JP6849114B2 - Work vehicle and automatic straight running support system for work vehicle - Google Patents

Description

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

Conventionally, some work vehicles such as seedling transplanters used when planting seedlings are provided with an automatic steering device that supports straight running. For example, the steering wheel of the steering device is controlled. It is known that the vehicle automatically travels straight by holding it in a straight position (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-24541

However, for example, in the conventional work vehicle disclosed in Patent Document 1, the field conditions such as the hardness, depth, and water volume of the field are not taken into consideration in the control of the steered wheels.

Therefore, in a conventional work vehicle, for example, even in a field peripheral edge where the field is relatively rough, the vehicle travels at a preset speed, so that the straightness is impaired, and as a result, the planting accuracy of seedlings, for example, is also lowered. There was a risk that it would end up. In addition, it is possible to correct the traveling route when it is detected that the straightness is impaired, but in that case, there is a possibility that there will be sections where seedlings are not planted or sections where seedlings are planted in duplicate. ..

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

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to claim 1 has a control seat (28) in which an operator is seated and a receiving antenna (122) that receives radio waves from an artificial satellite. In a work vehicle provided with a position information acquisition unit (120) connected to the above position information acquisition unit (120) and an antenna frame (124) supporting the position information acquisition unit (120), the antenna frame (124) is a traveling vehicle body (2). ), A lower frame (124a, 124a) to which a base end portion is attached, and an upper frame (124b, 124b) connected to the upper end of each lower frame (124a) via a connector (124f). The position information acquisition unit (120) is arranged between the upper parts of the upper frames (124b, 124b) and is located at the top of the antenna frame (124), and the antenna frame (124) travels. It is arranged on the front side of the vehicle body (2), and further, a rotation connecting plate (125) is provided in the middle of the upper frames (124b, 124b), and a rotation support is provided between both rotation connection plates (125, 125). The maneuvering is performed in a folded state in which a shaft (124d) is erected so as to be rotatable about a predetermined angle around the rotation support shaft (124d) and the upper side of the upper frames (124b, 124b) is rotated. It is characterized in that it is possible to work while sitting on the seat (28).

The work vehicle (1) according to claim 2 includes, in claim 1, the traveling vehicle body (2) includes a steering wheel (4) steered by a steering device (110) and a prime mover (10). A work machine (50) that travels in the field (F) and is vertically connected to the rear portion of the traveling vehicle body (2), and the position information acquisition unit (F1) that detects the peripheral edge portion (F1) of the field (F). The motor and the prime mover (120) for driving the steering device (110) based on the distance between the 120) and the peripheral portion (F1) of the field (F) detected by the position information acquisition unit (120) and the own vehicle. A control device (150) for controlling the running of the traveling vehicle body (2) by controlling the power from 10) is provided, and the traveling vehicle body is moved to the peripheral portion (F1) by the position information acquisition unit (120). Upon detecting the proximity, the control device (150) regulates the vehicle speed or drives the steering device (110) by the motor.

According to claim 1, the work vehicle (1) according to claim 3 includes the traveling vehicle body (2) with a camera (135), the position information acquisition unit (120), and the camera (135). When the peripheral portion (F1) is detected in duplicate and the reception state from the satellite by the position information acquisition unit (120) does not satisfy a certain level, it is based on the detection result acquired by the camera (135). The vehicle speed is controlled or the steering device (110) is driven by the motor.

The work vehicle (1) according to claim 4 is provided with a seedling planting portion (50) for planting seedlings in a field (F) at the rear portion of the traveling vehicle body (2) in claim 3, and is equipped with a camera. The steering device (20), the position information acquisition unit (120), the detection result by the camera (135), and the image analysis by the camera mounted on the unmanned vehicle (20). The running control of the traveling vehicle body (2) is performed by controlling the power from the 110) and the prime mover (10), and the seedling planting row detected based on the image analysis and the preset traveling It is characterized in that the traveling route is corrected based on the difference from the route.

According to the work vehicle according to claim 1, by arranging the receiving antenna on the front side of the traveling vehicle body (2), the weight balance of the machine body can be stabilized and the receiving sensitivity can be improved. Further, the operator can operate the airframe even in the folded state in which the antenna frame is rotated by a predetermined angle.

According to the work vehicle according to claim 2, in addition to the effect of the invention according to claim 1, when it is detected that the field peripheral edge F1 is approaching, the vehicle speed is reduced and the operation of the steering device is smooth. Can be done. Further, even when turning, since the vehicle travels at a low speed, for example, when a seedling planting portion is provided, the ascending timing does not match and contact with the ridge can be prevented. Further, by automatically controlling the vehicle speed according to the field condition, it is possible to prevent a decrease in straightness due to the field condition. Therefore, it is possible to prevent disturbance of field work caused by deterioration of straightness.

According to the work vehicle according to the third aspect, in addition to the effect of the invention according to the first or second aspect, the safety in the area where the field scene is rough near the peripheral portion of the field is further improved. improves. Moreover, since it is a camera, it is possible to detect the peripheral portion (ridge) of the field more accurately than using a satellite navigation system.

According to the work vehicle according to the fourth aspect, in addition to the effect according to the third aspect, the safety can be improved by correcting the preset traveling route by the camera of the unmanned aerial vehicle. it can.

