JP7160072B2 - work vehicle - Google Patents

Description

The present invention relates to work vehicles.

2. Description of the Related Art Conventionally, a work vehicle is known in which an operating device is held in a straight-ahead position and a traveling vehicle body is automatically made to travel straight-ahead (see, for example, Patent Document 1).

JP 2016-24541 A

However, the above work vehicle must be operated by an operator for turning work, and there is a possibility that the position after turning does not match the position for the next process.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work vehicle capable of turning with high precision.

In order to solve the above-described problems and achieve the object, a work vehicle according to one aspect of an embodiment provides a steering device that adjusts a steering amount of a traveling vehicle body, a motor that rotates the steering device, and positioning means for receiving A direction information acquisition device that acquires current direction information of the traveling vehicle body based on the information received from the vehicle, and a control device that controls a steering device by controlling a motor to perform automatic turning. The control device performs automatic turning based on the azimuth of the traveling vehicle body with respect to the turning start position, and determines the number of revolutions of the wheels of the traveling vehicle body from the turning start position until the azimuth of the traveling vehicle body with respect to the turning start position reaches a predetermined azimuth. control the steering device based on

According to one aspect of the embodiment, highly accurate turning can be performed.

FIG. 1 is a side view showing a working vehicle. FIG. 2 is a plan view showing the work vehicle. FIG. 3 is a block diagram showing a control system centering on the control device of the seedling transplanter. FIG. 4 is an explanatory diagram of autonomous traveling of the seedling transplanter in a field. FIG. 5 is a flowchart for explaining automatic turning processing according to the first embodiment. FIG. 6 is a flowchart for explaining automatic turning processing according to the second embodiment. FIG. 7 is a side view showing an outline of the seedling transplanter. FIG. 8 is a diagram showing a modification of the auxiliary member.

(First embodiment)
<Overview of work vehicle>
First, an outline of a work vehicle 1 according to a first embodiment will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is a side view showing a work vehicle 1. FIG. FIG. 2 is a plan view showing the work vehicle 1. FIG.

In the following description, the front-rear direction is the traveling direction of the work vehicle 1 when the work vehicle 1 travels straight. The traveling direction of the work vehicle 1 is the direction from the cockpit 41 toward the steering wheel 35 (steering device) when traveling straight (see FIGS. 1 and 2).

The left-right direction is a direction that is horizontally perpendicular to the front-rear direction, and defines left and right toward the "front" side. That is, when an operator (also called an operator) is seated in the operator's seat 41 and faces forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of explanation, and the present invention is not limited by these directions.

In the embodiment, the working vehicle is described as a riding-type seedling transplanter 1 that includes a seedling planting unit 4 as a field working device and receives seedlings in a field. As shown in FIGS. 1 and 2 , the seedling transplanter 1 includes an elevating seedling planting section 4 for planting seedlings in a field on the rear side of a traveling vehicle body 2 via an elevating link mechanism 3 .

A body portion of the fertilizing device 5 is arranged on the rear upper side of the traveling vehicle body 2 . If the working vehicle is not the seedling transplanter 1, it may be provided with a seeding device for supplying seeds as a working device.

The traveling vehicle body 2 is a four-wheel drive vehicle including left and right front wheels 10 and rear wheels 11 which are wheels and driving wheels. A transmission case 13 for transmitting driving force to the seedling planting portion 4 and the like and a driving force supplied from the engine 30, that is, the driving force generated by the engine 30, are provided on the front side of the main frame 15 constituting the vehicle body frame of the traveling vehicle body 2. A hydraulic continuously variable transmission 14 that outputs rotation to the transmission case 13 is provided.

The continuously variable transmission 14 is a hydrostatic continuously variable transmission called HST (Hydro Static Transmission). A case where the continuously variable transmission is the HST 14 will be described below.

Inside the transmission case 13, an auxiliary transmission mechanism 16 is provided for switching the traveling mode of the traveling vehicle body 2, such as when traveling on the road in high speed mode or when planting seedlings in low speed mode. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are mounted on left and right front axles 10b projecting outward from front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 10a. is attached.

On the rear side of the main frame 15, a rear wheel gear case 11a is attached to both left and right sides of a rear frame 22 (see FIG. 2) provided in the lateral direction. The rear wheels 11 are attached to the rear axles 11b, respectively.

Left and right link support frames 23 for supporting the lifting link mechanism 3 project upward from the upper portion of the rear frame 22 . A pair of left and right lower link arms 24 are provided on the lower side of the left and right link support frames 23 and between the left and right. An elevating cylinder 25 that operates hydraulically is provided between the left and right lower link arms 24 .

An upper link arm 26 is provided above the lifting cylinder 25 to constitute the lifting link mechanism 3, which is a parallel link mechanism. The left and right lower link arms 24, the elevating cylinders 25, and the other ends of the upper link arms 26, each of which has one end connected to the traveling vehicle body 2, are attached to the front portion of the seedling planting section 4. .

An engine 30 is mounted on the main frame 15 . Rotational power of engine 30 is transmitted to mission case 13 via belt transmission device 21 and HST 14 . The rotational power transmitted to the mission case 13 is shifted by the sub-transmission mechanism 16 in the mission case 13, and then divided into running power and external power.

Also, the rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, the power steering mechanism 88 (see FIG. 3) of the steering wheel 35, the lifting cylinder 25, and the like.

The external extraction power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear part of the traveling vehicle body 2, and the seedlings are planted from the planting clutch case 27 by the planting transmission shaft 67. It is transmitted to the part 4.

On the other hand, left and right drive shafts 42 are provided in the rear portion of the transmission case 13 . Rotational power from the engine 30 is transmitted to the left and right rear wheel gear cases 11 a via the transmission case 13 and the drive shaft 42 .

A side clutch 44 (see FIG. 3) for switching power transmission to the left and right drive shafts 42 is arranged on the upper side of the left and right drive shafts 42 in the power transmission direction. As shown in FIG. 1, a side clutch pedal 43a for turning on and off the left and right side clutches 44 is provided at the front lower portion of the operator's seat 41 and on one of the left and right sides.

Of the right and left side clutch pedals 43a, the side clutch pedal 43a on the inner side of the turn is depressed to disengage the side clutch 44, and then the handle 35 is operated to make the turn. can be blocked.

A bonnet 39 is provided on the upper front side of the traveling vehicle body 2. A control panel 38 for operating each part is arranged on the upper part. The control panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

Further, the bonnet 39 is provided with a steering wheel 35 for steering the traveling vehicle body 2, a shift operation lever 36 for operating the HST 14 and the seedling planting section 4, an auxiliary shift operation lever 37 for operating the auxiliary transmission mechanism 16, and the like.

A front cover 40 that can be opened and closed is provided on the front side of the bonnet 39 . Inside the front cover 40, there are provided a fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 10 and the lower portions of the left and right front wheel final cases 10a in response to the steering operation of the steering wheel 35.

An engine cover 30a is provided behind the bonnet 39 and above the engine 30 to cover the upper and side portions of the engine 30. Above the engine cover 30a is a cockpit 41 on which an operator sits. be provided.

A fertilizing device 5 is provided on the rear side of the cockpit 41 and on the rear end side of the main frame 15 . The driving force of the fertilizing device 5 is transmitted by a fertilizing transmission mechanism provided so as to face the fertilizing device 5 from one of the left and right sides of the left and right rear wheel gear cases 11a.

Approximately horizontal floor steps 33 are formed on both left and right sides of the lower portion of the engine cover 30a and the bonnet 39 . As shown in FIG. 2, the floor step 33 is partially lattice-shaped, and for example, even if mud adheres to the shoes of the operator walking on the floor step 33, the mud and the like fall onto the field.

A rear step 330 is connected to the rear of the floor step 33 as shown in FIG. The surface of the rear step 330 is preferably provided with anti-slip processing, for example, with a plurality of projection patterns formed thereon so that feet do not slip easily during work.

In addition, on the front side of the traveling vehicle body 2 and on both the left and right sides, there are provided preliminary seedling frames 50 on which a plurality of preliminary seedling mounting bases 52 are arranged on seedling frame supports 51 at intervals in the vertical direction. Work materials such as seedlings and fertilizer bags to be replenished on the attached portion 4 can be placed.

A seedling tank 53 for loading seedlings to be planted in the field is mounted on the rear end of the lifting link mechanism 3 together with a sliding mechanism for sliding in the left-right direction. In the seedling tank 53, vertically long seedling partition fences 54 are arranged at predetermined intervals in the horizontal direction. Below the seedling tank 53, a seedling planting device 55 for scraping the loaded seedlings and planting them in the field is arranged.

The seedling planting device 55 has the same number of planting rows as the number of planting rows separated by the seedling partition fence 54, that is, plants eight rows at the same time. A planting rotary 57 is mounted on each of the right and left sides of the planting transmission case 56 to pick up seedlings by a planting rod 58 and plant them in the field while rotating.

In the fertilizing device 5, a fertilizing hopper 70 in which fertilizer is stored is divided into the same number of working rows as the seedling planting section 4 (eight rows in the example shown in FIG. 2). In addition, since the fertilizing hoppers 70 for eight rows are long in the left-right direction, the convenience of putting in and removing fertilizer is reduced. good too.

Below the fertilizing hopper 70, a delivery device 71 for supplying a set amount of fertilizer for each row is provided. Below the delivery device 71, a ventilation duct 72 through which the conveying air for moving the fertilizer passes is provided in the left-right direction. A fertilizing hose 73 for guiding fertilizer to the vicinity of the seedling planting position of the seedling planting section 4 is provided below the delivery device 71 . A blower 74 is provided at one end of the ventilation duct 72 and is operated by a blower electric motor 76 to generate a carrier air.

As shown in FIGS. 1 and 2, below the seedling planting unit 4, there are a center float 62C that slides in contact with the field surface, and two left and right side floats 62L and 62R that rotate about their axes. It is provided movably. Note that the center float 62C and the left and right side floats 62L and 62R may be collectively referred to as the floats 62 in some cases.

Further, below the seedling planting unit 4 and in front of the float 62, a leveling rotor 63 for leveling unevenness in the field is provided. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other side of the right and left through the rotor transmission shaft 63a.

Further, as shown in FIG. 1, on both the left and right sides of the seedling planting part 4, one of the left and right sides is in contact with the field, and a groove is formed as a guideline for running in the next work row (next process). A delineation marker 65 is provided respectively. The left and right line markers 65 move upward when one of the left and right sides touches the ground, and when the seedling planting unit 4 is raised during rotation, both left and right sides move upward. One of the left and right sides is spaced upward and the other side is grounded.

