state along the work traveling line and the turning line of a traveling machine body. In the first reference embodiment, it is a top view which shows the traveling state along the work traveling line and the turning line of a traveling machine body. In the first reference embodiment, it is a top view which shows the traveling state in the rotating work traveling of a traveling machine body. In the first reference embodiment, it is a top view which shows the setting state of the work running line and the turning line which are different from the state shown in FIG. In the first reference embodiment, it is a top view which shows the transition state from the work traveling line to the turning line of the traveling machine, and the transition state from the turning line to the working traveling line. In the second reference embodiment, it is a top view which shows the traveling state along the turning line of a traveling machine body. In the third reference embodiment, it is a top view which shows the traveling state along the turning line of a traveling machine body. In the fifth reference embodiment, it is a top view which shows the traveling state along the work traveling line and the turning line of a traveling machine body. In the sixth reference embodiment, it is a top view which shows the traveling state along the work traveling line and the turning line of the traveling machine body.

In the embodiment of the present invention, a six-row planting type passenger-type rice transplanter, which is an example of a work vehicle for planting in a field (paddy field), is shown.
Unless otherwise specified, the front-rear direction and the left-right direction in the embodiment of the present invention are described as follows. When the traveling machine body 50 is traveling, the traveling direction on the forward side is "forward", and the traveling direction on the reverse side is "rear". The direction corresponding to the right side is "right" and the direction corresponding to the left side is "left" with respect to the forward-looking posture in the front-back direction.

Hereinafter, the first reference form to the sixteenth reference form for clarifying the present invention will be described with reference to FIGS. 1 to 17.
(1st reference form)
(Overall configuration of passenger rice transplanter)
As shown in FIGS. 1 and 2, the passenger-type rice transplanter has a link mechanism 3 and a link mechanism 3 and a rear portion of a traveling machine body 50 provided with right and left front wheels 1 and right and left rear wheels 2 (corresponding to traveling devices). A hydraulic cylinder 4 for raising and lowering the link mechanism 3 is provided, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3.

As shown in FIGS. 1 and 2, the seedling planting device 5 is rotatably arranged on the right and left sides of the planting transmission case 6 and the rear portion of the planting transmission case 6 arranged at predetermined intervals in the left-right direction. It is provided with a supported rotating case 7, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, a seedling stand 10, and the like.

As shown in FIGS. 1 and 4, right and left markers 19 are provided on the right and left sides of the seedling planting device 5, and the working posture of touching the field (see FIG. 1) and upward from the field. It can be freely changed to a remote storage posture (see FIG. 4). The right and left markers 19 include an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported by the tip portion of the arm portion 19a so as to be freely rotatable. An electric motor 21 for operating the right and left markers 19 in the working posture and the retracting posture is provided.

(Transmission system to front and rear wheels)
As shown in FIGS. 1 and 3, the power of the engine 31 provided in the front portion of the traveling machine body 50 is transmitted to the hydrostatic continuously variable transmission 33 and the mission case 34 via the transmission belt 32, and the transmission Transmission from the auxiliary transmission (not shown) inside the case 34 to the right and left front wheels 1 via the front wheel differential mechanism (not shown) and the transmission shaft inside the front axle case 35 (not shown). Will be done.

As shown in FIGS. 1 and 3, the power of the auxiliary transmission is the transmission shaft 36, the input shaft 38 of the rear axle case 37, the bevel gear 38a fixed to the input shaft 38, the bevel gear 39a and the bevel gear 39a that mesh with the bevel gear 38a. It is transmitted to the right and left rear wheels 2 via the fixed transmission shaft 39 and the right and left side clutches 40.

As shown in FIGS. 1, 2 and 4, a shift lever 45 is provided on the left lateral side of the steering handle 20, and the continuously variable transmission 33 is operated by the shift lever 45. The continuously variable transmission lever 45 can operate the continuously variable transmission 33 steplessly from the neutral position N to the forward side F and the reverse side R.

As shown in FIG. 3, the steering member 41 is swingably supported around the vertical axis core P2 at the lower part of the mission case 34, and as shown in FIGS. 1 and 2, the steering handle is on the front side of the driver's seat 13. 20 is provided. The steering member 41 is swung by the steering handle 20, and the tie rod 42 is connected to the steering member 41 and the right and left front wheels 1. By operating the steering wheel 20, the right and left front wheels 1 can be steered from the straight-ahead position A1 over the right and left steering limits A3.

As shown in FIG. 3, the right and left side clutches 40 are of a friction multi-plate type and are urged to a transmission state by a spring (not shown). The right and left operating shafts 43 (corresponding to the side clutch operating portions) that operate the right and left side clutches 40 in a shut-off state against the springs are supported downward by the rear axle case 37, and the steering member 41. The right and left operating rods 44 (corresponding to the side clutch operating portion) are connected to the right and left operating shafts 43. The right and left operating rods 44 are provided with elongated holes 44a for flexibility at the connecting portions with the right and left operating shafts 43.

As shown in FIG. 3, when the right and left front wheels 1 are steered within the range of the straight-ahead position A1 and the right and left set angles A2, the accommodation of the elongated holes 44a of the right and left operating rods 44 causes The right and left side clutches 40 are operated in the transmission state. As a result, the traveling aircraft 50 moves forward (backward) in a state where power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (the transmission state of the right and left side clutches 40).

As shown in FIG. 3, when the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, the range of the elongated hole 44a of the right operating rod 44 is exceeded. The right operating rod 44 is pulled, and the right operating shaft 43 operates the right side clutch 40 in a disengaged state.
As a result, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (right side clutch). The traveling machine body 50 turns to the right while the clutch state (40) is freely rotating.

As shown in FIG. 3, when the right and left front wheels 1 are steered to the left steering limit A3 side beyond the left set angle A2, the range of the elongated hole 44a of the left operating rod 44 is exceeded. The left operating rod 44 is pulled, and the left operating shaft 43 operates the left side clutch 40 in a disengaged state.
As a result, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch). The traveling machine body 50 turns to the left while the clutch state (40) is freely rotating.

As shown in FIG. 3, when the right and left front wheels 1 are steered from the right (left) steering limit A3 side to the right (left) set angle A2 to the straight-ahead position A1 side, the clutch state is cut off. The right (left) side clutch 40 that has been operated in the above is operated to the transmission state, and the right and left side clutches 40 are returned to the transmission state.

(Transmission system to seedling planting device)
As shown in FIGS. 1 and 4, in the mission case 34, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 via the planting clutch 26 and the PTO shaft 25, and is planted. An electric motor 28 that operates the clutch 26 in a transmission and disengagement state is provided.

As shown in FIGS. 1 and 2, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is driven to the left and right by reciprocating and laterally feeding, and the rotating case 7 is counterclockwise to the paper surface of FIG. It is rotationally driven in the clockwise direction, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling stand 10 and plant them in the field. When the planting clutch 26 is operated in the disconnected state, the seedling stand 10 and the rotating case 7 are stopped.

(Automatic elevating control of seedling planting device)
As shown in FIG. 4, the rear portion of the central float 9 is swingably supported up and down around the horizontal axis P1 of the seedling planting device 5, and the height of the central float 9 with respect to the seedling planting device 5 is high. The height sensor 22 of the potentiometer type for detecting the above is provided, and the detection value of the height sensor 22 is input to the control device 23. As the traveling machine 50 advances, the central float 9 follows the field on the ground, and the height from the field (center float 9) to the seedling planting device 5 is detected by the detection value of the height sensor 22. be able to.

