JP6962427B2 - Crop extraction machine - Google Patents

Description

The present invention relates to a work vehicle.

Conventionally, some work vehicles such as seedling transplanting machines used for 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, whether or not the steering angle by the steering device is within a predetermined range commensurate with the straight running state when the control of the straight running by the automatic steering device is started. It is not considered that it is difficult for workers to recognize. Further, in order to identify whether or not the traveling vehicle body itself is in a straight posture with respect to the traveling direction, the operator needs skillful skill and many years of experience.

Therefore, in the conventional work vehicle, the planting start may be disturbed immediately after the control of the straight running by the automatic steering device is started, and the planting accuracy may be lowered.

The present invention has been made in view of the above, and provides a work vehicle in which there is no disturbance at the start of planting even immediately after the start of control of straight running, and there is no risk of deterioration in planting accuracy. The purpose.

The work vehicle (1) according to claim 1 is used to solve the above-mentioned problems and achieve the object.
A traveling vehicle body (2) having a steering wheel (4) steered by a steering device (110) and a ground working unit (50) that can be connected to the rear portion.
A position information acquisition device (120) that acquires the position information of the traveling vehicle body (2), and
A control unit (150) that controls the steering device (110) based on the position information acquired by the position information acquisition device (120) to support the automatic straight running of the traveling vehicle body (2), and the control unit (150). A posture detection unit (170) for detecting the posture of the traveling vehicle body (2) is provided.
The ground work unit (50) is a seedling planting unit that is attached to the traveling vehicle body (2) so as to be able to move up and down and performs work in a state of being lowered to the planting position.
The control unit (150)
After the traveling vehicle body (2) has turned, the traveling vehicle body (2) detected by the posture detecting unit (170) when the ground working unit (50) is in a workable state of being lowered to the planting position. When the posture is an oblique posture with respect to the traveling direction, the notification device (200) for notifying that the straight-ahead support is not available is provided.

The work vehicle (1) according to claim 2 includes a steering angle detecting unit (130) for detecting the steering angle (θ) of the steering wheel (4) in claim 1.
In the control unit (150), the rudder angle detection unit (130) is in a workable state in which the ground work unit (50) is lowered to the planting position after the traveling vehicle body (2) has turned. When the detected rudder angle (θ) is not a value indicating a straight-ahead state, the notification device (200) notifies the vehicle.

In claim 1 or 2, the work vehicle (1) according to claim 3 is such that the control unit (150) is planted by the ground work unit (50) after the traveling vehicle body (2) has turned. It is characterized in that the notification device (200) notifies the state other than the workable state when the vehicle is lowered to the position.

The work vehicle (1) according to claim 4 is characterized in that, in any one of claims 1 to 3, the notification device (200) notifies that the straight-ahead support is available. And.

The work vehicle (1) according to claim 5 is provided with a display unit in the notification device (200) according to any one of claims 1 to 4, and when the straight-ahead support is possible, the display unit It blinks, and when the straight-ahead support is actually provided, the display unit is turned on, and when the straight-ahead support is not available, the display unit is turned off.

According to the work vehicle according to claim 1, if the posture of the traveling vehicle body detected by the attitude detection unit after the traveling vehicle body has turned is an oblique posture toward the traveling direction, the straight-ahead support is not available. Since the device notifies the vehicle, it is possible to prevent the traveling vehicle body from traveling diagonally with respect to the assumed traveling direction. Therefore, when the work vehicle is, for example, a seedling planting machine, the effect of preventing the start of planting of seedlings immediately after the start of work from being disturbed can be further enhanced.

According to the work vehicle according to the second aspect, in addition to the effect of the invention of the first aspect, if the steering angle detected by the steering angle detection unit after the traveling vehicle body has turned is not a value indicating the straight traveling state, the straight traveling support is provided. Since the notification device notifies that the vehicle is not available, it is possible to prevent the traveling vehicle body from traveling in a direction deviated from the assumed traveling direction. Therefore, when the work vehicle is, for example, a seedling planting machine, it is possible to prevent the planting start of the seedlings from being disturbed immediately after the start of the work, and it is possible to prevent the seedlings from being adversely affected.

According to the work vehicle according to claim 3, in addition to the effect of the invention according to claim 1 or 2, a state other than the workable state in which the seedling planting portion is lowered to the planting position after the traveling vehicle body has turned. Then, by notifying with the notification device, the operability of switching from the turning operation to the straight-ahead support is improved.
In addition, it is possible to prevent the start of planting of seedlings from being disturbed immediately after the start of work, and it is possible to prevent adverse effects on the growth of seedlings.

According to the work vehicle according to claim 4, in addition to the effect of the invention according to any one of claims 1 to 3, the support status including whether or not the straight-ahead support can be executed can be grasped, and the straight-ahead support can be grasped from the turning operation. Operability to switch to is improved.

According to the work vehicle according to claim 5, in addition to the effect of the invention according to any one of claims 1 to 4, if straight-ahead support is possible, the display unit blinks and the straight-ahead support is actually provided. When the display is on, the display is on, and when the straight support is not available, the display is off, so that the support status including whether or not the straight support can be executed can be grasped, and the turn operation is changed to the straight support. The operability for switching is improved.

