JP7318764B2 - work vehicle - Google Patents

Description

The present invention relates to work vehicles.

Conventionally, for example, in a work vehicle that performs ground work with a work device attached to the vehicle while traveling in a field, the work start and work end position information is acquired when the work device is turned on and off. Then, a reference line is created from the acquired work start position and work end position, and the steering wheel is automatically steered along the created reference line (see, for example, Patent Document 1).

In such a work vehicle, the position at which the work device is turned on and off is acquired as the work start position and the work end position, so the operation of acquiring the work start position and the work end position is unnecessary.

JP 2016-21890 A

However, the conventional work vehicle as described above does not consider the possibility of an erroneous operation in the process of creating the reference line.

For example, there is a problem that the operator unintentionally touches the automatic straight movement setting member and the reference line becomes short.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work vehicle capable of improving workability.

In order to solve the above-described problems and achieve the object, a work vehicle according to claim 1 is provided with a steering member (35) for steering a traveling vehicle body (2), and a position coordinate of the traveling vehicle body (2). A position information acquisition device (200) to acquire, an automatic straight traveling device (205) that operates the steering member (35) to make the traveling vehicle body (2) travel straight, and a control device (100) that controls each part In the work vehicle (1) comprising and a second reference position (B) registered at another point in the field, and when registering the second reference position (B), the first The second reference position (B) is not registered when the distance from the position where the reference position (A) is acquired is less than a predetermined distance.

The work vehicle according to claim 2 is the work vehicle according to claim 1, wherein the straight line (R) connecting the first reference position (A) and the second reference position (B) is a reference for straight traveling. The driving reference data is characterized by:

A work vehicle according to claim 3 is the work vehicle according to claim 1 or 2, wherein when the reference position acquisition unit is operated, the first reference position (A) is registered, and the reference position acquisition unit is held for a predetermined period of time. When operated, the registration of the first reference position (A) and the second reference position (B) is canceled, and the straight line (R) connecting the first reference position (A) and the second reference position (B) is drawn. It is characterized by deleting.

According to the work vehicle of the present invention, it is possible to improve workability in registering and deleting the automatic straight driving reference.

FIG. 1 is a left side view of the work vehicle. FIG. 2 is a plan view of the work vehicle. FIG. 3 is a plan view of essential parts showing the configuration of the traveling vehicle body. FIG. 4 is a rear view of the essential parts showing the configuration of the control section including the steering member. FIG. 5A is a rear view of the essential parts showing the configuration of the automatic steering device of the steering member. FIG. 5B is a left side view of a main portion showing the configuration of the automatic steering device of the steering member. FIG. 6 is a functional block diagram showing members related to various controls. FIG. 7 is a flowchart showing control for correcting the acquired position coordinates. FIG. 8 is a flow chart showing automatic straight-ahead control by the automatic steering system. FIG. 9 is a flow chart showing acquisition of the first reference position and the second reference position by operating the automatic straight advance setting member and turning on/off automatic straight advance control. FIG. 10 is a flow chart showing the erase operation of the first reference position and the second reference position. FIG. 11 is a flowchart showing control for erasing the first reference position by operating the steering wheel after acquiring the first reference position. FIG. 12 is a schematic work explanatory diagram showing the first reference position, the second reference position, the reference line, and the target position. FIG. 13 is a flowchart showing control for erasing the first reference position, the second reference position, and the reference line by running on the headland of the field. FIG. 14 is a flowchart (part 1) showing control for automatically erasing the reference line. FIG. 15 is a flowchart (part 2) showing control for automatically erasing the reference line. FIG. 16 is a flowchart (part 3) showing control for automatically erasing the reference line. FIG. 17 is a flowchart (part 4) showing control for automatically erasing the reference line. FIG. 18 is a left side view showing another example of the work vehicle. FIG. 19A is an explanatory diagram (part 1) of an antenna frame. FIG. 19B is an explanatory diagram (part 2) of the antenna frame. FIG. 20A is a front view of the antenna frame. FIG. 20B is a perspective view of the antenna frame. FIG. 20C is a perspective view from below of the antenna frame. FIG. 21 is an explanatory diagram of the monitor.

Hereinafter, embodiments of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

An overall configuration of a work vehicle (seedling transplanter) 1 according to an embodiment will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is a left side view of a work vehicle (seedling transplanter) 1. FIG. FIG. 2 is a plan view of the work vehicle (seedling transplanter) 1. FIG. Note that wheels (front wheels, rear wheels) and the like are omitted in FIG. 2 for convenience of explanation. Moreover, below, the seedling transplanter which plant|plants a seedling in a field is demonstrated as an example as the work vehicle 1, driving|running|working the inside of a field.

In the following description, the front-rear direction is the direction in which the work vehicle (hereinafter referred to as seedling transplanter) 1 moves straight forward, and the front side of the direction of travel is defined as "front" and the rear side is defined as "rear". ing. The traveling direction of the seedling transplanter 1 is the direction from the operator's seat 41 toward the steering member (hereinafter referred to as the steering wheel) 35 when traveling straight (see FIG. 1).

Moreover, the left-right direction is a direction horizontally perpendicular to the front-rear direction. In the following, left and right are defined toward the "front" side. That is, when an operator (also referred to as 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". Also, 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.

It should be noted that these directions are defined for convenience in order to facilitate the explanation, and the present invention is not limited by these directions. Moreover, below, the seedling transplanter 1 may be referred to as a body.

Although the riding-type seedling transplanter 1 shown in FIG. 2 as a work vehicle according to the embodiment has an eight-row planting configuration, such a configuration may be used for a rice transplanter with a different number of planting rows. As shown in FIGS. 1 and 2, the seedling transplanter 1 picks up seedlings from a seedling tank 53 via an elevating link mechanism 3 on the rear side of a traveling vehicle body 2, and the seedlings are planted in a field by a plurality of seedling planting devices 55. A seedling planting unit for planting seedlings, a sowing device for supplying seeds, or a working device 4 such as a rotary for cultivating the field is provided in a vertically movable manner, and the main body of the fertilizing device 5 is arranged on the rear upper side of the traveling vehicle body 2. ing.

First, the main frame 15 that constitutes the traveling vehicle body 2 will be described. As shown in FIG. 3, the main frame 15 includes a front beam frame 16 at the front of the fuselage, a rear beam frame 17 at the rear of the fuselage, and a center beam between the front and rear beam frames 16 and 17. A frame 18 is provided, and the front beam frame 16 and the central beam frame 18 are connected by a pair of left and right front connecting frames 19, 19, and the central beam frame 18 and the rear beam frame 17 are connected by a pair of left and right rear connecting frames 20. , 20.

The longitudinal direction of the front beam frame 16, the central beam frame 18, and the rear beam frame 17 is the horizontal direction, and the longitudinal direction of the front connecting frame 19 and the rear connecting frame 20 is the longitudinal direction. The left and right front side connecting frames 19, 19 and the rear side connecting frames 20, 20 have substantially the same width. The lateral lengths of the central beam frame 18 and the rear beam frame 17 are configured to be longer than the lateral length of the front beam frame 16 . Since the left and right front connecting frames 19, 19 and the rear connecting frames 20, 20 are welded under the center beam frame 18, the left and right front connecting frames 19, 19 and the rear connecting frames 20, 20 are welded together. It may be composed of an integral metal square bar.

In the space formed by the front beam frame 16, the central beam frame 18, and the left and right front connecting frames 19, 19, driving force is transmitted to the left and right front wheels 10, 10, the rear wheels 11, 11, the working device 4, and the like. A transmission case 13 and a hydraulic continuously variable transmission (HST) 14 for outputting driving force supplied from an engine 30 to the transmission case 13 are provided. Left and right lifting frames 21, 21 are provided on the rear portion of the rear beam frame 17 at an interval narrower than the left and right interval between the left and right rear connecting frames 20, 20, and protrude rearward. A rear support frame 22 is attached to the lower portions of the upper frames 21 , 21 .

