TWI766119B - work vehicle - Google Patents
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- TWI766119B TWI766119B TW107137500A TW107137500A TWI766119B TW I766119 B TWI766119 B TW I766119B TW 107137500 A TW107137500 A TW 107137500A TW 107137500 A TW107137500 A TW 107137500A TW I766119 B TWI766119 B TW I766119B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
Abstract
[課題]本發明提供一種作業車輛。能夠在適當的時機進行回轉位置的通知。 [解決手段]特徵在於,控制部計測作業裝置從作業開始到作業結束為止的作業行駛距離,在前一次的步驟中的所述作業行駛距離與此次步驟中的所述作業行駛距離之間的距離差小於規定距離的情況下,將此次步驟中的作業行駛距離登記為新的基準作業行駛距離,控制部在進行自動直行的情況下,自根據基準作業行駛距離來通知行駛車身的回轉位置的作業開始起的距離發生變化。[Problem] The present invention provides a work vehicle. The rotation position can be notified at an appropriate timing. [Solution] The control unit measures a work travel distance from the work start to the work end of the work machine, and the difference between the work travel distance in the previous step and the work travel distance in the current step is measured. When the distance difference is less than the predetermined distance, the work travel distance in this step is registered as a new reference work travel distance, and the control unit notifies the turning position of the traveling vehicle body according to the reference work travel distance when the automatic straight travel is performed. The distance from the start of the job changes.
Description
本發明涉及作業車輛。 The present invention relates to work vehicles.
以往,已知有一種作業車輛,該作業車輛取得作業裝置的作業開始位置與作業結束位置的位置資訊,根據取得的位置資訊生成基準線(例如參照專利文獻1)。這樣的作業車輛具有使作業車輛沿著生成的基準線自動直行的自動直行裝置。 Conventionally, a work vehicle is known that acquires position information of a work start position and a work end position of a work implement, and generates a reference line based on the acquired position information (for example, refer to Patent Document 1). Such a work vehicle includes an automatic straight-forward device that automatically drives the work vehicle straight along the generated reference line.
[先前技術文獻] [Prior Art Literature]
[專利文獻] [Patent Literature]
專利文獻1:日本專利公開2016-21890號公報 Patent Document 1: Japanese Patent Laid-Open No. 2016-21890
在上述的作業車輛中,在生成基準線時,將作業裝置進行了作業的距離設定為自動行駛距離。而且,在作業車輛進行自動直行的情況下,根據自動行駛距離而向作業者通知進行回轉操作的時機。 In the above-mentioned work vehicle, when generating the reference line, the distance over which the work machine has performed the work is set as the automatic travel distance. Furthermore, when the work vehicle is automatically traveling straight, the operator is notified of the timing of performing the turning operation based on the automatic traveling distance.
然而,在生成基準線的步驟中,在作業裝置停止的情況下無法設定準確的自動行駛距離。即,在進行自動直行時,無法向作業者準確地通知進行回轉操作的時機。 However, in the step of generating the reference line, an accurate automatic travel distance cannot be set when the work implement is stopped. That is, when the automatic straight travel is performed, the operator cannot be accurately notified of the timing to perform the turning operation.
本發明是鑒於上述情況而完成的,其目的在於,提供一種提高自 動直行時的作業性的作業車輛。 The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an improved self- A work vehicle for work when moving straight.
為了解決上述問題,實現目的,請求項1所記載的作業車輛(1)的特徵在於,具備:作業裝置,其安裝於行駛車身(2);檢測部(195),其對通過所述作業裝置進行作業的期間內的行駛距離進行檢測;位置資訊取得部(120),其取得所述行駛車身(2)的位置資訊;轉向角調整部(110),其調整轉向角,以使得所述行駛車身(2)進行自動直行;以及控制部(150),其根據所述位置資訊而取得作為所述自動直行的基準的行駛基準資料,根據所述行駛基準資料來控制所述轉向角調整部(110),所述控制部(150)計測所述作業裝置從作業開始到作業結束為止的作業行駛距離,在前一次的步驟中的所述作業行駛距離與此次步驟中的所述作業行駛距離之間的距離差小於規定距離的情況下,將所述此次步驟中的所述作業行駛距離登記為新的基準作業行駛距離,在行駛了如下距離的位置處通知回轉位置,該距離是,自作業開始起的行駛距離比所述基準行駛距離短了規定距離的距離。 In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) described in claim 1 is characterized by comprising: a work device attached to the traveling vehicle body (2); The driving distance during the operation is detected; a position information acquisition unit (120) acquires position information of the traveling vehicle body (2); a steering angle adjustment unit (110) adjusts the steering angle so that the driving The vehicle body (2) performs automatic straight running; and a control unit (150) obtains running reference data serving as a reference for the automatic straight running based on the position information, and controls the steering angle adjustment section (150) according to the running standard data. 110), the control unit (150) measures the work travel distance of the work equipment from the start of the work to the end of the work, the work travel distance in the previous step and the work travel distance in the current step When the distance difference between them is less than a predetermined distance, the work travel distance in the current step is registered as a new reference work travel distance, and the turning position is notified at the position traveled by the distance, which is, The travel distance from the start of the work is shorter than the reference travel distance by a predetermined distance.