FIG. 1A is an explanatory diagram showing an outline of straight-ahead support of the seedling transplanting machine according to the embodiment. FIG. 1B is an explanatory diagram showing an outline of a notification function in the straight-ahead support of the seedling transplanting machine according to the embodiment. FIG. 2 is a side view of the seedling transplanting machine according to the embodiment. FIG. 3 is an explanatory view of the control unit. FIG. 4A is an overall side view of the center mascot. FIG. 4B is a partial front view of the center mascot. FIG. 5A is a front view explanatory view of the antenna frame included in the seedling transplanting machine according to the embodiment. FIG. 5B is an explanatory view of the same antenna frame as viewed from the side. FIG. 6 is a perspective view of the same antenna frame. FIG. 7 is a functional block diagram centered on the controller. FIG. 8 is a flowchart showing an example of straight-ahead support. FIG. 9 is an explanatory diagram showing a procedure for registering a reference traveling line in straight-ahead support.

Hereinafter, the work vehicle according to the embodiment of the present invention will be described in detail as a riding type seedling transplanting machine 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 transplanting machine may be referred to as an airframe.

FIG. 1A is an explanatory diagram showing an outline of the straight-ahead support of the seedling transplanting machine 1 according to the embodiment, and FIG. 1B is an explanatory diagram showing an outline of a notification function in the straight-ahead support of the seedling transplanting machine according to the embodiment.
Note that both FIGS. 1A and 1B show the state immediately after the seedling transplanting machine 1 has turned, for example, on a headland. The seedling transplanting machine 1 according to the present embodiment includes a traveling vehicle body 2 having a front wheel 4 and a rear wheel 5 while connecting a seedling planting portion 50 to the rear portion.

Further, the straight-ahead support means that the controller 150 (see FIG. 7), which is a control unit, controls the operation of the steering wheel 32 based on the steering angle θ of the front wheels 4 of the traveling vehicle body 2 and the position information of the traveling vehicle body 2. Refers to the function of supporting the automatic straight running of the seedling transplanting machine 1 in the field. Here, the steering angle θ is the turning angle of the front wheel 4, but for example, the steering angle of the steering wheel 32 may be detected. Further, the position information of the seedling transplanting machine 1 is acquired by the GNSS unit 120 (see FIG. 7) as a position information acquisition device provided on the traveling vehicle body 2.

Further, in the following description, the front-rear and left-right direction references of the seedling transplanting machine 1 are based on the traveling direction of the traveling vehicle body 2 as viewed from the control seat 28 (see FIG. 2) in which the operator can sit.

In the seedling transplanting machine 1 according to the present embodiment, as shown in FIG. 1A (a), the steering angle θ detected by the steering angle sensor 130 (see FIG. 7) after the traveling vehicle body 2 has turned is a value indicating a straight-ahead state. If there is no such thing, that is, if the steering angle θ indicates an angle equal to or greater than a predetermined value with respect to the straight-ahead direction that should be the traveling direction L1, the straight-ahead support is prohibited. Here, the traveling direction L1 that should be the straight traveling direction is based on the reference traveling line L2 that has been set and registered in advance.

Further, as shown in FIG. 1A (b), in the seedling transplanting machine 1, the posture of the traveling vehicle body 2 detected by the posture sensor 170 (see FIG. 7) after the traveling vehicle body 2 has turned is oblique with respect to the traveling direction L1. If you are in a posture, straight-ahead support is prohibited. The steering angle θ, which is a reference for determining the oblique posture, is defined as, for example, 5 degrees or more. That is, in other words, if the turning angle of the front wheels 4 is less than 5 degrees, it is determined that the posture of the traveling vehicle body 2 is substantially straight with respect to the traveling direction L1, and the straight-ahead support is continued.

In other words, skillful skills and many years of experience are required to clearly recognize whether or not the entire aircraft is straight with respect to the direction of travel. However, in the present embodiment, if the values detected by the steering angle sensor 130 and the attitude sensor 170 after the traveling vehicle body 2 turns do not indicate the attitude of the aircraft in a straight-ahead state, the controller 150 automatically prohibits the straight-ahead support. NS. Therefore, when the straight-ahead control is started, for example, as shown in the virtual loci L3 of FIGS. It is also possible to suppress the occurrence of poor growth of seedlings due to disordered planting posture.

Further, as shown in FIG. 1B, the seedling transplanting machine 1 according to the present embodiment can notify the support status including whether or not the straight-ahead support can be executed by, for example, making the center mascot 350 emit light, and thus a turning operation. Improved operability when switching from to straight support. As described above, the seedling transplanting machine 1 according to the present embodiment improves the conventional problem in the straight-ahead support, improves the safety and workability at the start of automatic straight-ahead, and the worker recognizes the information of the machine. It's easy.

The front wheels 4 in FIGS. 1A and 1B correspond to the steering wheels, and the seedling planting section 50 (an example of the ground working section, hereinafter referred to as a seedling planting section) corresponds to the ground working section. Further, the steering wheel 32 constitutes a part of the steering device 110. Details of the steering device will be described later.

FIG. 2 is a side view of the seedling transplanting machine 1 according to the embodiment, and FIG. 3 is an explanatory view of a control unit. A specific configuration of the seedling transplanting machine 1 will be described with reference to FIGS. 2 and 3. As shown in FIG. 2, a seedling planting portion 50 is attached to the traveling vehicle body 2 of the seedling transplanting machine 1 so as to be able to move up and down via a seedling planting portion elevating mechanism 40 which is an elevating device. Further, 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 both driven, and the front wheels 4 serving as steering wheels are steered by rotating the steering wheel 32. , It is possible to drive on fields and roads between fields.

