TWI762563B - Work vehicle - Google Patents

Abstract

The present invention provides a work vehicle capable of preventing the datum line from being applied to other farm lands, thereby improving the workability and achieving an effort-saving performance. The work vehicle is provided with a steering part; a position information acquisition device; an automatic moving straight device configured to enable the running vehicle body to move straight; a position coordinate acquisition device configured to acquire the position coordinate for producing a datum line, wherein the running vehicle body moves straight according to the datum line; a control device; a detection element configured to detect the moving direction of the running vehicle body; and a work detection part configured to detect the work status of the work device. The control device determines a deviation of the running vehicle body deviating from the straight-ahead direction according to an angle formed by the datum line and the moving direction of the running vehicle body, and determines the work status of the work device. When the deviation of the running vehicle body which is moving within a predetermined range deviating from the straight-ahead direction exceeds a predetermined value while the work status is continuously detected, a status of the running vehicle body unable to move straight according to the datum line is set. The status of the running vehicle body unable to move straight according to the datum line lasts until the next position coordinate is acquired.

Description

work vehicle

The present invention relates to a work vehicle.

Conventionally, a work vehicle that performs ground work with a working device mounted on the traveling vehicle body while traveling in the farmland with the traveling vehicle body has a function of acquiring the position of the work start and the end of the work when the work device is turned on or off. Based on the obtained work start position and work end position, a reference line is created, and the steering member is automatically steered along the created reference line (see Patent Document 1).

In the above-described work vehicle, since the work start position and the work end position are acquired as the positions at which the work implement is turned on or off, the operation of acquiring the work start position and the work end position is not required.

[Prior Art Literature]

[Patent Literature]

Patent Document 1: Japanese Patent Laid-Open No. 2016-21890.

However, the above-mentioned work vehicle does not consider the case where the work vehicle moves to another farmland and works after the work on the farmland is completed, so when the work on the other farmland starts, the reference line (travel) used in the previous work on the farmland remains. benchmark information). If the automatic steering function is turned on in this state, there is a possibility that the vehicle may travel in a direction that is not suitable for the farmland during work, and there is a problem that workability is lowered. In addition, since the direction in which the machine body travels is not intended by the operator, it is necessary to correct the travel direction, and there is a problem that the operator has to perform additional operations.

An object of the present invention is to provide a work vehicle capable of improving workability and saving labor by preventing the reference line from being applied to another farmland.

The invention of claim 1 is a work vehicle comprising: a traveling vehicle body (2); a working device; a steering member (35) for performing a steering operation on the traveling vehicle body (2); and a position information acquisition device (200) for acquiring the traveling vehicle body The position coordinates of (2); the automatic straight-forward device (205) operates the steering member (35) to make the traveling vehicle body (2) travel straight; the position-coordinate acquisition means obtains the position coordinates of the reference line (R), the reference The line (R) serves as a reference for straight running of the traveling vehicle body (2); and a control device (100) controls each part; a detection means for detecting the direction in which the traveling vehicle body (2) travels is provided, and a work device for detecting a working device is provided state The operation detection part (209), the control device (100) judges the deviation amount of the traveling vehicle body (2) from the straight direction according to the angle formed by the reference line (R) and the current orientation of the traveling vehicle body (2), and The working state of the working device is detected, and the deviation of the vehicle body (2) from the straight-traveling direction is greater than or equal to a predetermined value within a predetermined range, and the working state is continuously detected, so that straight running based on the reference line (R) cannot be performed. In the traveling state, the state in which the straight traveling based on the reference line (R) cannot be performed is continued until the next position coordinates are acquired.

The invention of claim 2 is a work vehicle based on claim 1, and is provided with a distance detection unit for detecting the travel distance of the traveling vehicle body (2), and the control device (100) is connected to the distance detection unit to the traveling vehicle body (2) During the detection of traveling a predetermined distance, if the deviation from the straight direction is greater than or equal to a predetermined value and the work state is continuously detected, the straight traveling based on the reference line (R) is assumed to be in a state.