FIG. 1 is an explanatory diagram showing an outline of traveling control in a work vehicle according to an embodiment. FIG. 2 is a side view of the seedling transplanter, which is the same work vehicle. FIG. 3A is a front view of the seedling transplanter, which is the same work vehicle. FIG. 3B is an explanatory view showing an antenna frame of a rice transplanter provided with a visor. FIG. 4 is a functional block diagram centered on the controller. FIG. 5 is an explanatory diagram showing an example of the seating sensor. FIG. 6 is a flowchart showing an example of automatic straight-ahead support. FIG. 7 is a flowchart showing an example of the ridge position detection process by image analysis. FIG. 8 is a flowchart showing an example of travel path correction processing by image analysis. FIG. 9 is a flowchart showing an example of traveling route correction processing using a drone. FIG. 10A is a flowchart showing an example of straight-ahead support using a drone. FIG. 10B is a flowchart showing an example of straight-ahead support using a drone. FIG. 11 is a schematic explanatory view showing a configuration of a traveling portion of a work vehicle according to a modified example. FIG. 12 is a schematic explanatory view showing an example of a state in which the traveling portion of the work vehicle is switched to 4WS. FIG. 13 is an explanatory view showing a front view of a spare seedling placement portion included in the seedling transplanter, which is a work vehicle according to a modified example. FIG. 14 is an explanatory view showing the above-mentioned spare seedling placement portion in a side view. FIG. 15 is an explanatory view of an empty box container provided in the spare seedling placing portion of the same.

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

FIG. 1 is an explanatory diagram showing an outline of traveling control in the seedling transplanter 1 which is a work vehicle according to the embodiment. FIG. 2 is a side view of the seedling transplanter 1 of the same as above, and FIG. 3A is a front view of the seedling transplanter 1 of the same. The seedling transplanter 1 according to the present embodiment is provided with a pair of left and right front wheels 4 and rear wheels 5 so as to be able to travel in the field F, and is provided with a control seat 28 in which an operator can be seated. The traveling vehicle body 2 is provided with the seedling planting portion 50, which is a machine, connected so as to be able to move up and down.

The front wheel 4 of the seedling transplanter 1 according to the present embodiment is a steering wheel that is rotated left and right by a steering device 110 (see FIG. 4) including a handle 32 that is a steering wheel. Further, in the following description, the front-back, left-right direction reference of the seedling transplanter 1 is the direction seen from the operator who is seated in the control seat 28 in a proper posture.

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

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

For example, as shown in FIG. 1, a case will be described in which the seedling transplanter 1 is automatically moving straight ahead while planting seedlings in the field F without the operator operating the handle 32. It is assumed that the seedling transplanter 1 is controlled to travel at a relatively high speed of the first speed V1 or higher in the region (high speed region) F2 including the center of the field F. At that time, the seedling transplanter 1 travels only at a speed lower than the second speed V2, which is relatively slower than the first speed V1, in the region (low speed region) F3 close to the field peripheral edge F1 which is the ridge. It is controlled so that it cannot be done.

That is, as shown in FIG. 1A, when the rice transplanter 1 is traveling in the high-speed range F2 at the first speed V1 or higher, the first detection provided on the traveling vehicle body 2 is provided. It is assumed that the means 120 detects the field peripheral edge F1 (for example, "shore").

In the field peripheral portion F1, for example, due to the running of a tractor used in tillage work or the like, the field scene is rougher than in other areas, and there is a high possibility that the unevenness is severe or the water volume is increased. If the field scene is rough, the rolling wheels (front wheels 4) are directly affected, which may impair straightness.

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

At the second speed V2, which is relatively low speed, it is easy to appropriately control the rolling wheels (front wheels 4) during automatic straight running, so that the straight running performance is not impaired. Further, even when the seedling transplanter 1 turns, since it travels at a low speed, it is possible to reduce as much as possible the possibility that the seedling planting portion 50 may come into contact with the ridges because the ascending timing does not match. Further, as shown in FIG. 1 (b), the straight running performance when automatically traveling on the headland after turning does not deteriorate.

In particular, when the controller 150 determines that the distance between the field peripheral edge F1 detected by the first detection means 120 and the own vehicle is equal to or less than a predetermined distance, the controller 150 decelerates to a constant speed slower than the second speed V2. I have to.

Therefore, it is possible to more reliably prevent a decrease in straightness due to the state of the field peripheral portion F1. Further, by setting the constant speed to a speed at which the seedlings can be turned safely and sufficiently, the possibility that the seedling planting portion 50 comes into contact with the shore can be greatly reduced during the above-mentioned turning. The distance between the field peripheral portion F1 and the own vehicle is the distance in the front-rear direction of the seedling transplanter 1 and the distance in the left-right direction of the seedling transplanter 1 with respect to the field peripheral portion F1 such as the shore in the field F. Included.

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

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

Further, the traveling vehicle body 2 has a main frame 7 arranged substantially in the center of the vehicle body, an engine 10 which is a prime mover mounted on the main frame 7, and the power of the engine 10 is the front and rear wheels 4 and 5. A power transmission device 15 for transmitting to the seedling planting unit 50 is provided. In this seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used for the engine 10 which is a power source, and the generated power is not only used for moving the traveling vehicle body 2 forward and backward, but also for seedlings. It is also used to drive the planting unit 50.

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

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

Part of the power transmitted from the mission case 18 to the front wheels 4 and the rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the rest can be transmitted to the front wheels 4 via the left and right rear wheel final cases 22. It can be transmitted to the ring 5. The left and right front wheel final cases 13 are arranged on the left and right sides of the mission case 18. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via the axle 131. The front wheel final case 13 can be driven in response to the steering operation of the steering wheel 32 to steer the front wheel 4.