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 transplanting machine 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 mission case 18. That is, the driving force from the engine 10 is transmitted to the hydraulic continuously variable transmission 16 via the power transmission unit 17, and the power shifted by the hydraulic continuously variable transmission 16 is transmitted to the mission case 18. The transmission case 18 has an auxiliary transmission mechanism (not shown) for switching between a high-speed mode and a low-speed mode, which will be described later, and 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 gear cases 22. It is possible to transmit to 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 axles 131, and the front wheel final cases 13 can be driven in response to the steering operation of the steering wheel 32 to steer the front wheels 4. ..

Similarly, the rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles 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. 7).

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. Mud can be dropped into the field. 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 the rear step 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 is seated is installed on the upper portion 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 in 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. Then, as shown in FIG. 3, various switches and meters including a reference point registration switch 83, which will be described later, are provided on the instrument panel 33 provided on the steering post 315. 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 buzzer 215, which is an example of the notification device 200, is provided (see FIG. 7).

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, which is a steering wheel.

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 grips and operates the grip portion 810 provided at the tip thereof to operate the hydraulic continuously variable transmission, which will be described later. The speed of the traveling vehicle body 2 can be adjusted by adjusting the rotation angle of the 16 trunnions (not shown).

On the other hand, the auxiliary speed change 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 transplanting machine 1 to perform planting work in the field. On the other hand, the high-speed mode is, for example, a traveling mode when the seedling transplanting machine 1 is moved between fields, and it is possible to 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 350 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, spare seedling stands 400 and 400 (see FIG. 5A) are provided on the front left and right sides of the traveling vehicle body 2.

FIG. 4A is an overall side view of the center mascot 350, and FIG. 4B is a partial front view of the center mascot 350. The center mascot 350 according to the present embodiment will be described with reference to FIGS. 4A and 4B.

The center mascot 350 according to the present embodiment is attached to the front center position of the traveling vehicle body 2 so as to serve as a guide for the traveling direction when the worker sitting in the control seat 28 operates the seedling transplanting machine 1. It works for. Further, the center mascot 350 according to the present embodiment also functions as a notification device 200 for notifying the support status including whether or not the straight-ahead support can be executed as described above.

That is, as shown in FIG. 4A, a plurality of center mascots 350 are arranged side by side at the front center position of the traveling vehicle body 2 along the traveling direction. Specifically, the first strut 353a and the second strut 353b, each of which has a curved lower portion and whose tip extends upward, are attached so as to be located at the center of the front end of the front cover 31.

A first lens portion 351 is provided at the tip of the first strut 353a, and a second lens portion 352 is provided at the tip of the second strut 353b. A locking bar 356 is provided in the middle of the second support column 353b, and when the front cover 31 provided at the front portion of the control unit 30 is opened, the locking bar 356 is locked to the locking bar 356. The open state can be maintained (see FIG. 5A). When it is not necessary to distinguish between the first strut 353a and the second strut 353b, the two may be collectively referred to as the mascot strut 353. The base end of the mascot support 353 is attached to the front side of the main frame 7 of the traveling vehicle body 2 so as to be tiltable back and forth via the pivot portion 355.

As shown in FIG. 4B, the first lens unit 351 and the second lens unit 352 of the center mascot 350 include a plurality of lamps 354a to 354e, and the notification device 200 is configured by the light emission of the lamps 354a to 354e. It is configured to function as a display unit 210 (see FIG. 7). When a plurality of lamps 354a to 354e are collectively referred to, they are referred to as lamps 354.

Further, as shown in FIG. 4A, the first strut 353a is relatively long and is located on the front side, and is formed shorter than the first strut 353a in a state of being in close contact with the rear side of the first strut 353a. Two columns 353b are arranged. The first strut 353a bends forward in the middle, and then the tip extends upward.

Therefore, the first lens unit 351 and the second lens unit 352, which emit light and function as the notification device 200 (display unit 210), are arranged apart from each other in the front-rear direction with a predetermined height difference. The visibility from a person becomes good, and there is no possibility of recognizing and recognizing the light emission of the first lens unit 351 and the light emission of the second lens unit 352. Further, by using a plurality of lens units 351 and 352, the notification contents can be diversified.

Here, the operation as the notification device 200 will be described with an example. For example, when the straight-ahead support is executed and the automatic straight-ahead is possible, the lower lamp 354d provided in the first lens unit 351 of the center mascot 350 blinks, and when the straight-ahead is actually going straight, the lower lamp 354d is blinking. Lights up. On the other hand, if the straight-ahead support cannot be used for some reason, the lower lamp 354d is turned off. At this time, the upper lamp 354e may be turned on, for example, in red to notify the situation in which the straight-ahead support is not available.

On the other hand, in the second lens unit 352 located below the first lens unit 351, the status of the seedling planting portion 50 may be notified by a lamp instead of the status of straight-ahead support. For example, although not shown, a sensor for detecting the remaining amount of seedlings and the remaining amount of fertilizer is provided, and when the amount of seedlings in the seedling planting unit 50 becomes less than a predetermined amount, the second lens unit 352 according to the remaining amount. The lower left lamp 354a and the right lamp 354b are lit or blinked. Further, when the amount of fertilizer is less than a predetermined amount, the upper lamp 354c of the second lens unit 352 blinks or lights up. Contrary to the above-mentioned notification, the first lens unit 351 may notify the status of the seedling planting unit 50, and the second lens unit 352 may notify the status of straight-ahead support.

As described above, the seedling transplanting machine 1 according to the present embodiment uses the center mascot 350 as the notification device 200, and in addition to the status of straight-ahead support, the remaining work materials such as seedlings and fertilizer provided in the seedling planting section 50. Information on the amount can also be notified.

Since the center mascot 350 is always in the field of view of the worker facing forward, the worker can always grasp the situation of the seedling transplanting machine 1 without turning his / her eyes away from the front, and the safety is improved. Can greatly contribute to.