According to the present invention, it is possible to prevent the driving reference information of the previous farmland from being used in work on another farmland, so that the machine body can be prevented from moving in a direction not suitable for the farmland or in a direction not intended by the operator during the work. Thereby, workability is improved, additional operation is prevented, and labor saving of work is achieved.

1: Seedling transplanting machine

2: Driving body

3: Linkage mechanism

4: Working device

10: Front Wheel

10a: Front wheel gearbox

11: rear wheel

11a: Rear wheel gearbox

13: Gearbox

14: CVT

15: Main Frame

25: Lifting cylinder

30: Engine

33: Bottom Pedals

35: Steering parts

35a: Steering angle detection part

36: Shift lever

37: Auxiliary gear lever

38: Control Panel

39: Engine cover

40: Front cover

41: Control Seat

62C: Central float

62L, 62R: side float

63: Ground preparation device

64: Turn the potentiometer

65: Ground preparation drive shaft

100: Controls

200: Location information acquisition device

201: Antenna Frame

202: Antenna Fixing Post

203:IMU

204: Orientation Sensor

205: Automatic straight travel device

206: Steering Actuator

207: Automatic straight travel setting part

208: Notification Device

209: Job detection parts

210: Rear wheel rotation sensor

212: Tilt sensor

W1: first direction

W2: Second direction

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 rear view of the main part showing the structure of the manipulation part including the steering member.

Figure 4 is a functional block diagram showing components associated with various controls.

FIG. 5 is a flowchart showing the control for correcting the acquired position coordinates.

FIG. 6 is a flowchart showing the automatic going straight control performed by the automatic going straight device.

7 is a flowchart showing the first reference position and the second reference position obtained by the operation of the automatic straight-forward setting means, and the on or off of the automatic straight-forward control.

FIG. 8 is a flowchart showing the control for automatically deleting the reference line.

Hereinafter, the work vehicle will be described in detail with reference to the drawings. In addition, the embodiment shown below does not limit this invention.

The work vehicle of the embodiment will be described with reference to FIGS. 1 and 2 . Hereinafter, a seedling transplanting machine that travels in a farmland and planted seedlings will be described as an example of a work vehicle.

In addition, in the following description, the front-back direction refers to the traveling direction when the work vehicle (hereinafter referred to as the seedling transplanter) goes straight, and refers to the direction from the operator's seat 41 toward the steering member 35 (see FIG. 1 ).

As shown in FIGS. 1 and 2 , the seedling transplanting machine 1 is equipped with a seedling planting part for planting seedlings in the farmland and a seeding device for supplying seeds so as to be able to ascend and descend through a lift link mechanism 3 on the rear side of the traveling vehicle body 2 , or a work device 4 such as a leveling device for leveling farmland.

The main frame 15 of the traveling vehicle body 2 is provided with a transmission case 13 and a continuously variable transmission 14 that outputs a driving force supplied from an engine 30 to the transmission case 13 .

As shown in FIGS. 1 and 2 , a bonnet 39 is provided on the front side of the traveling vehicle body 2 , and the bonnet 39 is provided with a steering member 35 for steering the body on the upper part, and provides a bonnet for the continuously variable transmission 14 and the working device 4 . A shift lever 36 to be operated, an auxiliary shift lever 37 to operate an auxiliary shift switching device (not shown) for switching the travel transmission of the traveling vehicle body 2 , and an upper portion of the control panel 38 for operating various parts of the body are provided. An openable and closable front cover 40 is provided on the front side of the engine cover 39, and a fuel tank, a battery, and an interlocking mechanism (not shown) for connecting the left and right front wheels 10 are housed inside the front cover 40. And the lower part of the left and right front wheel transmission case 10a is steered and rotated by the side steering member 35.

In addition, as shown in FIG. 1 and FIG. 2 , a central floating body 62C and left and right side floating bodies 62L and 62R, which are in contact with the ground surface of the farmland and slide below the working device 4 , are provided, and are located more than the central floating body 62C and the left and right side floating bodies 62C and 62R. The side floating bodies 62L and 62R are installed on the front side of the machine body as ground work equipment for field preparation. Placed leveling device 63. The driving force for the leveling device 63 is transmitted by a leveling shaft 65 provided on the left and right side of the rear wheel transmission case 11a. In addition, the rear wheel transmission case 11a on the left and right sides is provided with a leveling clutch (clutch) which opens or closes the transmission of the leveling device 63. As shown in FIG.