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

By the way, the engine 10 is arranged at substantially the center of the traveling vehicle body 2 in the left-right direction and in a state of protruding upward from the floor step 26 on which the operator puts his / her foot when riding. The floor step 26 is provided between the front part of the traveling vehicle body 2 and the rear part of the engine 10 and is mounted on the main frame 7, and a part of the floor step 26 is attached to the shoes by forming a grid pattern. The mud can be dropped into the field F. Further, behind the floor step 26, a rear step 27 that also serves as a fender for the rear wheels 5 is provided. The rear step 27 has an inclined surface that is inclined in an upward direction toward the rear, and is arranged on each of the left and right sides of the engine 10.

Further, the engine 10 projects upward from these floor steps 26 and rear steps 27, and an engine cover 11 covering the engine 10 is arranged at a portion protruding from these steps 26 and 27.

A control seat 28 in which an operator sits is installed on the upper part of the engine cover 11, and a control unit 30 is provided in front of the control seat 28 and in the center of the front side of the traveling vehicle body 2. The control unit 30 is arranged so as to project upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right.

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

Further, the control unit 30 is provided with a main shift lever 81 and an auxiliary shift lever 82 in the vicinity of the steering post 315. The main shift lever 81 is provided on the right side of the control unit 30, and the auxiliary shift lever 82 is provided below the steering wheel 32.

The main speed change lever 81 is a lever for switching between the forward / backward movement of the traveling vehicle body 2 and the traveling output, and the operator adjusts the rotation angle of the trunnion (not shown) of the hydraulic continuously variable transmission 16 by operating the main speed change lever 81. Then, the speed of the traveling vehicle body 2 can be adjusted.

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

On the other hand, the high-speed mode is, for example, a traveling mode when the seedling transplanter 1 is moved on a ridge or the like, and can travel at a higher speed than in the low-speed mode. These modes are switched by the auxiliary transmission mechanism provided in the transmission case 18 according to the position of the auxiliary transmission lever 82.

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

Further, in the rice transplanter 1 according to the present embodiment, as shown in FIGS. 2 and 3A, as the first detection means 120, the GNSS unit 121 connected to the receiving antenna 122 (see FIG. 4) is attached to the traveling vehicle body 2. It is arranged. The GNSS unit 121 can acquire position information on the earth at predetermined intervals by acquiring GNSS coordinates at regular time intervals with the receiving antenna 122. Further, although not shown, the GNSS unit 121 according to the present embodiment includes an inertial navigation system using a gyro sensor and an acceleration sensor, and a control board for controlling them.

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

As shown in FIGS. 2 and 3A, the antenna frame 124 is connected to the left and right lower frames 124a and 124a via connecting tools 124f and 124f at the upper ends thereof, and a rotary connecting plate 125 provided in the middle thereof, respectively. It is composed of left and right upper frames 124b and 124b that can be rotated rearward by a predetermined angle via an antenna (see the alternate long and short dash line in FIG. 2). A rotation support shaft 124d is erected between the rotation connection plates 125 and 125, and the upper frame 124b rotates around the rotation support shaft 124d.

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

As described above, the antenna frame 124 is configured such that a part of the upper portion thereof can be rotated rearward by a predetermined angle. Specifically, the upper side of the upper frame 124b is rotated and folded via the rotation connecting plate 125 provided in the middle of the upper frame 124b. Therefore, even in the folded state, the operator can sit on the control seat 28 and perform normal work.

Further, unlike the conventional case, there is no frame extending from the rear part to the front side of the control seat 28 to support the upper frame 124b, so that the seedling planting part 50, which will be described later, is replenished with seedlings or a fertilizer application device. It does not interfere with the work of replenishing the storage hopper 71 of the 70 with fertilizer.

Further, since it is possible to reduce the weight of the antenna frame 124, in particular, in the seedling transplanting machine 1 in which the engine 10 is mounted below the cockpit 28, the front side portion of the machine body becomes lighter and the front wheels 4 have traction. Although it may not occur sufficiently, since the antenna frame 124 is arranged only on the front side of the airframe, the weight balance between the front and rear of the airframe is improved, and the straightness is improved.

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

Further, the base end portion of the first reinforcing frame 124e and the rotary connecting plate 125 provided on the upper frame 124b are connected by the second reinforcing frame 124c.

By the way, in some rice transplanters 1, a visor 126 is provided above the control unit 30. FIG. 3B is an explanatory view showing an antenna frame 124 of the rice transplanter 1 provided with the visor 126.

In the case of the rice transplanter 1 provided with the resin visor 126, as shown in FIG. 3B, the antenna frame 124 may use the support frame 124h having a length straddling the visor 126 while connecting the visor 126. it can.

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

Next, the seedling planting section 50 and other configurations will be described. As shown in FIG. 2, the seedling planting portion 50 is attached to the rear portion of the traveling vehicle body 2 so as to be able to move up and down via the seedling planting portion elevating mechanism 40. The seedling planting portion elevating mechanism 40 includes an elevating link device 41, and the elevating link device 41 includes a parallel link mechanism for connecting the rear portion of the traveling vehicle body 2 and the seedling planting portion 50. Such a parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably attached to a rear view gate type link base frame 43 erected at the rear end of the main frame 7. Be connected. The other ends of the links 41a and 41b are rotatably connected to the seedling planting portion 50. In this way, the seedling planting portion 50 is connected to the traveling vehicle body 2 so as to be able to move up and down.

In addition, the seedling planting section elevating mechanism 40 has a hydraulic elevating cylinder 44 that expands and contracts by hydraulic pressure, and the seedling planting section 50 can be raised and lowered by the expansion and contraction operation of the hydraulic elevating cylinder 44. The hydraulic elevating cylinder 44 is driven by the above-mentioned hydraulic continuously variable transmission 16 and raises the seedling planting portion 50 to a non-working position or works on the ground (planting) by the elevating operation of the seedling planting portion elevating mechanism 40. It can be lowered to the attached position).