Further, as shown in FIGS. 1 and 2 , a center mascot 66 that is elongated in the vertical direction is provided at the left-right central portion of the traveling vehicle body 2 and in front of the bonnet 39 . By aligning the center mascot 66 with the groove formed in the field by the left and right line drawing markers 65, it is possible to travel in line with the working position of the immediately preceding work line, improving work accuracy and preventing the occurrence of non-work. be able to.

Note that depending on the soil quality of the field, the guide line formed by the left and right line markers 65 may quickly become buried, and the guideline for straight running may disappear. In such a case, it is preferable to use the left and right side markers 19 provided on the front side of the left and right delineation markers 65 . That is, by moving the left and right side markers 19 outward and positioning the side markers 19 above the planted seedlings, the planting operation can be performed in accordance with the planting of the seedlings of the previous working row.

Further, as shown in FIG. 1, the seedling transplanter 1 includes a position acquisition device 150 (position information acquisition device, direction acquisition device). The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1 . The position acquisition device 150 includes, for example, an orientation sensor and positioning means such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System). The position acquisition device 150 may be composed of multiple devices. The position acquisition device 150 may include a camera or an ultrasonic sensor, acquire the turning position in the field, and detect the distance to the turning position.

For example, the position acquisition device 150 receives positioning information from the positioning means, creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and direction. The position acquisition device 150 is attached to, for example, the attachment stay 59 and arranged above the traveling vehicle body 2 .

The straight line control program and the turning control program, which are created based on the position information obtained by the position acquisition device 150, are stored in separate locations. The straight running control program is stored, for example, in a straight running control ECU (Electronic Control Unit) 100 a in the position acquisition device 150 , and the turning control program is stored, for example, in a turning control ECU 100 b housed in the bonnet 39 . . The straight running control ECU 100a and the turning control ECU 100b are included in a control device 100 (see FIG. 3), which will be described later. The straight running control ECU 100a and the turning control ECU 100b may be housed in the same ECU.

<Control system of seedling transplanter>
Next, the control system of the seedling transplanter 1 will be described with reference to FIG. FIG. 3 is a block diagram showing a control system centering on the control device 100 of the seedling transplanter 1. As shown in FIG. The seedling transplanter 1 can control each part by electronic control, and includes a control device (hereinafter referred to as a controller) 100 for controlling each part.

The controller 100 includes a processing unit including a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output unit, which are connected to each other. can exchange signals with each other. A computer program for controlling the seedling transplanter 1 and the like are stored in the storage unit. The controller 100 performs each function by reading a computer program or the like stored in the storage unit.

The controller 100 includes, for example, actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST14 motor 85, a draw marker lifting motor 87, a steering motor 95 (motor ), a differential lock switching motor 96 and the like are connected.

The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air amount of the engine 30 . The hydraulic control valve 81 controls the expansion and contraction of the elevating cylinder 25 . A hydraulic control valve 82 controls a power steering mechanism 88 . The planted clutch actuating solenoid 83 operates the planted clutch 27a.

The side clutch actuation solenoid 84 actuates the side clutch 44 that switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutches 44 are provided for the left and right rear wheels 11 respectively, and two side clutch actuation solenoids 84 are provided corresponding to the respective side clutches 44 .

The HST 14 motor 85 changes the tilt angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14 . The steering motor 95 is a motor that drives the steering wheel 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see FIG. 1) when automatic turning control is performed. A steering motor 95 rotates the steering wheel 35 . The drawing marker lifting motor 87 raises and lowers the drawing marker 65 .

The differential lock switching motor 96 operates a differential lock mechanism 97 (hereinafter referred to as a differential lock mechanism (same speed rotation mechanism)) that rotates the left and right running wheels, specifically, the left and right front wheels 10 at the same rotational speed, and It is a motor that switches between operation and stop. When the differential lock mechanism 97 is engaged, the left and right traveling wheels rotate at the same rotational speed.

The controller 100 is connected to detection devices such as a rotation speed sensor 90, a steering amount sensor 91, an inclination sensor 92, and the like. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11, respectively. Note that the rotation speed sensor 90 may detect the rotation speed of the left and right front wheels 10 .

The steering amount sensor 91 detects the amount of operation of the steering wheel 35 , that is, the amount of steering (rudder angle) of the front wheels 10 . Note that the steering amount is detected in each of the left and right directions with a reference position when the operation amount of the steering wheel 35 is zero, that is, when the traveling vehicle body 2 is traveling straight ahead. The tilt sensor 92 detects the tilt angle, which is the tilt of the traveling vehicle body 2 .

Further, the controller 100 receives operation signals from the shift operation lever 36, the auxiliary shift operation lever 37, the mode changeover switch 46, the planting section lift switch 47, the automatic turn changeover switch 48, the drawing marker automatic lift switch 49, and the like. is entered.

The mode changeover switch 46 is a switch that changes over whether to enable automatic turning. Specifically, the mode changeover switch 46 is a switch that changes the driving mode between the first mode and the second mode.

The first mode is a mode in which the traveling vehicle body 2 is stopped at a predetermined turning position. The predetermined turning position is, for example, the end position of automatic straight travel in an automatic straight travel mode, which will be described later.

The second mode is a mode in which automatic turning is started when the seedling planting unit 4 changes from the working state to the non-working state from a predetermined distance before the predetermined turning position to the predetermined turning position. is. The predetermined distance is a preset distance.

The planting part raising/lowering switch 47 is a switch for switching whether or not the seedling planting part 4 is raised/lowered. The planting section lift switch 47 is changed to the "raise" and "lower" positions.

When the planting section lift switch 47 is at the "up" position, the seedling planting section 4 rises to a predetermined non-working position, and the seedling planting device 55 is in a non-working state. When the planting part lifting switch 47 is at the "down" position, the seedling planting part 4 is lowered to a predetermined working position, and the seedling planting device 55 is in a working state. That is, the planting part lifting switch 47 is a switch for detecting the working state of the seedling planting part 4 . A switch for detecting the working state of the seedling planting unit 4 may be provided separately.

The drawing marker automatic elevation switch 49 is a switch for switching whether the drawing marker 65 is automatically raised or lowered in conjunction with the operation amount of the steering wheel 35 , that is, the steering amount of the front wheels 10 . When the drawing marker automatic elevation switch 49 is "ON", control is executed to automatically raise and lower the drawing marker 65 in conjunction with the steering amount. On the other hand, when the drawing marker automatic elevation switch 49 is "OFF", the control for automatically raising and lowering the drawing marker 65 in conjunction with the steering amount is not executed.

The automatic turning changeover switch 48 is a switch for switching whether to enable execution of automatic turning. When the automatic turning changeover switch 48 is turned "ON", automatic turning can be executed. When the automatic turning changeover switch 48 is "OFF", the automatic turning cannot be executed. When the automatic turning changeover switch 48 is "OFF", automatic turning is not executed even if the conditions for executing automatic turning are satisfied.

Further, current position information of the traveling vehicle body 2 and the like are input to the controller 100 from the position acquisition device 150 . The controller 100 executes an autonomous traveling mode in which the traveling vehicle body 2 automatically travels while performing work.

<Autonomous driving mode>
Here, with reference to FIG. 4, autonomous traveling (automatic traveling) including automatic turning in a field by the seedling transplanter 1 will be described. FIG. 4 is an explanatory diagram of autonomous traveling of the seedling transplanter 1 in a field. The controller 100 (see FIG. 3) has an autonomous driving mode in which the steering motor 95 (see FIG. 3) is operated while feeding back the steering amount of the front wheels 10 (see FIG. 1) to operate the steering wheel 35 (see FIG. 3). . The autonomous driving mode includes an automatic straight driving mode and an automatic turning mode.

As shown in FIG. 4, in the autonomous travel mode, the seedling transplanter 1 automatically performs seedling planting work in a field while repeating straight and turning along a planned travel route. As described above, the controller 100 acquires the current position information of the seedling transplanter 1 and the turning position information by the position acquisition device 150 arranged above the traveling vehicle body 2 .

The seedling transplanter 1 plants seedlings while reciprocating within a predetermined work area in a field. In this case, for straight running, the controller 100 executes the automatic straight running mode to automatically run along the set straight running route L1. As for the turning travel, the automatic turning along the turning travel path L2 is executed by the controller 100 executing the automatic turning mode.

The straight travel route L1 is parallel to the reference line L0 that serves as a travel reference. The reference line L0 is set in the field according to the seedling planting direction. The controller 100 acquires the start position and end position of straight traveling as a reference start point (point A) and a reference end point (point B), respectively, and stores a line segment connecting points A and B as a reference line L0.

The controller 100 controls the steering motor 95 so that the steering amount of the steering wheel 35 becomes a predetermined steering amount while the seedling transplanter 1 is turning. In this case, the controller 100 executes processing regardless of the location information acquired by the location acquisition device 150 . The predetermined steering amount is a preset value. The predetermined steering amount is set according to the type of the seedling transplanter 1 and the like. The predetermined steering amount is set so that the transition from automatic turning to automatic straight running is smoothly performed.

If the position of the seedling transplanter 1 after automatic turning is deviated from the straight traveling route L1 for automatic straight movement in the next process, it should be adjusted so that it matches the straight traveling route L1 for automatic straight movement in the next process after automatic turning. As a result, the shaking of the traveling vehicle body 2 increases. In addition, for example, the operator must operate the handle 35 to match the straight running path L1 for the automatic straight running of the next process, and the load on the operator is increased. Moreover, there is a possibility that the running posture of the seedling transplanter 1 may not collapse. In view of this point, the predetermined steering amount is set so that the transition from automatic turning to automatic straight running is smoothly performed.

The controller 100 determines whether the seedling transplanter 1 reaches any desired position on the set turning travel path L2 based on the position information acquired by the position acquisition device 150 while the seedling transplanter 1 is turning. Alternatively, the steering motor 95 may be controlled. Further, the controller 100 may perform automatic turning by combining the two automatic turning modes described above.

After turning by automatic turning, the controller 100 controls the steering motor 95 so that the seedling transplanter 1 reaches the planting start position by automatic straight movement in the next step.

The controller 100 calculates the wheel slip amount while the traveling vehicle body 2 is traveling, for example, during automatic traveling. The controller 100 calculates the slip amount based on the rotation speed of the rear wheels 11 detected by the rotation speed sensor 90 and the position information of the traveling vehicle body 2 obtained by the position obtaining device 150 .