請求項2所記載的作業車輛(1)在請求項1中,其中,所述控制部(150)在所述作業裝置低於預先設定的高度時識別為所述作業開始,在所述作業裝置高於預先設定的高度時識別為所述作業結束。
The work vehicle (1) according to
請求項3所記載的作業車輛(1)在請求項1或2的基礎上,其中,所述作業裝置是對田地進行整地的整地裝置(67),在所述作業裝置中設置有對所述整地裝置(67)的轉數進行計數的檢測部(195),根據在從作業開始到作業結束為止由所述檢測部(195)計數得到的轉數來計算所述基準行駛距離。
The work vehicle (1) according to claim 3 is based on
根據請求項1所記載的作業車輛,例如,在進行直行輔助的情況下,控制器(150)能夠通知基於基準行駛距離的回轉位置。通過在行駛了比基 準行駛距離短了規定距離的距離的位置處通知回轉位置,從而能夠在恰當的時機進行回轉位置的通知,因此,能夠有餘裕地進行回轉操作。 According to the work vehicle described in claim 1, when, for example, straight-travel assistance is performed, the controller (150) can notify the turning position based on the reference travel distance. By driving over the biki By notifying the turning position at a position where the quasi-travel distance is shorter by a predetermined distance, the turning position can be notified at an appropriate timing, so that the turning operation can be performed with a margin.
根據請求項2所記載的作業車輛,通過在整地裝置(67)低於預先設定的高度時識別為作業開始,在整地裝置(67)高於預先設定的高度時識別為作業結束,從而能夠將作業裝置下降的對地作業位置識別為作業開始,將作業裝置上升的非作業位置識別為作業結束,因此,能夠更加準確地識別作業狀態。
According to the work vehicle described in
根據請求項3所記載的作業車輛,除了請求項1或2所記載的發明的效果,通過設置對整地裝置(67)的轉數進行計數的檢測部(195),並且根據從作業開始到作業結束為止由檢測部(195)計數得到的轉數來計算基準行駛距離,從而能夠在恰當的時機進行回轉位置的通知。
According to the work vehicle described in claim 3, in addition to the effects of the invention described in
1:秧苗移植機(作業車輛) 1: Seedling transplanting machine (working vehicle)
2:行駛車身(車身) 2: Driving body (body)
4:前輪 4: Front wheel
5:後輪 5: rear wheel
7:主框架 7: Main frame
10:引擎 10: Engine
11:引擎罩 11: Hood
13:前輪最終傳動箱 13: Front wheel final drive case
15:動力傳遞裝置 15: Power Transmission Device
16:液壓式無段級變速裝置 16: Hydraulic stepless speed change device
17:動力傳遞部 17: Power Transmission Department
18:變速箱 18: Gearbox
22:齒輪箱 22: Gearbox
26:地面踏板 26: Ground Pedals
27:後踏板 27: Rear pedal
28:操縱座椅 28: Control Seat
30:操縱部 30: Control part
31:前罩 31: Front cover
32:方向盤 32: Steering wheel
33:監視器 33: Monitor
34:指頂桿 34: finger ejector
40:秧苗栽種部升降機構 40: Lifting mechanism of seedling planting department
41:升降連桿裝置 41: Lifting link device
41a:上連桿 41a: Upper link
41b:下連桿 41b: Lower link
44:液壓升降缸 44: Hydraulic lift cylinder
47:拖板 47: pallet
48:中心拖板 48: Center pallet
49:側拖板 49: Side drag board
50:秧苗栽種部 50: Seedling Planting Department
51:秧苗載置台 51: Seedling placement table
52:秧苗載置面 52: Seedling mounting surface
55:栽種支承框架 55: Planting support frame
60:秧苗栽種裝置 60: Seedling planting device
61:栽種體 61: Plants
62:栽種桿 62: Planting pole
63:旋轉箱 63: Rotary Box
64:栽種傳動箱 64: Planting gearbox
67:轉子(作業裝置) 67: Rotor (working device)
68:劃線標記器 68: Scribe Marker
81:主變速桿 81: Main gear lever
82:副變速桿 82: Secondary gear lever
100:節流閥馬達 100: Throttle valve motor
110:轉向操作裝置(轉向角調整部) 110: Steering operation device (steering angle adjustment part)
112:轉向馬達 112: Steering motor
120:GNSS單元(位置資訊取得部) 120: GNSS unit (position information acquisition unit)
121:接收天線 121: receiving antenna
130:轉向角感測器 130: Steering angle sensor
150:控制器(控制部) 150: Controller (control part)
152:行駛基準登記部 152: Driving Standard Registration Department
154:拖板電位計 154: Drag board potentiometer
160:方向感測器 160: Direction sensor
165:轉子用馬達 165: Motors for rotors
170:姿態感測器 170: Attitude Sensor
180:傾斜感測器 180: Tilt sensor
190:乘坐感測器 190: Ride Sensor
195:轉數感測器(檢測部) 195: Revolution sensor (detection part)
200:通知裝置 200: Notification Device
210:直行輔助斷續開關 210: Straight auxiliary interrupt switch
215:蜂鳴器 215: Buzzer
315:轉向柱 315: Steering column
331:直行輔助燈 331: Straight auxiliary lights
332:A點燈 332:A Lighting
333:B點燈 333:B Lighting
334:GPS燈 334: GPS Light
350:中心標識 350: Center Logo
500:栽種離合器 500: Planting Clutch
510:栽種離合器馬達 510: Planting clutch motor
D:作業寬度 D: Working width
E:進退口 E: entrance and exit
F:田地 F: field
G:規定作業區域 G: Specify the work area
L1:自動直行線 L1: Automatic straight line
L2:基準行駛線 L2: Baseline driving line
L3:回轉線 L3: Swing line
圖1是示出實施方式的秧苗移植機的直行輔助的概要的說明圖。 1 : is explanatory drawing which shows the outline|summary of the straight-line assistance of the seedling transplanting machine of embodiment.