In addition, the seedling planting unit 50 can plant the seedlings in a plurality of sections or a plurality of rows. For example, the seedlings can be planted in six compartments, that is, a so-called six-row planting part 50.

Further, the seedling planting section 50 includes a seedling planting device 60, a seedling placing table 51, and a float 47 (48, 49). Of these, the seedling placing table 51 is provided as a seedling placing member for loading a plurality of seedlings on the rear part of the traveling vehicle body 2, and the seedlings are placed for the number of planting rows partitioned in the left-right direction of the traveling vehicle body 2. It has a surface 52, and a mat-shaped seedling with soil can be placed on each seedling loading surface 52.

The seedling planting device 60 is a device arranged in the lower part of the seedling placing table 51 on which the seedlings are placed, and the seedlings are taken from the seedling placing table 51 and planted in the field F, and is arranged on the front side of the seedling placing table 51. It is supported by the planting support frame 55. The seedling planting device 60 has a planting transmission case 64 and a planting body 61, and the planting body 61 is a pair of planting bodies so that seedlings can be taken from the seedling placing table 51 and planted in the field F. It is provided with a rod 62 and is rotatably connected to a planting transmission case 64.

The planting transmission case 64 is configured to be able to supply the power transmitted from the engine 10 to the seedling planting portion 50 to the planting body 61. Further, the planting body 61 rotatably supports the planting rod 62 and is rotatable with respect to the planting transmission case 64, in addition to the planting rod 62 in which the seedlings are taken from the seedling placing table 51 and planted in the field F. It has a rotary case 63 connected to. The rotary case 63 is equipped with an unequal velocity transmission mechanism (not shown) that can rotate the implant rod 62 while changing the rotation speed when the implant rod 62 is rotated by the driving force transmitted from the planting transmission case 64. ing. As a result, when the planting body 61 is rotated, the implanting rod 62 rotates while the rotation speed changes depending on the rotation angle with respect to the rotary case 63.

One seedling planting device 60 configured in this way is arranged every two rows. That is, in the case of 6-row planting, three seedling planting devices 60 are provided. Further, each planting transmission case 64 is provided with two planting bodies 61 rotatably. That is, in one planting transmission case 64, two rotary cases 63 are connected to both sides in the left-right direction of the machine body.

Further, the float 47 slides on the field scene as the traveling vehicle body 2 moves to level the ground, and has a center float 48 located at the center of the seedling planting portion 50 in the left-right direction of the traveling vehicle body 2 and the left-right direction. It has side floats 49 located on both sides of the seedling planting portion 50 in the above.

The center float 48 in the present embodiment is provided with a float potentiometer 154 (see FIG. 4) that functions as a hydraulic sensitivity mechanism for raising and lowering the seedling planting portion 50 according to the situation of the field F. The float potentiometer 154 can change the range of sensitivity for detecting the vertical movement of the center float 48. For example, if the sensitivity is made sensitive, even a small vertical movement of the center float 48 is detected and a detection signal is transmitted to the controller 150. On the other hand, if the sensitivity is desensitized, the detection signal is transmitted to the controller 150 by detecting only the vertical movement of a certain amplitude or more without detecting the small vertical movement of the center float 48.

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

By the way, with respect to the plurality of ground leveling rotors 67 and 67, independent drive motors (not shown) can be provided for each of the rotors 67 and 67, instead of receiving the driving force from the engine 10. In this way, if a plurality of ground leveling rotors 67 and 67 can be driven independently, for example, when the direction of the airframe is deviated to the left or right, the rotation of the ground leveling rotor 67 on the deviated side is accelerated. It can be modified so that the orientation of the aircraft is straight. Further, if the central ground leveling rotor 67 is configured to be dragged at a slower rotation than the left and right ground leveling rotors 67, it is possible to assist the straight running of the airframe. Further, in the case of assisting the straight running of the aircraft, the central ground leveling rotor 67 may be raised and returned to the storage position to drive only the left and right ground leveling rotors 67 and 67.

In the seedling transplanter 1 according to the present embodiment, the controller 150, which will be described later, executes straight-ahead support on condition that the ground leveling rotors 67 and 67 are in contact with the ground. However, the conditions for executing straight-ahead support do not necessarily have to be provided.

Further, on both the left and right sides of the seedling planting portion 50, line drawing markers 68 forming a line serving as a guide for the traveling direction are provided on the next planting strip. The line drawing marker 68 draws a mark on the field F when the seedling transplanter 1 turns straight ahead at the ridge of the field F and then goes straight forward in the field F. However, since the seedling transplanter 1 according to the present embodiment can perform straight-ahead support using GNSS (Global Navigation Satellite System), the line drawing marker 68 can be abolished.

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

By the way, the seedling transplanter 1 according to the present embodiment can provide straight-ahead support by electronic control and can control each part. Therefore, as shown in FIG. 4, the rice transplanter 1 includes a controller 150 as a control device for controlling each part. The controller 150 is provided with a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, and these are connected to each other. It is possible to exchange signals with each other. A computer program that controls the rice transplanter 1 is stored in the storage unit. In addition, various image data related to the field peripheral portion F1 such as the field F and the ridges are also stored in the storage unit.

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

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

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

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

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

The posture sensor 175 detects how much the posture of the traveling vehicle body 2 is at an oblique posture with respect to the automatic straight line, and is composed of a gyro sensor or the like.