Specifically, the controller 100 calculates the difference (deviation) between the vehicle speed of the traveling vehicle body 2 calculated based on the rotation speed and the vehicle speed (actual vehicle speed) of the traveling vehicle body 2 calculated based on the position information. , the wheel slip amount is calculated based on the calculated difference. Note that the slip amount may be a slip ratio. For example, the slip amount may be a ratio of the vehicle speed of the traveling vehicle body 2 calculated based on the number of revolutions and the vehicle speed of the traveling vehicle body 2 calculated based on the position information. The wheel slip amount may be calculated based on the number of revolutions of the front wheels 10 . Further, the wheel slip amount may be calculated based on the number of revolutions of the wheel on the inner side of the turn, or may be calculated based on the number of revolutions of the wheel on the outer side of the turn.

In the controller 100, the traveling mode is set to the second traveling mode by the mode changeover switch 46, and the traveling vehicle body 2 moves from a predetermined distance before the predetermined turning position to the predetermined turning position. is changed from the working state to the non-working state, it is determined that the automatic turning condition is satisfied, and the automatic turning is started.

It should be noted that the determination as to whether or not the vehicle is a predetermined distance before the predetermined turning position is made based on the position information acquired by the position acquisition device 150, the traveling distance in the current work process, and the like.

<Automatic turn processing>
Next, automatic turning processing according to the first embodiment will be described with reference to the flowchart of FIG. FIG. 5 is a flowchart for explaining automatic turning processing according to the first embodiment. Here, it is assumed that the automatic turning changeover switch 48 is turned "ON".

The controller 100 determines whether or not an automatic turning condition is satisfied (S100). If the automatic turning condition is not satisfied (S100: No), the controller 100 terminates this process.

When the automatic turning condition is satisfied (S100: Yes), the controller 100 starts automatic turning (S101). Specifically, the controller 100 controls the steering amount of the steering wheel 35 to a predetermined steering value, and starts automatic turning.

The controller 100 determines whether or not the azimuth of the traveling vehicle body 2 has become a predetermined azimuth (S102). The predetermined orientation is an orientation that is set for each turn, and is set for each turn start position. The predetermined orientation is a position (orientation) at which the steering of the steering wheel 35 can be adjusted so that the traveling vehicle body 2 is aligned with the straight traveling path L1 of the next step. The predetermined orientation is set with reference to the orientation of the turning start position.

If the azimuth of the traveling vehicle body 2 is not the predetermined azimuth (S102: No), the controller 100 continues automatic turning until the azimuth of the traveling vehicle body 2 reaches the predetermined azimuth (S102). The controller 100 maintains the steering amount of the steering wheel 35 at a predetermined steering value and continues automatic turning.

When the azimuth of the traveling vehicle body 2 becomes the predetermined azimuth (S102: Yes), the controller 100 calculates the slip amount from the start of turning to the predetermined azimuth (S103).

The controller 100 adjusts steering of the steering wheel 35 (S104). The controller 100 adjusts steering of the steering wheel 35 based on the calculated slip amount. Specifically, the controller 100 calculates the steering amount of the steering wheel 35 based on the slip amount so that the traveling vehicle body 2 is aligned with the straight traveling route L1 of the next step.

Specifically, the controller 100 calculates the steering amount of the steering wheel 35 so that the transition from the automatic turning to the automatic straight running is smoothly performed and the shaking of the traveling vehicle body 2 is reduced. Then, the controller 100 adjusts the steering amount of the steering wheel 35 according to the calculated steering amount. That is, the controller 100 corrects the turning path with respect to the turning path in the case of automatic turning by a predetermined steering amount.

For example, when the slip amount is smaller than the first predetermined slip amount, the controller 100 determines that the traveling vehicle body 2 is making a larger turn than the desired turning path, and adjusts the steering of the steering wheel 35 . The desired turning path is a turning path that allows smooth transition from automatic turning to automatic straight running. The first predetermined slip amount is the lower limit value of the slip range in which it can be determined that the traveling vehicle body 2 is traveling along the desired traveling route during automatic turning. For example, the first predetermined slip amount is set based on the slip amount calculated during automatic straight travel in the same field.

For example, the controller 100 increases the steering amount of the steering wheel 35 when the slip amount is smaller than the first predetermined slip amount. That is, the controller 100 makes the steering angle of the steering wheel 35 larger than the steering angle corresponding to the predetermined steering value. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is increased turns with a smaller turning radius than when the steering amount of the steering wheel 35 is not increased. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius becomes smaller than that of the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling route L1 of the next process.

When the slip amount is smaller than the first predetermined slip amount, the controller 100 increases the steering amount of the steering wheel 35 so that the smaller the slip amount, the smaller the turning radius of the traveling vehicle body 2 .

When the slip amount is larger than the second predetermined slip amount, the controller 100 determines that the traveling vehicle body 2 is making a smaller turn than the desired turning path, and adjusts the steering of the steering wheel 35 . The second predetermined slip amount is the upper limit value of the slip range in which it can be determined that the traveling vehicle body 2 is traveling along the desired traveling route during automatic turning. For example, the second predetermined slip amount is set based on the slip amount calculated during automatic straight travel in the same field. The second predetermined slip amount is greater than the first predetermined slip amount.

For example, the controller 100 reduces the steering amount of the steering wheel 35 when the slip amount is larger than the second predetermined slip amount. That is, the controller 100 makes the steering angle of the steering wheel 35 smaller than the steering angle corresponding to the predetermined steering value. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is reduced turns with a turning radius larger than the turning radius when the steering amount of the steering wheel 35 is not reduced. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius becomes larger than the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling route L1 of the next process.

When the slip amount is greater than the second predetermined slip amount, the controller 100 reduces the steering amount of the steering wheel 35 so that the turning radius of the traveling vehicle body 2 increases as the slip amount increases.

When the slip amount is greater than or equal to the first predetermined slip amount and less than or equal to the second predetermined slip amount, the controller 100 performs automatic turning without adjusting the steering of the steering wheel 35 described above. That is, the controller 100 maintains the steering amount of the steering wheel 35 at a predetermined steering value to continue automatic turning.

The method of adjusting the steering of the steering wheel 35 is not limited to the steering amount of the steering wheel 35, and may include the operating speed of the steering wheel 35 and the like. For example, the controller 100 slows down the return speed of the steering wheel 35 when the traveling vehicle body 2 makes a small turn, and increases the returning speed of the steering wheel 35 when the traveling vehicle body 2 makes a large turn.

The controller 100 determines whether or not it is time to return (S105). For example, the controller 100 determines that it is time to return the steering wheel when the difference between the bearing of the traveling vehicle body 2 and the bearing of the straight running route L1 in the next step is equal to or less than the steering wheel return angle. The handle return angle is a preset angle. The handle return angle may be settable by an operator or the like.

If the return timing has not come (S105: No), the controller 100 continues automatic turning (S104). When the return timing comes (S105: Yes), the controller 100 returns the handle 35 to the reference position (S106).

The method of adjusting the steering of the steering wheel 35 is not limited to the method described above. For example, the method of adjusting the steering of the steering wheel 35 may be the timing of returning the steering wheel 35 to the reference position. For example, the controller 100 may delay the timing of starting to return the steering wheel 35, correct the turning path so as to reduce the turning radius, and perform automatic turning.

The controller 100 may, for example, brake or lock the rear wheel 11 on the inner side of the turn, thereby correcting the turning path so as to reduce the turning radius, and perform automatic turning. As a result, the seedling transplanter 1 can perform automatic turning with high accuracy through simple control.

Further, the controller 100 may advance the timing of starting to return the steering wheel 35, correct the turning path so as to increase the turning radius, and perform automatic turning. For example, when the side clutch 44 on the inside of the rear wheel 11 is disengaged during turning, the controller 100 engages the side clutch 44 on the inside of the rear wheel 11 to increase the turning radius. The route may be corrected and an automatic turn may be performed.

Also, the controller 100 may correct the turning path by changing the vehicle speed in automatic turning. For example, when the traveling vehicle body 2 makes a smaller turn than the desired turning path, the controller 100 reduces the vehicle speed, corrects the turning path, and performs automatic turning. Further, when the traveling vehicle body 2 makes a larger turn than the desired turning path, the controller 100 increases the vehicle speed, corrects the turning path, and performs automatic turning.

The controller 100 may change the range of the rotational speed sensor 90 of the rear wheel 11 when determining that the traveling vehicle body 2 is making a small or large turn, taking into account the wheel base of the traveling vehicle body 2 . Further, the controller 100 may change the range of the rotation speed sensor 90 of the rear wheel 11 when judging that the traveling vehicle body 2 is making a small turn or a large turn, taking into account the distance between the rows of each model. Further, the controller 100 may change the range of the rotation speed sensor 90 of the rear wheel 11 when judging that the traveling vehicle body 2 is making a small turn or a large turn, taking into consideration the diameter and type of the wheel.

Further, the controller 100 changes the steering amount of the steering wheel 35, for example, for adjusting the steering of the steering wheel 35 when the traveling vehicle body 2 makes a small turn or a large turn, taking into account the wheelbase of the traveling vehicle body 2. may The controller 100 adjusts the steering of the steering wheel 35 when the traveling vehicle body 2 is making a small turn or a large turn. good. The controller 100 adjusts the steering of the steering wheel 35 when the traveling vehicle body 2 makes a small turn or a large turn, for example, by changing the steering amount of the steering wheel 35, taking into account the diameter and type of the wheel. good too.

Further, the controller 100 may change the steering wheel return angle according to the number of threads of the traveling vehicle body 2 and the vehicle speed. The controller 100 may change the steering wheel return angle in consideration of the wheelbase of the traveling vehicle body 2 . The controller 100 may change the handle return angle in consideration of the row spacing for each model. The controller 100 may change the steering wheel return angle in consideration of the wheel diameter and type.

Although the steering of the steering wheel 35 during automatic turning has been described above, it may be applied to the steering of the steering wheel 35 during automatic straight driving.

The controller 100 may adjust the steering of the steering wheel 35 based on the amount of slip during automatic straight running. For example, the controller 100 reduces the steering amount of the steering wheel 35 as the slip amount increases. When the traveling vehicle body 2 deviates from the straight travel path L1 during automatic straight travel, the controller 100, for example, reduces the steering amount of the steering wheel 35 as the slip amount increases. For example, if the slip amounts are "P1" and "P2" and "P2" is greater than "P1", the steering amount H2 of the steering wheel 35 corresponding to the slip amount P2 corresponds to the slip amount P1. It is smaller than the steering amount H1 of the steering wheel 35.