圖2是實施方式的秧苗移植機的側視圖。 Fig. 2 is a side view of the seedling transplanter according to the embodiment.
圖3是從正面觀察轉向柱的概略圖。 FIG. 3 is a schematic view of the steering column viewed from the front.
圖4是監視器的概略圖。 FIG. 4 is a schematic diagram of a monitor.
圖5是以秧苗移植機的控制器為中心的功能方塊圖。 FIG. 5 is a functional block diagram centering on the controller of the seedling transplanting machine.
圖6是對實施方式的基準行駛線登記控制進行說明的流程圖。 FIG. 6 is a flowchart explaining the reference travel lane registration control according to the embodiment.
圖7是對實施方式的基準行駛距離的更新控制進行說明的流程圖。 FIG. 7 is a flowchart explaining the update control of the reference travel distance according to the embodiment.
以下,參照附圖,對本發明的實施方式的作業車輛以乘坐型的秧 苗移植機1為例進行詳細說明。另外,下述實施方式的構成要素中包括本領域技術人員能夠容易置換的或者實質上相同的、所謂的同等範圍內的構成要素。此外,本發明不局限於上述實施方式,能夠在不脫離本發明的主旨的範圍內加以各種變形來實施。並且,以下有時會將秧苗移植機1的整體稱為機體。 Hereinafter, with reference to the accompanying drawings, the work vehicle according to the embodiment of the present invention will be provided with a riding-type seedling. The seedling transplanting machine 1 will be described in detail as an example. In addition, the components in the following embodiments include components within the so-called equivalent range that can be easily replaced by those skilled in the art or are substantially the same. In addition, this invention is not limited to the said embodiment, It can implement in the range which does not deviate from the summary of this invention with various deformation|transformation. In addition, the whole of the seedling transplanting machine 1 may be called a body below.
圖1是示出實施方式的秧苗移植機1的直行輔助的概要的說明圖。本實施方式的秧苗移植機1具備行駛車身2,該行駛車身2的後部與秧苗栽種部50連結,並且具備左右一對前輪4及左右一對後輪5。
FIG. 1 : is explanatory drawing which shows the outline|summary of the straight-line assistance of the seedling transplanting machine 1 of embodiment. The seedling transplanting machine 1 of this embodiment is provided with the traveling
在本實施方式中,直行輔助是指如下功能:根據秧苗移植機1的轉向輪的轉向角(轉角)和該秧苗移植機1的位置資訊來控制轉向輪的動作,由此對田地F中的秧苗移植機1的自動直行行駛進行輔助。在此,將轉向角設成了前輪4的轉角,但例如也可以檢測方向盤32(參照圖2)的轉向操作角來作為轉向角。並且,秧苗移植機1的位置資訊由設置於行駛車身2的GNSS單元120(位置資訊取得部)(參照圖5)取得。另外,在以下的說明中,關於秧苗移植機1的前後、左右的方向基準,是以從能夠供作業者乘坐的操縱座椅28(參照圖2)觀察時的行駛車身2的行駛方向為基準的。
In the present embodiment, the straight-forward assist refers to a function of controlling the operation of the steering wheel according to the steering angle (rotation angle) of the steering wheel of the seedling transplanting machine 1 and the position information of the seedling transplanting machine 1, so that the The automatic straight travel of the seedling transplanting machine 1 is assisted. Here, the steering angle is assumed to be the steering angle of the
如圖所示,秧苗移植機1一邊在田地F內的規定作業區域(G)內往復,一邊以規定的作業寬度(D)進行秧苗的栽種。此時,若執行直行輔助,則作為使用著方向盤32的作業者的手動操作而言,只要在田頭附近進行回轉操作即可,直行行駛是指,秧苗移植機1沿著自動直行線L1進行自動行駛。圖1中,標號L3示出在田頭通過對秧苗移植機1進行手動操作而形成的回轉線。並且,標號E示出秧苗移植機1進出田地F的進退口。
As shown in the figure, the seedling transplanting machine 1 reciprocates in the predetermined work area (G) in the field F, and performs planting of the seedlings in a predetermined work width (D). At this time, if the straight travel assistance is performed, as a manual operation of the operator using the
秧苗移植機1的自動直行線L1在進行直行輔助時與作為基準的基準行駛線(行駛基準資料)L2平行,該基準行駛線L2按照秧苗的栽種方向預先設定在田地F內。即,由秧苗移植機1所具備的行駛基準登記部152(參照圖5) 取得直行輔助的開始位置和結束位置而分別作為基準始點(以下稱為“A點”。)和基準終點(以下稱為“B點”。),將連結所取得的A點及B點的線段登記為基準行駛線L2。 The automatic straight line L1 of the seedling transplanting machine 1 is parallel to a reference travel line (travel reference data) L2 that is set in advance in the field F according to the planting direction of the seedlings when the straight travel assistance is performed. That is, by the running standard registration part 152 (refer FIG. 5) with which the seedling transplanting machine 1 is equipped The start position and end position of the straight-travel assist are acquired as a reference start point (hereinafter referred to as "A point") and a reference end point (hereinafter referred to as "B point"), respectively, and the obtained points A and B are connected. The line segment is registered as the reference travel line L2.
以下,參照圖2,對秧苗移植機1的具體結構進行說明。圖2是實施方式的秧苗移植機1的側視圖。 Hereinafter, with reference to FIG. 2, the concrete structure of the seedling transplanting machine 1 is demonstrated. Fig. 2 is a side view of the seedling transplanting machine 1 according to the embodiment.