As shown in FIG. 4, the elevating operation unit 57 is provided as software in the control device 23, and the control valve 24 for supplying and discharging hydraulic oil to the hydraulic cylinder 4 is operated by the elevating operation unit 57. When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 contracts, and the seedling planting device 5 rises. When the control valve 24 is operated to the lowering position, hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

As shown in FIG. 4, in the operating state of the automatic elevating control, the elevating operation is performed so that the seedling planting device 5 is maintained at the set height from the field based on the height from the field to the seedling planting device 5. The control valve 24 is operated by the unit 57, the hydraulic cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down. As a result, the planting depth of the seedlings is maintained at the set depth.

As shown in FIG. 4, the clutch operation unit 58 and the marker operation unit 59 are provided in the control device 23 as software. As will be described later, the electric motor 28 is operated by the clutch operating unit 58 to operate the planting clutch 26 in the transmission and cutoff states, and the marker operating unit 59 operates the electric motor 21 to right and left. Marker 19 is manipulated to act and retract.

(Configuration of detection of the position of the traveling aircraft and the orientation of the traveling aircraft)
As shown in FIGS. 1 and 2, right and left support frames 16 are provided on the right and left portions of the front portion of the traveling machine body 50, and the spare seedling rest 15 is supported by the support frame 16. .. A support frame 17 is connected over the upper part of the right and left support frames 16.

As shown in FIGS. 1 and 2, a measuring device 30 (corresponding to a positioning unit) is attached to a portion of the support frame 17 located at the left and right center CL of the traveling machine body 50 in a plan view. The measuring device 30 is provided with a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measurement device (not shown) that detects the inclination (pitch angle, roll angle) of the traveling machine body 50. The measuring device 30 outputs positioning data indicating the position of the traveling machine body 50.

As shown in FIGS. 1 and 2, an inertial measurement unit 48 for measuring inertial information is attached to a portion of the rear axle case 37 located at the left and right center CL of the traveling machine body 50 in a plan view.
The inertial measurement of the inertial measurement unit 48 and the measuring device 30 is configured by an IMU (Inertial Measurement Unit).

As a typical example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System), GPS (Global Positioning System) can be mentioned. GPS receives the measuring device 30 by using a plurality of GPS satellites orbiting the earth, a control station that tracks and controls the GPS satellites, and a receiving device provided in the object to be positioned (traveling aircraft 50). It measures the position of the device.

The inertial measurement unit 48 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the traveling machine body 50 (turning angle of the traveling machine body 50), and an acceleration sensor (not shown) that detects acceleration in three axial directions orthogonal to each other. (Not shown). The inertial information measured by the inertial measurement unit 48 includes directional change information detected by the gyro sensor and position change information detected by the acceleration sensor.
As a result, the measuring device 30 and the inertial measurement unit 48 detect the position of the traveling machine body 50 and the orientation of the traveling machine body 50.

(Configuration related to automatic driving of traveling aircraft)
As shown in FIGS. 1, 2 and 4, the operating position of the shift lever 45 is input to the control device 23. A center mascot 14 is provided at the left and right center CL positions of the traveling machine body 50 in a plan view at the front portion of the traveling machine body 50. A steering motor 51 for operating the steering handle 20 (steering member 41) is provided, and a shifting motor 53 for operating the shifting lever 45 is provided.

As shown in FIG. 4, a Wi-Fi unit 47 corresponding to a smartphone 46 (mobile information terminal) carried by a driver is provided in the traveling machine body 50. The smartphone 46 and the Wi-Fi unit 47 communicate wirelessly with each other according to the Wi-Fi standard, and the Wi-Fi unit 47 and the control device 23 are connected by a CAN. The smartphone 46 and the external computer 49 can communicate with each other by wireless data communication via the Internet.

As shown in FIG. 4, the obstacle position acquisition unit 52, the automatic deceleration unit 54, the work travel line acquisition unit 55, the turning line acquisition unit 56, the control unit 60, the work travel line setting unit 61, the automatic travel control unit 62, and the rotation The line setting unit 63, the automatic turning control unit 64, and the display control unit 65 are provided in the control device 23 as software.

As shown in FIGS. 2 and 4, a push button type operation unit 18 for artificially operating the automatic traveling control unit 62 and the automatic turning control unit 64 in the operating state and the stopped state is provided in the grip portion of the speed change lever 45. The operation signal of the operation unit 18 is input to the control device 23. A display device 27 composed of a liquid crystal display or the like is provided on the front side of the steering wheel 20.

(Acquisition of position data of ridge line)
As shown in FIG. 5, for example, in a field provided with ridges B1, B2, B3, B4, the position data of the ridge lines B11, B21, B31, B41 of the ridges B1 to B4 and the position data of the exit B23 of the field. Is obtained in advance by, for example, any one (or a plurality) of the methods shown in the following (1) to (5), and stored in the computer 49.

(1) The measuring device 30 shown in FIGS. 1 and 2 is removed from the traveling machine body 50, and the worker holding the measuring device 30 walks along the ridge lines B11 to B41, whereby the worker by the measuring device 30 Positioning data indicating the position of the above is obtained as the position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field.

(2) By running the passenger-type rice transplanter (with the measuring device 30 attached) shown in FIGS. 1 and 2 along the ridge lines B11 to B41, the position of the traveling machine 50 by the measuring device 30 can be determined. The indicated positioning data is obtained as the position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field.

In this case, the measuring device 30 is attached to the portion located at the left and right center CL of the traveling machine body 50, and the outer end portion of the traveling machine body 50 (seedling planting device 5) is located at the ridge lines B11 to B41. Therefore, from the positioning data indicating the position of the traveling machine body 50 by the measuring device 30, the position outside by 1/2 of the width of the traveling machine body 50 (seedling planting device 5) is the position data of the ridge lines B11 to B41 and the field. The correction is performed so as to be the position data of the exit B23 of.

(3) The same passenger-type rice transplanter (or another passenger-type rice transplanter or passenger-type seeder equipped with the measuring device 30) has traveled (worked) in the field in the past, and the position of the traveling machine 50 that has traveled in the field. When the positioning data indicating the above is obtained, this positioning data is used as the position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field. In this case, the correction described in the preceding paragraph (2) is performed.

(4) Various work vehicles such as combines and tractors equipped with the measuring device 30 have traveled (worked) in the field in the past (or present) to obtain positioning data indicating the position of the work vehicle that has traveled in the field. In this case, this positioning data is used as the position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field.

(5) If there is a commercially available storage medium that records the position data of the ridge lines B11 to B41 and the position data of the outlet B23 of the field, this storage medium is used.

(Setting of work running line and turning line) (Part 1)
As shown in FIG. 5, when the passenger-type rice transplanter arrives near the field (position K1 of the traveling machine 50), the position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field are transmitted from the computer 49 to the smartphone 46. Will be sent to. The position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field are transmitted from the smartphone 46 to the Wi-Fi unit 47, and sent from the Wi-Fi unit 47 to the control device 23.

The state shown in FIG. 5 is a state in which the passenger-type rice transplanter is located at the entrance B22 of the field. In this case, even if the riding-type rice transplanter is not located at the entrance B22 of the field, if the riding-type rice transplanter arrives near the field other than the entrance B22 of the field, the position data of the ridge lines B11 to B41 and the field The position data of the exit B23 of the above is transmitted from the computer 49 to the smartphone 46.