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

The seating sensor 190 is a sensor composed of a load cell, a pressure-sensitive film sensor, or the like, functions as a seating detecting means, and can detect whether or not an operator is seated in the control seat 28. FIG. 5 is an explanatory view showing an example of the seating sensor 190. As shown in the drawing, the control seat 28 is configured to swing back and forth around a pivot 281 provided on the front side of the seat, and is located on the rear side of the seat. For example, an elastic body 282 such as a coil spring is provided to support the control seat 28. A seating sensor 190 is provided on the engine cover 11 so that the back surface of the seat portion of the driver's seat 28 comes into contact with the engine cover 11.

With such a configuration, when the operator is seated, the seat portion of the control seat 28 is slightly sunk, and the seating sensor 190 is pressed to apply pressure. When the seating sensor 190 detects this pressure, the controller 150 can determine that the operator has been seated. On the contrary, when no pressure is applied to the seating sensor 190, the controller 150 determines that the operator is not seated.

In the present embodiment, when the seating sensor 190 detects that the worker is not seated in the control seat 28, the controller 150 controls to stop the traveling vehicle body 2.
Therefore, in the ridge where the state of the field F may be rough, that is, in the region (low speed region) F3 close to the field peripheral portion F1 in FIG. 1, the worker stops when the worker is not seated. , There is no possibility that an unexpected bounce will occur due to the unevenness of the field F and the operator will stagger greatly or fall from the traveling vehicle body 2.

When the seating sensor 190 detects that the operator is not seated in the driver's seat 28, the controller 150 does not stop the traveling vehicle body 2 but controls the speed so as to greatly decelerate to a slow speed. You can also. In the present embodiment, stopping the traveling vehicle body 2 is included in the concept of decelerating until the traveling speed becomes zero.

In addition, a sensor off button or the like that invalidates the function of the seating sensor 190 is separately provided to provide straight-ahead support while the seating sensor 190 is forcibly disabled, while the operator leaves the control seat 28. It is also possible to perform other necessary work.

Regardless of which sensor including the various sensors 199 is used, the detection result may be displayed in real time on the touch panel 142 of the tablet terminal device 140 via the controller 150.

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

Further, the rice transplanter 1 includes a steering device 110 that can be controlled by the controller 150, a GNSS unit 121 that is an example of the detection means and is a position information acquisition unit as the first detection means 120, and an information processing terminal device. The tablet terminal device 140 is provided, and these are connected to the controller 150.

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

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

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

A camera 135 is connected to the controller 150 as a second detection means 130. As shown in FIGS. 2 and 3A, the cameras 135 are provided in pairs on the upper side of the upper frame 124b of the antenna frame 124 provided on the traveling vehicle body 2. The controller 150 can derive the distance between the own vehicle and the field peripheral portion F1 from the data simultaneously captured by the pair of left and right cameras 135. Here, the seedling transplanting machine 1 is configured to include a pair of cameras 135 having lenses pointed in front of the machine body, but further, a pair of cameras with lenses pointed in the left-right direction of the machine body are separately provided in front of the machine body. It is also possible to derive the distance to the field peripheral edge F1 in the left-right direction.

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

The controller 150 normally uses the distance between the field peripheral edge F1 obtained by using the GNSS unit 121, which is the first detection means 120, and the own vehicle, but the reception state from the satellite by the GNSS unit 121 is at a constant level. If not satisfied, the vehicle speed is controlled based on the detection result acquired by using the camera 135.

In this way, since the field peripheral edge F1 is detected twice, the safety of straight-ahead support in a region where the field scene is rough near the field peripheral edge F1 is further improved. ..

Further, the tablet terminal device 140 is configured to be wirelessly connectable between the built-in terminal communication unit 144 and the vehicle body communication unit 151 connected to the controller 150. The tablet terminal device 140 includes a control unit 141, a touch panel 142 that also serves as a display unit that displays information and an input operation unit that performs various input operations, and a storage unit 143 that stores information. The storage unit 143 stores map information of one or more fields F, and other various programs and various data necessary for controlling the seedling transplanting machine 1. These are stored in the storage unit of the controller 150. It may be remembered.

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

Then, as described above, the controller 150 can notify the tablet terminal device 140 of information regarding the support status including whether or not the straight-ahead support can be executed and the remaining amount of seedlings, fertilizer, and the like.

Further, the rice transplanter 1 includes various switches 153 including a straight-ahead support start switch 83, and these are connected to the controller 150.

The float potentiometer 154 is provided on the center float 48 that moves up and down according to the unevenness of the field F, and senses the vertical movement of the center float 48 to raise and lower the seedling planting portion 50 according to the unevenness of the field F. Can be made to.

In addition, the controller 150 can also perform the following control while executing the straight-ahead support. That is, when the tilt sensor 180 detects that the forward rising posture of the traveling vehicle body 2 is equal to or greater than a predetermined angle, the controller 150 drives and controls at least a part of the seedling planting portion 50, for example, the rotor motor 165. By lowering the ground leveling rotor 67 and bringing it into a state of being stretched to the field scene behind the center of gravity of the machine body, the inclination of the traveling vehicle body 2 can be suppressed. Therefore, the driving torque of the front wheels 4 can be secured to improve the straightness, and the accuracy of the straightness support can be improved.

Further, in the controller 150, when the steering angle detected by the steering angle sensor 160 after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state, or when the posture of the traveling vehicle body 2 detected by the attitude sensor 175 is in the traveling direction. On the other hand, if you are in an oblique position, straight-ahead support is prohibited.