秧苗栽種部50經由作為升降裝置的秧苗栽種部升降機構40以能夠升降的方式安裝於秧苗移植機1的行駛車身2上。並且,行駛車身2是左右一對前輪4和左右一對後輪5都進行驅動的四輪驅動車,通過轉動方向盤32而使作為轉向輪的前輪4轉向,從而能夠在田地F或田地F間的道路等上行駛。
The
並且,行駛車身2具備:配置在車身的大致中央的主框架7;搭載於該主框架7上的原動機即引擎10;以及將引擎10的動力向前輪4、後輪5和秧苗栽種部50傳遞的動力傳遞裝置15。在該秧苗移植機1中,作為動力源的引擎10使用柴油機或汽油機等內燃機,所產生的動力不僅用於使行駛車身2前進或後退,還用於驅動秧苗栽種部50。
Further, the traveling
並且,動力傳遞裝置15具有:對從引擎10傳遞的驅動力進行變速而輸出的液壓式無段變速裝置(以下稱為“HST”。)16;以及向HST16傳遞來自引擎10的動力的動力傳遞部17。
Further, the
並且,動力傳遞裝置15具有變速箱18。即,來自引擎10的驅動力經由動力傳遞部17傳遞至HST16,由該HST16變速後的動力傳遞至變速箱18。而且,變速箱18內設有向後述的高速模式和低速模式切換的副變速機構(未圖示),且變速箱18安裝在主框架7的前部。
Furthermore, the
從變速箱18向前輪4及後輪5傳遞的動力的一部分能夠經由左右的前輪最終傳動箱(final case)13向前輪4傳遞,剩餘的部分能夠經由左右的後輪5之齒輪箱22向後輪5傳遞。左右的各個前輪最終傳動箱13分別配設在變速箱
18的左右側方。左右的前輪4經由車軸131而與左右的前輪最終傳動箱13連結,所述前輪最終傳動箱13對應著方向盤32的轉向操作而相應地進行驅動,能夠使前輪4轉向。
A part of the power transmitted from the
同樣地,在左右各個後輪5之齒輪箱22上,經由車軸220連結有後輪5。另一方面,變速箱18從未圖示的工作機驅動軸經由設置於行駛車身2的後部的栽種離合器500向秧苗栽種部50傳遞動力。另外,栽種離合器500在與之後詳述的控制器150(參照圖5)連接的栽種離合器馬達510(參照圖5)的作用下進行動作。
Similarly, the
引擎10配置在行駛車身2的左右方向上的大致中央,且配置成與在作業者乘車時供腳放置的地面踏板26相比向上方突出的狀態。地面踏板26遍及行駛車身2的前部與引擎10的後部之間而設置,且安裝在主框架7上,其一部分成為格子狀,由此,能夠使附著在鞋上的泥掉落於田地F中。並且,在地面踏板26的後方設置有兼作後輪5的擋泥板的後踏板27。後踏板27具有在隨著朝向後方而朝向上方的方向上傾斜的傾斜面,分別配置在引擎10的左右側方。
The
並且,引擎10從這些地面踏板26和後踏板27向上方突出,在突出於這些踏板26、27的部分處配設有覆蓋引擎10的引擎罩11。
Further, the
而且,在引擎罩11的上部設置有供作業者就座的操縱座椅28,在所述操縱座椅28的前方且行駛車身2的前側中央部設置有操縱部30。所述操縱部30配置成從地面踏板26的地面向上方突出的狀態,將地面踏板26的前部側沿左右分割。
In addition, an
在操縱部30中設置有轉向柱315,在該轉向柱315的上部設置有能夠供作業者進行轉向的方向盤32。如圖3所示,在轉向柱315設置有指頂桿34。圖3是從正面觀察轉向柱315時的概略圖。指頂桿34例如在取得A點、B點時等被作業者操作。指頂桿34能夠沿上下方向轉動。
A
並且,如圖4所示,在轉向柱315上設置有監視器33。
Furthermore, as shown in FIG. 4 , a
圖4是監視器33的概略圖。在監視器33例如配置有在機體通過直行輔助進行自動直行行駛的情況下點亮的直行輔助燈331、A點燈332、B點燈333、以及GPS燈334。另外,在監視器33上配設有燈以外的顯示燈等。並且,秧苗移植機1也可以具有多個監視器。
FIG. 4 is a schematic diagram of the
在監視器33中,在通過指頂桿34的操作而取得A點的情況下點亮A點燈332。並且,在通過指頂桿34的操作而取得B點的情況下點亮B點燈333。在監視器33中,在機體處於能夠自動直行行駛的狀態的情況下同時點亮A點燈332及B點燈333。
In the
GPS燈334具有三個顯示燈,匹配於GPS接收狀態來變更顯示燈的點亮個數。在監視器33中,通過所述顯示方式向作業者通知GPS接收狀態。
The
並且,在操縱部30的規定位置處例如設置有成為通知裝置200的一例的蜂鳴器215(參照圖5)。
Moreover, the buzzer 215 (refer FIG. 5) which is an example of the
返回圖2,在操縱部30的轉向柱315的附近設置有主變速桿81和副變速桿82。主變速桿81設置在操縱部30的右側,副變速桿82設置在方向盤32的下方。
Returning to FIG. 2 , the
主變速桿81是對行駛車身2的前進後退與行駛輸出進行切換操作的操作桿,通過由作業者進行操作,能夠調節HST16的耳軸(未圖示)的轉動角度而進行行駛車身2的速度調節。
The
副變速桿82是根據行駛的場所而將規定行駛車身2的行駛速度的行駛模式向低速模式與高速模式進行切換的操作桿。模式切換由設置在變速箱18內的副變速機構根據副變速桿82的位置來進行。
The
並且,在操縱部30的前部設置有能夠開閉的前罩31。而且,以位於該前罩31的前端中央的方式安裝有中心標識(Center mascot)350,該中心標
識350是作為行駛指標的指標構件。另外,在圖2中為了方便起見而省略了圖示,但在行駛車身2的前側左右設置有預備秧苗載台(未圖示)。
Moreover, the
中心標識350安裝於行駛車身2的前部中央位置,在就座於操縱座椅28的作業者駕駛秧苗移植機1時發揮功能而成為行進方向的基準。並且,本實施方式的中心標識350還作為對包括可否執行前述的直行輔助在內的輔助狀況進行通知的通知裝置200發揮功能。
The
本實施方式的秧苗移植機1使用作為通知裝置200的中心標識350,除了通知直行輔助的狀況之外還可以通知與秧苗栽種部50所具備的秧苗或肥料等作業材料的剩餘量相關的資訊。