When the field is prone to slip and the amount of slip is large, it is likely to be affected by the operation by the handle 35, and the traveling vehicle body 2 wobbles in the left-right direction, which may reduce the straight running performance of the seedling transplanter 1. .

Therefore, the controller 100 reduces the steering amount of the steering wheel 35 as the slip amount increases, for example. As a result, the controller 100 can improve the straight running performance of the seedling transplanter 1 during automatic straight running. In addition, the controller 100 can stabilize the running attitude of the seedling transplanter 1 in automatic straight running, and improve safety.

Note that the controller 100 may calculate the slip amount in automatic straight running for each predetermined travel distance. In this case, for example, the controller 100 adjusts the steering of the steering wheel 35 based on the slip amount calculated immediately before adjusting the steering of the steering wheel 35 . Further, the controller 100 may adjust steering of the steering wheel 35 based on an average value of a plurality of slip amounts calculated immediately before adjusting steering of the steering wheel 35 . As a result, the controller 100 can improve the straight running performance of the seedling transplanter 1 during automatic straight running. In addition, the controller 100 can stabilize the running attitude of the seedling transplanter 1 in automatic straight running, and improve safety.

<effect>
Next, the effects of the seedling transplanter 1 (work vehicle) according to the first embodiment will be described.

The seedling transplanter 1 includes a handle 35 , a steering motor 95 and a controller 100 . The steering wheel 35 adjusts the steering amount of the traveling vehicle body 2 . A steering motor 95 rotates the steering wheel 35 . Controller 100 controls steering motor 95 . The controller 100 controls the steering wheel 35 by controlling the steering motor 95 based on the slip amount of the wheels.

As a result, the seedling transplanter 1 can correct the turning path based on the slip amount of the wheels, for example, when performing automatic turning in the automatic turning mode, and can perform automatic turning with high precision. That is, the seedling transplanter 1 can be made to travel while stabilizing the traveling direction.

Moreover, the seedling transplanter 1 can smoothly transfer from the automatic turning to the automatic straight movement when shifting from the automatic turning to the automatic straight movement. Therefore, the seedling transplanter 1 can stabilize the running posture of the seedling transplanter 1 and improve safety when shifting from automatic turning to automatic straight movement.

In addition, the seedling transplanter 1 can perform automatic turning with simple control without setting a turning path in automatic turning in advance.

The seedling transplanter 1 has a position acquisition device 150 . The position acquisition device 150 acquires current position information of the traveling vehicle body 2 based on information received from the positioning means. The controller 100 calculates the slip amount based on the difference between the vehicle speed calculated based on the number of rotations of the wheels and the actual vehicle speed of the traveling vehicle body 2 calculated based on the information obtained by the position obtaining device 150. .

As a result, the seedling transplanter 1 can accurately calculate the slip amount. Therefore, the seedling transplanter 1 can perform automatic turning with high precision, for example, when performing automatic turning in the automatic turning mode.

When the traveling vehicle body 2 is automatically traveling straight, the controller 100 reduces the operation of the steering wheel 35 as the slip amount increases.

As a result, when the seedling transplanter 1 moves straight in the automatic straight mode, the handle is operated according to the amount of slip. The seedling transplanter 1 can suppress, for example, the shaking of the traveling vehicle body 2 due to a large change in the steering amount of the steering wheel 35 when the field tends to slip. Therefore, when the seedling transplanter 1 moves straight in the automatic straight mode, it is possible to improve the straight running performance in the automatic straight running. In addition, the seedling transplanter 1 can stabilize the traveling posture in automatic straight movement and improve safety.

The controller 100 calculates the slip amount for each predetermined traveling distance when the traveling vehicle body 2 is automatically traveling straight.

Thereby, the seedling transplanter 1 can adjust the operation amount of the handle 35 based on the slip amount in the previous field, for example, when adjusting the operation amount of the handle 35 . Therefore, the seedling transplanter 1 can adjust the amount of operation of the handle 35 according to the amount of slip that varies depending on the location of the field. Therefore, when the seedling transplanter 1 moves straight in the automatic straight mode, it is possible to improve the straight running performance in the automatic straight running. In addition, the seedling transplanter 1 can stabilize the traveling posture in automatic straight movement and improve safety.

When the traveling vehicle body 2 is automatically turning, the controller 100 controls the steering wheel 35 so that the turning radius of the traveling vehicle body 2 increases as the slip amount increases.

As a result, when the seedling transplanter 1 turns in the automatic turning mode, the turning path can be corrected according to the slip amount, and the seedling transplanter 1 can turn along the desired turning path. The seedling transplanter 1 can automatically turn along a desired turning path by operating the handle 35, for example, when the amount of slip is large and the traveling vehicle body 2 turns toward the turning inner side. Therefore, the seedling transplanter 1 can perform automatic turning with high accuracy when turning in the automatic turning mode.

When the traveling vehicle body 2 automatically turns, the controller 100 calculates a slip amount from the start of turning to a predetermined orientation.

As a result, the seedling transplanter 1 can correct the turning path after reaching the predetermined orientation based on the slip amount from the start of turning to the predetermined orientation. Therefore, the seedling transplanter 1 can correct the turning path after reaching the predetermined orientation in accordance with the state of the field, and perform automatic turning according to the desired turning path. Therefore, the seedling transplanter 1 can perform automatic turning with high accuracy.

When the traveling vehicle body 2 starts automatic turning, the controller 100 sets the operation amount of the steering wheel 35 to a predetermined operation amount, calculates the amount of slip from the start of turning to the predetermined azimuth, and based on the amount of slip, the vehicle travels. The steering wheel 35 is controlled so that the vehicle body 2 is aligned with the straight traveling path L1 of the next process.

As a result, when the seedling transplanter 1 shifts from automatic turning to automatic straight movement, the transition from automatic turning to automatic straight movement can be performed smoothly. Therefore, the seedling transplanter 1 can stabilize the running posture when shifting from automatic turning to automatic straight running, and can improve safety.

(Second embodiment)
Next, the seedling transplanter 1 according to the second embodiment will be described. Here, the description will focus on the parts that are different from the seedling transplanter 1 according to the first embodiment, and the detailed description of the configuration and control that are the same as those of the seedling transplanter 1 according to the first embodiment will be omitted. The seedling transplanter 1 according to the second embodiment differs in automatic turning processing from the automatic turning processing according to the first embodiment.

<Automatic turn processing>
Next, automatic turning processing according to the second embodiment will be described using the flowchart of FIG. FIG. 6 is a flowchart for explaining automatic turning processing according to the second embodiment. Here, it is assumed that the automatic turning changeover switch 48 is turned "ON".

The controller 100 determines whether or not an automatic turning condition is satisfied (S200). If the automatic turning condition is not satisfied (S200: No), the controller 100 terminates this process.

When the automatic turning condition is satisfied (S200: Yes), the controller 100 starts automatic turning (S201). Specifically, the controller 100 controls the steering amount of the steering wheel 35 to a predetermined steering value, and starts automatic turning.

The controller 100 starts measuring the number of revolutions of the wheels (S202). Specifically, the controller 100 starts measuring the number of rotations of the wheels from the turning start position. For example, the controller 100 starts measuring the rotation speed of the rear wheel 11 on the inner side of the turn. The controller 100 may start measuring the rotation speed of the rear wheel 11 on the outer side of the turn. Note that the controller 100 may start measuring the rotation speed of the front wheel 10 .

The controller 100 determines whether or not the azimuth of the traveling vehicle body 2 has become a predetermined azimuth (S203). If the azimuth of the traveling vehicle body 2 is not the predetermined azimuth (S203: No), the controller 100 continues automatic turning until the azimuth of the traveling vehicle body 2 reaches the predetermined azimuth (S203). The controller 100 maintains the steering amount of the steering wheel 35 at a predetermined steering value and continues automatic turning. Note that the measurement of the number of revolutions of the wheels is also continued.

When the azimuth of the traveling vehicle body 2 becomes the predetermined azimuth (S203: Yes), the controller 100 calculates the wheel rotation speed from the start of turning to the predetermined azimuth (S204). For example, the controller 100 calculates the number of revolutions of the rear wheel 11 on the inner side of the turn from the start of the turn to the predetermined direction. The controller 100 may calculate the reached rotational speed of the rear wheel 11 on the outer side of the turn. Note that the controller 100 may also calculate the reached rotational speed of the front wheel 10 . That is, the wheels may be the front wheels 10 or the rear wheels 11 .

The controller 100 adjusts steering of the steering wheel 35 (S205). The controller 100 adjusts the steering of the steering wheel 35 based on the calculated reached wheel rotation speed. Specifically, the controller 100 calculates the steering amount of the steering wheel 35 so that the traveling vehicle body 2 is aligned with the straight travel route L1 of the next step based on the reached wheel rotation speed. Then, the controller 100 adjusts the steering amount of the steering wheel 35 according to the calculated steering amount. That is, the controller 100 corrects the turning path in automatic turning.

For example, the controller 100 determines that the traveling vehicle body 2 is making a larger turn than the desired turning path and adjusts the steering of the steering wheel 35 when the wheel rotation speed is greater than the first predetermined rotation speed. The first predetermined number of revolutions is the upper limit of the reachable number of revolutions at which it can be determined that the traveling vehicle body 2 is traveling along the desired travel route. The first predetermined number of revolutions may be set in advance, or may be set, for example, based on a slip amount calculated during automatic straight travel.

The controller 100 increases the steering amount of the steering wheel 35, for example, when the reached wheel rotation speed is greater than the first predetermined rotation speed. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is increased turns with a smaller turning radius than when the steering amount of the steering wheel 35 is not increased. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius becomes smaller than that of the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling route L1 of the next process.

The controller 100 increases the operation amount of the steering wheel 35 as the reached wheel rotation speed increases when the wheel rotation speed is higher than the first predetermined rotation speed.

The controller 100 determines that the traveling vehicle body 2 is making a smaller turn than the desired turning path and adjusts the steering of the steering wheel 35 when the wheel rotation speed is smaller than the second predetermined rotation speed. The second predetermined rotation speed is the lower limit of the reached rotation speed at which it can be determined that the traveling vehicle body 2 is traveling along the desired travel route. The second predetermined number of revolutions may be set in advance, or may be set, for example, based on the slip amount calculated during automatic straight running. The second predetermined number of revolutions is smaller than the first predetermined number of revolutions.

The controller 100 reduces the steering amount of the steering wheel 35, for example, when the reached wheel rotation speed is smaller than the second predetermined rotation speed. As a result, the traveling vehicle body 2 in which the steering amount of the steering wheel 35 is reduced turns with a turning radius larger than the turning radius when the steering amount of the steering wheel 35 is not reduced. That is, the traveling vehicle body 2 automatically turns after the turning path is corrected so that the turning radius becomes larger than the current turning path. As a result, the traveling vehicle body 2 travels so as to match the straight traveling route L1 of the next process.