As a result, the ridge lines B11 to B41 are acquired and stored in the obstacle position acquisition unit 52 as the position data of the ridges B1 to B4 (obstacle position), and the exit B23 of the field is used as the position data of the obstacle. It is acquired and stored in the position acquisition unit 52.

In this case, the position data of the ridge lines B11 to B41 and the position data of the field exit B23 are directly transmitted from the computer 49 to the control device 23 without providing the traveling machine body 50 with the Wi-Fi unit 47 that wirelessly communicates with the smartphone 46. It may be sent to the obstacle position acquisition unit 52 and acquired and stored in the obstacle position acquisition unit 52.

The work travel line setting unit 61 and the swivel line setting unit 63 will be described later (setting of the work travel line and the swivel line) (No. 2) based on the position data of the ridge lines B11 to B41 and the position data of the exit B23 of the field. ), And as shown in FIGS. 5, 6 and 7, the work traveling lines L01 to L07 and the turning lines LL1 to LL6 are set. The field is assumed to be a rectangular field in a plan view in which the ridge lines B11 and B21 are parallel and the ridge lines B31 and B41 are parallel.

In this case, as shown in FIG. 11, in the rotating work traveling LD1 to LD4 described later, when the final rotating work traveling LD4 is completed, the passenger-type rice transplanter moves to the field exit B23 without changing the direction of the traveling machine 50. The work running lines L01 to L07 and the turning lines LL1 to LL6 are set so that they can go out from.

(Setting of work running line and turning line) (Part 2)
As shown in FIG. 5, from the ridge lines B11 and B21 to the position on the center side of the field by the width of the traveling machine body 50 (seedling planting device 5), along the ridge lines B11 and B21, the headland lines LA1 and LA2 Is set. Headland lines LB1 and LB2 are set along the ridges B31 and B41 at positions on the center side of the field by the width of the traveling machine body 50 (seedling planting device 5) from the ridges B31 and B41.

As shown in FIG. 6, the work travel line setting unit 61 allows a plurality of work travel lines L to be parallel to the headland lines LB1 and LB2 and parallel to each other between the headland lines LA1 and LA2. A predetermined interval W1 (width of the traveling machine body 50 (seedling planting device 5)) is placed and set over the headland lines LA1 and LA2.

As shown in FIG. 7, the work travel lines L01, L02, L03, L04, L05, L06, L07 are set, and the directions of the work travel lines L01 to L07 (see the arrows of the work travel lines L01 to L07 shown in FIG. 7). Is set.

As shown in FIG. 7, the start end portions (one end portion) of the work travel lines L01 to L07 are the work start positions C1, C2, C3, C4, C5, C6, and C7. The end portions (the other end portions) of the work travel lines L01 to L07 are the work end positions D1, D2, D3, D4, D5, D6, and D7. The work start position at which the work is first started is the position K2.

As shown in FIG. 7, a circular swirl line LL1 in a plan view is set in the field so as to connect the work end position D1 and the work start position C2. Similarly, work end position D2 and work start position C3, work end position D3 and work start position C4, work end position D4 and work start position C5, work end position D5 and work start position C6, work end position D6 and work start. Circular swivel lines LL2, LL3, LL4, LL5, LL6 are set so as to connect to the position C7.

As a result, the positions of the work start positions C1 to C7, the work end positions D1 to D7, the work travel lines L01 to L07, the turning lines LL1 to LL6, and the traveling machine body 50 by the measuring device 30 are displayed by the display control unit 65. (See FIG. 4).

When the driver determines that there is no problem with the work traveling lines L01 to L07 and the turning lines LL1 to LL6 displayed on the display device 27, the driver presses the approval button (not shown) to operate. As a result, the position data of the work travel lines L01 to L07, the work start positions C1 to C7, and the work end positions D1 to D7 are acquired and stored in the work travel line acquisition unit 55 as position data. At the same time, the turning lines LL1 to LL6 are acquired and stored in the turning line acquisition unit 56 as position data.

As shown in FIG. 12, when one entrance / exit B24 exists in the field, in the rotating work traveling LD1 to LD4 described later, when the final rotating work traveling LD4 is completed, the traveling machine body 50 is used without changing the direction. The work traveling lines L01 to L07 and the turning lines LL1 to LL6 are set so that the rice transplanter can exit from the entrance / exit B24 of the field. The work start position at which the work is first started is the position K10.

(Traveling of the traveling aircraft along the work traveling line and turning line) (Part 1)
As shown in FIG. 7, the driver operates the operation unit 18 in a state where the work start positions C1 to C7, the work end positions D1 to D7, the work travel lines L01 to L07, and the turning lines LL1 to LL6 are set. The automatic driving control unit 62 performs the following operations.

As shown in FIG. 8, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K1, the speed change motor is based on the position of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertial measuring device 48. 53 (shift lever 45) and steering motor 51 (steering handle 20) are operated.
As a result, as shown in FIG. 8, the traveling machine body 50 starts at the position K1, travels along the route LC1, and stops at the position K2 as the work start position where the work is first started.

As shown in FIG. 8, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K2, the control valve 24 is operated by the elevating operation unit 57 and the clutch operation unit 58 is operated as described later. The planting clutch 26 (electric motor 28) is operated, the right and left markers 19 (electric motor 21) are operated by the marker operation unit 59, and the display device 27 is operated by the display control unit 65.

As described later (running of the traveling machine along the work running line and the turning line) (No. 2), the control unit is based on the position of the traveling machine 50 by the measuring device 30 and the inertia information by the inertial measuring unit 48. The speed change lever 45 (speed change motor 53) and the control handle 20 (steering motor 51) are operated by the automatic travel control unit 62, the automatic turning control unit 64, and the automatic deceleration unit 54.

The automatic traveling control unit 62 operates the shifting lever 45 (transmission motor 53) to a predetermined shifting position so that the traveling machine 50 travels along the working traveling lines L01 to L07 (the position of the measuring device 30 works). Operate the steering handle 20 (steering motor 51) so as to be located on the traveling lines L01 to L07).

The automatic turning control unit 64 operates the speed change lever 45 (speed change motor 53) to a predetermined low speed position so that the traveling machine body 50 travels along the turning lines LL1 to LL6 (the position of the measuring device 30 is the turning line). Operate the steering handle 20 (steering motor 51) so as to be located at LL1 to LL6).

A work mode in which the automatic driving control unit 62 operates (the automatic turning control unit 64 stops) and a turning mode in which the automatic driving control unit 64 operates (the automatic driving control unit 62 stops) are set. The control unit 60 switches to the working mode and the turning mode.

In the work mode, the traveling speed of the traveling machine body 50 is relatively high, the steering operation of the front wheel 1 is performed in a relatively small range near the straight-ahead position A1, and the steering operation speed of the front wheel 1 is relatively low. Is assumed.
The automatic traveling control unit 62 is provided with a control function suitable for the above-mentioned state when operating the shift lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51).

In the turning mode, the traveling speed of the traveling body 50 is relatively low, the steering operation of the front wheel 1 is performed in a large range over the right and left steering limits A3, and the steering operation speed of the front wheel 1 is relatively low. High speed conditions are assumed.
The automatic turning control unit 64 is provided with a control function suitable for the above-mentioned state when operating the shift lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51).

(Traveling of the traveling aircraft along the work traveling line and turning line) (Part 2)
As shown in FIG. 8, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K2, the mode is switched to the work mode.