The seedling transplanting machine 1 of this embodiment uses the
中心標識350始終存在於作業者的朝向前方的視野中,因此,作業者能夠在不使視線離開前方的前提下始終掌握秧苗移植機1的狀況,非常有助於安全性的提高。
Since the
在本實施方式的秧苗移植機1中,在行駛車身2配設有內置了接收天線121(參照圖5)的GNSS單元120。該GNSS單元120利用接收天線121按照規定的時間間隔取得GNSS座標,由此能夠按照規定間隔取得其在地球上的位置資訊。
In the seedling transplanting machine 1 of this embodiment, the GNSS unit 120 in which the receiving antenna 121 (refer FIG. 5) is built in the traveling
返回圖2,對秧苗栽種部50及其他結構進行說明。秧苗栽種部50經由秧苗栽種部升降機構40以能夠升降的方式安裝於行駛車身2的後部。秧苗栽種部升降機構40具備升降連桿裝置41,該升降連桿裝置41具備使行駛車身2的後部與秧苗栽種部50連結的平行連桿機構。所述平行連桿機構具有上連桿41a和下連桿41b,這些連桿41a、41b轉動自如地與立設在主框架7的後部端的後視時呈門型的連桿基體框架43連結。而且,連桿41a、41b的另一端側旋轉自如地與秧苗栽種部50連結。這樣,秧苗栽種部50以能夠升降的方式連結於行駛車身2。
Returning to FIG. 2, the
並且,秧苗栽種部升降機構40具有通過液壓而伸縮的液壓升降缸
44,通過液壓升降缸44的伸縮動作,能夠使秧苗栽種部50升降。液壓升降缸44被前述的HST16驅動,通過秧苗栽種部升降機構40的升降動作,能夠使秧苗栽種部50上升至非作業位置,或者下降至對地作業位置(栽種位置)。
In addition, the seedling planting
並且,秧苗栽種部50能夠在栽種秧苗的範圍內按照多個區間或多個列來進行栽種。例如,能夠採用按照6個區間栽種秧苗的所謂的6行栽種秧苗栽種部50。
In addition, the
並且,秧苗栽種部50具備秧苗栽種裝置60、秧苗載置台51及拖板47(48、49)。其中,秧苗載置台51被設置成在行駛車身2的後部裝載多條秧苗的秧苗載置構件,具有在行駛車身2的左右方向上被隔開的與栽種條數對應的數量的秧苗載置面52,能夠在各個秧苗載置面52載置帶土的毯狀秧苗。
Moreover, the
秧苗栽種裝置60是配設在載置秧苗的秧苗載置台51的下部且將秧苗從秧苗載置台51取出並栽種於田地F的裝置,被配置在秧苗載置台51的前表面側的栽種支承框架55支承。而且,秧苗栽種裝置60具有栽種傳動箱64和栽種體61,栽種體61構成為能夠從秧苗載置台51取出秧苗並栽種於田地F,栽種傳動箱64能夠向栽種體61供給驅動力。
The
並且,栽種傳動箱64構成為能夠將從引擎10傳遞到秧苗栽種部50的動力供給至栽種體61,栽種體61以能夠旋轉的方式與栽種傳動箱64連結。並且,栽種體61具有:從秧苗載置台51取出秧苗並栽種於田地F的栽種桿62;以及將栽種桿62支承為能夠旋轉且以能夠旋轉的方式與栽種傳動箱64連結的旋轉箱63。
And the
旋轉箱63內裝有不等速傳動機構(未圖示),該不等速傳動機構在通過從栽種傳動箱64傳遞的驅動力使栽種桿62旋轉時,能夠一邊改變旋轉速度一邊使栽種桿62旋轉。由此,在栽種體61旋轉時,栽種桿62能夠一邊根據相對於旋轉箱63的旋轉角度改變旋轉速度,一邊進行旋轉。
A variable speed transmission mechanism (not shown) is installed in the
這樣構成的秧苗栽種裝置60按照每兩行1個的方式配置。即,多個秧苗栽種裝置60被分別分配了栽種行。並且,對於栽種體61,各栽種傳動箱64在能夠使該栽種體61進行旋轉的前提下具備對應著兩行的栽種體61。即,在1個栽種傳動箱64上,在機體左右方向的兩側連結2個旋轉箱63。
The
並且,拖板47隨著行駛車身2的移動在田地地面上滑行而進行整地,具有在行駛車身2的左右方向上位於秧苗栽種部50的中央的中心拖板48、以及在左右方向上位於秧苗栽種部50的兩側的側拖板49。
Furthermore, the
在本實施方式中的中心拖板48上設置有拖板電位計154(參照圖5),該拖板電位計154作為按照田地F的狀況使秧苗栽種部50上下升降的液壓靈敏度機構而發揮功能。所述拖板電位計154能夠變更對中心拖板48的上下移動進行檢測的靈敏度的範圍。
The
例如,若將靈敏度設為靈敏,則即使是中心拖板48的較小的上下移動也能夠檢測出來,並向控制器150發送檢測信號。另一方面,若將靈敏度設為遲鈍,則對於中心拖板48的較小的上下移動不會進行檢測,僅檢測一定振幅以上的上下移動,並向控制器150發送檢測信號。
For example, if the sensitivity is set to be sensitive, even a small vertical movement of the
並且,在秧苗栽種部50的下方側位置處的前側設置有進行田地F的整地的整地用的轉子67。該轉子67構成為能夠通過經由後輪5之齒輪箱22被傳遞的來自引擎10的輸出而進行旋轉,並且,設置為能夠在電動馬達即轉子用馬達165(參照圖5)的作用下進行升降。
Moreover, the
另外,在本實施方式的秧苗移植機1中,是將所述整地用的轉子67接地作為條件,使控制器150執行直行輔助的。即,僅在整地用的轉子67處於接通狀態而進行著秧苗栽種作業的情況下,控制器150才執行直行輔助。
In addition, in the seedling transplanting machine 1 of this embodiment, the controller 150 is made to perform straight-travel assistance under the condition that the