The central floating body 62C is provided with a rotary potentiometer 64 (refer to FIG. 4 ) that detects the rotational angle of the central floating body 62C, and when the rotational angle of the rotary potentiometer 64 changes by a predetermined angle or more, it is determined that the depth of the farmland has changed , the control device 100 expands and contracts a lifting cylinder 25 to rotate the lifting link mechanism 3 up and down, so that the vertical height of the working device 4 (ie, the working position) corresponds to the depth of the farmland.

When planting seedlings, sowing seeds, topdressing after growing seedlings, weeding, etc. using the working device 4 in farmland, the traveling vehicle body 2 is generally driven straight from one side of the farmland to the other side. However, there are cases where the traveling vehicle body 2 gradually moves in the deviated direction when the wheels are oriented in a direction deviated from the straight running direction due to the unevenness of the cultivated area of the farmland and the viscosity of the topsoil. In addition, if the traveling vehicle body 2 does not coincide with the straight-traveling direction due to the operator's manipulation skill, there is a case where it moves from the straight-run to the deviated direction.

As a result, the trajectories of operations such as planting, sowing, weeding, and topdressing of seedlings are inclined in an oblique direction, and the site where planting and sowing of seedlings can be performed in the first place becomes an open space. After that, an operator is required to manually perform planting and sowing, resulting in work. Therefore, extra labor is generated, and the seedling planting rows and the seedling rows are narrower than the rows of the operation device 4, resulting in poor ventilation and causing pests and diseases. Or there is a problem that the seedlings are trampled during the subsequent steps of planting and sowing, such as weeding work, top dressing work, and so on, resulting in a decrease in harvest yield, or manipulation in such a way that the seedlings are not trampled and the work efficiency is lowered. situation.

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

First, as shown in FIGS. 1 and 2 , the traveling vehicle body 2 is provided with an antenna frame 201 equipped with a position information acquisition device 200 as a position information acquisition device. The left and right bases of the antenna frame 201 are attached to left and right antenna stays 202 provided on the front side of the main frame 15 . Moreover, the engine cover 39 and the operator's seat 41 are arrange|positioned at the rear of the space part of the antenna frame 201 of a portal type.

In addition, the vertical height of the antenna frame 201 is the highest in the body. The upper end of the antenna frame 201 is positioned at a distance of about 2.5 m to 3.5 m from the ground surface to improve signal reception accuracy while preventing the operator from hitting his head while standing on the floor step 33 . As a result, the operator can easily move on the floor pedal 33, the work efficiency is improved, and the position information acquisition device 200 can be separated from the ground surface upward, so that it is possible to achieve Improved signal reception accuracy.

In addition, the mounting position of the position information acquisition device 200 is in the vicinity of the front-rear space between the engine cover 39 and the operator seat 41 , and in the vicinity of the center portion in the front-rear direction of the traveling vehicle body 2 .

As described above, since the installation position of the position information acquisition device 200 is in the vicinity of the front and rear of the body and the center of the left and right directions, the coordinates of the body acquired are unlikely to deviate from the actual position of the body. The setting becomes more suitable, and the work accuracy is improved.

In addition, the operator seat 41 is positioned behind the space portion of the antenna frame 201, thereby preventing the antenna frame 201 from blocking the operator's field of vision, so the observation reliability is improved, the alignment before straight driving becomes more accurate, and the front of the machine can be found early. The state of the farmland and obstacles can be switched by the operator to the manual operation, which is safe and can suppress the deviation of the work position.

However, if the height above ground of the position information acquiring device 200 is changed due to the influence of the inclination of the body or the vibration, a coordinate position different from the actual body position is measured, the signal reception accuracy is lowered, and the body moves in a direction deviated from the straight travel. driving problem.