As a result, the speed change lever 45 (speed change motor 53) is operated to a predetermined speed change position to start the traveling machine body 50, and the steering handle 20 (steering motor 51) is operated to move the traveling machine body 50 along the work traveling line L01. It is displayed on the display device 27 that the traveling machine body 50 has started traveling.

In this case, the seedling planting device 5 is lowered to the field from a position shortly before the seedling planting device 5 (planting arm 8) reaches the work start position C1, and the automatic raising / lowering control of the seedling planting device 5 is activated. The state is set (the planting clutch 26 is cut off), and the marker 19 on the right is operated to the working posture (the marker 19 on the left is the retracted posture). The display device 27 indicates that the seedling planting device 5 has been lowered to the field and that the marker 19 on the right has been operated to the working posture.

As shown in FIGS. 8 to 9, when the seedling planting device 5 (planting arm 8) reaches the work start position C1, the planting clutch 26 is operated in the transmission state to plant the seedlings from the work start position C1. Is started. The display device 27 indicates that the planting of the seedlings has started.

As a result, as shown in FIG. 9, seedlings are planted while the traveling machine body 50 travels along the working traveling line L01, and the marker 19 on the right is used to position the field corresponding to the working traveling line L02. An index is formed (see position K3 of traveling machine 50).

As shown in FIG. 9, when the seedling planting device 5 (planting arm 8) reaches the work end position D1, the planting clutch 26 is operated in the shut-off state (seedling planting is stopped), and the seedling planting device 5 The automatic ascending / descending control of the above is stopped, the seedling planting device 5 is operated to ascend from the field, and the marker 19 on the right is operated to the retracted posture.

In parallel with this, the transition from the work traveling line L01 to the turning line LL1 of the traveling machine body 50 switches from the working mode to the turning mode, and the traveling machine body 50 travels (turns) along the turning line LL1. (Refer to position K4 of the traveling machine body 50).
The display device 27 indicates that the seedling planting has stopped and the seedling planting device 5 has been raised, the marker 19 on the right has been operated to the retracted posture, and the turning to the right has been started. Is displayed.

As shown in FIG. 9, on the turning line LL1 (see position K4 of the traveling machine body 50), the seedling planting device 5 is lowered to the field from a position shortly before the traveling machine body 50 reaches the work start position C2, and the seedlings are seedled. The automatic elevating control of the planting device 5 is activated (the planting clutch 26 is cut off), and the left marker 19 is operated to the working posture (the right marker 19 is the retracted posture). The display device 27 indicates that the seedling planting device 5 has been lowered to the field and that the marker 19 on the left has been operated to the working posture.

As shown in FIGS. 9 to 10, when the seedling planting device 5 (planting arm 8) reaches the work start position C2, the planting clutch 26 is operated in the transmission state to plant the seedlings from the work start position C2. Is started, and the shift lever 45 (shift motor 53) is operated to a predetermined shift position. The display device 27 indicates that the planting of the seedlings has started.

In parallel with this, by shifting from the turning line LL1 of the traveling machine 50 to the working running line L02, the turning mode is switched to the working mode, and the traveling machine 50 is traveling along the working running line L02. , The seedlings are planted, and the marker 19 on the left forms an index at the position of the field corresponding to the work running line L03 (see position K5 of the running machine 50).

In the above state, it is detected by the headland lines LA1, LA2, LB1, LB2, the work start positions C1 to C7 and the work end positions D1 to D7, the work running lines L01 to L07, the turning lines LL1 to LL6, and the measuring device 30. The position of the traveling machine body 50 is displayed on the display device 27, and the traveling machine body 50 moves along the work traveling lines L01 and L02 and the turning line LL1 on the display device 27.

As described above, when the traveling machine 50 travels along the working traveling line L02, the marker 19 on the right corresponds to the working traveling line L02 in the traveling state along the working traveling line L01 of the previous traveling aircraft 50. An index is formed at the position of the field to be used (see position K3 of the traveling machine body 50 in FIG. 9).
As a result, the driver visually checks the display device 27 and at the same time visually checks the center mascot 14 and the index of the position of the field corresponding to the above-mentioned work traveling line L02, so that the traveling machine body 50 is brought to the working traveling line L02. It can be confirmed that the vehicle runs along.

As described above, as shown in FIGS. 9 and 10, traveling along the work traveling lines L01 to L07 of the traveling machine body 50 in the working mode, and turning lines LL1 to LL6 of the traveling machine body 50 in the turning mode. Running (turning) is performed along.

In this case, the center mascot 14, the right and left markers 19, may be abolished so that the right and left markers 19 do not form an index of the position of the field corresponding to the work running lines L02 to L07. .. In this configuration, the driver visually confirms that the traveling machine body 50 travels along the work traveling lines L02 to L07 by visually observing the display device 27.

(Running of the traveling aircraft along the ridge line and headland line)
As shown in FIG. 11, when the traveling machine body 50 reaches the work ending position D7 from the working running line L07 and finishes running along the working running lines L01 to L07, the traveling machine body 50 stops at the work ending position D7. ..

As shown in FIG. 11, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is stopped at the work end position D7, the position of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertial measuring device 48 are used. The speed change lever 45 (speed change motor 53) and the control handle 20 (steering motor 51) are operated, the traveling machine body 50 travels along the route LC2, the direction of the traveling machine body 50 is corrected, and the vehicle moves forward and backward. The traveling machine body 50 stops at the position K6.
After that, in the state where the traveling machine body 50 is located at the position K6, the driver operates the operation unit 18 in order to start the turning work.

As shown in FIG. 11, when the driver operates the operation unit 18 while the traveling machine body 50 is located at the position K6, the seedling planting device 5 is lowered to the field, and the seedling planting device 5 is automatically raised and lowered. Is activated (the planting clutch 26 is shut off), and the right and left markers 19 are held in the retracted posture without being operated by the working posture. The display device 27 indicates that the seedling planting device 5 has been lowered into the field.

After that, as shown in FIG. 11, the shift lever 45 (shift motor 53) is operated to a predetermined shift position by the work mode, the traveling machine body 50 is started, and the control handle 20 (steering motor 51) is operated. Then, the traveling machine body 50 travels along the ridge line B41 and the headland line LB2. At the same time as the traveling machine body 50 starts, the planting clutch 26 is operated in the transmission state, and the planting of seedlings is started from the position K6. The display device 27 indicates that the planting of the seedlings has started.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 travels along the ridge line B41 and the headland line LB2 (rotating work traveling LD1).

As shown in FIG. 11, when the rotating work traveling LD1 is completed and the front portion of the traveling machine body 50 reaches the ridge line B21, the planting clutch 26 is operated in the disconnected state (planting of seedlings is stopped), and the seedlings are stopped. The automatic elevating control of the planting device 5 is stopped, the seedling planting device 5 is lifted from the field, the speed change lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped.
Next, when the driver operates the operation unit 18, the turning mode corrects the direction of the traveling machine body 50 and moves forward and backward, so that the traveling machine body 50 stops at the position K7.

As shown in FIG. 11, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K7, the seedling planting device 5 is lowered to the field in the same manner as the above-mentioned rotating work traveling LD1. The automatic elevating control of the seedling planting device 5 is activated (the planting clutch 26 is cut off), and the right and left markers 19 are held in the retracted posture without being operated by the working posture. The display device 27 indicates that the seedling planting device 5 has been lowered into the field.