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

As shown in FIG. 6, when the straight-ahead support start switch 83 is operated to start the straight-ahead support, the controller 150 determines whether the operator is seated in the control seat 28, in other words, is away from the seat. If it is determined (step S110) and it is determined that the operator is seated in the control seat 28 (step S110: No), this processing flow ends. That is, the processing flow in this straight-ahead support is that when the worker is away from the control seat 28, the seedling transplanter 1 approaches the field peripheral edge F1 where the field scene is likely to be rough. This is because the purpose is to prevent the danger of.

If it is determined that the worker is away (step S110: Yes), the controller 150 determines whether or not the reception state of the GNSS unit 121 is good (step S120).

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

In the ridge position detection process by the satellite navigation system using the GNSS unit 121, the field information stored in advance in the storage unit of the controller 150 is compared with the position information of the traveling vehicle body 2 obtained by the GNSS unit 121 to compare the field peripheral portion. The distance between F1 and the own vehicle is derived.

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

Next, the controller 150 determines whether or not the acquired image matches the pattern of the side shape (step S220). That is, if the controller 150 compares the portion where the signals showing the same tone are continuous and the image data of the ridges stored in advance, and determines that the image data corresponds to the linear pattern showing the ridges (step). S220: Yes), recognized as a ridge. Then, after that, the controller 150 stores the ridge position in the storage unit (step S230), and ends this process. On the other hand, if it is determined that the acquired image does not match the pattern of the side shape (step S220: No), this process ends.

As described above, according to the present embodiment, the detection of the field peripheral portion F1 can be performed twice by the GNSS unit 121 as the first detection means 120 and the camera 135 as the second detection means 130. There is. Therefore, even when the reception state of the GNSS unit 121 is not good, the ridge position detection process by image analysis can be performed by using the camera 135, so that the safety assurance ability is further improved.

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

When the controller 150 determines that the field peripheral edge F1 and the own vehicle are not in an approaching state exceeding a predetermined range (step S150: No), the controller 150 ends this processing flow. On the other hand, when it is determined that the field peripheral edge F1 and the own vehicle are close to each other beyond a predetermined range (step S150: Yes), the traveling regulation control process is performed (step S160).

Here, the traveling regulation control process includes, for example, a process of decelerating to a predetermined speed, a process of decelerating until the vehicle stops, and the like. As described above, when the field peripheral portion F1 approaches, it can be estimated that the field scene is also rough. Therefore, by decelerating, it is possible to automatically steer while suppressing the influence of the unevenness of the field scene. As a result, it is possible to suppress a decrease in straightness due to unevenness in the field scene.

By the way, regarding the process of step S140 shown in FIG. 6 (see FIG. 7), as a modification thereof, the ridges to be the field peripheral edge F1 imaged by the camera 135 are formed of concrete or soil. It is possible to determine whether or not the rice transplanter is present, and control to correct the traveling path of the seedling transplanter 1 according to the determination result. FIG. 8 is a flowchart showing an example of travel path correction processing by image analysis.

Here, the ridges are formed of concrete or soil between step S230 of FIG. 7 and step S150 of FIG. 6, that is, before determining whether or not the ridges have approached the field peripheral edge F1. I try to judge whether it is done. The property of the ridge can be determined by using, for example, the hue, saturation, and lightness of the color attributes of the image data. For example, when using hue, it can be determined that it is made of concrete if it is determined that there is hue. In addition, although there is no hue, if the saturation and lightness are above a certain value, it can be determined that the soil is on the shore.

As shown in FIG. 8, after storing the ridge position (step S610), the controller 150 determines whether or not the type of ridge is concrete (step S620). When it is determined that the concrete is concrete (step S620: Yes), the controller 150 corrects the traveling route so that the distance to the ridge is widened by one row from the predetermined value set in the seedling transplanter 1 in advance (step S620: Yes). Step S630).

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

When it is determined that the soil has low straightness (step S640: Yes), the controller 150 increases the interval to the ridges by 0.5 rows from the predetermined value set in the rice transplanter 1 in advance. The travel path is corrected (step S650). On the other hand, if it is determined that the soil does not have low straightness (step S640: No), it can be determined that the soil has high straightness, so no particular correction is made (step S660).

As a system for supporting automatic straight running, as shown in FIG. 4 surrounded by a two-dot chain line, it is possible to construct an automatic straight running support system using a drone 20 which is an unmanned aerial vehicle. That is, the automatic straight-ahead traveling support system can be configured to include the traveling vehicle body 2, the seedling planting section 50, the GNSS unit 121, the drone 20 equipped with the camera 136, and the controller 150. The controller 150 controls the steering device 110 and the vehicle speed to control the traveling vehicle body 2 based on the detection result by the GNSS unit 121 and the image analysis by the camera 136 mounted on the drone 20. In addition, in this automatic straight running support system, the camera 135 as the second detection means 130 described above may be abolished.

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

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

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

As shown in FIG. 9, the controller 150 first acquires image data obtained by aerial photography by the camera 136 included in the drone 20, and makes it bichromatic in order to distinguish between the field scene and the row of seedlings ( Step S310). Here, the aerial photography should be started at the timing when at least one row of seedling planting work is completed.

Next, the controller 150 repeats imaging and bihueization until the continuous pattern obtained from the bihue-ized acquired image matches the reference seedling ordinance pattern data stored in the storage unit in advance (step S320).

Next, the controller 150 recognizes the row of seedlings actually worked based on the acquired image data and stores it in the storage unit (step S330).