並且,在秧苗移植機1中,能夠將整地用的轉子67接地作為條件,使控制器150取得A點及B點。即,僅在整地用的轉子67處於接通狀態且進行秧苗
栽種作業的情況下,控制器150能夠取得A點及B點。
Moreover, in the seedling transplanting machine 1, the
並且,在秧苗栽種部50的左右兩側,具備在下一個栽種行上、形成作為行進方向的基準的線的劃線標記器68。當秧苗移植機1在田地F內直行前進時,劃線標記器68在田地F上進行劃線而劃出標記,該標記是秧苗移植機1在田地F的田埂轉回後進行直行前進之時的標記。
Moreover, on the right and left both sides of the
圖5是以秧苗移植機1的控制器150為中心的功能方塊圖。本實施方式的秧苗移植機1能夠通過電子控制來控制各部,秧苗移植機1具備作為控制各部的控制部的控制器150。該控制器150設置有具有CPU(Central Processing Unit:中央處理單元)等之處理部、ROM(Read Only Memory:唯讀記憶體),RAM(Random Access Memory:隨機存取記憶體)等之儲存部、還設置有輸入輸出部,它們相互連接而相互能夠進行信號的交換。在儲存部儲存有控制秧苗移植機1的電腦程式。 FIG. 5 is a functional block diagram centering on the controller 150 of the seedling transplanting machine 1 . The seedling transplanting machine 1 of this embodiment can control each part by electronic control, and the seedling transplanting machine 1 is equipped with the controller 150 as a control part which controls each part. The controller 150 is provided with a processing unit such as a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), and the like , Also provided with input and output parts, they are connected to each other and can exchange signals with each other. A computer program for controlling the seedling transplanting machine 1 is stored in the storage unit.
如圖所示,在控制器150上連接有各種致動器類、取得各部的資訊的感測器類等。 As shown in the figure, the controller 150 is connected to various actuators, sensors for acquiring information on each part, and the like.
在控制器150上,作為致動器類例如連接有調節引擎10的進氣量的節流閥馬達100、使整地用的轉子67升降的轉子用馬達165、使栽種離合器500工作的栽種離合器馬達510。另外,雖然省略了圖示,使HST16的耳軸的轉動角度變化的耳軸驅動馬達也連接於控制器150。
The controller 150 is connected to the controller 150 as actuators such as the throttle motor 100 for adjusting the intake air amount of the
並且,在控制器150上,連接有轉向角感測器130、方向感測器160、姿態感測器170、傾斜感測器180、乘坐感測器190、轉數感測器(檢測部)195、還連接有包括按照傾轉角度來檢測主變速桿81或副變速桿82的操作量的操作桿感測器(未圖示)、檢測行駛車身2的車速的車速感測器(未圖示)等在內的其他各種感測器。
In addition, the controller 150 is connected to a steering angle sensor 130 , a direction sensor 160 , an attitude sensor 170 , an inclination sensor 180 , a riding sensor 190 , and a rotational speed sensor (detection unit) 195. Also connected are an operating lever sensor (not shown) that detects the amount of operation of the
轉向角感測器130是對通過方向盤32的操作而使轉向輪即前輪4
轉向時的轉向角進行檢測的感測器。轉向角感測器130也可以根據方向盤32的轉動角度來檢測轉向角。
The steering angle sensor 130 is used to steer the
方向感測器160是對機體的朝向進行檢測的感測器。控制器150能夠根據由方向感測器160取得的值來匯出機體的實際的行進方向。 The orientation sensor 160 is a sensor that detects the orientation of the body. The controller 150 can export the actual traveling direction of the body according to the value obtained by the direction sensor 160 .