In order to prevent this situation, as shown in FIG. 4 , in addition to the position information acquisition device 200 , an IMU (inertial measurement unit; inertial measurement unit) is also provided. measuring device) 203. Based on the difference between the height from the ground surface to the position information acquisition device 200 when the traveling vehicle body 2 is in the inclined posture and the height from the ground surface to the position information acquisition device 200 when the vehicle body 2 is not inclined, the IMU 203 has obtained the position information acquisition device 200 from the control device 100 based on the difference position coordinates are corrected.

In addition, the height from the ground surface to the position information acquisition device 200 is calculated by the three-axis acceleration sensor and angular velocity sensor built in the IMU 203 by measuring and calculating the inclination of the traveling vehicle body 2 .

In addition, in order for the control device 100 to more reliably determine whether the traveling direction of the body performed by the automatic straight-forward system is correct, an orientation sensor 204 is provided. In addition, the correction system for the position coordinates at this time is as shown in S101 to S105 of FIG. 5 . As a result, the traveling route of the airframe can be determined based on the measured direction, so that the accuracy of straight traveling is further improved.

The position information obtained by the position information obtaining device 200 is corrected by the control device 100 based on the information detected by the IMU 203 and the orientation sensor 204 . Then, the control device 100 compares the current position information with the previously acquired position information, and turns the left and right front wheels 10 in the left and right directions to return the body to the straight running position if the difference in the position information exceeds the allowable range.

In order to automate the steering of the left and right front wheels 10 or the pivot turn of the crawler, etc., a steering actuator is provided. (actuator) 206 The automatic straight travel device 205 that rotates the steering member 35 . As shown in S201 to S204 of FIG. 6 , the automatic going straight ahead device 205 causes the steering actuator 206 to rotate based on the difference between the X-coordinate of the current positional information calculated by the control device 100 and the X-coordinate of the previously acquired referenced positional information. The amount of movement varies, whereby the steering member 35 is turned left and right to move the body toward the straight running position, and when the straight running position is reached, the steering actuator 206 is stopped to stop automatic steering of the steering member 35 .

In addition, the steering actuator 206 is constituted by an electric or hydraulic motor or a cylinder.

According to the above-described configuration, the steering member 35 is automatically steered in accordance with the difference in the X-coordinate of the calculated position information, and the body can be automatically aligned with the straight travel position, so that the work position performed by the work device 4 can be prevented from being left and right. Deviation makes it difficult to generate a portion in the farmland where no work is performed. This eliminates the need to manually perform work on a portion that has not been worked on, thereby reducing the labor of the operator.

In addition, it is possible to prevent overlapping of the work position of the work line of the previous program and the work line of the current work line, so that work materials such as seedlings, seeds, fertilizers, etc. are prevented from being wasted excessively, reducing work costs and preventing excessive supply of work materials. stunted development.

In addition, a tractor equipped with a cultivator, a seedling transplanter, The seed machine travels to the field end of the work row, turns about 180 degrees, and moves to the next work row. If the automatic straight travel system is activated during turning travel, it is determined that the body is deviated from the position where the straight travel is to be carried out, and the steering actuator 206 is actuated, and the turning trajectory may be disturbed. Therefore, the automatic straight travel system needs to be turned off when the body is rotated. A structure in which the automatic straight forward system is turned off by turning the steering member 35 is also considered. However, since the traveling direction of the machine body is greatly deviated depending on the state of the farmland, etc., the operator turns the steering member 35 in and out to avoid obstacles. The automatic straight-forward system is turned off when the same or more large operations are performed, so the operator has to turn the automatic steering system on again during the straight-forward operation, which increases the operator's operation amount and easily causes the machine to remain unnoticed that the automatic straight-forward system is turned off. The problem is that the work accuracy is lowered due to traveling from a state where the work position is deviated.

In addition, it is also considered that the automatic straight travel system is turned on during the operation of returning the steering member 35 from swing back to straight travel. However, when returning from swing back to straight travel, it is necessary to perform precise steps in order to align the machine body with the straight travel position in the next work line. Steering operation of the steering member 35 . If the automatic steering system is turned on during this operation, when the control device 100 determines that the body deviates from the straight running position, the steering actuator 206 is activated, and there is a problem that the position of the body cannot match the position where the body should have been running straight.