Then, the controller 150 compares the result of the seedling planting work by the autonomous running, that is, the automatic straight running, which is currently being carried out, with the seedling ordinance pattern data which is a reference stored in advance. That is, it is determined whether or not the space between the row of rows by autonomous driving and the row of actual rows by the captured image is 1.5 or more wide (step S340). When there is a deviation of 1.5 or more between the corresponding rows, that is, when the actual spacing is 1.5 or more wider than the reference data (step S340: Yes), the controller 150 is set to 1. . Correct the autonomous travel route until it becomes less than Article 5 (step S350). In the process of step S340, when there is no deviation of 1.5 rows or more between the rows and rows (step S340: No), the controller 150 ends this process.

Further, in the above-mentioned automatic straight running support system, the drone 20 can also be used as a safety device. That is, the camera 136 included in the drone 20 takes an aerial photograph of the seedling transplanter 1, and the aerial image data is transmitted to the controller 150 of the seedling transplanter 1. The controller 150 analyzes the acquired aerial photography data, determines whether or not the operator is seated, and controls the steering device 110 based on the determination result. In addition, here, it is assumed that the drone 20 includes a control unit having a function of analyzing the image pickup data of the camera 136.

That is, as shown in FIG. 10A, the control unit of the drone 20 analyzes the captured image data (step S410). For example, the image data centered on the control seat 28 is converted into, for example, two hues, and the image data in which the portion centered on the control seat 28 is two hues is acquired.

Then, the acquired image data and the control unit determine whether or not they match the seating pattern stored in advance (step S420). Then, if it is determined that they match (step S420: Yes), the control unit determines whether or not the standing flag indicating the state in which the worker is standing is set (step S430), and if the flag is set, (Step S430: Yes), a release signal is transmitted (step S440) to end the process, while if the flag is not set (step S430: No), the process ends as it is.

When it is determined in the process of step S420 that the acquired image data and the seating pattern do not match (step S420: No), the control unit transmits a standing signal to the controller 150 of the rice transplanter 1 (step S450), and then The standing flag is set (step S460), and this process is completed. The series of processes described above are repeatedly executed by the control unit while the drone 20 is in flight.

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

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

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

As described above, according to the automatic straight running support system according to the present embodiment, when it is determined that the worker is not seated, the running speed is slowed down or the steering speed is slowed down to provide a sharp steering wheel. Since it is possible to prevent the vehicle from moving, it is possible to prevent the operator from dropping the vehicle.

In the above-described processing, the control unit provided in the drone 20 determines whether or not the worker is seated, and if it is determined that the worker is not seated, a standing signal is transmitted to the controller 150 of the rice transplanter 1. .. However, the drone 20 only transmits aerial photography data centered on the image of the control seat 28 of the seedling transplanter 1 to the controller 150, and the controller 150 that has acquired the aerial photography data performs the above-mentioned series of controls. You can also.
(First modification)
By the way, the GNSS unit 121 included in the seedling transplanter 1 described above includes a rolling sensor (not shown). Using such a rolling sensor, the controller 150 can be made to perform traveling control when the degree of rolling (swaying) of the airframe exceeds a certain level.

For example, when the rolling sensor of the GNSS unit 121 arranged at a position directly above the front wheel 4 detects the shaking of the aircraft due to the roughness of the field scene, if the shaking is above a certain level, the rear wheel 5 determines the detected position. Decelerate the running speed until it passes. By doing so, it is possible to suppress the occurrence of poor planting of seedlings due to the shaking of the machine body as much as possible.

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

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

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

That is, if the seedling transplanter 1 is set to 4WS in opposite phase, as shown in FIG. 12, when traveling in the field F, the turning radius becomes small when turning at the field peripheral edge F1, and the seedlings are turned back. Since it can turn without turning, the turning path becomes shorter. Moreover, it is hard to slip when turning and it is hard to damage the headland. Further, as the turning radius becomes smaller, the platform of the seedling transplanter 1 can be expanded, so that the loading capacity of seedlings is also improved.

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

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

As described above, in the seedling transplanter 1 having the above-described configuration, the operator can easily switch to 4WS having the opposite phase, 4WS having the same phase, and further 2WS. In the case of 4WS, the rear wheel 5 is also a steering wheel.
(Third variant)
Further, as a modification of the seedling transplanting machine 1, as shown in FIGS. 13 to 15, the spare seedling placing portions 400 are arranged in a row from a state in which the seedling mounting stands 410 are stacked in a plurality of stages (here, three stages). The empty box container 420 can be attached to the spare seedling placing portion 400 while being configured to be freely displaceable to the unfolded state.

FIG. 13 is an explanatory view showing the spare seedling placing portion 400 included in the seedling transplanter 1 according to the modified example in a front view, and FIG. 14 is an explanatory view showing the spare seedling placing portion 400 of the same in a side view. Further, FIG. 15 is an explanatory view of the empty box container 420 provided in the spare seedling placing portion 400 of the same.

As shown in FIG. 13, in the seedling transplanter 1, a shaft body provided at the base of the empty box container 420 is swingably attached to the outer frame of the spare seedling placing portion 400, and the seedlings are in an upright state. In addition to being able to accommodate the take plate 800, the empty box 850 of seedlings can be stacked when it is in a prone state. Here, the empty box container 420 is attached to the outer frame of the seedling stand 410 located in the middle stage.

By providing the empty box container 420 on the outer frame of the spare seedling placing portion 400, a space forming a work passage Q between the control portion 30 provided with the handle 32 and the instrument panel 33 and the spare seedling placing portion 400. Can be widely used, and it is possible to get on and off from the front of the aircraft, improving workability.

Further, the swing of the empty box container 420 can be linked with the unfolding operation of the spare seedling placing portion 400. That is, as shown in FIG. 14, in the empty box container 420, when the three-stage seedling mounting table 410 is stacked, the locking claw 421 formed on the upper edge is placed on the seedling mounting on the upper stage. It is locked to the hook portion of the stopper 422 provided on the table 410 to maintain the standing state (see FIG. 13).