Rear wheel transmission cases 11a, 11a for respectively driving the left and right rear wheels 11, 11 of the traveling vehicle body 2 are provided on both left and right sides of the rear support frame 22, and the lifting link mechanism is mounted on the upper part of the rear support frame 22. Left and right link frames 23, 23 for supporting 3 are provided upward.

The elevating link mechanism 3 is provided with a pair of left and right lower link arms 24, 24 below and between the left and right link frames 23, 23. Between the left and right lower link arms 24, 24, an elevating cylinder 25 is provided. , and an upper link arm 26 is provided above the lifting cylinder 25 . The ends of the left and right lower link arms 24, 24, the elevating cylinder 25, and the upper link arm 26 on the side opposite to the traveling vehicle body 2 are attached to the front side of the working device 4. As shown in FIG.

Furthermore, front wheel transmission cases 1 for transmitting power to the left and right front wheels 10 of the traveling vehicle body 2 are provided on the front of the left and right ends of the center beam frame 18 and on the left and right outer sides of the left and right front connecting frames 19, 19, respectively.
0a and 10a are provided respectively, and the left and right ends of the center beam frame 18 and the rear beam frame 17 are connected by left and right extension frames 27, 27, respectively. The left and right extension frames 27, 27 have the front-rear direction as their longitudinal direction.

In addition, a central connecting frame 28 in the front-rear direction is provided below the central beam frame 18, the rear beam frame 17, and the rear support frame 22. Front and rear support plates 29, 29 for supporting the engine 30 are provided between the left and right sides of the side connection frames 20, 20. - 特許庁

The front and rear support plates 29 , 29 are provided with receiving plates 29 a for receiving the engine 30 on both left and right sides of the central connecting frame 28 . Left and right auxiliary frames 31, 31 are provided on the left and right sides of the front and rear support plates 29, 29 so as to pass below the rear beam frame 17 and protrude rearward. are connected by a rear auxiliary frame 32 in the left-right direction. The rear ends of the left and right auxiliary frames 31, 31 are connected to the left and right rear wheel transmission cases 11a, 11a.

The main frame 15 is configured as described above. Of the main frame 15, the front-to-rear width from the front beam frame 16 to the rear beam frame 17, the left and right front connecting frames 19, 19, and the left and right widths of the rear connecting frames 20, 20 are set to the floor on which the worker rides. Cover in step 33 . The floor step 33 may be integrally formed to improve strength or reduce the number of parts, or may be divided into front and rear sides and left and right sides to facilitate attachment and detachment.

In the above, as shown in FIG. 3, the periphery of the left and right side ends of the center beam frame 18 and the rear beam frame 17, and the left and right extension frames 27, 27 are not covered with the floor step 33 and are exposed. At this time, the floor step 33 may be expanded to cover the entire main frame 15. Left and right extended steps 34, 34 are arranged on both left and right sides of the .

With the above structure, the main frame 15 is constructed by connecting a plurality of frame structures, so that the strength is improved as compared with the conventional structure. In addition, by disposing the central connecting frame 28 under the front and rear support plates 29, 29 on which the engine 30 is mounted, and by connecting the front and rear support plates 29, 29 to the left and right rear auxiliary frames 32, 32, a heavy load can be Therefore, the engine 30 can be firmly held.

On the front side of the traveling vehicle body 2, as shown in FIGS. A bonnet 39 is provided on which a sub-transmission control lever 37 for operating a sub-transmission switching device (not shown) for switching transmission and a control panel 38 for operating each part of the fuselage are provided. 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 are a fuel tank, a battery, the left and right front wheels 10, 10 for steering the steering wheel 35, and the left and right front wheel transmission cases. An interlocking mechanism (not shown) for rotating the lower side of 10a, 10a is incorporated.

In front of the front cover 40, various information such as the working state of the working device 4, the reduction of working materials consumed during work, and the operation or non-operation of the automatic steering device 205, which will be described later, are indicated by lighting of LEDs or the like. A center mascot 70 to be displayed is provided. The center mascot 70 is composed of, for example, a work display section 71 arranged on the lower side and rear side of the machine body and an automatic straight movement display section 72 arranged on the upper side and front side of the machine body when viewed from the side. .

An engine cover 30a that covers the upper side and sides of the engine 30 is provided on the rear side of the fuselage and above the engine 30 from the bonnet 39, and an operator's seat 41 is seated on the upper part of the engine cover 30a. set up.

Further, the fertilizing device 5 is loaded on the rear side of the cockpit 41 , specifically, 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 5a arranged toward the fertilizing device 5 from one of the left and right sides of the left and right rear wheel transmission cases 11a.

A front transmission shaft (not shown) that transmits power to the left and right front wheel transmission cases 10a, 10a is provided on the front side of the mission case 13, and a front transmission shaft (not shown) that transmits power to the left and right rear wheel transmission cases 11a, 11a is provided on the rear side of the mission case 13. Left and right drive shafts 42, 42 are provided. Side clutch mechanisms 43, 43 for turning on and off transmission to the left and right drive shafts 42, 42 are arranged on the upper side in the transmission direction of the left and right drive shafts 42, 42, and the handle 35 is turned off. When the traveling vehicle body 2 is operated to turn, the side clutch mechanism 43 positioned on the inner side of the turn is disengaged, and the power transmission to the rear wheel 11 on the inner side of the turn is stopped.

As shown in FIG. 3, left and right clutch on/off shafts 44, 44 are provided in the vertical direction near the center of the rear side of the transmission case 13. Clutch on/off arms 45, 45 are provided, respectively. Side clutch pedals 43a, 43a for turning on and off the left and right side clutch mechanisms 43, 43 are provided at the front lower portion of the operator's seat 41 and on one of the left and right sides.

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

The center float 62C is provided with a rotating potentiometer 64 (see FIG. 6) for detecting the rotating angle of the center float 62C. When it is determined that there has been a change, the control device 100 expands and contracts the elevating cylinder 25 to rotate the elevating link mechanism 3 up and down so that the vertical height of the working device 4, i.e., the working position, corresponds to the depth of the field. .

When the work device 4 is used in a field to plant seedlings, sow seeds, or to perform additional fertilizing or weeding after the seedlings have grown, the traveling vehicle body 2 moves from one side of the field to the other side. is generally driven straight ahead. However, when the wheels of the traveling vehicle body 2 deviate from the straight forward direction due to the unevenness of the plowing bed or the viscosity of the topsoil, the traveling vehicle body 2 may gradually move in the deviated direction. Further, depending on the operator's steering technique, the traveling vehicle body 2 may not be aligned with the straight traveling direction and may be moved in a direction deviating from the straight traveling direction.

As a result, the trajectory of operations such as seedling planting, seeding, weeding, and fertilizing becomes oblique, and the places where seedlings can be planted or sown become empty spaces, and workers can manually plant and sow later. It is necessary to sow the seeds, causing extra labor for the operator, and the distance between rows of planted seedlings and the distance between rows of sown seedlings become narrower than the distance between rows of the working device 4, resulting in poor ventilation and the occurrence of disease and pest damage. Sometimes. Alternatively, when performing post-planting or seeding work such as weeding or fertilizing, the seedlings are trampled, resulting in a decrease in yield. Problems that reduce work efficiency may arise.

In order to solve these problems, it is conceivable to install a so-called automatic straight traveling system that automatically steers the traveling vehicle body 2 and maintains a straight traveling posture without the operator's hand.

First, as shown in FIGS. 1 and 2, the traveling vehicle body 2 is provided with an antenna frame 201 on which a GPS (GNSS) antenna 200 as a position information acquiring device is mounted. The antenna frame 201 comprises a front frame 201a having a gate shape in a front view, to which left and right bases are attached to left and right antenna stays 202, 202 provided on the front side of the main frame 15, and a center portion of the front frame 201a extending from the left and right central portions of the body. It is composed of a rear side frame 201b facing rearward and facing the left and right central portions on the rear side of the traveling vehicle body 2. - 特許庁It is assumed that the bonnet 39 and the cockpit 41 are positioned behind the space of the gate-shaped front frame 201a.