After that, according to the work mode, the speed change lever 45 (speed change motor 53) is operated to a predetermined shift position, the traveling machine body 50 is started, the steering handle 20 (steering motor 51) is operated, and the traveling machine body 50 is operated. It travels along the ridge line B21 and the headland line LA2, and at the same time as the traveling aircraft 50 starts, the planting clutch 26 is operated in the transmission state, and the planting of seedlings is started from the position K7. The display device 27 indicates that the planting of the seedlings has started.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 travels along the ridge line B21 and the headland line LA2 (rotating work traveling LD2).

After that, as shown in FIG. 11, similarly to the above-mentioned rotating work traveling LD1 and LD2, the rotating work traveling LD3 along the ridge line B31 and the headland line LB1 from the position K8, and the rotating work traveling LD3 from the position K8, and The rotating work traveling LD4 is performed along the ridge line B11 and the headland line LA1 from the position K9, and when the rotating work traveling LD4 is completed, the traveling machine body 50 leaves the field. As described above, the planting of seedlings in one field is completed.

In this case, the work traveling lines L01 to L07 and the turning lines LL1 to LL6 are set as described in (Setting of work traveling line and turning line) (No. 1) and (No. 2). As a result, when the last round work running LD4 is completed, the exit B23 of the field is located in front of the running machine 50, and the direction of the running machine 50 is changed from the last round work running LD4. Without having to, the passenger-type rice transplanter can exit from the field exit B23.

In this section (running of the traveling machine along the ridge line and the headland line), as shown in FIG. 11, the traveling machine 50 finishes running along the work running lines L01 to L07, and the work is completed. When the position D7 is reached, the traveling machine 50 does not stop at the work end position D7, and the traveling machine 50 is oriented along the subsequent route LC2, the rotating work traveling LD1 to LD4, and the positions K6 to K9. And the operation of the seedling planting device 5 (planting clutch 26) may be continuously and automatically performed so that the traveling machine body 50 stops at a position in front of the exit B23 of the field.

(Details of transition from work running line to turning line of running machine)
When the traveling machine 50 shifts from the working running line L01 to L06 to the turning lines LL1 to LL6 in the above-mentioned (running of the traveling machine along the work running line and the turning line) (No. 2), each part is as described below. It is working.
As shown in FIG. 13, the operating state of each part will be described by exemplifying the transition of the traveling machine body 50 from the working traveling line L01 to the turning line LL1.

Depending on the work mode, the position of the traveling machine 50 (measuring device 30) detected by the measuring device 30 and the position data of the ridge line B11 are recognized when the traveling machine 50 is traveling along the working running line L01. Therefore, the distance from the position of the traveling machine body 50 (measuring device 30) to the ridge line B11 is detected.

When the position of the traveling machine body 50 (measuring device 30) approaches the ridge line B11 beyond the position of the first set distance E1 from the ridge line B11, the work mode is switched to the turning mode, and the automatic deceleration unit 54 As a result, the speed change lever 45 (speed change motor 53) starts to be operated from a predetermined speed change position to the low speed side, and the running speed of the traveling machine body 50 starts to be decelerated.

In the above-mentioned state, the traveling machine body 50 travels along the work running line L01 in the turning mode, and the closer the position of the traveling machine body 50 (measuring device 30) is to the ridge line B11, the more the automatic deceleration unit 54 shifts gears. The lever 45 (speed change motor 53) is operated to the low speed side, and the traveling speed of the traveling machine body 50 is greatly reduced.

When the position of the traveling machine body 50 (measuring device 30) is recognized, the traveling machine body 50 is based on the length from the measuring device 30 to the seedling planting device 5 (planting arm 8) and the orientation of the traveling machine body 50. By correcting the position of the (measuring device 30), the position of the seedling planting device 5 (planting arm 8) can be recognized.

As a result, when the position of the seedling planting device 5 (planting arm 8) reaches the work end position D1, the operation of the shift lever 45 (transmission motor 53) to the low speed side is completed, and the shift lever 45 (transmission motor 53) is completed. ) Is held at a predetermined low speed position, and the control handle 20 (steering motor 51) is operated so that the traveling machine body 50 travels (turns) along the turning line LL1.

In this case, the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, so that the right side clutch 40 is operated in the disengaged state, and the right and left are operated. Power is transmitted to the front wheels 1 and the left rear wheel 2, and the traveling aircraft 50 travels (turns) along the turning line LL1 in a state where the right rear wheel 2 rotates freely (the above-mentioned (front wheels and rear wheels). Transmission system to)).

At the same time, when the position of the seedling planting device 5 (planting arm 8) reaches the work end position D1, the planting clutch 26 is operated to the shutoff state (stop planting of seedlings), and the seedling planting device 5 automatically operates. The elevating control is stopped, the seedling planting device 5 is operated to ascend from the field, and the marker 19 on the right is operated to the retracted posture (corresponding to the operation of the seedling planting device 5 to the non-working state).

As described above, even if the position of the seedling planting device 5 (planting arm 8) reaches the work end position D1 and the steering handle 20 (steering motor 51) is operated, the front wheel 1 slips in the field, etc. As a result, it is assumed that the traveling aircraft 50 continues to approach the ridge line B11 without changing its direction.
In this case, when the position of the traveling machine body 50 (measuring device 30) approaches the ridge line B11 beyond the position of the second set distance E2 (distance smaller than the first set distance E1) from the ridge line B11, the speed is changed. The lever 45 (transmission motor 53) is operated to the neutral position N, and the traveling machine body 50 stops.

When the position of the traveling machine body 50 (measuring device 30) is recognized, the traveling machine body 50 (measuring device 30) is based on the length from the measuring device 30 to the front end portion of the traveling machine body 50 and the orientation of the traveling machine body 50. By correcting the position of, the position of the front end portion of the traveling machine body 50 can be recognized. The second set distance E2 is set to a distance at which the position of the front end portion of the traveling aircraft 50 does not reach the ridge line B11 when the traveling aircraft 50 continues to approach the ridge line B11 without changing its direction as described above. It is set.

(Details of the transition from the turning line of the traveling aircraft to the working traveling line)
When the traveling machine 50 shifts from the turning lines LL1 to LL6 to the working running lines L02 to L07 in the above-mentioned (running of the traveling machine along the working running line and the turning line) (No. 2), each part is as described below. It is working.
As shown in FIG. 13, the operating state of each part will be described by taking the transition from the turning line LL1 of the traveling machine body 50 to the working traveling line L02 as an example.

In the turning mode, the position of the seedling planting device 5 (planting arm 8) is slightly higher than the work start position C2 in the state where the traveling machine body 50 is traveling (turning) along the turning line LL1. When the side position K13 is reached, the seedling planting device 5 is lowered to the field, the automatic raising / lowering control of the seedling planting device 5 is activated (the planting clutch 26 is shut off), and the marker 19 on the left is in the working posture. (Marker 19 on the right is the retracted posture).

When the seedling planting device 5 (planting arm 8) reaches the position K13, the swivel mode is switched to the working mode. The right and left front wheels 1 are steered to the straight-ahead position A1 side beyond the right set angle A2, and the right side clutch 40 is operated in the transmission state, and the right and left front wheels 1, right and left rear. Power is transmitted to the wheels 2, and the traveling machine body 50 is in a substantially straight-ahead state. As a result, the traveling machine body 50 travels (turns) along the turning line LL1 in the working mode.