Further, in order for the seedling transplanting machine 1 to perform straight-ahead support, teaching work is required in advance. In the teaching work, for example, the reference traveling line L2 is registered by the traveling reference registration unit 152 (see FIG. 7) while using the receiving antenna 121 in order to execute the straight-ahead support and control the straight-ahead.

That is, the controller 150 (see FIG. 7) of the seedling transplanting machine 1 according to the present embodiment registers the reference traveling line L2 (see FIGS. 1A and 1B) which is a reference for the traveling vehicle body 2 in the straight traveling support. It has a running standard registration unit 152.

The traveling standard registration unit 152 acquires the start position and the end position of the straight-ahead support as the reference start point P1 and the reference end point P2, respectively, and sets the line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference travel line L2. I try to register.

The operation of acquiring the reference start point P1 and the reference end point P2 can be performed by operating the reference point registration switch 83 provided in the control unit 30. The reference point registration switch 83 is composed of a so-called bounce switch, and the first operation is the acquisition operation of the reference start point P1 and the second operation is the acquisition operation of the reference end point P2. Then, if the reference point registration switch 83 is pressed and held for a long time, the acquisition operation of the reference start point P1 and the reference end point P2 is canceled.

At this time, in the notification device 200, that is, the center mascot 350, the acquisition status of the reference start point P1 and the reference end point P2 can be notified by the display unit 210 composed of the lamps 354a to 354e. Further, by making the buzzer 215 of the notification device 200 sound when the switch is operated, it is possible to perform the acquisition operation of the reference start point P1 and the reference end point P2 while confirming through visual and auditory senses. It is preferable that the buzzer sounds for a long time during the long press operation for canceling the acquisition operation of the reference start point P1 and the reference end point P2.

Here, the notification by the center mascot 350 will be described. For example, when the second lens unit 352 is used and the reference start point P1 and the reference end point P2 that define the reference traveling line L2 have not been acquired, the two lower left and right lamps 354a and 354b of the second lens unit 352 are used. When both are turned off and only the reference start point P1 has been acquired, the left lamp 354a is turned on.
Then, when both the reference start point P1 and the reference end point P2 have been acquired, the left and right lamps 354a and 354b are both lit. In this case, for example, the upper lamp 354c may be blinked when the teaching operation is being executed, and may be turned on when the teaching operation is completed.

Of course, the first lens unit 351 may notify the acquisition status of the reference start point P1 and the reference end point P2. In that case, for example, if the reference start point P1 and the reference end point P2 have not been acquired, both the upper and lower lamps 354e and 354d of the first lens unit 351 are turned off, and if only the reference start point P1 has been acquired, the upper lamp 354e is turned off. Light. Then, when both the reference start point P1 and the reference end point P2 have been acquired, the upper and lower lamps 354e and 354d are both lit.

As shown in FIG. 3, the reference point registration switch 83 used when registering the reference traveling line L2 (see FIGS. 1A and 1B) as described above is provided on the left side of the control unit 30. That is, the main speed change lever 81 for switching between the forward / backward movement and the running output of the traveling vehicle body 2 and the reference point registration switch 83, which is an operation switch for acquiring the reference start point P1 and the reference end point P2, sandwich the handle 32. It is provided at a position facing each other. In this way, the main speed change lever 81 and the reference point registration switch 83 are arranged so as to face each other on the left and right opposite sides. The possibility that the operator erroneously operates the operation of the main speed change lever 81 and the operation of the reference point registration switch 83 due to misunderstanding or the like is reduced as much as possible.

By the way, in the seedling transplanting machine 1 according to the present embodiment, as shown in FIG. 2, a GNSS unit 120 having a built-in receiving antenna 121 (see FIG. 7) is arranged in the traveling vehicle body 2. The GNSS unit 120 can acquire position information on the earth at predetermined intervals by acquiring GNSS coordinates at predetermined intervals in time with the receiving antenna 121. Further, in the GNSS unit 120 according to the present embodiment, in addition to the receiving antenna 121, an inertial navigation system using a gyro sensor and an acceleration sensor and a control board for controlling them are built in, although not shown.

5A is an explanatory view of the antenna frame included in the seedling transplanting machine 1 according to the embodiment in front view, FIG. 5B is an explanatory view of the antenna frame in side view, and FIG. 6 is a perspective view of the antenna frame. As shown in FIGS. 2, 5A and 5B, the GNSS unit 120 is located at 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. It is attached to. 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 FIG. 6, the antenna frame 124 is composed of left and right front lower frames 124a and 124a, a front upper frame 124b, an upper L-shaped frame 124c, and a rear vertical frame 124d.

A pair of brackets 127 and 127 are provided at the base ends of the left and right front lower frames 124a and 124a, and the front lower frame 124a is attached to the bumper 700 of the traveling vehicle body 2 via the brackets 127 and 127.

The front upper frame 124b has left and right vertical frames 1241 and 1242 whose base ends are rotatably connected to the left and right front lower frames 124a and 124a via rotary couplers 124f and 124f, respectively. It is a shaped frame, and is formed in an abbreviated shape when viewed from the side (see FIG. 2).

As shown in FIG. 6, the left and right rotary connecting tools 124f and 124f are connected and fixed by a knob bolt 128, and as shown in FIG. 2, the rotary connecting tools 124f and 124f and the front cover 31 are reinforced. The frame 124e is hung. In this way, the simple configuration prevents the front lower frames 124a and 124a and the left and right vertical frames 1241 and 1242 from rattling.