When the wheel rotation speed is smaller than the second predetermined rotation speed, the controller 100 reduces the operation amount of the steering wheel 35 as the wheel rotation speed decreases.

The controller 100 performs automatic turning without adjusting the steering of the steering wheel 35 described above when the attained rotation speed of the wheels is equal to or higher than the first predetermined rotation speed and equal to or lower than the second predetermined rotation speed.

The controller 100 determines whether or not the return timing has come (S206). If the return timing has not come (S206: No), the controller 100 continues automatic turning (S205). When the return timing comes (S206: Yes), the controller 100 returns the handle 35 to the reference position (S207).

<effect>
Next, the effects of the seedling transplanter 1 (working vehicle) according to the second embodiment will be described.

The seedling transplanter 1 includes a steering wheel 35 , a steering motor 95 , a position information acquisition device, and a controller 100 . The steering wheel 35 adjusts the steering amount of the traveling vehicle body 2 . A steering motor 95 rotates the steering wheel 35 . The position information acquisition device acquires current azimuth information of the traveling vehicle body 2 based on information received from the positioning means. The controller 100 controls the steering motor 95 to control the steering wheel 35 for automatic turning. The controller 100 performs automatic turning based on the orientation of the traveling vehicle body 2 with respect to the turning start position.

As a result, the seedling transplanter 1 can perform automatic turning with high accuracy by automatically turning based on the orientation of the traveling vehicle body 2 with reference to the turning start position. In addition, the seedling transplanter 1 can stabilize the running posture of the seedling transplanter 1 when shifting from automatic turning to automatic straight driving, and can improve safety.

In addition, the seedling transplanter 1 can perform automatic turning with simple control without setting a turning path in automatic turning in advance.

The controller 100 controls the steering wheel 35 based on the number of rotations of the wheels of the traveling vehicle body 2 from the turning start position until the bearing of the traveling vehicle body 2 with respect to the turning start position reaches a predetermined bearing.

As a result, the seedling transplanter 1 can perform automatic turning at each turning point with high precision by controlling the handle 35 based on the number of rotations of the wheels at each turning point.

When the reached rotation speed is smaller than the first predetermined rotation speed, the controller 100 determines that the traveling vehicle body 2 is making a small turn, controls the steering wheel 35, and corrects the turning path in the automatic turning. The controller 100 determines that the traveling vehicle body 2 is making a large turn when the reached rotation speed is greater than the second predetermined rotation speed, and controls the steering wheel 35 to correct the turning route during automatic turning. The second predetermined number of revolutions is greater than the first predetermined number of revolutions.

As a result, the seedling transplanter 1 can control the steering wheel 35 in accordance with the turning state of the traveling vehicle body 2 at each turning point, and correct the turning path in the automatic turning. Therefore, the seedling transplanter 1 can perform automatic turning with high precision for each turning point.

(Modification)
The controller 100 may adjust the steering of the steering wheel 35 based on the orientation of the traveling vehicle body 2 when the number of rotations of the wheels of the traveling vehicle body 2 reaches a predetermined number of rotations with reference to the turning start position. The predetermined rotation speed is a preset rotation speed. The predetermined number of revolutions is the number of revolutions at which the steering of the steering wheel 35 can be adjusted so that the traveling vehicle body 2 is aligned with the straight running route L1 of the next step. The predetermined number of revolutions is set according to the type of the traveling vehicle body 2 and the like.

The controller 100 determines that the traveling vehicle body 2 is making a large turn when the amount of change in the orientation of the traveling vehicle body 2 when the rotation speed reaches the predetermined rotation speed is smaller than the first predetermined amount of change. 35 steering amount is adjusted. The azimuth change amount is the amount of change based on the azimuth of the turning start position. The first predetermined amount of change is the lower limit amount of change at which it can be determined that the traveling vehicle body 2 is traveling along the desired traveling route during automatic turning.

Further, when the amount of change in the orientation of the traveling vehicle body 2 when the rotation speed reaches the predetermined number of revolutions is larger than the second predetermined amount of change, the controller 100 determines that the traveling vehicle body 2 is turning in a small radius. , to adjust the steering amount of the steering wheel 35 . The second predetermined amount of change is an upper limit amount of change that allows it to be determined that the traveling vehicle body 2 is traveling along a desired travel route during automatic turning. The second predetermined amount of change is greater than the first predetermined amount of change.

As a result, the seedling transplanter 1 can perform automatic turning at each turning point with high precision, as in the above-described embodiment.

Further, when the number of rotations of the wheels of the traveling vehicle body 2 reaches a predetermined number of rotations with reference to the turning start position, the controller 100 can adjust the steering of the steering wheel 35 based on the distance traveled from the turning start position. good. The distance is calculated based on the number of revolutions and the diameter of the wheel. An average value of the values calculated for the left and right wheels may be calculated as the distance. Further, the slip amount described above may be calculated based on the distance. In this case, the slip amount is calculated from the distance calculated from the number of rotations of the wheel and the distance calculated based on the position information acquired by the position information acquisition device.

If the distance traveled from the turning start position is smaller than the lower limit value of the predetermined distance at which it can be determined that the traveling vehicle body 2 is traveling along the desired traveling route, the controller 100 increases the turning radius. Correct the path and turn automatically.

Further, when the distance traveled from the turning start position is greater than the upper limit value of the predetermined distance, the controller 100 corrects the turning path so that the turning radius becomes small, and automatically turns.

The controller 100 may calculate the slip amount based on the orientation of the traveling vehicle body 2 when the number of rotations of the wheels of the traveling vehicle body 2 reaches a predetermined number of rotations with respect to the turning start position. The controller 100 may correct the turning path based on the calculated slip amount and perform automatic turning. The controller 100 calculates the slip amount based on the orientation of the traveling vehicle body 2 when the predetermined rotation speed is reached and the orientation of the travel route when the predetermined rotation speed is reached on the desired travel route.

In the embodiment described above, the controller 100 may put the differential lock mechanism 97 into the engaged state when the traveling vehicle body 2 is making a large turn during automatic turning.

Thereby, the seedling transplanter 1 can correct the turning path in the automatic turning and make a small turn. Therefore, the seedling transplanter 1 can perform automatic turning with high accuracy.

Further, the controller 100 may turn off the differential lock mechanism 97 when the traveling vehicle body 2 is making a large turn during automatic turning.

As a result, the seedling transplanter 1 can correct the turning path in automatic turning and make a large turn. Therefore, the seedling transplanter 1 can perform automatic turning with high accuracy.

When correcting the turning path by adjusting the operation of the handle 35 during automatic turning, the controller 100 determines whether the differential lock mechanism 97 is in the engaged state or the off state based on the actual turning path after the operation of the handle 35 is adjusted. You can switch states. The controller 100 controls ON-OFF pulse output to the differential lock switching motor 96 .

The controller 100 lengthens the time during which the differential lock mechanism 97 is in the engaged state when increasing the correction for a large turn (correction for a small turn). Also, the controller 100 may shorten the pulse period for the differential lock switching motor 96 .

The controller 100 shortens the time during which the differential lock mechanism 97 is in the on state when increasing the correction for a small turn (correction for a large turn). Also, the controller 100 may lengthen the pulse period for the differential lock switching motor 96 .

Thereby, the seedling transplanter 1 can perform automatic turning with high accuracy.

Further, the controller 100 may correct the turning path by activating pumping by the pumping clutch during automatic turning. Pumping is to repeat the transmission of driving force to the rear wheels 11 in an ON/OFF state.

The controller 100 operates pumping to correct the turning path when performing correction for a small turn (correction for a large turn). The controller 100 lengthens the pumping operation time when it is desired to strengthen the correction for turning the turning path into a large circle. Specifically, the controller 100 lengthens the pumping pulse-on time when increasing the correction for making the turning path large. The controller 100 may shorten the pulse period of pumping when increasing the correction for making the turning path large. Note that the controller 100 causes an operation such as shortening the operation time of pumping when reducing the correction for making the turning path large.

Further, the controller 100 may correct the turning path by switching the left and right side clutches 44 between the engaged state and the disengaged state during automatic turning.

The controller 100 actuates the side clutch 44 to correct the turning path when performing correction for a small turn (correction for a large turn). Specifically, the controller 100 lengthens the operation time (engagement time) of the side clutch 44 when increasing the correction for making the turning path large. The controller 100 may lengthen the pulse-on time of the side clutch 44 when reducing the correction for making the turning path large. The controller 100 may shorten the pulse period of the side clutch 44 when increasing the correction for making the turning path large.

Further, the controller 100 prohibits automatic turning when the reference start point and the reference end point for automatic straight movement are not acquired.

As a result, the controller 100 prohibits the automatic turning from starting in a state where the turning end position in the automatic turning is not determined, and suppresses the displacement of the traveling vehicle body 2 with respect to the planting in the next process after turning. be able to. Therefore, the seedling transplanter 1 can reduce the load of row alignment by the worker after turning.

The controller 100 may have a mode mode that enables automatic turning regardless of the elevation position of the seedling planting unit 4 and the drive state of the seedling planting unit 4 . For example, when the demonstration mode is selected by switching the switch, the traveling vehicle body 2 performs automatic turning in the demonstration mode. In the automatic turning in the demonstration mode, the steering amount of the steering wheel 35, specifically, the turning angle of the steering wheel 35 is larger than that in the automatic turning in the field. Further, the controller 100 reduces the steering angle of the steering wheel 35 when the steering wheel 35 is returned, and reduces the turning radius during turning. This is because the road on which the demonstration mode is executed is less slippery than the field.

As a result, the seedling transplanter 1 can allow the operator, the observer, or the like to easily confirm the traveling state during automatic turning. For example, the operator can easily test and demonstrate the automatic turning outside the field. In addition, the seedling transplanter 1 can perform automatic turning accurately even when automatic turning is performed in a field other than a field.

In addition, when performing automatic turning by demonstration mode, the height in the lowest position of the seedling planting part 4 is made higher than the height in normal automatic turning. Thereby, it can suppress that the seedling planting part 4 contacts a road surface at the time of automatic turning by demonstration mode. In addition, the seedling transplanter 1 can perform automatic turning in the demonstration mode without using a support member for suppressing the contact of the seedling planting unit 4 with the road surface or adjusting the hydraulic pressure.