Also, the vertical height of the antenna frame 201 is the highest in the airframe. The upper end of the antenna frame 201 is located about 2.5 to 3.5 m from the ground surface in order to prevent the worker from hitting his head while standing on the floor step 33 and to improve the reception accuracy. shall be As a result, the worker can easily move on the floor step 33, the work efficiency is improved, and the GPS antenna 200 can be spaced upward from the ground surface, thereby improving the reception accuracy.

The GPS antenna 200 is mounted near the joint between the front frame 201a and the rear frame 201b. The connecting portion between the front frame 201a and the rear frame 201b is near the front and rear of the bonnet 39 and the cockpit 41, and near the central portion of the traveling vehicle body 2 in the front and rear direction.

As described above, the GPS antenna 200 is installed near the center of the fuselage in the longitudinal and lateral directions. setting becomes appropriate, and work accuracy improves.

In addition, since the operator's seat 41 is positioned behind the space of the front frame 201a, the antenna frame 201 can be prevented from obstructing the operator's field of vision. In addition, since the state of the field in front of the machine and obstacles can be detected early, the operator can switch to manual operation safely and suppress deviation of the working position. It should be noted that the GPS antenna 200 may be of a single positioning system, a DGPS (relative positioning) system, an RTK (interference positioning) system, or the like, which is suitable for the work area.

However, if the ground clearance of the GPS antenna 200 fluctuates due to the tilt or vibration of the aircraft, the coordinate position different from the actual position of the aircraft will be measured, the reception accuracy will decrease, and the aircraft will travel in a direction that deviates from the straight line. A problem arises.

In order to prevent this, an IMU (inertial measurement unit) 203 is provided in addition to the GPS antenna 200, as shown in FIG. The IMU 203 acquires the GPS antenna 200 based on the difference between the height from the ground surface to the GPS antenna 200 when the vehicle body 2 is tilted and the height from the ground surface to the GPS antenna 200 when the vehicle body 2 is not tilted. It causes the control device 100 to correct the position coordinates.

The height from the ground surface to the GPS antenna 200 is determined by measuring the behavior such as inclination of the traveling vehicle body 2 with a three-axis acceleration sensor and an angular velocity sensor built into the IMU 203 .

In addition to this, a direction sensor 204 is provided so that the control device 100 can more reliably determine whether or not the traveling direction of the aircraft by the automatic straight-ahead system is correct. The correction of the position coordinates at this time is as shown in S101 to S105 in FIG. As a result, the course of the aircraft can be determined by the measured azimuth, so the accuracy of straight running is further improved.

The position information acquired by the GPS antenna 200 is corrected by the control device 100 based on the information detected by the IMU 203 and direction sensor 204 . Then, the control device 100 compares the current position information with the previously acquired position information, and if the difference in the position information exceeds the allowable range, the control device 100 moves the left and right front wheels 10 to return the aircraft to the straight traveling position. , 10 are steered left and right.

An automatic steering device 205 for rotating the steering wheel 35 by a steering actuator 206 is provided in order to automate the steering of the left and right front wheels 10, 10 or the turning of the crawler or the like. The automatic steering device 205, as shown in S201 to S204 in FIG. Based on this, the amount of actuation of the steering actuator 206 is varied, so that the steering wheel 35 is turned left and right in order to direct the machine body to the straight running position. It stops the steering.

The steering actuator 206 is composed of an electric or hydraulic motor or cylinder.

With the above configuration, the steering wheel 35 is automatically steered in accordance with the difference in the X coordinate of the calculated position information, and the machine body can be automatically adjusted to the straight running position, so that the working position of the working device 4 can be adjusted in the horizontal direction. Therefore, it is possible to prevent the occurrence of places where work is not performed in the field. As a result, there is no need to manually carry out work later on areas where work has not been carried out, and the labor of the operator is reduced.

In addition, since it is possible to prevent overlapping of the working positions of the working row of the previous process and the current working row, it is possible to prevent excessive consumption of working materials such as seedlings, seeds, fertilizers, etc., and reduce the working cost. At the same time, the occurrence of poor growth due to excessive supply of working materials is prevented.

A tractor equipped with a cultivator, a seedling transplanter, or a sowing machine travels to the edge of the working row, turns about 180 degrees, and moves to the next working row. If the automatic straight running system is activated during turning, there is a risk that the aircraft will determine that it is out of the position where it should run straight, operate the steering actuator 206, and disturb the turning trajectory. Therefore, the automatic straight-ahead system must be configured to be turned off when the aircraft is turned. It is conceivable to configure the automatic straight advance system to be turned off by turning the handle 35, but depending on the condition of the field, etc., the traveling direction of the machine may deviate significantly, and the operator may turn the handle 35 to avoid obstacles. Since the automatic straight driving system turns off when the operator makes a large operation that is equal to or greater than the operation, the operator has to turn the automatic steering system on again in the middle of straight driving, which increases the work of the operator and also causes the automatic straight driving system to turn off. Without noticing that it has been turned off, the aircraft continues to run with its working position shifted, resulting in reduced work accuracy.

In addition, it is conceivable to turn on the automatic straight running system by operating the handle 35 to return from turning to straight running. It is necessary to perform a steering operation. If the automatic steering system is turned on during this operation, the steering actuator 206 will operate when the control device 100 determines that the aircraft has deviated from the straight traveling position, and the aircraft will be adjusted to the position where it should travel straight. There is a problem of not being able to

An automatic straight running system that prevents the occurrence of such problems, allows the aircraft to travel straight in an appropriate direction, and operates in an appropriate section will be described with reference to FIGS. 6 and 8 to 11. . The position coordinate in the forward/backward direction of the traveling vehicle body 2 is defined as the Y coordinate, and the position coordinate in the direction perpendicular to the forward/reverse direction of the traveling vehicle body 2, that is, the horizontal direction, is defined as the X coordinate.

First, the traveling vehicle body 2 acquires the coordinates of one side of the field, which is the starting point of automatic straight movement, and the other side of the field, which is the end point of automatic straight movement. set up. The automatic straight movement setting member 207 is equipped with at least one member capable of being operated in at least two directions such as vertical direction, horizontal direction, pushed state and return state, or two or more operating members. .

In this embodiment, as shown in FIG. 4, a finger-up lever that can be operated in the vertical direction is attached as the automatic straight movement setting member 207, but a toggle switch, a push switch, a joystick, or the like may be used. As a result, the number of parts can be reduced, and the acquisition operation of the reference positions (first reference position A, second reference position B) and the turning on/off operation of the automatic steering device 205 can be automatically performed by one hand on the same side. Since it is sufficient to operate the straight advance setting member 207, the operability is improved.

As shown in FIG. 4, when the automatic straight travel setting member 207 is operated in the first direction W1, which is upward of the fuselage in this embodiment, the GPS antenna 200 is acquired at the operated position, and the IMU 203 and the azimuth sensor 204 are detected. The position coordinates calculated by the control device 100 using the detection result of are recorded. Note that the operation of the automatic straight movement setting member 207 in the first direction W1 corresponds to the operation of the reference position acquisition member.

When the automatic straight setting member 207 is operated, as shown in S301 to S302 in FIG. 9, if there is no record of other position coordinates, the calculated position coordinates are recorded as the first reference point A, and the first reference point A is recorded. When the point A is recorded, the calculated position coordinates are recorded as the second reference point B. If the automatic straight movement setting member 207 is operated while the first reference point A and the second reference point B are recorded, the position coordinates are not recorded.

In addition, when it becomes impossible to perform automatic straight movement with high accuracy during work in the field, it is necessary to acquire the first reference point A and the second reference point B again. As shown, at this time, when the automatic straight setting member 207 is operated in the first direction W1 for a predetermined time (for example, 2 to 3 seconds), the recorded first reference point A and second reference point It is preferable to set B to be deleted. Alternatively, a record deletion button (not shown) may be provided that deletes the first reference point A and the second reference point B when operated.