As shown in FIG. 5A, the left and right front lower frames 124a and 124a are erected diagonally inward so that the upper end side does not come into contact with the front cover 31. Therefore, a space Q is formed between the control unit 30 and the spare seedling mounting tables 400 and 400 arranged on the left and right sides of the machine body, for example, so that the operator can move between the front side of the machine body and the floor step 26.

The GNSS unit 120 is arranged on the aluminum block 122 bridged between the upper portions of the left and right vertical frames 1241 and 1242. In this way, by interposing the aluminum block 122 between the GNSS unit 120 and the steel pipe antenna frame 124, the reception sensitivity is improved as compared with the case where the aluminum block 122 is directly attached to the receiving antenna 121.

The tip of the upper L-shaped frame 124c is connected to the rear end of the front upper frame 124b, and although not shown, wiring such as a harness extending from the GNSS unit 120 is along the upper L-shaped frame 124c. Is being routed.

The lower end of the rear vertical frame 124d is connected to the rear step 27 at the rear side of the control seat 28. The storage hoppers 71 and 71 of the fertilizer application device 70 are arranged on the left and right behind the cockpit 28, respectively, because the rear vertical frame 124d is located between the left and right storage hoppers 71 and 71. , There is no interference when opening and closing the storage hopper 71.

In this way, the antenna frame 124 for arranging the GNSS unit 120 is connected to the bumper 700 and the front cover 31 on the front side and to the rear step 27 on the rear side, and has a structurally stable three-point support. Therefore, it can be attached to the traveling vehicle body 2 in an extremely stable state.

At the upper end of the rear vertical frame 124d, a connecting portion 125 for detachably connecting the other end of the upper L-shaped frame 124c is provided, and the upper L-shaped frame 124c is detachably connected. The connecting portion 125 includes, for example, a pin insertion hole (not shown) formed at the connecting end portion of the upper L-shaped frame 124c and the rear vertical frame 124d, and a fastening pin (not shown) that can be inserted into and removed from the pin insertion hole. (Not shown). As described above, with a simple configuration, the upper L-shaped frame 124c and the rear vertical frame 124d can be detachably connected to each other.

In this way, the upper L-shaped frame 124c is separated from the rear vertical frame 124d, and as shown in FIG. The height of the antenna frame 124 can be lowered by a simple operation of rotating the frame 124c downward at the rear (see FIG. 5B).

Therefore, for example, when the seedling transplanting machine 1 is transported or stored in a barn or the like, if the thickness of the GNSS unit 120 becomes a height obstacle, the overall vehicle height is lowered without removing the GNSS unit 120. be able to.

Further, since the antenna frame 124 (front upper frame 124b and upper L-shaped frame 124c) is rotated by a simple configuration provided with the rotating connector 124f, the cost increase is suppressed and the antenna frame 124 is suppressed. The overall rattling can be minimized. Moreover, it has the convenience of being able to perform a rotation operation with one action.

By the way, in the present embodiment, as shown in FIG. 6, a frame receiver 126 formed in a substantially Y shape is provided near the upper end of the rear vertical frame 124d. Therefore, when the antenna frame 124 is folded to lower the height, the upper L-shaped frame 124c can be stably held by being locked to the frame receiver 126.

Here, returning to FIG. 2, the seedling planting portion 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.

Further, the seedling planting section elevating mechanism 40 has a hydraulic elevating cylinder 44 that expands and contracts by flood control, and the seedling planting section 50 can be elevated 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 by the elevating operation of the seedling planting portion elevating mechanism 40, or raises the seedling planting portion 50 to a non-working position (planting). 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, it can be a so-called 6-row planting part 50 in which seedlings are planted in 6 sections. 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 stand 51 is provided as a seedling placing member for loading a plurality of seedlings on the rear portion 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.

Further, the seedling planting device 60 is arranged in the lower part of the seedling placing table 51, and is supported by the planting support frame 55 arranged on the front side of the seedling placing table 51. The seedling planting device 60 is a device for taking seedlings placed on the seedling stand 51 and planting them in the field, and has a planting transmission case 64 and a planting body 61. The planting body 61 is configured so that seedlings can be taken from the seedling placing table 51 and planted in the field, and the planting transmission case 64 can supply a driving force to the planting body 61.

Further, 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, and the planting body 61 is configured to supply the planting body 61 to the planting transmission case 64. Is rotatably connected. Further, the planting body 61 is rotatably connected to the planting rod 62, which takes seedlings from the seedling placing table 51 and is planted in the field, and the planting rod 62, which is rotatably supported and connected to the planting transmission case 64. It has a rotary case 63 and a rotary case 63. The rotary case 63 is equipped with a non-uniform speed transmission mechanism (not shown) that can rotate the planting rod 62 while changing the rotation speed when the implantation 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 can rotate while the rotation speed changes depending on the rotation angle with respect to the rotary case 63.

The seedling planting device 60 configured in this way is arranged one by two every two rows. That is, each of the plurality of seedling planting devices 60 is assigned a planting strip. 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 is provided with a float potentiometer 154 (see FIG. 7) as a hydraulic sensitivity mechanism for raising and lowering the seedling planting portion 50 up and down according to the situation of the field.

Further, on the front side of the seedling planting portion 50 at a position on the lower side, ground leveling rotors 67 and 67 for leveling the field are provided. The ground leveling rotor 67 is configured to be rotatable by the output from the engine 10 transmitted via the rear wheel gear case 22. In the seedling transplanting machine 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. That is, the straight-ahead support is executed only when the seedling planting work is performed.