When the seedling planting device 5 (planting arm 8) reaches the work start position C2, the planting clutch 26 is operated in the transmission state, and the seedling planting is started from the work start position C2 (seedling planting device 5). Equivalent to the operation to the working state of).
At the same time, the speed change lever 45 (speed change motor 53) starts to be operated from a predetermined low speed position to the high speed side, the running speed of the traveling machine body 50 starts to increase, and the speed change lever 45 (speed change motor 53) starts to work. The operation is returned to the predetermined shift position on the line L01.

(Second reference form)
In the above (first reference embodiment), the swivel lines LL1 to LL6 shown in FIGS. 7 to 13 are circular in a plan view, but the swivel lines LL1 to LL6 having a plan view shape as shown below are used. It may be set.

The swivel line LL1 will be described as a representative.
As shown in FIG. 14, in the work traveling line L01, when the front end portion of the traveling machine body 50 goes straight until it reaches the ridge line B11, the planting clutch 26 is operated in the disconnected state (stop planting of seedlings) and planting seedlings. The attachment device 5 is lifted from the field, the speed change lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped. In this state, the seedling planting device 5 (planting arm 8) is located at the work end position D1.

As shown in FIG. 14, after the traveling machine body 50 is stopped, the reverse portion LL11, the forward portion LL12, the turning portion LL13, the forward portion LL14, the turning portion LL15, and the forward portion LL16 are performed on the turning line LL1 to perform seedlings. The planting device 5 (planting arm 8) is located at the work start position C2.

(Third reference form)
In the above-mentioned (first reference embodiment), the turning lines LL1 to LL6 shown in FIGS. 7 to 12 are circular in a plan view, but the turning lines LL1 to LL6 having a plan view shape as shown below are used. It may be set.

The swivel line LL1 will be described as a representative.
As shown in FIG. 15, when the front end portion of the traveling machine body 50 reaches a position slightly before the ridge line B11 on the working traveling line L01, the planting clutch 26 is operated in the disconnected state (stop planting of seedlings). The seedling planting device 5 is operated to ascend from the field, the speed change lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped. In this state, the seedling planting device 5 (planting arm 8) is located at the work end position D1.

As shown in FIG. 15, after the traveling machine body 50 is stopped, the turning portion LL17, the advancing portion LL18, and the turning portion LL19 are performed on the turning line LL1, and the seedling planting device 5 (planting arm 8) works. It is located at the start position C2.

(4th reference form)
In the above-mentioned (first reference form) (second reference form) (third reference form), it may be configured as shown below.

Between one headland line LB1 shown in FIG. 5 and the opposite headland line LB2, a plurality of work running lines L (L01 to L07) are provided on the headland lines LA1 and LA2 (ridge lines B11 and B21). A predetermined interval W1 (width of the traveling machine body 50 (seedling planting device 5)) is placed so as to be parallel to and parallel to each other, and set over the headland lines LB1 and LB2.

The work traveling lines L01 to L07 and the turning lines LL1 to LL6 described in the above-mentioned (first reference form) (second reference form) (third reference form) and this section (fourth reference form) are of the traveling machine body 50. It can also be applied to a tractor (an example of a work vehicle) (not shown) in which a rotary tiller (corresponding to a work device) (not shown) is supported at the rear so as to be able to move up and down.

(Fifth reference form)
In the combine harvester (not shown) for cutting crops in the field, the work running lines L01 to L07 and the turning lines LL1 to LL6 may be set as shown in FIG.

As shown in FIG. 16, in the field, the traveling machine body 50 is run in parallel along the ridge lines B11 to B41, and the crops on the ridges of the ridges B1 to B4 (the portion of the rotating work running LD1 to LD4 in FIG. 11). Crop) in advance. As a result, the outer peripheral line LE1, LE2, LE3, LE4 indicating the outer peripheral portion of the crop remaining in the field is generated based on the position data of the ridge lines B11 to B41.

As shown in FIG. 16, the driver then designates a work start position on the display device 27 to first start the cutting work. As shown in FIG. 16, for example, when the position K11 is designated as the work start position, the work start positions C1 to C9 are set based on the position data of the outer peripheral line LE1 to LE4 and the width of the traveling machine body 50, and the work ends. Positions D1 to D9 are set. The work running lines L01 to L09 are set based on the work start positions C1 to C9 and the work end positions D1 to D9, and the directions of the work running lines L01 to L09 (see the arrows of the working running lines L01 to L09 shown in FIG. 16). Is set.

As shown in FIG. 16, when the work start positions C1 to C9 and the work end positions D1 to D9 are set, the work start position is based on the position data of the ridge lines B11 to B41 (outer peripheral lines LE1 to LE4). The turning line LL1 is set over C1 to C9 and the work end positions D1 to D9.

As shown in FIG. 16, the turning line LL1 extending between the work end position D1 and the work start position C2 will be described as a representative. In the turning line LL1, the turning portion LL20 in the forward movement, the turning portion LL21 in the reverse movement, and the forward portion LL22 Is performed and is located at the work start position C2.

(6th reference form)
In the combine harvester (not shown) for cutting crops in the field, the work running lines L01 to L07 and the turning lines LL1 to LL6 may be set as shown in FIG.

As shown in FIG. 17, in the field, the traveling machine body 50 is run in parallel along the ridge lines B11 to B41, and the crops on the ridges of the ridges B1 to B4 (the portion of the rotating work running LD1 to LD4 in FIG. 11). Crop) in advance. As a result, outer peripheral lines LE1, LE2, LE3, and LE4 indicating the outer peripheral portion of the crop remaining in the field are generated based on the position data of the ridge lines B11 to B41.

As shown in FIG. 17, the driver then designates a work start position on the display device 27 to first start the cutting work. For example, when the position K12 is specified as the work start position, the work start positions C1 to C7 are set and the work end positions D1 to D7 are set based on the position data of the outer peripheral lines LE1 to LE4 and the width of the traveling machine body 50. To. Work travel lines L01 to L07 are set based on the work start positions C1 to C7 and the work end positions D1 to D7, and the directions of the work travel lines L01 to L07 (see the arrows of the work travel lines L01 to L07 shown in FIG. 17). Is set.

As shown in FIG. 17, when the work start positions C1 to C7 and the work end positions D1 to D7 are set, the work start position is based on the position data of the ridge lines B11 to B41 (outer peripheral lines LE1 to LE4). Swing lines LL1 to LL6 are set over C1 to C7 and work end positions D1 to D7.

(7th reference form)
In a passenger-type rice transplanter equipped with a front wheel 1 and a rear wheel 2, a passenger-type direct seeder, and a tractor, a steering operation tool (steering motor, steering handle, steering member, etc.) for steering the front wheel 1 (not shown). ) Is provided.
In a combine equipped with right and left crawler traveling devices (corresponding to traveling devices) (not shown), the driving speed difference is given to the right and left crawler traveling devices to steer the traveling aircraft (not shown). Steering control tools (control valves that give a difference in driving speed, steering handles, steering levers, etc.) (not shown) are provided for operation.

As a result, the steering operation tool shifts to the turning position to switch from the working mode to the turning mode, and the steering operating tool shifts to the straight-ahead position to switch from the turning mode to the working mode. It may be done.

(8th reference form)
Based on the position of the traveling machine body 50, the traveling machine body 50 shifts from the work traveling line L01 to L07 to the turning line LL1 to LL6, so that the working mode is switched to the turning mode and the steering operation tool is in the straight-ahead position. By shifting to, the switching from the turning mode to the working mode may be performed.