姿態感測器170用於檢測行駛車身2的姿態相對於自動直行線L1以何種程度傾斜,其由陀螺儀感測器等構成。
The attitude sensor 170 is used to detect to what extent the attitude of the traveling
傾斜感測器180檢測行駛車身2的傾斜度。傾斜感測器180檢測行駛車身2的前後方向及左右方向上的傾斜度。傾斜感測器180也可以由多個感測器構成。傾斜感測器180例如為加速度感測器。
The inclination sensor 180 detects the inclination of the traveling
乘坐感測器190是由設置於操縱座椅28的負載感測器或壓敏薄膜感測器等構成的感測器,能夠檢測出作業者乘坐於操縱座椅28這一情況。
The riding sensor 190 is a sensor including a load sensor, a pressure-sensitive film sensor, or the like provided on the operating
轉數感測器195檢測整地用的轉子67的轉數。轉數感測器195在整地用的轉子67與田地F相接並旋轉時檢測轉數。
The rotational speed sensor 195 detects the rotational speed of the
並且,在產生了某種故障等而停止了秧苗移植機1的直行輔助的情況下,為了提高安全性,或者將作業錯誤防患於未然,也能夠以如下方式進行控制:在重新開始直行輔助時,如果不滿足秧苗栽種部50降下、收納有預備秧苗載台、栽種離合器500接合等條件,則不會重新開始直行輔助。
In addition, when a certain failure or the like occurs and the straight travel assistance of the seedling transplanting machine 1 is stopped, in order to improve safety or prevent work errors, it is also possible to control such that the straight travel assistance is resumed after resuming the operation. When the
並且,在控制器150上,作為通知裝置200例如連接有監視器33和發出警報等的蜂鳴器215。
In addition, the controller 150 is connected to, for example, the
控制器150能夠使用蜂鳴器215和監視器33來通知包括直行輔助的執行、停止等在內的輔助狀況。因此,作業者能夠容易地識別當前時刻的機體的前傾姿態的狀態、使機體回轉後的轉向角和機體的姿態等是否為與執行直行輔助相應的狀況。因此,例如,能夠提高從回轉操作向直行輔助進行切換的操作性。
The controller 150 can use the buzzer 215 and the
此外,控制器150也能夠使用所述蜂鳴器215和監視器33例如向作業者通知動力傳遞裝置15的異常(離合器機構的齒輪脫落等)。另外,這些監視器33和蜂鳴器215在本實施方式中預先設置於行駛車身2,但也能夠將同樣功能賦予給可從外部帶入的平板終端裝置(未圖示)。
In addition, the controller 150 can also use the buzzer 215 and the
並且,秧苗移植機1具備能夠由控制器150控制的轉向角調整裝置110和GNSS單元120,這些轉向操作裝置110和GNSS單元120與控制器150連接。 And the seedling transplanting machine 1 is equipped with the steering angle adjustment apparatus 110 and the GNSS unit 120 which can be controlled by the controller 150, and these steering operation apparatus 110 and the GNSS unit 120 are connected to the controller 150.
轉向操作裝置110具備與方向盤32聯動地連結的傳動機構(未圖示),並且具備向方向盤32賦予任意的旋轉力的直行輔助機構310,能夠通過控制器150而進行自動轉向。傳動機構包括使方向盤32轉動的轉向馬達(轉向角調整部)112。
The steering operation device 110 includes a power transmission mechanism (not shown) coupled to the
在執行直行輔助的情況下,控制器150根據GNSS單元120所取得的位置資訊,經由直行輔助機構310使方向盤32自動轉向,由此將行駛車身2維持為直行方向。
In the case of executing straight-travel assistance, the controller 150 automatically steers the
GNSS單元120具有接收來自GNSS所使用的人工衛星的信號的接收天線121,取得地球上的秧苗移植機1的位置資訊(座標資訊),將取得的位置資訊傳遞至控制器150。 The GNSS unit 120 has a receiving antenna 121 that receives signals from artificial satellites used in GNSS, acquires position information (coordinate information) of the seedling transplanter 1 on the earth, and transmits the acquired position information to the controller 150 .
並且,在控制器150上連接有指頂桿34、拖板電位計154、直行輔助斷續開關210等各種開關。
In addition, various switches, such as the
指頂桿34接受作業者的與直行輔助相關的操作。指頂桿34在取得A點及B點時被作業者操作。並且,指頂桿34在取消基準行駛線L2時被操作。
The
拖板電位計154設置於隨著田地F的凹凸而上下移動的中心拖板48上,感知該中心拖板48的上下移動、即田地F的深度。控制器150根據感知到的田地F的凹凸使秧苗栽種部50升降。
The pallet potentiometer 154 is provided on the
在進行了取得A點的操作的情況下(S10;是),控制器150對整
地用的轉子67是否處於接地進行判斷,即判定是否正在進行秧苗栽種作業(S11)。
When the operation to acquire the point A is performed ( S10 ; YES), the controller 150 adjusts the
It is judged whether or not the
控制器150在整地用的轉子67處於接地的情況下(接通狀態)(S11;是),取得A點(S12),開始對整地用的轉子67的轉數進行計數(S13)。
When the
控制器150在整地用的轉子67未接地的情況下(斷開狀態)(S11;否),通知無法取得A點(S14)。例如,控制器150通過使蜂鳴器215鳴叫來通知無法取得A點。
When the
控制器150在取得A點之後,判定整地用的轉子67是否維持著接地的狀態(接通狀態)(S15)。
After acquiring the point A, the controller 150 determines whether or not the
控制器150在整地用的轉子67沒有維持著接地的狀態的情況下(S15;否),取消所取得的A點(S16),中止整地用的轉子67的轉數的計數(S17),並通知這一情況(S18)。例如,控制器150通過使蜂鳴器215鳴叫來通知取消了A點且中止了整地用的轉子67的轉數的計數。
When the
控制器150在整地用的轉子67維持著接地的狀態的情況下(S15;是),判定是否進行了取得B點的操作(S19)。具體而言,控制器150判定指頂桿34被向下側進行的按壓是否小於2秒。
When the
在未進行取得B點的操作的情況下(S19;否),控制器150判定整地用的轉子67是否維持著接地的狀態(接通狀態)(S15)。
When the operation to acquire the point B is not performed ( S19 ; NO), the controller 150 determines whether or not the
在進行了取得B點的操作的情況下(S19;是),控制器150取得B點(S20),使整地用的轉子67的轉數的計數結束(S21)。
When the operation of acquiring the point B is performed ( S19 ; YES), the controller 150 acquires the point B ( S20 ), and ends the counting of the number of revolutions of the
控制器150根據所取得的A點及B點來設定基準行駛線L2,向行駛基準登記部152登記基準行駛線L2(S22)。 The controller 150 sets the reference travel line L2 based on the acquired points A and B, and registers the reference travel line L2 with the travel reference registration unit 152 (S22).