Further, on both the left and right sides of the seedling planting portion 50, 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 when the seedling transplanting machine 1 turns straight ahead at the ridge of the field and then moves straight forward in the field. However, since the seedling transplanting machine 1 according to the present embodiment can execute straight-ahead support by using GNSS (Global Positioning 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 supplies the left and right storage hoppers 71 and 71 for storing fertilizer, the feeding device 72 for feeding the fertilizer supplied from the storage hoppers 71 and 71 by a set amount, and the fertilizer delivered by the feeding device 72 to the field. A fertilizer application hose 74, which is a fertilizer application passage, 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.

FIG. 7 is a functional block diagram centered on the controller 150 of the seedling transplanting machine 1. The seedling transplanting machine 1 according to the present embodiment can control each part by electronic control, and the seedling transplanting machine 1 includes a controller 150 as a control unit 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 seedling transplanting machine 1 is stored in the storage unit.

As shown in the figure, the controller 150 is connected to the 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.

The controller 150 operates, for example, a throttle motor 100 for adjusting the intake amount of the engine 10, a trunnion drive motor 165 for changing the rotation angle of the trunnion of the hydraulic stepless transmission 16, and a planting clutch 500 as actuators. The planting clutch motor 510 is connected.

Further, the controller 150 includes a steering angle sensor 130, an orientation sensor 160, an attitude sensor 170, 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 other sensors 199 including sensors are connected.

The steering angle sensor 130 is, for example, a sensor that detects the rotation angle of the steering wheel 32, or a sensor that detects the turning angle when the front wheel 4 that is the steering wheel is steered by operating the steering wheel 32. .. The controller 150 stores the value detected by the steering angle sensor 130 in the RAM of the storage unit.

The directional sensor 160 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 160.

Therefore, in the controller 150, when the steering angle detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state, or the direction detected by the directional sensor 160 or the attitude detected by the attitude sensor 170 is determined. If the value does not indicate the straight direction, straight support can be prohibited. Therefore, it is possible to prevent the planting posture of the seedlings from being disturbed immediately after starting the planting work of the seedlings, and as a result, it is possible to eliminate the adverse effect on the growth of the seedlings.

The posture sensor 170 according to the present embodiment detects how much the posture of the traveling vehicle body 2 is oblique with respect to the traveling direction L1, and is composed of a gyro sensor or the like.

The tilt sensor 180 according to the present embodiment 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 configured by a load cell, a pressure-sensitive film sensor, or the like provided in the control seat 28, and can detect that the operator is seated in the control seat 28.

Further, as the notification device 200, the controller 150 is connected to, for example, a display unit 210 composed of a first lens unit 351 and a second lens unit 352 provided in the center mascot 350, and a buzzer 215 that issues an alarm or the like. Although the display unit 210 and the buzzer 215 are provided in advance on the traveling vehicle body 2 in the present embodiment, the same function can be imparted to the tablet terminal device 140 that can be brought in from the outside.

The controller 150 can use the buzzer 215 and the display unit 210 to notify the implementation status including the execution and stop of the straight-ahead support. Therefore, the operator can easily recognize whether the steering angle and the attitude of the aircraft after turning the aircraft are suitable for performing the straight-ahead support, and thus the operability of switching from the turning operation to the straight-ahead support. Is improved. Using the buzzer 215 and the display unit 210, the controller 150 can also notify the operator of, for example, an abnormality of the power transmission device 15 (such as a disengagement of the gear of the clutch mechanism).

Further, the seedling transplanting machine 1 includes a steering device 110 that can be controlled by the controller 150, a GNSS unit 120 that is a position information acquisition device, and a tablet terminal device 140 that is an information processing terminal device, and these are the controller 150. Connected to.

The steering device 110 includes a steering wheel 32 and a transmission mechanism (not shown) that is interlocked with the steering wheel 32, and also includes a straight-ahead support mechanism 310 that applies an arbitrary rotational force to the steering wheel 32, and is automatically steered by the controller 150. Is possible. The transmission mechanism includes a steering motor 112 (see FIG. 7) that rotates the steering wheel 32. For example, when a straight-ahead support switch (not shown) is operated, the controller 150 automatically steers the steering wheel 32 via the straight-ahead support mechanism 310 based on the position information acquired by the GNSS unit 120, thereby moving the traveling vehicle body 2 in the straight-ahead direction. It is possible to maintain.

While executing such straight-ahead support, the controller 150 determines that the steering angle θ detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state, or the traveling vehicle body 2 detected by the attitude sensor 170. If the posture of is diagonal to the direction of travel, straight-ahead support is prohibited.

The GNSS unit 120 has a receiving antenna 121 (see FIG. 1) that receives a signal from an artificial satellite used in the GNSS, and acquires and acquires the position information (coordinate information) of the seedling transplanting machine 1 on the earth. The position information is transmitted to the controller 150.

The controller 150 can also derive the actual speed of the seedling transplanting machine 1 from the position data of the machine body acquired by the GNSS unit 120. That is, the actual traveling speed can be sequentially calculated from the amount of movement of the aircraft within a certain period of time. Therefore, the controller 150 can acquire the actual vehicle speed of the seedling transplanting machine 1 regardless of the amount of rotation of the rear wheels 5, even if the front wheels 4 and the rear wheels 5 slip, for example.

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, and also has a control unit 141, a display unit for displaying information, and various types. It is provided with a touch panel 142 that also serves as an input operation unit that performs an input operation of, and a storage unit 143 that stores information. The storage unit 143 stores map information of one or more fields, and other various programs and various data necessary for controlling the seedling transplanting machine 1.