(9th reference form)
When the steering operation tool shifts to the turning position, the working mode is switched to the turning mode, and the traveling machine 50 moves from the turning lines LL1 to LL6 to the working running lines L01 to L07 based on the position of the traveling machine 50. By shifting to, the switching from the turning mode to the working mode may be performed.

Hereinafter, embodiments of the present invention will be described. In this case, in the embodiment of the present invention, the parts different from the first reference form to the sixteenth reference form are described, and the other parts are the same as those of the first reference form to the sixteenth reference form .
(Embodiment of the present invention)
In the combine, in addition to the right and left side clutches (not shown) that can transmit and disconnect power to the right and left crawler traveling devices, the right and left side brakes that can brake the right and left crawler traveling devices. (Not shown) may be provided.
In a tractor, right and left side brakes (not shown) that can brake the right and left rear wheels without having side clutches that can transmit and shut off power to the right and left rear wheels (not shown). May be provided.

As a result, the side clutch on the turning center side shifts to the disengaged state, so that the working mode is switched to the turning mode, and the side clutch on the turning center side that has been operated in the disengaged state is operated in the transmission state. , Both the right and left side clutches may be switched from the turning mode to the working mode by shifting to the transmission state.

Hereinafter, embodiments of the present invention will be described. In this case, in the embodiment of the present invention, the parts different from the first reference form to the sixteenth reference form are described, and the other parts are the same as those of the first reference form to the sixteenth reference form .
(Embodiment of the present invention)
Based on the position of the traveling machine body 50, the traveling machine body 50 shifts from the work running lines L01 to L07 to the turning lines LL1 to LL6, so that the working mode is switched to the turning mode and the vehicle is operated in the cutoff state. Switching from the turning mode to the working mode may be performed by operating the side clutch on the turning center side to the transmission state and shifting both the right and left side clutches to the transmission state.

(10th reference form)
When the side clutch on the turning center side shifts to the cutoff state, the working mode is switched to the turning mode, and the traveling machine 50 moves from the turning lines LL1 to LL6 to the working running line L01 based on the position of the traveling machine 50. By shifting to ~ L07, switching from the turning mode to the working mode may be performed.

When the side brake on the turning center side shifts to the braking state, the work mode is switched to the turning mode, and the side brake on the turning center side, which has been operated in the braking state, is operated in the released state to the right and Switching from turning mode to working mode may be performed by shifting both left side brakes to the released state.

Based on the position of the traveling machine body 50, the traveling machine body 50 shifts from the working running lines L01 to L07 to the turning lines LL1 to LL6, so that the working mode is switched to the turning mode and the braking state is operated. The switching from the turning mode to the working mode may be performed by operating the side brake on the turning center side to the released state and shifting both the right and left side brakes to the released state.

When the side brake on the turning center side shifts to the braking state, the working mode is switched to the turning mode, and the traveling machine 50 moves from the turning lines LL1 to LL6 to the working running line L01 based on the position of the traveling machine 50. By shifting to ~ L07, switching from the turning mode to the working mode may be performed.

(11th reference form)
Work mode when one of the following items (8-1) to (8-6) is satisfied, or when a plurality of items (8-1) to (8-6) are satisfied. The switching to the turning mode may be performed.

(8-1) Transition from the working running lines L01 to L07 (L01 to L09) of the traveling machine 50 to the turning lines LL1 to LL6 based on the position of the traveling machine 50.

(8-2) The orientation of the traveling aircraft 50 has changed significantly (for example, 90 degrees or more) from the orientation of the traveling aircraft 50 on the working traveling lines L01 to L07 (L01 to L09) before entering the turning lines LL1 to LL6. Transition to.

(8-3) Transition of the steering control tool to the turning position.

(8-4) Transition to the shutoff state of the side clutch on the turning center side.

(8-5) Transition to the braking state of the side brake on the turning center side.

(8-6) A distance sensor (not shown) that detects the distance from the traveling machine body 50 to the ridges B1 to B4 using light, ultrasonic waves, rod-shaped contacts, etc. is provided, and the detection value of the distance sensor is Transition to becoming smaller than the prescribed distance.

(12th reference form)
Turning mode when one of the following items (9-1) to (9-7) is satisfied, or when a plurality of items (9-1) to (9-7) are satisfied. It may be possible to switch from to work mode.

(9-1) Transition from the turning lines LL1 to LL6 of the traveling machine 50 based on the position of the traveling machine 50 to the working running lines L01 to L07 (L01 to L09).

(9-2) The orientation of the traveling aircraft 50 has changed significantly (for example, 90 degrees or more) from the orientation of the traveling aircraft 50 on the turning lines LL1 to LL6 before entering the work traveling lines L01 to L07 (L01 to L09). Transition to.

(9-3) Shift of the steering operation tool to the straight-ahead position.

(9-4) Shift to the transmission state of both the right and left side clutches by operating the side clutch on the turning center side that was operated in the cutoff state to the transmission state.

(9-5) Transition to the released state of both the right and left side brakes by operating the side brake on the turning center side that was operated in the braking state to the released state.

(9-6) A mileage sensor (not shown) that detects the mileage of the traveling machine body 50 based on the rotation speeds of the front wheels 1, the rear wheels 2, and the crawler traveling device is provided, and the mileage after switching to the turning mode. (Or the mileage after the traveling machine 50 enters the turning lines LL1 to LL6) is shifted to be larger than the predetermined distance.

(9-7) Detection of the timer provided with a timer (not shown) for detecting the elapsed time after switching to the turning mode (or the elapsed time since the traveling aircraft 50 entered the turning lines LL1 to LL6). The transition to a time greater than the prescribed time.

(13th reference form)
In the previous section (12th reference form) , when one item from (9-1) to (9-5) or a plurality of items from (9-1) to (9-5) are satisfied, the vehicle turns. When switching from the mode to the work mode is performed, if the states shown in (10-1) to (10-4) below are met, it is determined that the traveling machine body 50 is abnormal, and the driver is notified of the abnormality. However, it may be provided with an abnormality detection function that automatically stops the traveling machine body 50.

(10-1) With the mileage sensor of the previous item (9-6), the traveling aircraft 50 is only a predetermined distance after being switched to the turning mode (or after the traveling aircraft 50 enters the turning lines LL1 to LL6). A state in which the turning mode is not switched to the working mode even when the vehicle is driven.

(10-2) With the mileage sensor of the previous item (9-6), after the mileage sensor is switched to the turning mode (or after the traveling machine 50 enters the turning lines LL1 to LL6), the traveling machine 50 sets a predetermined distance. A state in which the turning mode is switched to the working mode even though the vehicle is not running.

(10-3) With the timer of the previous item (9-7), turning even after a predetermined time has elapsed after switching to the turning mode (or after the traveling machine 50 enters the turning lines LL1 to LL6). A state in which switching from mode to work mode is not performed.

(10-4) Even though the predetermined time has not elapsed since the timer of the previous item (9-7) was switched to the turning mode (or after the traveling machine 50 entered the turning lines LL1 to LL6). , The state where the turning mode is switched to the working mode.

(14th reference form)
It is assumed that an arbitrary position is set as a specific position (corresponding to the position of the traveling machine body 50) in the entire work vehicle including the work device. For example, in a passenger-type rice transplanter, there are a position of a seedling planting device 5 (planting arm 8), a position of a front end portion of a traveling machine body 50, a position of a driver's seat 13, a position other than these, and the like.

As a result, when the work mode is switched to the turning mode, when the specific position of the work vehicle reaches the positions shown in (11-1), (11-2), and (11-3) below, Switching from the working mode to the turning mode may be performed.