4 , 6 , and 7 , an automatic straight-forward system capable of preventing such a problem from occurring, allowing the machine body to travel straight in an appropriate direction and operating in an appropriate section will be described. In addition, the traveling vehicle body 2 is moved forward and backward. The position coordinates in the retreating direction are marked as Y coordinates, and the position coordinates in the direction orthogonal to the forward and backward direction of the traveling vehicle body 2 (ie, the left-right direction) are marked as X coordinates.

First, an automatic going straight setting part 207 is provided on the traveling vehicle body 2, and the automatic going straight setting part 207 obtains the coordinates of one side of the farm field as the starting point of automatic straight traveling and the coordinates of the other side of the farm field as the end point of automatic straight traveling, And turn the automatic straight forward system on or off. The automatic straight travel setting part 207 is equipped with at least one part that can be operated in at least two directions, such as up-down direction, left-right direction, pressed state and return state, or is equipped with two or more operation parts.

In this embodiment, as shown in FIG. 3 , a finger up lever that can be operated in the up-down direction is provided as the automatic straight-forward setting member 207, but a toggle switch, push-button switch ( push switch), joystick, etc. As a result, the number of accessories can be reduced, and the operation of obtaining the reference positions (the first reference position A, the second reference position B) and the opening of the automatic straight-forward device 205 can be performed by operating the automatic straight-forward setting part 207 on the same side with one hand. or close operation, so the operability is improved.

As shown in FIG. 3 , when the automatic straight-forward setting member 207 is operated in the first direction W1, in this embodiment, it is operated toward the upper side of the body, the operated position is obtained by the position information obtaining device 200 and the control device 100 The position coordinates calculated using the detection results of the IMU 203 and the orientation sensor 204 are recorded. In addition, the operation of the automatic straight travel setting means 207 in the first direction W1 corresponds to the operation of the reference position acquisition means.

When the automatic straight-forward setting part 207 is operated, as shown in S301 to S302 of FIG. 7 , when no other position coordinates are recorded, the calculated position coordinates are used as the first reference point A (hereinafter also referred to as the first reference point). Position A) recording, when the first reference point A is recorded, the calculated position coordinates are recorded as the second reference point B (hereinafter also referred to as the second reference position B). When the automatic straight travel setting part 207 is operated while the first reference point A and the second reference point B are recorded, the position coordinates are not recorded.

The closer the distance between the first reference point A and the second reference point B, which are the reference positions for straight travel of the automatic straight travel system, the smaller the deviation of the X coordinate. However, if the distance between the two points is short, it is possible to go straight without using automatic straight travel. drive. In addition, when the distance between the two points is shortened, a situation in which the operator accidentally touches the automatic straight running setting member 207 and acquires the second reference point B is considered.

In order to prevent the occurrence of such a problem, when the automatic straight-forward setting part 207 is operated to obtain the second reference point B, when the distance from the position where the first reference point A has been obtained is less than a predetermined distance, for example, less than 8m to 12m, the control device 100 Deletes the second reference point B and does not record. After that, when the automatic straight-forward setting part 207 is operated again and the distance from the position where the first reference point A has been acquired is equal to or greater than the predetermined distance, the control device 100 records the first Two reference points B.

In addition, in the work line where the work is first started after entering the farmland, the work of acquiring the first reference point A and the second reference point B described above is obtained by operating the automatic straight travel setting member 207 in the first direction W1 at the predetermined position. Since it is necessary, automatic straight travel is not used, and the operator operates the steering member 35 to make the machine body travel straight.

As described above, when the first reference point A and the second reference point B are acquired by the operation of the automatic straight travel setting means 207, the reference line R connecting the respective Y coordinates of the first reference point A and the second reference point B becomes automatic It is determined whether the X-coordinate of the position coordinate of the moving body is consistent with the X-coordinate of the standard line for automatic straight travel, and if not, the automatic straight travel device 205 is used to make the steering member 35 align. The direction of the automatic steering, thus enabling automatic straight driving.