The closer the distance between the first reference point A and the second reference point B, which are the reference positions for straight running of the automatic straight running system, the smaller the deviation of the X coordinate. Even without it, it is possible to drive straight ahead. Also, when the distance between the two points becomes short, a situation can be considered in which the operator unintentionally touches the automatic straight movement setting member 207 and acquires the second reference point B.

In order to prevent such a problem from occurring, when the automatic straight setting member 207 is operated to obtain the second reference point B, the distance from the position at which the first reference point A is obtained is less than a predetermined distance. If it is less than 8 to 12 m, the control device 100 deletes the second reference point B and does not record it. After that, the automatic straight setting member 207 is operated again, and if the distance from the position where the first reference point A is acquired is equal to or greater than a predetermined distance, the control device 100 records the second reference point B.

As shown in FIG. 11 (S501 to S505), in a state in which the first reference point A is obtained, the steering wheel 35 is operated by a predetermined amount or more within a predetermined time without obtaining the second reference point B, and the vehicle travels. When the vehicle body 2 is turned, the control device 100 deletes the recorded first reference point A. FIG. After that, when the automatic straight setting member 207 is operated in the first direction W1, the control device 100 records the position coordinates of that place acquired by the GPS antenna 200 as the first reference point A, A configuration may be employed to prevent the line connecting the Y coordinate of the point A and the Y coordinate of the second reference point B from becoming unlinear.

As a result, the first position is set at predetermined positions at one end and the other end of the field, for example, a position at which the traveling vehicle body 2 starts turning after finishing traveling straight, and a position at which the working device 4 is lowered to start traveling straight after finishing traveling. A reference point A and a second reference point B can be set, and the automatic straight traveling system is operated at the position where the working device 4 is lowered and travels straight, and the working position does not deviate in the lateral direction with respect to the traveling direction. Precision work becomes possible.

In addition, since it is possible to prevent the second reference point B from being different from the position to be actually set due to an operator's erroneous operation, there is no need to reacquire the first reference point A and the second reference point B in the next work item. , the number of work lines using automatic straight movement can be increased, and the work accuracy in the field can be further improved.

In addition, in the first work line after entering the field, the automatic straight advance setting member 207 is operated in the first direction W1 at a predetermined position to obtain the first reference point A and the second reference point B. Therefore, the operator operates the handle 35 to make the machine body travel straight without using the automatic straight travel.

As described above, when the first reference point A and the second reference point B are obtained by operating the automatic straight movement setting member 207, the reference point connecting the Y coordinates of the first reference point A and the second reference point B Line R serves as a guideline for automatic straight ahead, and it is determined whether or not the X coordinate of the positional coordinates of the traveling aircraft matches the X coordinate of the line that serves as a guideline for automatic straight ahead. For example, by automatically steering the steering wheel 35 in the matching direction by the automatic steering device 205, automatic straight running can be realized.

The above-described automatic straight travel is performed by operating the automatic straight travel setting member 207 toward the second direction W2, which is downward in this embodiment, in a state where the first reference point A and the second reference point B are recorded. is started with When the automatic straight travel setting member 207 is operated in the second direction W2, the control device 100 compares the Y coordinate of the position coordinates acquired by the GPS antenna 200 with the Y coordinate of the reference line R, and operates the steering actuator 206. The steering wheel 35 is turned left and right to start the control of moving the traveling vehicle body 2 to a position where it should travel straight ahead. Note that the operation of the automatic straight setting member 207 in the second direction W2 corresponds to the operation of the on/off member.

This automatic steering control ends when the steering wheel 35 is operated to an angle at which the traveling vehicle body 2 turns within a predetermined time, or when the automatic straight travel setting member 207 is operated in the second direction W2. The steering angle of the steering wheel 35 is detected by a steering wheel potentiometer 35a. It should be noted that the automatic straight-ahead control may be terminated when the traveling vehicle body 2 reaches a location that coincides with the Y coordinate of the first reference point A or the second reference point B. FIG.

As described above, the automatic straight-ahead control ends when the steering wheel 35 is operated to turn, or when the vehicle reaches the vicinity of the start point of turn travel at the edge of the field. Since the position at which the traveling vehicle body 2 turns is close to the edge of the field, if the worker is left to the automatic straight-ahead control and performs work other than steering, the seedling will be placed in an unexpected position if the turning operation is delayed. As the planting is performed, the traveling vehicle body 2 moves to the end of the farm field, and it becomes necessary to move backward to the position for turning, which causes a problem of reduced work efficiency. FIG. 12 is a schematic diagram showing the first reference position A, the second reference position B, the reference line R, the target position, and the current position of the aircraft.

In order to prevent such a problem, as shown in FIG. When the sensor 209 detects that the ground leveling rotor 63 is turned on (actuated), the control device 100 acquires the target position coordinates (end reference position), which are the position coordinates (X coordinate and Y coordinate) of the traveling vehicle body 2 . At least two target position coordinates can be held simultaneously in the control device 100 or in a memory area attached to the control device 100 .

Acquisition of the target position coordinates (end reference position) by the work detection sensor 209 is performed by raising or lowering the working device 4, turning on or off the power transmission to the working device 4, and turning on or off the power transmission to the working device 4 instead of turning on/off the ground leveling rotor 63. A configuration may be adopted in which turning start steering or turning end steering or the like is performed as a condition.

Then, when the automatic steering device 205 is operated to cause the traveling vehicle body 2 to automatically travel straight ahead in the work condition following the work condition for which the position coordinates have been acquired, the control device 100 controls the current position coordinates acquired by the GPS antenna 200. The distance from the Y-coordinate to the Y-coordinate of the target position coordinates acquired in the immediately preceding work line (immediate work line) is calculated sequentially. At this time, the control device 100 may be configured to correct the X coordinate of the target position coordinates to the X coordinate of the current position coordinates.

When the traveling vehicle body 2 reaches the notification position where the distance from the current position coordinates to the target position coordinates is a predetermined distance, for example, 8 to 12 m, the traveling vehicle body 2 is approaching the edge of the field, and the automatic straight setting member 207 in the second direction W2 to notify the operator that it is necessary to end the automatic straight-ahead control, a notification device 208 that displays numerical values or characters on the screen, such as a buzzer or a lamp, operates. and

It should be noted that numerical values and characters are displayed on the notification device 208 because a display panel (not shown) is provided on the traveling vehicle body 2, or information is transmitted to and displayed on an information terminal (smartphone, tablet, etc.) carried by the operator. A configuration that allows

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

Regarding the distance from the current position coordinates to the target position coordinates, rear wheel rotation sensors 210, 210 are provided to detect the rotation of the left and right drive shafts 42, 42 to the left and right rear wheels 11, 11, and the ground leveling rotor 63 is provided. Based on the number of rotations detected by the rear wheel rotation sensors 210, 210 from the position where the ground leveling rotor 63 is turned on, the controller 100 calculates the movement distance, and calculates the distance between the movement distance and the Y coordinate position of the position where the leveling rotor 63 is turned on. The distance may be calculated, and if the distance is within a predetermined distance, the notification device 208 may be activated.

However, even if the notification device 208 is activated, the traveling vehicle body 2 cannot be turned to an appropriate position unless the operator notices and terminates the automatic straight-ahead control. In response to this, the traveling vehicle body 2 moves forward without the automatic straight-travel setting member 207 being operated in the second direction W2 over a predetermined distance (for example, 2 to 5 m) after the notification device 208 is activated. When traveling, the control device 100 rotates the trunnion shaft 14a of the continuously variable transmission 14 to decelerate the traveling vehicle body 2. As shown in FIG.

Alternatively, instead of the distance, the traveling vehicle body 2 continues without the automatic straight setting member 207 being operated in the second direction W2 for a predetermined period of time (for example, 2 to 5 seconds) after the notification device 208 is activated. When traveling forward, the control device 100 reduces the output of the continuously variable transmission 14 to decelerate the traveling vehicle body 2 .