In the demonstration mode, the controller 100 raises and lowers the seedling planting unit 4 according to the operation of the handle 35 from the condition for executing automatic turning, and the switch for switching the planting state by the seedling planting unit 4 is turned on. conditions are removed. In other words, in the demo mode, the condition that the seedling planting unit 4 changes from the working state to the non-working state is removed.

Further, in the demonstration mode, the controller 100 raises and lowers the seedling planting unit 4 when the switch for switching the planting state of the seedling planting unit 4 is turned on in accordance with the operation of the handle 35 and automatic turning is performed. , the rotation of the implanted rod 58 may be prohibited. Thereby, it is possible to suppress the rotation of the implanted rod 58 in the demonstration mode.

Also, in the demo mode, the controller 100 sets the distance traveled in the previous process from the reference start point (point A) to the reference end point (point B). Thereby, for example, automatic turning can be performed without raising/lowering the seedling planting part 4, during execution of the demonstration mode on the road.

Further, in the demonstration mode, the controller 100 sets the distance from the start of automatic travel to the start of turning as the distance in the previous process. Thereby, for example, automatic turning can be performed without raising/lowering the seedling planting part 4, during execution of the demonstration mode on the road.

The demo mode may be switchable by setting modes on the monitor 86 . During the demo mode, the fact that it is in the demo mode is displayed with a pop when the key is turned on. The popup may display how to turn off the demo mode. Thereby, the seedling transplanter 1 can suppress forgetting to turn off the demonstration mode.

The demo mode may be executable when the automatic turning switch is ON and the straight assist lever is operated in a predetermined direction for a predetermined time (for example, 10 seconds). The demo mode may automatically turn off when the key is off.

The embodiments and modifications described above can be combined as appropriate. The seedling transplanter 1 may have the following configuration in addition to the configuration described above.

The seedling transplanter 1 which can be operated by remote control prohibits starting the engine 30 when the operator does not have the remote controller.

The seedling transplanter 1 which can be operated by remote control prohibits pairing with other remote controllers unless pairing is canceled by the paired remote controller when remote controllers are paired.

The seedling transplanter 1, which can be operated by remote control, notifies the base station when the engine 30 is started when the remote control is at a certain distance.

The seedling transplanter 1, which can be operated by remote control, notifies the base station when the wheels turn when the remote control is a certain distance away.

The seedling transplanter 1, which can be operated by remote control, notifies the base station when the hydraulic pressure is activated when the remote control is at a certain distance.

The seedling transplanter 1, which can be operated by remote control, notifies the base station when the switch is operated when the remote controller is away from the remote controller by a certain distance.

The seedling transplanter 1, which can be operated by remote control, notifies the base station when the angle of the seedling transplanter 1 changes when the remote controller is away from a certain distance.

The seedling transplanter 1 which can be operated by remote control detects the movement by the GPS device and notifies the base station when the remote control is separated by a certain distance and the seedling transplanter 1 moves.

The seedling transplanter 1 that can be operated by remote control gives priority to manual operation even during remote control operation.

The seedling transplanter 1 which can be operated by remote control does not stop the operation when the remote control is within the boarding range of the seedling transplanter 1, and stops for safety when within the fixed distance range.

The seedling transplanter 1 which can be operated by remote control does not stop when the remote control is behind or in front of the seedling transplanter 1 and when the remote control is on the ridge. Note that this may be limited to after the reference line L0 is stored.

The seedling transplanter 1 which can be operated by remote control does not stop when the remote controller is located in the left and right direction of the seedling transplanter 1 and when the remote controller is located on the ridge. Note that this may be limited to after the reference line L0 is stored.

The safety mechanism of the seedling transplanter 1 that can be operated by remote control does not operate during the operation of memorizing the reference line L0.

The seedling transplanter 1 operable by remote control may be configured with automatic hydraulic sensitivity. For example, when the field is soft, the seedling transplanter 1 may regulate the vehicle speed to keep the maximum speed even if the remote controller is operated to increase the vehicle speed. Further, for example, a water depth sensor is provided in the seedling planting unit 4, and in the case of deep water, even if an operation to increase the vehicle speed is performed by the remote control, the seedling transplanter 1 regulates the vehicle speed and suppresses the maximum speed. good too.

The seedling transplanter 1, which can be operated by remote control, is provided with an angular velocity sensor in the seedling planting part 4, and when the vibration increases, even if the vehicle speed is increased by the remote control or the vehicle speed is regulated to suppress the maximum speed. good.

The seedling transplanter 1, which can be operated by remote control, detects the approach by, for example, GPS when approaching an adjacent row when traveling straight, and regulates the vehicle speed to suppress the maximum speed even if the remote controller is operated to increase the vehicle speed. may

The seedling transplanter 1 that can be steered by remote control may regulate the vehicle speed to suppress the maximum speed even if the remote control is operated to increase the vehicle speed when a ridge is detected.

The seedling transplanter 1 that can be steered by remote control may automatically stop or prohibit starting of the engine 30 when the remote controller is away from the remote control for a certain distance during operation.

The seedling transplanter 1, which can be steered by remote control, may stop even if the remote control is operated to increase the vehicle speed when the decrease in seedlings is detected.

The seedling transplanter 1 which can be steered by remote control is provided with a remote control antenna on the upper part of the auxiliary seedling frame. The seedling transplanter 1 is provided so that a part of the remote control antenna is at the highest position on the auxiliary seedling frame regardless of whether the auxiliary seedling frame is in the stored state or the working state.

The remote control antenna is provided, for example, in the vicinity of the GNSS sensor. For example, the remote control antenna is attached to the lower part of the stay of the GNSS sensor. This makes it possible to use the stay of the GNSS sensor and install the remote control antenna with an inexpensive configuration. The remote control antenna is detachable while attached to the stay. As a result, the remote control antenna can be removed and the height at the time of storage can be lowered.

Note that the remote control antenna may be attached to the stay of the GNSS sensor via an attachment stay. The mounting stay is provided with a notch in the bolt tightening portion. The notch is provided so that the bolt of the stay of the GNSS sensor can be inserted into the notch. As a result, when the bolt of the stay of the GNSS sensor is removed, the mounting stay can be attached from the side surface of the bolt in a state in which the bolt is loosened.

A remote control antenna is provided on a handrail for a worker to get on and off. For example, the remote control antenna is attached inside the handrail via an attachment stay. As a result, the remote control antenna can be installed at a low cost using the handrail.

The remote control antenna may be attached to a vertically extendable stay. The stay is composed of, for example, pipes with different diameters, and is vertically expanded and contracted by sliding the pipes in the vertical direction. The remote control antenna is provided inside the stay. Thereby, the seedling transplanter 1 can suppress the length and width of the seedling transplanter 1 from increasing. Note that the remote control antenna may be provided outside the stay. Thereby, the seedling transplanter 1 can secure a working space.

The seedling transplanter 1 does not start when the seedling planting unit 4 is lifted and not hydraulically locked when moving between fields. The seedling transplanter 1 does not start if the line marker 65 is not retracted when moving between fields. The seedling transplanter 1 does not start when the seedling tanks 53 at both ends are not stored when moving between fields. When the seedling transplanter 1 is moved between fields, the seedling tanks 53 at both ends are accommodated and the seedling transplanter 1 is not started unless the tanks are moved to the ends. When the seedling transplanter 1 is moved between fields, it does not start unless the seedlings at both ends are stored. The seedling transplanter 1 does not start when the seedling transplanter 1 is moved between fields and the maetor guards at both ends are not stored.

For example, the seedling transplanter 1 may be provided with a camera for detecting the left edge of the road, and may travel while detecting the left edge of the road when moving between fields. The seedling transplanter 1 runs after detecting the white line on the left edge of the road.

The seedling transplanter 1 avoids obstacles when they are moving between fields. When the seedling transplanter 1 runs on the road, it runs on the left end, and if there is an obstacle, it turns to the right to avoid the obstacle. After avoiding the obstacle, the seedling transplanter 1 may move toward the left end. The seedling transplanter 1 decelerates or stops before a curve when moving between fields.

The seedling transplanter 1 may increase only the engine 30 rotation speed when it becomes an uphill while moving between fields. The seedling transplanter 1 may lower only 30 rotations of the engine when the seedling transplanter 1 goes downhill while moving between fields.

The seedling transplanter 1 may stop when the seedling planting unit 4 moves up and down during movement between fields. For example, the seedling transplanter 1 may stop when the seedling planting unit 4 descends during movement between fields. The seedling transplanter 1 may raise the seedling planting unit 4 when the seedling planting unit 4 descends during movement between fields. The seedling transplanter 1 may sound an alarm when the seedling planting unit 4 moves up and down during movement between fields. The seedling transplanter 1 may stop the engine 30 when the seedling planting unit 4 moves up and down during movement between fields. The seedling transplanter 1 may contact the cloud when the seedling planting unit 4 moves up and down during movement between fields.

The seedling transplanter 1 may stop when it detects a moving obstacle during movement between fields. The seedling transplanter 1 may stop when the traveling vehicle body 2 suddenly tilts during movement between fields.

The seedling transplanter 1 may be stopped when there is an obstacle that cannot be bypassed during movement between fields. The seedling transplanter 1 may contact the cloud when there is an obstacle that cannot be bypassed during movement between fields. The seedling transplanter 1 may search for a different route when there is an obstacle that cannot be bypassed during movement between fields. The seedling transplanter 1 may stop the engine 30 when trouble occurs during movement between fields. The seedling transplanter 1 may contact the cloud when trouble occurs during movement between fields.

The seedling transplanter 1 may stop the engine 30 when the route is changed to an unplanned route during movement between fields. The seedling transplanter 1 may contact the cloud when the route is changed to an unplanned route during movement between fields. The seedling transplanter 1 may be stopped when the route is changed to an unplanned route during movement between fields. The seedling transplanter 1 may sound an alarm when the route is changed to an unplanned route during movement between fields.

When moving between fields, the seedling transplanter 1 stores the entrance/exit of the designated field and stops at the stored entrance/exit. The seedling transplanter 1 may stop the engine 30 at the entrance of the field when it reaches the target field when moving between fields. Also, the seedling transplanter 1 may stop the engine 30 after entering the field.

The seedling transplanter 1 may be prohibited from starting when an error is detected before traveling when moving between fields. When the seedling transplanter 1 moves between fields and detects an error before running, the seedling transplanter 1 may contact the cloud. When the seedling transplanter 1 moves between fields, if the fuel is low before running, the seedling transplanter 1 may be prohibited from starting. When the seedling transplanter 1 moves between fields, the seedling transplanter 1 may notify the cloud if the fuel is low before traveling.