In a state in which the first reference point A and the second reference point B are recorded, the above-described automatic straight travel is started by operating the automatic straight travel setting member 207 in the second direction W2, which is operated toward the downward direction of the machine body in this embodiment. . When the automatic straight-forward setting part 207 is operated in the second direction W2, the control device 100 compares the Y coordinate of the position coordinate acquired by the position information acquiring device 200 with the Y coordinate of the reference line R, and operates the steering actuator 206 to operate the steering actuator 206. The steering member 35 is rotated in the left-right direction, and the control for moving the traveling vehicle body 2 to the position to be driven straight is started. In addition, automatic straight forward setting The operation of the part 207 in the second direction W2 corresponds to the operation of opening or closing the part.

The automatic steering control ends when the steering member 35 is operated to an angle at which the traveling vehicle body 2 is rotated 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 member 35 is detected by the steering angle detecting member 35a. Further, when the traveling vehicle body 2 reaches a position where the Y coordinate of the first reference point A or the Y coordinate of the second reference point B matches, the automatic straight-forward control may be terminated.

When traveling straight from one end of the farmland to the other end and when traveling straight from the other end of the farmland to one end, it is necessary to connect the first reference point A and the second reference point B, which are the references of the automatic straight-forward control, and the first reference. Reference line R of point A and second reference point B.

When the work is performed on another farmland after the work is completed, if the travel reference information such as the reference line R obtained in the previous farmland operation remains, and the traveling direction of the machine is different from the orientation when the reference line R was obtained in the previous farmland , the automatic straight travel device 205 operates the steering member 35, so the machine body travels in a direction not intended by the operator. As a result, the work efficiency is lowered and the operator needs to perform additional operations.

In order to prevent this, the control device 100 performs control to automatically delete the travel reference data such as the reference line R when a predetermined condition is satisfied. News. Referring to FIG. 8 , the automatic deletion control of the travel reference information will be described.

In addition, the first reference position A and the second reference position B may be deleted other than the reference line R as the travel reference information.

In addition, as detection means for detecting the angle formed by the reference line R and the traveling direction of the traveling vehicle body 2 , a method of calculating a traveling route based on the position information acquired by the position information acquisition device 200 and making a determination, a method of using azimuth sensing can be considered. sensor 204, a tilt sensor 212 (refer to FIG. 4), and the like.

As shown in FIG. 8 , the control device 100 detects whether or not the machine body is in automatic straight travel (step S1001 ). The control device 100 detects whether the angle formed by the reference line R and the traveling direction of the traveling vehicle body 2 is a predetermined value when the machine body is automatically traveling straight (step S1001 : Yes) (step S1002 ), and detects whether the working device is in the working state (step S1002 ). S1003) and it is detected whether or not the machine body has been continuously driven for a predetermined value (eg, 5 m) or more (step S1004). If the detected angle is greater than or equal to the predetermined value (step S1002: YES), the working device is in the working state (step S1003: YES), and if it is detected that the continuous running of the predetermined value or more is performed (step S1004: YES), the control device 100 controls to delete the acquired reference line R (step S1005).

In addition, in the process of step S1001, when the control device 100 does not detect the automatic straight running of the machine body (step S1001: NO), the control device 100 repeats this process. continue until automatic straight-ahead travel is detected. In addition, in the process of step S1002, when the detected angle is less than the predetermined value (step S1002: NO), this process is repeated until the detected angle becomes equal to or more than the predetermined value. In addition, in the process of step S1003, when the control apparatus 100 does not detect the work state of the work apparatus 4 (step S1003: NO), this process is repeated until a work state is detected. In addition, in the process of step S1004, when the control apparatus 100 does not detect the running of the predetermined value or more of an airframe (step S1004: NO), this process is repeated until the running of the predetermined value or more is detected.

In addition, the rear wheel rotation sensor 210 (refer FIG. 4) etc. can be used for the detection means which detects the running of the predetermined value or more of an airframe.