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

As a result, the traveling speed of the traveling vehicle body 2 is reduced when approaching the edge of the field, so that the worker can recognize that the turning position of the edge of the field is approaching, and the turning traveling can be performed on an appropriate trajectory. Therefore, it is possible to prevent the work device 4 from redundantly performing ground work on the four sides of the field, ie, the so-called headlands, and consuming work materials (seedlings, fertilizers, chemicals, etc.) excessively.

In addition, since the position where the leveling rotor 63 is turned on after turning and the leveling work is started can be adjusted to the position where the leveling work is completed before turning, there are places where the leveling work by the leveling rotor 63 is not performed, and It is possible to prevent occurrence of locations where ground work is not performed by the work device 4 . As a result, problems such as disturbed planting depth of seedlings, differences in the degree of fertilizer penetration, and disturbed running can be prevented in areas where ground leveling work was not performed. There is no need for the worker to manually perform the work, and the labor of the worker is reduced.

In the automatic deceleration described above, the traveling speed is gradually reduced over time. is prevented from being shaken. Alternatively, if a control configuration is adopted in which rapid deceleration is performed once or a plurality of times at predetermined time intervals after the start of automatic deceleration, the shaking of the traveling vehicle body 2 makes it easier for the operator to notice the approach of the edge of the field.

Further, when the automatic straight travel setting member 207 is operated to cancel the automatic straight travel control within a predetermined time (second predetermined time) during which the automatic deceleration control is being performed, the control device 100 maintains the running speed at that time. It is good also as a structure which carries out. As a result, since the working traveling does not stop, it is possible to quickly shift to turning traveling at the edge of the field, and the deterioration of the working efficiency is prevented.

Alternatively, the control device 100 operates the HST servomotor 211 of the continuously variable transmission 14 to shift the traveling speed to the preset traveling speed or the traveling speed at the time when the automatic deceleration is started. may be configured to rotate toward the speed increasing side. Since the traveling speed is automatically increased, the operator does not need to operate the shift operation lever 36 to increase the traveling speed, thereby improving the operability.

In addition to the operation of the notification device 208, the automatic deceleration control of the traveling vehicle body 2 is expected to allow the traveling vehicle body 2 to recognize the turning position at the edge of the field, specifically, the turning position near the edge of the field. It is conceivable that the worker may not notice the automatic deceleration of the traveling speed because the worker is immersed in another work or the worker faints.

Therefore, the automatic deceleration control of the traveling vehicle body 2 is performed until the continuously variable transmission 14 reaches a neutral state in which neither the traveling speed of the forward travel nor the reverse travel is increased or decreased. At this time, the engine 30 is not stopped. As a result, since the traveling vehicle body 2 can be stopped on the spot, it is possible to prevent the machine body from moving forward until it contacts the edge of the field, the so-called ridge, and the machine body is damaged, and the distance to move the machine backward to return to work is reduced. suppressed.

When the travel of the traveling vehicle body 2 is automatically stopped due to the approach to the end of the farm field, the control device 100 continuously shifts when the speed change operation lever 36 for controlling the traveling speed of the traveling vehicle body 2 and the forward/rearward movement is returned to the neutral position. The device 14 is brought into a state of accepting an increase/decrease operation of the traveling speed. Then, when the speed change operation lever 36 is operated forward, the traveling vehicle body 2 is restarted. As a matter of course, in a state in which the auxiliary gearshift operating lever 37 is operated to the neutral position and the driving force is not transmitted to the travel system, running is not possible until the auxiliary gearshift operating lever 37 is operated to a position where travel transmission is performed. not started.

The reference line R connecting the first reference point A and the second reference point B, and the first reference point A and the second reference point B, which serves as the reference for the above-described automatic straight movement control, indicates straight movement from one end to the other end of the field. Required for work travel and straight work travel from the other end of the field to one end.

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

Further, when the machine body is moved to the bed of a truck for transportation outside the field, or when it is stored in a barn, etc., the automatic straight movement setting member 207 is erroneously operated in the second direction W2 and the automatic steering system is operated. 205 is in an operable state, the X coordinate of the reference line R and the X coordinate of the fuselage do not match when the fuselage is moved. can be automatically steered. As a result, the course of the machine body deviates from the course in which it should normally run, and extra work is required for loading and storing the machine body.

As an example for preventing this, there is a method of erasing the first reference point A, the second reference point B, and the reference line R before the machine leaves the field. As shown in FIGS. 6 and 13 (S601 to S606), when the traveling vehicle body 2 travels on three of the four sides of the field, including at least one side in the traveling direction orthogonal to the traveling direction for straight work traveling, Determining that headland work has been performed, the control device 100 deletes the first reference point A, the second reference point B, and the reference line R.

The traveling direction of the traveling vehicle body 2 on the headland is determined by continuous change of the X-axis coordinate or the Y-axis coordinate among the position coordinates of the traveling vehicle body 2 acquired by the GPS antenna 200 . As a result, the first reference point A, the second reference point B, and the reference line R can be deleted while the machine is running in the field. Even if it is operated, automatic straight movement is not performed, traveling in a direction deviating from the planned traveling direction is prevented, work efficiency is prevented from being lowered, and work safety is improved.

Also, when the machine is moved to another field, the first reference point A, the second reference point B, and the reference line R are not recorded. Since it is possible to prevent straight-ahead control from being performed, the accuracy of automatic straight-ahead travel is improved.

In addition, when moving out of the field, the sub-transmission control lever 37 is operated to the running position so as to move to the transfer truck or to the barn in a short time. An auxiliary gear shift position detection switch 37a is provided to detect the operation of the auxiliary gear shift operating lever 37 to the traveling position. A configuration in which the reference point A, the second reference point B, and the reference line R are deleted may be employed.

By performing the deletion of the first reference point A, the second reference point B, and the reference line R based on the operation of the auxiliary transmission operation lever 37 to the traveling position that is not used in the field, the first reference point when traveling on the headland When A, the second reference point B, and the reference line R are not deleted, they can be deleted without fail, so that automatic straight-ahead control is not performed when the traveling vehicle body 2 is moved or another field is worked. A decrease in work accuracy is prevented.

In addition, it is possible to prevent the first reference point A, the second reference point B, and the reference line R from being erroneously deleted in the field due to an erroneous operation of the sub-transmission control lever 37. It is possible to prevent the automatic straight advance from becoming unusable due to the work conditions in which the point B is re-obtained, and the work accuracy is improved. Alternatively, using the IMU 203 and the tilt sensor 212 that detects the tilt of the traveling vehicle body 2 in the front-rear and left-right directions, when the traveling vehicle body 2 assumes a forward-upward inclined posture of a predetermined angle or more (for example, 10 to 15 degrees), the control device 100 may be configured such that the first reference point A, the second reference point B, and the reference line R are deleted.

When leaving the field, the traveling vehicle body 2 passing through the entrance/exit of the field assumes a front-up inclined attitude at an angle that cannot be obtained during the work, so when this inclination angle is detected, it is time to leave the field. can be judged. As a result, when the first reference point A, the second reference point B, and the reference line R are not deleted while traveling on the headland, they can be deleted without fail. Occasionally, automatic straight-ahead control is not performed, preventing deterioration in work accuracy.

It should be noted that depending on the field and the content of the work, it is conceivable that the traveling vehicle body 2 is moved backward to exit from the doorway. B and the reference line R may be deleted.

Further, when moving to another field for work after finishing the work in the field, if the reference line R (that is, traveling reference data) used in the work in the previous field remains at the start of work in the other field, For example, if the automatic steering function is turned on by mistake, the machine travels in a direction that is not suitable for the field being worked on, which reduces workability. In addition, since the direction in which the aircraft travels is not the direction intended by the operator, the operator is forced to perform extra operations.