The seedling transplanter 1 may stop the engine 30 when it is stopped unexpectedly while moving between fields. The seedling transplanter 1 may, for example, contact the cloud upon an unscheduled stop when traveling between fields. The seedling transplanter 1 may be provided with a weight sensor on the seat, and may stop the engine 30 when the weight is sensed when moving between fields. The seedling transplanter 1 may contact the cloud when it senses weight as it moves between fields. Only a worker with a remote controller can change the settings of the seedling transplanter 1. - 特許庁

When the seedling transplanter 1 is stopped during movement between fields, restarting may be prohibited when the instruments are touched. The seedling transplanter 1 may stop the engine 30 when the gauges are touched while the seedling transplanter 1 is stopped during movement between fields. The seedling transplanter 1 may sound an alarm when the gauges are touched while it is stopped during movement between fields. The seedling transplanter 1 may contact the cloud when the gauges are touched when it is stopped during movement between fields.

The seedling transplanter 1 may be prohibited from re-starting when the working machine moves up and down when stopped during movement between fields. The seedling transplanter 1 may stop the engine 30 when the working machine moves up and down when stopped during movement between fields. The seedling transplanter 1 may sound an alarm when the work machine moves up and down when stopped during movement between fields. The seedling transplanter 1 may contact the cloud when the working machine is raised or lowered while it is stopped during movement between fields.

The seedling transplanter 1 detects the road width with a sensor while moving between fields, and if the road width is shorter than the width of the seedling transplanter 1 plus a margin (for example, 2000 mm), the machine may be stopped. good.

The seedling transplanter 1 may stop when avoiding an obstacle during movement between fields if the width of the road for avoidance is shorter than the width of the seedling transplanter 1 . In this case, the seedling transplanter 1 may retreat to a branch road on the traveled route. Also, the seedling transplanter 1 may search for another travel route on the branch road.

The seedling transplanter 1 may recognize a traffic light based on images captured by a camera while moving between fields, and may stop when the traffic light is "red".

The seedling transplanter 1 recognizes the tail lamps of the vehicle ahead based on the images captured by the camera while moving between fields, and may stop when the tail lamps emit red light.

The seedling transplanter 1 may be prohibited from traveling when the seedling planting unit 4 is in the raised position and the seedling planting unit 4 is not locked when moving between fields.

The seedling transplanter 1 may automatically turn on the light when moving between fields. The seedling transplanter 1 may be prohibited from starting when the light is off when moving between fields. The seedling transplanter 1 may automatically turn on the direction indicator when moving between fields.

The seedling transplanter 1 may decelerate when it detects an object approaching from the front while moving between fields. The seedling transplanter 1 may stop when it detects an object approaching from the front while moving between fields. When the seedling transplanter 1 detects an object approaching from the front while moving between fields, the seedling transplanter 1 may stop until the object passes each other, and may restart after the object passes each other.

The seedling transplanter 1 may stop when abnormal vibration is detected when moving between fields.

When moving to the barn, the seedling transplanter 1 may stop the engine 30 in front of the barn in response to an instruction to move to the barn. When moving to the barn, the seedling transplanter 1 may enter the barn and stop the engine 30 in response to the instruction to move to the barn. When moving to the barn, the seedling transplanter 1 may return to the accommodation position of the barn in response to the instruction to move to the barn.

The seedling transplanter 1 gradually deepens the rotor when the traveling vehicle body 2 starts to rise forward at the end of planting. The seedling transplanter 1 may determine that the seedling planting unit 4 has come out of the field when the rotor is set to the lowest position and the center float 62C hangs down. Moreover, the seedling transplanter 1 may further lock the hydraulic pressure.

The seedling transplanter 1 is provided with an ultrasonic sensor, and when the traveling vehicle body 2 starts to rise forward, the ultrasonic sensor detects that the depth is close to zero, so that the planting is stopped and the planting is stopped. Moreover, the seedling transplanter 1 may raise the seedling planting part 4 in that case, or may lower a rotor.

The seedling transplanter 1 may display a confirmation screen on the liquid crystal panel on the remote control when changing the operation mode by operating the remote control. Thereby, the seedling transplanter 1 can suppress an erroneous operation.

When the operation mode is changed by remote control operation, the seedling transplanter 1 may display a confirmation screen after the button operation for changing the operation mode is performed. Also, the seedling transplanter 1 changes the operation mode when the decision button is pressed after the confirmation screen is displayed. Note that the display of the confirmation screen may be omitted depending on the setting.

The seedling transplanter 1 may display a confirmation screen on the liquid crystal panel on the remote controller when operating the HST 14, the handle 35, the hydraulic pressure and the motor in the remote control mode. As a result, erroneous operations due to erroneous pressing by the operator can be suppressed. The seedling transplanter 1 may display a confirmation screen after the HST 14 or the like is operated in the remote control mode. Also, the seedling transplanter 1 may start the operation of the HST 14 or the like when the decision button is pressed after displaying the confirmation screen. Note that the display of the confirmation screen may be omitted depending on the setting.

The seedling transplanter 1 may be able to use the remote mode only when the sub-transmission is the planting speed. The position of the auxiliary shift lever is detected by a switch or potentiometer.

The seedling transplanter 1 may sound a buzzer or display a message on the liquid crystal panel of the remote control when the sub-transmission is not the planting speed during the operation to shift to the remote mode.

When the seedling transplanter 1 cannot create an automatic planting route because of the large amount of position information used to detect the field range, the apex of the field range may be deleted or an error may be displayed. After measuring the field area, the point from which the position information was acquired may be displayed on the tablet. After displaying the location information, an automatic planting route may be displayed. The tablet may display the vertices of the field range on the map, and the vertices displayed on the map may be selected one by one and deleted. If an automatic planting path cannot be created, an automatic planting path calculation may be performed each time a vertex is deleted.

The seedling transplanter 1 may be able to cancel the automatic operation mode by lever operation. The seedling transplanter 1 may switch from the automatic operation mode to the manual operation mode when the main transmission lever is pushed forward during the automatic operation mode. Movement of the lever is detected by a potentiometer located within the column.

When the seedling transplanter 1 shifts from the automatic operation mode to the manual operation mode, the HST 14 may be set to the neutral position. In this case, the seedling transplanter 1 may be prevented from moving forward or backward unless the HST 14 lever is returned to the neutral position. Further, the seedling transplanter 1 may be prevented from moving forward or backward unless the parking pedal is stepped on and the safety switch is pressed. Further, the seedling transplanter 1 may be prevented from moving forward or backward unless the HST 14 lever is returned to the neutral position and the parking pedal is depressed.

The seedling transplanter 1 may automatically deploy the electric seedling rail when the side is moved and the seedlings are replenished. This makes it possible to improve work efficiency and save energy.

During automatic operation, the seedling transplanter 1 may be stopped when the work is performed up to, for example, 3 m from the ridge on the material supply side. In this case, the motor of the electric seedling rail may be actuated and the electric seedling rail may be deployed when the remote controller issues a signal to move the seedlings toward the side (advance).

The seedling transplanter 1 may output a signal to rotate the HST motor to the forward side and a signal to deploy the electric seedling rail to the motor of the electric seedling rail when the receiver receives the advance signal of the remote controller.

The seedling transplanter 1 does not have to automatically deploy the electric seedling rail when the direction of the electric seedling rail is not parallel to the traveling direction of the traveling vehicle body 2.例文帳に追加The orientation of the electric seedling rail is detected by a potentiometer or switch provided at the rotation fulcrum of the auxiliary seedling frame.

The seedling transplanter 1 may propose an order for obtaining the reference line L0 before planting work. This facilitates the work for the operator to acquire the reference line L0.

The shape of the field may be created on the map application. The shape of the field may be created based on data captured by a drone and a camera provided on the drone. The shape of the field may be created based on data obtained by going around the outer circumference of the field during puddling work with a tractor.

The seedling transplanter 1 may propose an order for obtaining the reference line L0 based on the shape of the field created by the above method. The order for obtaining the reference line L0 is displayed on the tablet terminal of the monitor 86 of the seedling transplanter 1 .

The seedling transplanter 1 may be able to change the amount of fertilizer applied in the fertilizing device 5 by electric power. The seedling transplanter 1 may be provided with a switch capable of inputting in two directions as a switch for adjusting the amount of fertilization. The switch is provided on the right side of the center of the operation panel below the handle 35 .

The seedling transplanter 1 reduces the amount of fertilization when the switch is operated in the first direction. For example, the seedling transplanter 1 reduces the fertilization amount by 5% with respect to the set reference fertilization amount per switch operation. The possible reduction range of fertilizer application is 5% to 50%. The seedling transplanter 1 invalidates the input of the switch when the operation of the switch is below the range that can be reduced. The seedling transplanter 1 warns, for example, by sounding a buzzer when invalidating the input of the switch.

The seedling transplanter 1 may cause the monitor 86 to display at least one of the fact that the fertilizer application amount is being reduced and the reduction rate when the fertilizer application amount is being reduced by operating the switch.

When the switch is operated in the second direction, the seedling transplanter 1 resets the decrease in the applied amount of fertilizer to the reference amount of applied fertilizer. The seedling transplanter 1 may reset the decrease in the applied amount of fertilizer when the seedling planting unit 4 is raised. Also, the seedling transplanter 1 may be reset when the start key is turned off and then turned on again.

The seedling transplanter 1 may automatically adjust the automatic steering sensitivity for operating the steering wheel 35 according to the slip amount or slip rate of the rear wheel 11 .

After the electric trial feeding of the fertilizing device 5, the seedling transplanter 1 may rotate the rows other than those used in the trial feeding to fill all the rows with fertilizer. As a result, the seedling transplanter 1 can prevent fertilization from being started when the delivery roll of the fertilization device is not filled with fertilizer. For example, the seedling transplanter 1 performs the trial feeding with the two rows on the right end.

The seedling transplanter 1 turns off the fertilizing ridge clutches other than the rightmost two rows for trial feeding by the motor. The trial delivery is performed by rotating the delivery roll 10 times. Trial delivery is performed by driving a motor provided at the right end of the fertilizer applicator 5 . After the trial feeding, the rightmost two fertilization ridge clutches are in the disengaged state, and the fertilization ridge clutches other than the rightmost two fertilization ridge clutches are in the engaged state. After that, the fertilizer delivery rod makes a half turn. After the manure payout rod has made a half turn, all the manure edge clutches are engaged. These operations are executed by pressing a button provided on the right end of the fertilizing device 5 .