The tablet terminal device 140 has a so-called map function, and the seedling transplanting machine 1 according to the present embodiment sets the machine body position on the touch panel 142 based on the position information of the traveling vehicle body 2 acquired by the GNSS unit 120. It can be superimposed and displayed on the map information of the field including the work area.

Further, the controller 150 can also notify the tablet terminal device 140 of the support status including whether or not the straight-ahead support can be executed on the touch panel 142. In addition to the support status, it is also possible to notify information on the remaining amount of seedlings, fertilizer, etc. provided in the seedling planting unit 50. That is, as a modification of the present embodiment, the notification device 200 may include the touch panel 142 or the tablet terminal device 140 provided with the touch panel 142.

Further, the seedling transplanting machine 1 includes a reference point registration switch 83, a float potentiometer 154, and various switches 153 mainly provided in the control unit 30, which are connected to the controller 150.

As shown in FIG. 3, the reference point registration switch 83 is provided on the left side of the instrument panel 33, and is used when acquiring the reference start point P1 which is the start position of the straight-ahead support and the reference end point P2 which is the end position. Functions as an operation switch.

The float potentiometer 154 is provided on the center float 48 that moves up and down according to the unevenness of the field, 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. Can be done.

The seedling transplanting machine 1 according to the present embodiment has the above-described configuration, and an example of straight-ahead support executed by the seedling transplanting machine 1 will be described below. FIG. 8 is a flowchart showing an example of straight-ahead support.

As shown in FIG. 8, when the straight-ahead support is started (step S110) by, for example, a switch operation, the controller 150 determines whether or not the aircraft is turning until it is determined that the aircraft is turning (step S110). S120). That is, the controller 150 determines whether or not the vehicle is turning from the detection results of the steering angle sensor 130, the directional sensor 160, the attitude sensor 170, and the like. In order to detect that the airframe is turning, for example, it is possible to detect the rotation speed of the handle 32 and determine that the aircraft is turning when the rotation speed is equal to or higher than a predetermined speed. Alternatively, when the steering angle of the steering wheel 32 is 180 degrees or more, or the steering angle θ (turning angle) of the front wheels 4 is 30 degrees or more, it can be determined that the steering wheel is turning.

When it is determined that the aircraft is turning (step S120: Yes), the controller 150 determines whether or not the turning of the aircraft is completed (step S130). The controller 150 repeats this detection process until the turning of the airframe is completed. Then, when it is determined that the turning is completed (step S130: Yes), the controller 150 determines whether or not the detection angle by the steering angle sensor 130 is larger than the predetermined angle α (step S140). Here, the predetermined angle α that is the threshold value of the rudder angle θ is represented by the absolute value of the rudder angle θ, and is set to 5 degrees here, but it is not limited to this value, and the threshold value is appropriately determined experimentally. be able to.

Then, when the controller 150 determines that the detection angle, that is, the steering angle θ is larger than the predetermined angle α (step S140: Yes), the controller 150 performs the straight-ahead control prohibition process (step S160). That is, the execution of straight-ahead support is stopped.

On the other hand, in step S140, when the controller 150 determines that the detection angle, that is, the steering angle θ is not larger than the predetermined angle α (step S140: No), whether or not the traveling vehicle body 2 is tilted by a predetermined angle or more with respect to the traveling direction. (Step S150). That is, the controller 150 determines that the traveling vehicle body 2 has a predetermined angle with respect to the traveling direction L1 (see FIG. 1) with reference to the reference traveling line L2 (see FIG. 1) set and registered in advance based on the detection value of the directional sensor 160. It is determined whether or not the device is tilted.

Then, when it is determined that the controller 150 is not tilted by a predetermined angle or more (step S150: No), the controller 150 ends the straight-ahead support process, while it is determined that the controller 150 is tilted by a predetermined angle or more (step S150: Yes). The 150 moves the process to step S160, performs the straight-ahead control prohibition process, and then ends the straight-ahead support process.

Here, with reference to FIG. 9, a procedure for registering the reference traveling line L2, which is a reference when executing the straight-ahead support described above, will be described. FIG. 9 is an explanatory diagram showing a procedure for registering the reference traveling line L2 in the straight-ahead support.

As shown in FIG. 9, first, the reference start point P1 is acquired (step S210). That is, in the field, the seedling transplanting machine 1 is stopped along the traveling direction of the machine body when the seedling planting work is carried out, and the machine body is directed in the straight-ahead direction. Then, by operating the reference point registration switch 83, the position is acquired as the reference start point P1 which is the start position of the straight-ahead support. At this time, the notification device 200 performs the first notification indicating that the acquisition of the reference start point P1 is completed (step S220). Here, as described above, the notification is performed by the light emission of the lamps 354a to 354e of the display unit 210 provided in the center mascot 350.

Next, the reference end point P2 is acquired (step S230). In this method, after the acquisition of the reference start point P1 is completed, the seedling transplanting machine 1 is made to go straight by a distance for executing the straight-ahead support, and the seedling transplanting machine 1 is stopped, and the reference point registration switch 83 is operated. The second operation of the reference point registration switch 83 is the acquisition operation of the reference end point P2, which is the end position of the straight-ahead support. At this time, the notification device 200 performs a second notification indicating that the acquisition of the reference end point P2 is completed (step S240). Here, too, the notification is performed by the light emission of the lamps 354a to 354e of the display unit 210 provided in the center mascot 350.

When the acquisition of the reference start point P1 and the reference end point P2 is completed, the travel reference registration unit 152 of the controller 150 generates a line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference travel line L2 (step S250). This makes it possible to specify the straight-ahead direction when executing straight-ahead support.