(11-1) A position slightly returned from the work end positions D1 to D7 to the work running lines L01 to L07 (L01 to L09).

(11-2) Work end positions D1 to D7 (D1 to D9).

(11-3) Work end position A position slightly entered from the turning lines LL1 to LL6 from D1 to D7 (D1 to D9).
In this case, the traveling machine body 50 travels (turns) along the turning lines LL1 to LL6 in the work mode only for a short time after entering the turning lines LL1 to LL6 from the work end positions D1 to D7 (D1 to D9).

When the switching from the turning mode to the working mode is performed, when the specific position of the work vehicle reaches the positions shown in (11-4), (11-5) and (11-6) below, the turning mode is started. Switching to the working mode may be performed.

(11-4) A position slightly returned from the work start positions C1 to C7 (C1 to C9) to the turning lines LL1 to LL6.

(11-5) Work start positions C1 to C7 (C1 to C9).

(11-6) Work start position A position slightly entered from the work running lines L01 to L07 (L01 to L09) from C1 to C7 (C1 to C9).
In this case, the traveling machine body 50 is in the turning mode for a short time after entering the working traveling lines L01 to L07 (L01 to L09) from the working starting positions C1 to C7 (C1 to C9). Drive along ~ L09).

(15th reference form)
The work traveling line setting unit 61 and the turning line setting unit 63 may not be provided in the control device 23.
In this case, the work traveling line setting unit 61 and the turning line setting unit 63 are provided as software in a computer or the like (for example, the computer 49 shown in FIG. 4) installed separately from the traveling machine body 50.

As a result, the work running lines L01 to L07 (L01 to L09) and the turning lines LL1 to LL6 set by the work running line setting unit 61 and the turning line setting unit 63 are transmitted from the above-mentioned computer to the smartphone 46 and the control device 23. It is acquired and stored in the work traveling line acquisition unit 55 and the turning line acquisition unit 56 via a storage medium.

In the work mode, the automatic travel control unit 62 does not operate the shift lever 45 (shift motor 53) and the steering handle 20 (steering motor 51), but the driver manually operates the shift lever 45 to drive. The traveling speed of the machine body 50 may be arbitrarily set so that the steering handle 20 (steering motor 51) is operated by the automatic traveling control unit 62.

In the turning mode, the automatic turning control unit 64 does not operate the speed change lever 45 (speed change motor 53) and the steering handle 20 (steering motor 51), but the driver manually operates the speed change lever 45 to drive. The traveling speed of the aircraft 50 may be arbitrarily set so that the steering handle 20 (steering motor 51) is operated by the automatic turning control unit 64.

(16th reference form)
In the state where the traveling machine body 50 is traveling along the work traveling lines L01 to L07 (L01 to L09) and the traveling machine body 50 is traveling (turning) along the turning lines LL1 to LL6, the following (13) -1) When the states shown in (13-5) are reached, it may be determined that the traveling aircraft 50 is abnormal, the driver is notified of the abnormality, and the traveling aircraft 50 may be provided with an abnormality detection function for automatically stopping the abnormality. ..

(13-1) A state in which the position of the traveling machine body 50 is far away from the working traveling lines L01 to L07 (L01 to L09) and the turning lines LL1 to LL6.

(13-2) A state in which the orientation of the traveling machine body 50 is far from the directions of the working traveling lines L01 to L07 (L01 to L09) and the directions of the turning lines LL1 to LL6.

(13-3) The operation of the steering handle 20 (steering motor 51) is abnormal.
As an abnormality in the operation of the steering handle 20 (steering motor 51), for example, the operating speed of the steering handle 20 (steering motor 51) is too high or too low, or the traveling machine body 50 should turn. , There is a state in which the steering handle 20 (steering motor 51) is operated in the vicinity of the straight-ahead position A1.

(13-4) A state in which the right or left side clutch is operated in a disengaged state while the traveling machine body 50 is traveling along the working traveling lines L01 to L07 (L01 to L09).

(13-5) A state in which the right or left side brake is operated in a braking state while the traveling machine body 50 is traveling along the working traveling lines L01 to L07 (L01 to L09).

The present invention includes not only a riding-type rice transplanter equipped with a seedling planting device 5 (corresponding to a working device) at the rear of the traveling machine 50 so as to be able to move up and down, but also a sowing device (corresponding to a working device) at the rear of the traveling machine 50. A passenger-type direct seeder equipped with a liftable structure, a tractor equipped with a rotary tiller (corresponding to a working device) and a chemical spraying device (corresponding to a working device) at the rear of the traveling machine 50, and a tractor at the front of the traveling machine 50. It can be applied to a work vehicle that travels while working on a field, such as a combine that has a cutting unit (corresponding to a work device) that can be raised and lowered.

2 Traveling device 5 Working device 30 Positioning unit 40 Side clutch 43,44 Side clutch operating unit 50 Traveling machine 55 Working traveling line acquisition unit 56 Turning line acquisition unit 60 Control unit 62 Automatic traveling control unit 64 Automatic turning control unit L01 to L09 Work Driving line LL1 to LL6 Turning line

Claims (3)

A work device that works on the field, a positioning unit that detects the position of the traveling machine, and
A work travel line acquisition unit that acquires a work travel line on which the traveling machine travels,
A swivel line acquisition unit for acquiring a swivel line connecting the end portion of the work travel line and the end portion of the next work travel line is provided.
Based on the position of the traveling machine, an automatic running control unit that automatically controls the traveling machine so that the traveling machine travels along the work running line.
An automatic turning control unit that automatically controls the traveling machine is provided so that the traveling machine travels along the turning line based on the position of the traveling machine.
A control unit for switching between a work mode in which the automatic driving control unit operates and a turning mode in which the automatic turning control unit operates is provided.
Right and left side clutches that can transmit and cut power to the right and left traveling devices,
It is provided with a side clutch operating unit that operates both the right and left side clutches in the transmission state when going straight and operates the side clutch on the turning center side in the disengaged state when turning.
The control unit
Based on the position of the traveling machine, the transition from the working traveling line to the turning line of the traveling machine switches to the turning mode, and the transition to the transmission state of both the right and left side clutches causes the movement. A work vehicle that switches to work mode. A work device that works on the field, a positioning unit that detects the position of the traveling machine, and
A work travel line acquisition unit that acquires a work travel line on which the traveling machine travels,
A swivel line acquisition unit for acquiring a swivel line connecting the end portion of the work travel line and the end portion of the next work travel line is provided.
Based on the position of the traveling machine, an automatic running control unit that automatically controls the traveling machine so that the traveling machine travels along the work running line.
An automatic turning control unit that automatically controls the traveling machine is provided so that the traveling machine travels along the turning line based on the position of the traveling machine.
A control unit for switching between a work mode in which the automatic driving control unit operates and a turning mode in which the automatic turning control unit operates is provided.
Right and left side clutches that can transmit and cut power to the right and left traveling devices,
It is provided with a side clutch operating unit that operates both the right and left side clutches in the transmission state when going straight and operates the side clutch on the turning center side in the disengaged state when turning.
The control unit
A work vehicle that switches to the turning mode by shifting to the shut-off state of the side clutch on the turning center side, and switches to the working mode by shifting to the transmission state of both the right and left side clutches. The control unit
Is switched to the working mode, claim the work state to perform the work the working device relative to the field, is switched to the turning mode, for the non-working status of not working the working device relative field The work vehicle according to 1 or 2.

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