In order to prevent this, the control device 100 automatically erases the reference line R when a predetermined condition is satisfied. With the automatic erasing control of the reference line R, which will now be described, it is possible to detect the headlands more accurately than with the automatic erasing control described above. Next, automatic erasing of the reference line R will be described with reference to FIGS. 14 to 17. FIG. 14 to 17 are flow charts showing control for automatically erasing the reference line (driving reference data). In addition, the following control by the control device 100 is the control when the machine body is performing ground work in the field.

As shown in FIG. 14, the control device 100 detects that the machine body (the traveling vehicle body 2) is automatically traveling straight ahead (step S701). When the machine body is automatically traveling straight ahead (step S701: Yes), the control device 100 detects a traveling state other than straight traveling of the machine body by means of the detection means (step S702). When the detection means detects a running state other than straight running of the machine body (step S702: Yes), the control device 100 performs control to erase the acquired reference line R (step S703).

In the process of step S701, if the control device 100 does not detect automatic straight running of the machine body (step S701: No), this process is repeated until automatic straight running is detected. If the control device 100 does not detect a running state other than straight running of the machine body in the process of step S702 (step S702: No), this process is repeated until a running state other than straight running is detected.

According to this configuration, the reference line R is erased when the detection means detects a traveling state other than straight traveling of the machine body, so that the reference line R of the previous field can be used for work in other fields. Therefore, it is possible to prevent the automatic steering from working in a direction unsuitable for the field being worked on or in a direction unintended by the operator. As a result, it is possible to improve the workability and to save labor by preventing unnecessary operations from occurring.

Further, the control device 100 detects the running state of the body other than the straight running by detecting the deviation angle of the body from the reference line R, for example. In this case, the control device 100 determines that the above-described running state occurs when the detection means detects a deviation angle from the reference line R that is greater than or equal to a predetermined value (for example, 45 degrees).

In this case, as shown in FIG. 15, when the machine body is automatically traveling straight ahead (step S801: Yes), the control device 100 detects a deviation angle of a predetermined value or more with respect to the reference line R by means of the detection means (step S802). . When the detecting means detects a deviation angle of a predetermined value or more with respect to the reference line R (step S802: Yes), the control device 100 performs control to erase the acquired reference line R (step S803).

In the process of step S801, if the control device 100 does not detect automatic straight running of the machine body (step S801: No), this process is repeated until automatic straight running is detected. Further, in the process of step S802, if the control device 100 does not detect a deviation angle equal to or greater than the predetermined value (step S802: No), this process is repeated until a running state other than straight running is detected.

Further, the control device 100 may erase the first reference position A and the second reference position B in addition to the reference line R acquired in the field.

Note that detection means for detecting a deviation angle of the aircraft body from the reference line R that is equal to or greater than a predetermined value may be means for determining a travel route from position information acquired by the GPS antenna 200, as well as a direction sensor 204 and an inclination sensor 212. (see FIG. 6) and the like can be used.

According to such a configuration, by detecting a deviation angle of the machine body with respect to the reference line R which is equal to or greater than a predetermined value, for example, the work of planting the outer edge of the field, which is the final step of the planting work in the field, that is, the so-called headland planting work can be performed. can recognize. By recognizing the headland planting work, it can be seen that the machine does not need to travel straight in the field in which it is working. In particular, it is possible to prevent the automatic steering from operating in a direction unsuitable for the field being worked on or in a direction unintended by the operator, thereby improving workability. In addition, since there is no need to manually erase the reference line R, the labor involved in the reference line R can be saved. Thereby, operability can be improved.

In addition to the running state of the machine body, the reference line R may be deleted by detecting (recognizing) the working state of the work device 4 when the machine body is automatically traveling straight ahead. As shown in FIG. 16, the control device 100 detects that the body automatically travels straight (step S901). When the machine body is automatically traveling straight ahead (step S901: Yes), the control device 100 sets the work device to be in operation when the detecting means detects a deviation angle of a predetermined value or more from the reference line R (step S902: Yes). The detected work state is detected by the detection means (step S903), and when the detection means detects the work state set as working of the work device 4 (step S903: Yes), control for erasing the acquired reference line R is performed. (Step S904).

In the process of step S901, if the control device 100 does not detect automatic straight running of the machine body (step S901: No), this process is repeated until automatic straight running is detected. Further, in the process of step S902, if the control device 100 does not detect a deviation angle equal to or greater than the predetermined value (step S902: No), this process is repeated until a deviation angle equal to or greater than the predetermined value is detected. If the control device 100 does not detect the working state of the work device 4 in the process of step S903 (step S903: No), this process is repeated until the working state is detected.

According to this configuration, by detecting the working state (headland planting work) of the working device 4, it is possible to recognize the headland planting work of planting the outer edge of the field, which is the final step of the planting work in the field. . By recognizing the headland planting work, it can be understood that the traveling vehicle body 2 does not need to travel straight in the field in which the work is being performed. It is possible to prevent the automatic steering from operating in a direction unsuitable for the field being worked on or in a direction unintended by the worker during work, thereby improving workability. In addition, since there is no need to manually erase the reference line R, the trouble of erasing the reference line R can be saved. Thereby, operability can be improved.

Further, the control device 100 may detect (recognize) the working state of the working device 4, and then detect that the machine body travels at a predetermined value or more and erase the reference line R. As shown in FIG. 17, the control device 100 detects whether or not the machine body is automatically traveling straight ahead (step S1001). When the machine body is automatically traveling straight ahead (step S1001: Yes), the control device 100 sets the work device to be in operation when the detection means detects a deviation angle of a predetermined value or more from the reference line R (step S1002: Yes). The detected working state is detected by the detecting means (step S1003). When the detecting means detects that the work device 4 is set to work (step S1003: Yes), the control device 100 detects that the machine body has continued running for a predetermined distance (for example, 5 m) or longer (step S1004). ). When the control device 100 detects that the machine body has continued running for a predetermined value or more (step S1004: Yes), it performs control to erase the acquired reference line R (step S1005).

In the process of step S1001, if the control device 100 does not detect automatic straight running of the machine body (step S1001: No), this process is repeated until automatic straight running is detected. Further, in the process of step S1002, if the control device 100 does not detect a deviation angle equal to or greater than the predetermined value (step S1002: No), this process is repeated until a deviation angle equal to or greater than the predetermined value is detected. Further, in the processing of step S1003, if the control device 100 does not detect the working state of the working device 4 (step S1003: No), this processing is repeated until the working state is detected. In addition, in the process of step S1004, if the control device 100 does not detect traveling of the machine body at or above the predetermined value (step S1004: No), this process is repeated until traveling at or above the predetermined value is detected.

Note that the rear wheel rotation sensor 210 (see FIG. 6) or the like can be used as the detection means for detecting that the machine body travels at or above a predetermined value.

Further, the detection means detects the working state of the work device 4 by turning on/off the work detection sensor 209 (see FIG. 6). In this case, the detection means for detecting the working state of the working device 4 is preferably, for example, a planted clutch on/off sensor that detects the on/off of the planted clutch. When the on/off sensor of the planting clutch is turned on, it can be recognized that the headland planting work has been started as the working state described above.

Further, when the machine body is automatically traveling straight ahead, the control device 100 detects a traveling state other than straight traveling of the machine body by means of the detection means, and then detects the work status set as working of the work device 4 by means of the detection means. Then, the obtained reference line R may be deleted.

According to such a configuration, by detecting the working state of the working device 4 and detecting that the machine body travels at a predetermined value or more, the headland planting for planting the outer edge of the field, which is the final step of the planting work in the field, is performed. Work can be recognized more reliably. By recognizing the headland planting work, it can be seen that the machine does not need to travel straight in the field in which it is working. In particular, it is possible to prevent the automatic steering from operating in a direction unsuitable for the field being worked on or in a direction unintended by the operator, thereby improving workability. In addition, since there is no need to manually erase the reference line R, the trouble of erasing the reference line R can be saved. Thereby, operability can be improved.