Then, when the generated reference traveling line L2 is registered, the notification device 200 performs a third notification indicating that the reference traveling line L2 has been registered (step S260). This is also notified by the light emission of the lamps 354a to 354e of the display unit 210.

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

(1) A traveling vehicle body 2 having front wheels 4 and 4 which can be connected to a seedling planting portion 50 and is steered by a steering device 110, a GNSS unit 120 for acquiring position information of the traveling vehicle body 2, and front wheels. A rudder angle sensor 130 that detects the rudder angles θ of 4 and 4, and a controller 150 that controls the steering device 110 based on the position information acquired by the GNSS unit 120 to support the automatic straight running of the traveling vehicle body 2. The controller 150 is a seedling transplanting machine 1 that prohibits straight-ahead support when the rudder angle θ detected by the rudder angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state.

(2) In the above (1), the posture sensor 170 for detecting the posture of the traveling vehicle body 2 is provided, and the controller 150 changes the posture of the traveling vehicle body 2 detected by the attitude sensor 170 after the traveling vehicle body 2 turns in the traveling direction. Seedling transplanter 1 that prohibits straight-ahead support when in an oblique position.

(3) In the above (1) or (2), the seedling transplanting machine 1 provided with a notification device 200 for notifying the support status including whether or not the straight-ahead support can be executed.

(4) In the above (3), the traveling vehicle body 2 is provided with a center mascot 350 that serves as a guide for the traveling direction, and the seedling transplanting machine 1 that causes the center mascot 350 to function as a notification device 200.

(5) In the above (4), the center mascot 350 is a seedling transplanting machine 1 in which a plurality of center mascots 350 are arranged side by side in the traveling direction at the front center position of the traveling vehicle body 2.

(6) In the above (4) or (5), the center mascot 350 includes a plurality of lamps 354) and functions as a notification device 200 by emitting light from each lamp 354.

(7) In any of the above (3) to (6), the notification device 200 is a seedling transplanting machine 1 that notifies information on the remaining amount of work materials included in the seedling planting unit 50 in addition to the support status.

(8) In any of the above (3) to (7), the traveling standard registration unit 152 for registering the reference traveling line L2, which is the reference for the traveling vehicle body 2 in the straight traveling support, is provided, and the traveling standard registration unit 152. Acquires the start position and the end position of the straight-ahead support as the reference start point P1 and the reference end point P2, registers the line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference traveling line L2, and notifies the notification device 200. Is a seedling transplanting machine 1 that notifies the acquisition status of the reference start point P1 and the reference end point P2.

(9) In the above (8), the main speed change lever 81 for operating the forward / backward movement of the traveling vehicle body 2 and the reference point registration switch 83 for performing the acquisition operation of the reference start point P1 and the reference end point P2 are provided with the main speed change lever 81. The reference point registration switch 83 is a seedling transplanting machine 1 provided at positions facing each other with the handle 32 interposed therebetween.

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 (rudder wheels)
32 steering wheel (steering wheel)
50 Ground work unit 81 Main speed change lever 83 Reference point registration switch 110 Steering device 120 GNSS unit (position information acquisition device)
130 Rudder angle sensor (rudder angle detector)
150 controller (control unit)
152 Driving standard registration unit 170 Posture sensor (posture detection unit)
200 Notification device 350 Center mascot (index member)
354 Lamp L1 Direction of travel L2 Reference running line P1 Reference start point P2 Reference end point θ Steering angle

Claims (5)

A traveling vehicle body (2) having a steering wheel (4) steered by a steering device (110) and a ground working unit (50) that can be connected to the rear portion.
A position information acquisition device (120) that acquires the position information of the traveling vehicle body (2), and
A control unit (150) that controls the steering device (110) based on the position information acquired by the position information acquisition device (120) to support the automatic straight running of the traveling vehicle body (2), and the control unit (150). A posture detection unit (170) for detecting the posture of the traveling vehicle body (2) is provided.
The ground work unit (50) is a seedling planting unit that is attached to the traveling vehicle body (2) so as to be able to move up and down and performs work in a state of being lowered to the planting position.
The control unit (150)
After the traveling vehicle body (2) has turned, the traveling vehicle body (2) detected by the posture detecting unit (170) when the ground working unit (50) is in a workable state of being lowered to the planting position. A work vehicle provided with a notification device (200) for notifying that the straight-ahead support is not available when the posture is an oblique posture with respect to the traveling direction. A steering angle detection unit (130) for detecting the steering angle (θ) of the steering wheel (4) is provided.
In the control unit (150), the rudder angle detection unit (130) is in a workable state in which the ground work unit (50) is lowered to the planting position after the traveling vehicle body (2) has turned. The work vehicle according to claim 1, wherein when the detected rudder angle (θ) is not a value indicating a straight-ahead state, the notification device (200) notifies the vehicle. The control unit (150) is notified by the notification device (200) in a state other than the workable state in which the ground work unit (50) is lowered to the planting position after the traveling vehicle body (2) has turned. The work vehicle according to claim 1 or 2, wherein the work vehicle is characterized by the above. The work vehicle according to any one of claims 1 to 3, wherein the notification device (200) notifies that the straight-ahead support is available. The notification device (200) is provided with a display unit, and when the straight-ahead support is possible, the display unit blinks, and when the straight-ahead support is actually provided, the display unit lights up, and the straight-ahead support is provided. The work vehicle according to any one of claims 1 to 4, wherein when the display unit is unavailable, the display unit is turned off.

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