In addition, the detection means detects the work state of the work apparatus 4 by opening or closing the work detection means 209 (refer to FIG. 4 ). In this case, it is preferable that the detection means for detecting the working state of the working device 4 is, for example, a planting clutch switch sensor which detects the opening or closing of the planting clutch. By turning on the switch sensor of the planting clutch, it is possible to recognize the state in which the ridge planting operation is started as the above-mentioned operation state.

In addition, when the machine body is automatically traveling straight, the control device 100 may be configured such that, in addition to detecting the traveling state of the machine body other than the straight traveling state of the machine body by the detection device, the control device 100 may be configured to detect the operation device 4 by the detection device. The acquired reference line R is deleted in the work state set during the work.

According to this configuration, by detecting the working state of the working device 4 and detecting the traveling of the machine body at a predetermined value or more, it is possible to more reliably recognize the ridge planting work for planting the outer edge of the farmland, which is the final procedure of the planting work on the farmland. . By recognizing the ridge planting operation, it is known that the straight running of the machine on the farmland in operation is no longer necessary. Therefore, by deleting the reference line R, it is possible to prevent the orientation discomfort when moving to another farmland or during other farmland operations. Since the automatic steering is activated in the direction of the farmland in operation or in a direction not intended by the operator, workability can be improved. In addition, since it is not necessary to manually delete the reference line R, the operation required for manually deleting the reference line R can be saved. Thereby, operability can be improved.

In addition, the control device 100 deletes the predetermined value for detection when the deviation angle of the machine body from the reference line R is detected, when the working state of the working device 4 is detected, or when both are detected. The travel distance set for the above travel. Thereby, it is possible to prevent a malfunction in the work after the reference line R is deleted.

When the reference line R is deleted, the control device 100 may control the notification device 208 (see FIG. 4 ) to emit a notification sound for a predetermined time (about 2 seconds), for example. Thereby, the operator can be made aware that the reference line R is deleted. In addition, when the reference line R is deleted, the control device 100 may perform control by, for example, displaying characters on a monitor (monitor). Thereby, the operator can be made aware that the reference line R is deleted.

In addition, a GNSS (global navigation satellite system) unit in which a position information acquisition device 200 (see FIG. 1 ) is built is installed in the traveling vehicle body 2 . By obtaining the coordinates at predetermined intervals in time by the position information obtaining device 200, the GNSS unit can obtain the position information at every predetermined interval. In addition, the GNSS unit incorporates an inertial navigation device and a control board using a gyroscope and an acceleration sensor in addition to the position information acquisition device 200 .

Claims (3)

A work vehicle comprising: a traveling vehicle body (2); a working device; a steering member (35) for performing a steering operation on the traveling vehicle body (2); and a position information acquisition device (200) for acquiring the traveling vehicle body (2). ) position coordinates; the automatic straight-forward device (205) operates the steering member (35) to make the traveling vehicle body (2) run straight; the position-coordinate acquisition means obtains the position coordinates of the production reference line (R), the reference The line (R) serves as a reference for the straight running of the traveling vehicle body (2); and a control device (100) controls each part; A work detection part (209) for a work state set during the work of the work device; when the control device (100) detects the work state by the work detection part (209), The detection result is used to identify the ridge planting operation whose operation state is the final program of the planting operation in the farmland. When the operation state is identified as the ridge planting operation, the reference line (R) is deleted. The work vehicle according to claim 1, wherein the control device (100) judges the traveling vehicle body (2) according to the angle formed by the reference line (R) and the current orientation of the traveling vehicle body (2). The deviation amount from the straight direction is detected, and the working state of the working device is detected; when the deviation amount of the traveling vehicle body (2) from the straight direction is more than a predetermined value within a predetermined range, and the work state is continuously detected, it is set as impossible. The state of straight travel based on the reference line (R) and the state in which the straight travel based on the reference line (R) cannot be performed continues until the next position coordinate is obtained. The work vehicle according to claim 2, wherein a distance detection unit for detecting the travel distance of the traveling vehicle body (2) is provided; During the detection of traveling a predetermined distance, if the deviation from the straight direction is greater than or equal to a predetermined value and the work state is continuously detected, the straight traveling based on the reference line (R) is assumed to be impossible.

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