In addition, when the control device 100 detects the deviation angle of the machine body from the reference line R, when it detects the working state of the work device 4, or when it detects both of these, it detects traveling of a predetermined value or more. Clear the mileage set for As a result, it is possible to prevent erroneous operation in the work after erasing the reference line R.

Further, when the reference line R is erased, the control device 100 may control the notification device 208 (see FIG. 6) to emit a notification sound for a predetermined time (about 2 seconds), for example. This allows the operator to recognize that the reference line R has been erased. Further, when erasing the reference line R, the control device 100 may control, for example, to display characters or the like on the monitor. This allows the operator to recognize that the reference line R has been erased.

In addition, although the work device 4 is configured to be able to plant seedlings and sow a plurality of rows at the same time, a plurality of partial row clutches (also called ridge clutches) for switching the operation of the device for each work row are provided. When the driving of some of the working rows is stopped and the work is performed only with the remaining working rows, the detection means detects that the partial row clutches are in a disengaged state. Based on this, the configuration may be such that the reference line R is erased. The detection means in such a configuration may be configured to detect the disengaged state of the partial-stripe clutch in addition to the detection function of the detection means described above.

Another example of the work vehicle (seedling transplanter) will be described with reference to FIG. FIG. 18 is a left side view showing another example of the work vehicle (seedling transplanter). As shown in FIG. 18, the seedling transplanter according to another example includes a back camera 400 and a monitor (tablet monitor) 401 in place of or in addition to the back mirror. Back camera 400 is provided on rear frame 201b of antenna frame 201 to which GPS antenna 200 is attached. The monitor 401 is provided on the front frame 201 a of the antenna frame 201 .

According to this configuration, in addition to confirming the rear side of the machine body, it is possible to check the trace of planting behind the machine body in the field and the straight running state of the machine body. In addition, by processing the image captured by the back camera 400, it is possible to recognize consecutive missing stocks in the rear of the fuselage. Note that, for example, the notification device 208 (see FIG. 6) may emit a notification sound when consecutive stock shortages occur. This allows the operator to recognize that consecutive missing strains have occurred.

A seedling transplanter according to another example includes a seedling decrease switch 403 for detecting a decrease in the number of loaded seedlings in the work device (planting device) 4 . When the machine automatically travels straight and the seedling reduction switch 403 detects a reduction in the number of seedlings during seedling planting, for example, the control device 100 (see FIG. 6) controls the HST (electric HST) 14 to automatically decelerate the machine. do. According to such a configuration, the seedlings can be safely replenished at a safe speed (for example, a speed of 0.3 m/s or less).

In addition, the seedling transplanter according to another example detects rolling of the machine body using, for example, a gyro sensor in the GPS antenna 200 . When the machine automatically travels in a straight line or when the rolling of the machine exceeds a predetermined value due to irregularities in the field during seedling planting, for example, the controller 100 controls the HST (electric HST) 14 to rotate the machine at a predetermined speed (eg, 0.00). 5m/s) to automatically decelerate. According to such a configuration, it is possible to improve the straight running stability of the aircraft.

Further, as shown in FIGS. 3, 4, 5A and 5B, even when the traveling vehicle body 2 is automatically traveling straight ahead by the automatic steering device 205, the work material consumed by the work device 4 and the like is reduced. During replenishment work, or when some problem occurs with the machine or the field, the operator needs to stop traveling. This running stop operation is performed by operating the shift operating lever 36 to the neutral position to set the continuously variable transmission 14 to neutral, stepping on the brake pedal to apply the brake, and stepping on the side clutch pedal 43a to disengage the side clutch mechanism 43. A method of setting the state is conceivable.

The control device 100 is configured not to stop the automatic steering device 205 even when the traveling of the traveling vehicle body 2 is stopped by any of the above methods. As a result, when the traveling stop is canceled by operating the shift operating lever 36 forward or releasing the operation of the brake pedal or the side clutch pedal 43a, it is possible to immediately return to the automatic straight traveling, which improves work efficiency. is prevented from decreasing.

However, if the steering wheel 35 is manually steered while the vehicle is stopped, or if the steering wheel 35 is automatically steered by the operation of the automatic steering device 205, the direction of travel at the time of restarting automatic straight travel deviates from the direction of travel at the time of stop. , the traveling direction of the traveling vehicle body 2 may not be linear. In particular, when the traveling vehicle body 2 is stopped, the position coordinates acquired by the GPS antenna 200 are easily affected by the rotation of the earth, the revolution of GPS satellites, etc., and may differ from the actual position where the traveling vehicle body 2 exists. Coordinates may be acquired, and it is likely to be misidentified as being at a position away from the reference line R.

In order to prevent this, a lever potentiometer 36a for detecting the operating position of the shift operating lever 36 and a depression detection switch 213 for detecting depression of the brake pedal or clutch pedal are provided to detect an operation to stop traveling during automatic straight running. Then, the control device 100 is configured not to reflect the steering operation of the steering wheel 35 or to make the steering wheel 35 non-movable.

The configuration that does not reflect the steering operation of the steering wheel 35 means that the steering actuator 206 is not operated even if the X coordinate of the position coordinates of the traveling vehicle body 2 when the vehicle is stopped deviates from the X coordinate of the reference line R by a predetermined value or more. . Further, the configuration that prevents the steering wheel 35 from moving means increasing the operating torque of the steering actuator 206 to bring the steering wheel into a locked state.

With the above configuration, it is possible to prevent deviation of the direction of travel after resuming travel, so work travel is performed in a straight line, and work accuracy is improved.

The steering wheel 35 is automatically steered by the steering actuator 206 during automatic straight-ahead travel, but the field conditions on the course are not suitable for automatic straight-ahead travel (rough, deep fields, etc.) and there are obstacles. In such situations, it is necessary to take avoidance action by manual operation. A steering operation of the steering wheel 35 by the steering actuator 206 is performed by the following configuration. An input gear 352 is provided at the lower portion of a handle shaft 351 that rotates in association with steering operation of the handle 35 , and an output gear 353 is provided at the steering actuator 206 .

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

The gear ratios of the input gear 352, the output gear 353, and the intermediate gear 355 are such that the torque due to manual operation increases even if the steering actuator 206 is operating, in order to prevent interference with the manual operation of the steering wheel 35. do. As a result, it is possible to prevent an increase in the force required for manual operation of the handle 35 even during automatic straight running, so that the operability is improved and the field and obstacles that may affect the traveling are reliably avoided. work safety is ensured.

In the seedling transplanter 1, a GNSS unit having a built-in GPS antenna 200 (see FIG. 1) is arranged on the traveling vehicle body 2. As shown in FIG. The GNSS unit can acquire position information on the earth at predetermined intervals by acquiring GNSS coordinates at predetermined time intervals with the GPS antenna 200 . In addition to the GPS antenna 200, the GNSS unit incorporates, for example, an inertial navigation system using a gyro sensor and an acceleration sensor, and a control board for controlling these.

19A and 19B are explanatory diagrams of the antenna frame 201. FIG. In addition, the front of the seedling transplanter 1 is shown in FIG. 19A, and the left side of the seedling transplanter 1 is shown in FIG. 19B. 20A is a front view of the antenna frame 201. FIG. 20B is a perspective view of the antenna frame 201. FIG. FIG. 20C is a perspective view of the antenna frame 201 from below.

As shown in FIGS. 19A and 19B, the GNSS unit in which the GPS antenna 200 is built is an antenna frame whose base end is connected to the front end side of the traveling vehicle body 2 so as to be positioned directly above the axle 10b of the front wheel 10. 201 is attached to the top. The height of the antenna frame 201 in the normal state is set to such a height that even if a standard general male stands on the floor step 33, it does not interfere with the head.

As shown in FIGS. 20A to 20C, the antenna frame 201 includes lower portions of left and right front frames 201a (front lower frames 201aa), upper portions of the front frames 201a (front upper frames 201ab), an upper L-shaped frame 201c, and a rear frame 201b.