The seedling transplanter 1 stops when the instruments are touched while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 stops the engine 30 when the instruments are touched while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 sounds an alarm when the instruments are touched while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 communicates with the cloud when the instruments are touched while traveling in the field in the autonomous traveling mode.

The seedling transplanter 1 stops when it becomes an unplanned route while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 stops the engine 30 if the route becomes unplanned while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 sounds an alarm when the route becomes unplanned while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 notifies the cloud when the route becomes unplanned while traveling in the field in the autonomous traveling mode.

If the worker does not have the remote controller while traveling in the field in the autonomous driving mode, the cloud cannot be operated.

The seedling transplanter 1 stops when the seedling planting unit 4 moves up and down unexpectedly while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 stops the engine 30 when the seedling planting unit 4 moves up and down unexpectedly while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 sounds an alarm when the seedling planting unit 4 moves up and down unexpectedly while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 notifies the cloud when the seedling planting unit 4 moves up and down unexpectedly while traveling in the field in the autonomous traveling mode.

When the seedling transplanter 1 is stopped unexpectedly while traveling in the field in the autonomous traveling mode, the seedling transplanter 1 prohibits re-starting. The seedling transplanter 1 stops the engine 30 when it is stopped unexpectedly while traveling in the field in the autonomous traveling mode. The seedling transplanter 1 sounds an alarm when it stops unexpectedly while traveling in the field in the autonomous traveling mode. When the seedling transplanter 1 stops unexpectedly while traveling in the field in the autonomous traveling mode, the seedling transplanter 1 notifies the cloud.

The seedling transplanter 1 detects that the handle 35 is within a predetermined angle α (e.g., 10 degrees) of the target position during automatic rotation, and then the handle 35 deviates from the target position by a predetermined angle β (e.g., 30 degrees) or more. Automatic turning may be stopped when is detected. Thereby, the seedling transplanter 1 can give priority to manual operation and stop the automatic turning when an emergency occurs during the automatic turning.

The seedling transplanter 1 detects that the handle 35 is within a predetermined angle α (for example, 10 degrees) of the target position during automatic turning. It is not necessary to detect an abnormality until the angle is within the predetermined angle α.

When the seedling transplanter 1 detects an abnormality during automatic turning, the operator may be notified of the abnormality by, for example, a long horn with a buzzer sound. When the seedling transplanter 1 detects an abnormality during automatic turning, the operator may be notified of the abnormality by a pop-up display on the monitor 86 .

When the seedling transplanter 1 detects an abnormality during automatic turning, the automatic turning may be canceled and the running may not be stopped. Thereby, the seedling transplanter 1 can avoid obstacles and travel. When the seedling transplanter 1 detects an abnormality during automatic turning, the automatic turning may be canceled and travel may be stopped.

The seedling transplanter 1 detects the vehicle speed by the rotation speed sensor 90 provided on the rear wheel 11, and when the external auxiliary wheels are set to ON, the vehicle speed is calculated by reducing the slip ratio, for example, by 3%. may The seedling transplanter 1 detects the vehicle speed by the rotation speed sensor 90 provided on the rear wheel 11, and when the internal auxiliary wheels are set to ON, the vehicle speed is calculated by reducing the slip ratio, for example, by 3%. may

The seedling transplanter 1 calculates the work area based on the rotation speed detected by the rotation speed sensor 90 provided on the rear wheel 11, and when the setting of the external auxiliary wheels or the internal auxiliary wheels is on, the slip The vehicle speed may be calculated with a lower rate, for example, 3% lower.

The seedling transplanter 1 can change the lowering timing of the seedling planting unit 4 in a so-called Z-turn, in which the planting state of the seedling planting unit 4 is switched according to the operation of the handle 35, in consideration of the wheel base of the traveling vehicle body 2. good. The seedling transplanter 1 may similarly change the lowering timing of the seedling planting unit 4 during automatic turning in the above embodiment. The seedling transplanter 1 may change the lowering timing of the seedling planting unit 4 in the Z-turn, taking into consideration the row spacing for each model of the seedling transplanter 1 . The seedling transplanter 1 may change the descent timing of the seedling planting unit 4 in the Z-turn in consideration of the wheel diameter and type.

The seedling transplanter 1 may change the timing of starting planting by the seedling planting unit 4 in the Z-turn, taking into account the wheel base of the traveling vehicle body 2 . The seedling transplanter 1 may change the timing of starting planting by the seedling planting unit 4 in the Z turn, taking into consideration the row spacing for each model. The seedling transplanter 1 may change the timing of starting planting by the seedling planting unit 4 in the Z-turn, taking into consideration the diameter and type of wheels.

As shown in FIG. 7, the seedling transplanter 1 may be provided with an auxiliary member 200 above the seedling tank 53 that enables seedlings to be replenished from behind. FIG. 7 is a side view showing an outline of the seedling transplanter 1. FIG. The auxiliary member 200 is a seedling frame. The auxiliary member 200 protrudes rearward. The auxiliary member 200 is provided with a belt 201 to move the seedlings forward and backward. A stopper 202 that can be tilted only forward is provided on the rear end side of the auxiliary member 200 . The stopper 202 prevents seedlings from falling. The auxiliary member 200 is rotatable with the front end side as a fulcrum. Auxiliary member 200 is rotated by actuator 203 . The actuators 203 are provided on both sides in the left-right direction. The stopper 202 tilts forward when the auxiliary member 200 rotates downward. As a result, the seedling slides down from the auxiliary member 200 toward the seedling tank 53, and the seedling tank 53 is replenished with seedlings. Auxiliary member 200 is provided so as to surround fertilization device 5 .

As shown in FIG. 8, the auxiliary member 200 may be provided with a sliding portion 210 that is slidable in the front-rear direction. FIG. 8 is a diagram showing a modification of the auxiliary member 200. As shown in FIG. When the seedling transplanter 1 is planting seedlings, the sliding part 210 is housed forward so that the center of gravity is on the central side. A support frame 211 that supports the slide portion 210 is provided outside the fertilizing device 5 . The support frame 211 is provided above the highest position of the seedling planting section 4 . The support frame 211 may be vertically movable. The support frame 211 is provided with a fulcrum for folding behind the fertilizing device 5 . The slide portion 210 is rotatable by an actuator 212 provided near the fulcrum. Also, the slide portion 210 can be moved in the front-rear direction by another actuator. When the seedling planting unit 4 starts planting seedlings, the slide unit 210 is moved forward by the actuator.

The seedling transplanter 1 is provided with a potentiometer for detecting the angle of the drawing marker 65 and a potentiometer for detecting the rolling angle of the seedling planting part 4, and the angle of the drawing marker 65 is adjusted according to the rolling amount of the seedling planting part 4. may be controlled. As a result, the seedling transplanter 1 can reliably draw a line in the field even when the traveling vehicle body 2 is tilted.

For example, the seedling transplanter 1 raises the angle of the drawing marker 65 when the traveling vehicle body 2 tilts to the left while the drawing marker 65 is on the left side. As a result, the seedling transplanter 1 can prevent the line-drawing marker 65 from digging into the field and accurately draw a line in the field. Further, the seedling transplanter 1 lowers the angle of the drawing marker 65 when the traveling vehicle body 2 tilts to the right while the drawing marker 65 is on the left side. As a result, the seedling transplanter 1 can prevent the line-drawing marker 65 from floating from the field and accurately draw a line in the field.

The seedling transplanter 1 sets the angle of the drawing marker 65 according to the tilt amount of the traveling vehicle body 2 detected by the potentiometer that detects the rolling angle of the seedling planting section 4 . Thereby, the seedling transplanter 1 can adjust the angle of the line drawing marker 65 according to the inclination of the traveling vehicle body 2, and can accurately draw a line in the field.

Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments so shown and described. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and equivalents thereof.

1 seedling transplanter (work vehicle)
2 Running vehicle body 4 Seedling planting unit 10 Front wheel 11 Rear wheel 35 Handle (steering device)
90 RPM sensor 95 Steering motor (motor)
97 differential lock mechanism 100 controller 150 position acquisition device (position information acquisition device, azimuth information acquisition device)

Claims (5)

a steering device that adjusts the amount of steering of the traveling vehicle body;
a motor for rotating the steering device;
an azimuth information acquisition device for acquiring current azimuth information of the traveling vehicle body based on information received from a positioning means;
a control device for automatically turning by controlling the steering device by controlling the motor;
The control device is
performing the automatic turning based on the orientation of the traveling vehicle body with respect to the turning start position;
The steering device is controlled based on the number of revolutions reached by the wheels of the traveling vehicle body from the turning start position until the orientation of the traveling vehicle body with respect to the turning start position reaches a predetermined orientation.
A work vehicle characterized by: The control device determines that the traveling vehicle body is making a small turn when the reached rotation speed is smaller than a first predetermined rotation speed, controls the steering device, and corrects the turning path in the automatic turning. ,
when the reaching number of rotations is greater than a second predetermined number of rotations, determining that the traveling vehicle body is making a large turn, controlling the steering device, and correcting a turning path in the automatic turning;
The work vehicle according to claim 1 , wherein the second predetermined number of revolutions is greater than the first predetermined number of revolutions. a steering device that adjusts the amount of steering of the traveling vehicle body;
a motor for rotating the steering device;
an azimuth information acquisition device for acquiring current azimuth information of the traveling vehicle body based on information received from a positioning means;
a control device for automatically turning by controlling the steering device by controlling the motor;
with
The control device is
performing the automatic turning based on the orientation of the traveling vehicle body with respect to the turning start position;
The work vehicle, wherein the steering device is controlled based on the orientation of the traveling vehicle body when the number of rotations of the wheels of the traveling vehicle body reaches a predetermined number of rotations with respect to the turning start position. The control device determines that the traveling vehicle body is making a large turn when an amount of change in the direction of the traveling vehicle body when the rotational speed reaches the predetermined rotation speed is smaller than a first predetermined amount of change. controlling the steering device to correct the turning path in the automatic turning;
When the amount of change in the direction of the traveling vehicle body when the number of revolutions reaches the predetermined number of revolutions is greater than a second predetermined amount of change, it is determined that the traveling vehicle body is turning in a small radius, and the steering device is controlled. 4. The work vehicle according to claim 3 , wherein the turning path in the automatic turning is corrected. Equipped with a seedling planting unit for planting seedlings in the field,
The control device has a demo mode in which the automatic rotation can be executed regardless of the elevation position of the seedling planting unit and the driving state of the seedling planting unit ,
The height of the seedling planting unit in the lowest position in the demo mode is higher than the height in the automatic turning when the planting work is performed in the field.
The work vehicle according to any one of claims 1 to 4 , characterized in that:

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