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

Here, the empty box container 420 is set to be slightly inclined outward in the standing state so as to lie down due to its own weight, but the shaft body at the base end attached to the seedling stand 410. A tension spring or the like for urging in the lodging direction may be provided.

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

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

(1) A traveling vehicle body 2 that is equipped with a steering wheel 4 steered by a steering device 110 and an engine 10 and travels in a field F, and a seedling planting portion 50 that is vertically connected to the rear portion of the traveling vehicle body 2. Based on the detection means for detecting the peripheral edge F1 of the field F and the distance between the peripheral edge F1 of the field detected by the detection means and the own vehicle, the power from the steering device 110 and the engine 10 is controlled to drive the traveling vehicle body 2. A seedling transplanting machine 1 including a controller 150 for controlling.

(2) In the above (1), when the controller 150 determines that the distance between the field peripheral edge F1 detected by the detection means and the own vehicle is equal to or less than a predetermined distance, the controller 150 decelerates to a constant speed.

(3) In the above (1) or (2), the seating sensor 190 for detecting whether or not the worker is seated on the control seat 28 provided in the traveling vehicle body 2 is provided, and the controller 150 is provided with the seating sensor 190. , The seedling transplanter 1 that stops the traveling vehicle body 2 when it is detected that the worker is not seated in the control seat 28.

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

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

Further, the following automatic straight running support system for the work vehicle is realized from the above-described embodiment.

(6) A traveling vehicle body 2 that includes a steering wheel 4 steered by the steering device 110 and an engine 10 and travels in the field F, and a seedling planting portion 50 that is vertically connected to the rear portion of the traveling vehicle body 2. Power from the steering device 110 and the engine 10 based on the detection means for detecting the field peripheral edge F1, the drone 20 equipped with the camera 136, the detection result by the detection means, and the image analysis by the camera 136 mounted on the drone 20. An automatic straight-ahead travel support system for a work vehicle including a controller 150 that controls the traveling vehicle body 2.

(7) In the above (6), the controller 150 is based on the difference between the crop planting line detected based on the image analysis by the camera 136 mounted on the drone 20 and the autonomous traveling path of the traveling vehicle body 2. An automatic straight-ahead driving support system for work vehicles that corrects the traveling route.

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

1 Seedling transplanter (working vehicle)
2 Traveling vehicle body 4 Front wheels (steering wheels)
20 drone (unmanned aerial vehicle)
28 Control seat 50 Seedling planting part (working machine)
110 Steering device 121 GNSS unit (position information acquisition unit)
135 camera 150 controller (control device)
F field F1 field margin

Claims (4)

A control seat (28) on which an operator sits, a position information acquisition unit (121) connected to a receiving antenna (122) that receives radio waves from an artificial satellite, and an antenna frame (121) that supports the position information acquisition unit (121). 124) In the work vehicle provided with
The antenna frame (124) is
Lower frames (124a, 124a) having base ends attached to the traveling vehicle body (2), and upper frames (124b, 124b) connected to the upper ends of each lower frame (124a) via a connecting tool (124f). And have
The position information acquisition unit (121) is arranged between the upper parts of the upper frames (124b, 124b) and is located at the top of the antenna frame (124), and the antenna frame (124) is a traveling vehicle body (124). Placed on the front side of 2)
Further, a rotary connecting plate (125) is provided in the middle of the upper frames (124b, 124b), and a rotary support shaft (124d) is erected between the two rotary connecting plates (125, 125). It is configured to be rotatable around a rotation support shaft (124d) by a predetermined angle.
A work vehicle characterized in that it is possible to work while sitting on the control seat (28) in a folded state in which the upper side of the upper frames (124b, 124b) is rotated. The traveling vehicle body (2) is provided with a steering wheel (4) steered by a steering device (110) and a prime mover (10), travels in a field (F), and moves up and down to the rear of the traveling vehicle body (2). The work machine (50) that is freely connected, the position information acquisition unit (121) that detects the peripheral edge (F1) of the field (F), and the field (121) that is detected by the position information acquisition unit (121). Travel control of the traveling vehicle body (2) by controlling the power from the motor for driving the steering device (110) and the prime mover (10) based on the distance between the peripheral edge portion (F1) of F) and the own vehicle. Equipped with a control device (150)
When the position information acquisition unit (121) detects that the traveling vehicle body is close to the peripheral edge portion (F1), the control device (150) regulates the vehicle speed or the motor controls the steering device (the steering device (F1). 110) The work vehicle according to claim 1, wherein the work vehicle is driven. The traveling vehicle body (2) is provided with a camera (135), and the position information acquisition unit (121) and the camera (135) double-detect the peripheral portion (F1) to detect the position information acquisition unit (121). When the reception state from the satellite by 121) does not satisfy a certain level, the vehicle speed is controlled based on the detection result acquired by the camera (135), or the steering device (110) is driven by the motor. The work vehicle according to claim 1 or 2. An unmanned vehicle (20) equipped with a camera, a seedling planting portion (50) for planting seedlings in a field (F), a position information acquisition unit (121), and a position information acquisition unit (121) at the rear of the traveling vehicle body (2). Based on the detection result by the camera (135) and the image analysis by the camera mounted on the unmanned vehicle (20), the power from the steering device (110) and the prime mover (10) is controlled to control the traveling vehicle body. (2) A claim characterized in that the traveling control is performed and the traveling route is corrected based on the difference between the planting row of the seedlings detected based on the image analysis and the preset traveling route. Item 3. The work vehicle according to item 3.

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