A pair of brackets 201e, 201e are provided at the base ends of the left and right front lower frames 201aa, 201aa.

The front upper frame 201ab has left and right vertical frames 2011 and 2012 whose proximal ends are rotatably connected to the left and right front lower frames 201aa and 201aa via rotary connectors 201f and 201f, respectively. It is a U-shaped frame.

As shown in FIGS. 20A to 20C, the left and right rotating connectors 201f and 201f are connected and fixed with a knob bolt 201g, and between the rotating connectors 201f and 201f and the front cover 40 (see FIG. 19B) A reinforcing frame 201h (see FIG. 19B) is suspended. In this way, the front lower frames 201aa and 201aa and the left and right vertical frames 2011 and 2012 are prevented from rattling with a simple configuration.

As shown in FIG. 19A, the left and right front lower frames 201aa, 201aa are erected diagonally inward to such an extent that the upper end sides do not come into contact with the front cover 40. As shown in FIG. Therefore, between the control unit 41 and the spare seedling placement tables 501, 501 arranged on the left and right sides of the machine body, a space is formed that allows the worker M to move between the front of the machine body and the floor step 33, for example. .

A GNSS unit (GPS antenna 200) is arranged on an aluminum block 201i that spans between the upper portions of the left and right vertical frames 2011 and 2012. As shown in FIG. Thus, by interposing the aluminum block 201i between the GNSS unit and the antenna frame 201 made of steel pipe, the receiving sensitivity is improved more than directly attached to the GPS antenna 200 .

The upper L-shaped frame 201c has a leading end connected to the rear end of the front upper frame 201ab, and wiring such as a harness extending from the GNSS unit is routed along the upper L-shaped frame 201c.

The rear frame 201b is connected to the rear step at the rear side of the cockpit 41 at its lower end. Storage hoppers 5b of the fertilizer applicator 5 are arranged on the left and right behind the cockpit 41, respectively. No interference when opening and closing.

In this way, the antenna frame 201 for arranging the GNSS unit is connected to the bumper 500 and the front cover 40 on the front side, and connected to the rear step on the rear side. It can be attached to the traveling vehicle body 2 in an extremely stable state.

A connecting portion 201j that detachably connects the other end of the upper L-shaped frame 201c is provided at the upper end of the rear frame 201b, and detachably connects the upper L-shaped frame 201c. The connecting portion 201j includes, for example, pin insertion holes (not shown) formed at the connecting ends of the upper L-shaped frame 201c and the rear frame 201b, and fastening pins (not shown) that can be inserted into and removed from the pin insertion holes. not shown). Thus, the upper L-shaped frame 201c and the rear frame 201b can be detachably connected with a simple configuration.

In this way, the upper L-shaped frame 201c is separated from the rear frame 201b, and as shown in FIG. 20B, the front upper frame 201ab and the upper L-shaped frame are separated from the front lower frames 201aa and 201aa by pivoting connectors 201f and 201f. The height of the antenna frame 201 can be lowered as shown in FIG. 19B by a simple operation of rotating the antenna 201c downward.

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

In addition, as a configuration for rotating the antenna frame 201 (the front upper frame 201ab and the upper L-shaped frame 201c), a simple configuration is provided in which the rotating connector 201f is provided. It is possible to minimize the overall rattling. Moreover, it has the convenience of being able to perform the rotation operation in one action.

Further, as shown in FIG. 19B, a substantially Y-shaped frame support 201k is provided near the upper end of the rear frame 201b. Therefore, when the antenna frame 201 is folded to reduce its height, it can be stably held by engaging the upper L-shaped frame 201c with the frame holder 201k.

Also, as shown in FIGS. 20A and 20B, the upper parts of the front frames 201a, 201a of the antenna frame 201, that is, the front upper frames 201aa, 201aa are facing toward the upper L-shaped frame 201c, which is the leading end, in a front view. It is formed so that the interval becomes narrow. This increases the strength of the antenna frame 201 .

In addition, the seedling transplanter 1 is provided with a monitor 300 for informing the operator of the above-described automatic straight-ahead state in the control section. FIG. 21 is an explanatory diagram of the monitor 300. As shown in FIG. The monitor 300 is provided with a straight-travel assist lamp 301, an A-point lamp 302, and a B-point lamp 303, which are lit when the aircraft automatically travels straight. The monitor 300 informs the operator of various information related to the automatic straight running state by means of the display modes of the three lamps 301 , 302 , 303 . Therefore, the monitor 300 can be configured simply and inexpensively.

On the monitor 300, for example, the A point lamp 302 blinks when the aircraft is shifted to the right. By blinking the A point lamp 302, the operator is urged to turn the steering wheel 35 (see FIG. 1) to the left. Further, on the monitor 300, for example, the B point lamp 303 blinks when the orientation of the aircraft is deviated to the left. By blinking the B point lamp 303, the operator is urged to turn the steering wheel 35 to the right. In this manner, the A-point lamp 302 and the B-point lamp 303 are displayed in the same manner as the direction indicator, so that the operator can easily understand the direction in which the steering wheel 35 is to be turned.

Also, on the monitor 300, both the A-point lamp 302 and the B-point lamp 303 are lit when the aircraft is in a state in which it can automatically travel straight ahead. Further, when the automatic straight travel is turned on, for example, when the leveling rotor 63 is turned off, the automatic straight travel cannot be turned on. sound), and the central straight-ahead assist lamp 301 flashes, for example, twice. Such a display mode notifies the operator that automatic straight travel is impossible. Therefore, the monitor 300 can be configured simply and inexpensively.

Also, on the monitor 300, when the aircraft is in a state in which automatic straight running is possible, both the A point lamp 302 and the B point lamp 303 are lit. In the case of GPS reception failure due to GPS reception failure, automatic straight travel cannot be turned on. Flashes 3 times. Such a display mode notifies the operator that automatic straight travel is impossible. Therefore, the monitor 300 can be configured simply and inexpensively. In addition, by changing the number of flashes of the straight-travel assist lamp 301 from that for other warnings, it is possible to inform the operator of the details of the warning depending on the display mode.

Also, the monitor 300 is provided with a GPS lamp 304 . The GPS lamp 304 has three indicator lamps, and the number of indicator lamps is changed according to the GPS reception state. The monitor 300 notifies the worker of the GPS reception state by such a display mode. Therefore, it is possible to prevent the vehicle from automatically running straight when GPS reception is poor. The lamps 301, 302, 303, 304, the notification device 208, and the like described above are controlled by the control device 100 (see FIG. 6).

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 Work vehicle (seedling transplanter)
2 traveling vehicle body 35 steering wheel (steering member)
100 control device 200 GPS antenna (positional information acquisition device)
205 Automatic steering device (automatic straight driving device)
210 Rear wheel rotation sensor A First reference position B Second reference position R Reference line (straight line)

Claims (3)

a steering member for steering the traveling vehicle body;
a position information acquisition device that acquires the position coordinates of the running vehicle body;
A work vehicle comprising: an automatic straight traveling device that operates the steering member to cause the traveling vehicle body to travel straight; and a control device that controls each part,
a reference position acquiring unit for performing an operation of registering driving reference data that serves as a reference for straight traveling of the traveling vehicle body;
The reference position acquisition unit can register a first reference position registered at one point in the field and a second reference position registered at another point in the field,
A work vehicle, wherein when registering the second reference position, the second reference position is not registered if the distance from the position where the first reference position is acquired is less than a predetermined distance. 2. The work vehicle according to claim 1, wherein a straight line connecting said first reference position and said second reference position is driving reference data that serves as a reference for straight traveling. When the reference position acquisition unit is operated, the first reference position is registered, and when the reference position acquisition unit is operated for a predetermined time, the registration of the first reference position and the second reference position is canceled, and the first reference position and the second reference position are registered. 3. The work vehicle according to claim 1, wherein a straight line connecting said second reference positions is deleted.