控制器150根據計數得到的整地用的轉子67的轉數來計算基準行駛距離,向行駛基準登記部152登記基準行駛距離(S23)。
The controller 150 calculates the reference travel distance based on the counted number of revolutions of the
接著,參照圖7對實施方式的基準行駛距離的更新控制進行說明。圖7是對實施方式的基準行駛距離的更新控制進行說明的流程圖。另外,在此,設直行輔助斷續開關210成為接通狀態,基準行駛線L2及基準行駛距離登記在行駛基準登記部152中。並且,根據由作業者進行的回轉操作使行駛車身2回轉。
Next, the update control of the reference travel distance according to the embodiment will be described with reference to FIG. 7 . FIG. 7 is a flowchart explaining the update control of the reference travel distance according to the embodiment. Here, it is assumed that the straight-travel assist interrupt switch 210 is turned on, and the reference travel line L2 and the reference travel distance are registered in the travel reference registration unit 152 . Then, the traveling
控制器150判定行駛車身2是否處於回轉中(S30)。具體而言,控制器150判定是否通過作業者的方向盤操作而使轉向角處於規定轉向角範圍內。規定轉向角範圍是能夠判定出行駛車身2處於回轉中的範圍,是被預先設定的。控制器150在轉向角大於規定轉向角範圍的情況下判定為處於回轉中。並且,控制器150在轉向角處於規定轉向角範圍內的情況下,判定為回轉結束。
The controller 150 determines whether or not the traveling
在處於回轉中的情況下(S30;是),控制器150結束此次的處理。 In the case of turning ( S30 ; YES), the controller 150 ends the current processing.
在不處於回轉中、即回轉結束的情況下(S30;否),控制器150使秧苗栽種作業(S31)開始。由此,整地用的轉子67下降並接地。
When the rotation is not in progress, that is, when the rotation is completed ( S30 ; NO), the controller 150 starts the seedling planting operation ( S31 ). Thereby, the
控制器150開始直行輔助(S32),開始整地用的轉子67的轉數的計數(S33)。
The controller 150 starts straight running assistance (S32), and starts counting the number of revolutions of the
控制器150判定是否開始了回轉(S34)。具體而言,控制器150判定是否通過作業者的方向盤操作而使轉向角大於規定轉向角範圍。控制器150在轉向角大於規定轉向角範圍時,判定為開始了回轉。並且,控制器150在轉向角處於規定轉向角範圍內的情況下,判定為未開始回轉。 The controller 150 determines whether or not the rotation has started (S34). Specifically, the controller 150 determines whether the steering angle is larger than a predetermined steering angle range by the operator's steering operation. When the steering angle is larger than the predetermined steering angle range, the controller 150 determines that the turning has started. Then, when the steering angle is within the predetermined steering angle range, the controller 150 determines that the turning has not been started.
控制器150在未開始回轉的情況下(S34;否),持續直行輔助,直至回轉開始為止(S35)。 When the controller 150 has not started turning ( S34 ; NO), the controller 150 continues the straight-traveling assistance until turning is started ( S35 ).
控制器150在開始了回轉的情況下(S34;是),結束直行輔助(S36),結束秧苗栽種作業(S37)。由此,整地用的轉子67上升而不再接地。
When the controller 150 starts turning ( S34 ; YES), the controller 150 ends the straight travel assistance ( S36 ), and ends the seedling planting operation ( S37 ). Thereby, the
控制器150結束整地用的轉子67的轉數的計數(S38),計算此次
的直行輔助中的行駛距離(S39)。
The controller 150 ends the counting of the number of revolutions of the
控制器150對前一次的直行輔助(前次的步驟)中的行駛距離與此次的直行輔助(此次的步驟)中的行駛距離之間的距離差是否小於規定距離(S40)進行判定。前一次的直行輔助中的行駛距離例如登記(儲存)在行駛基準登記部152中。此次的直行輔助中的行駛距離例如登記(儲存)在行駛基準登記部152中。通過登記此次的直行輔助中的行駛距離而刪除前一次的直行輔助中的行駛距離。另外,距離差是前次的直行輔助中的行駛距離與此次的直行輔助中的行駛距離之差的絕對值。規定距離是被預先設定的距離。 The controller 150 determines whether or not the distance difference between the travel distance in the previous straight assist (previous step) and the current straight assist (this step) is less than a predetermined distance ( S40 ). For example, the travel distance in the previous straight travel assistance is registered (stored) in the travel reference registration unit 152 . For example, the travel distance in the current straight travel assistance is registered (stored) in the travel standard registration unit 152 . By registering the traveling distance during the current straight traveling assistance, the traveling distance during the previous straight traveling assistance is deleted. In addition, the distance difference is the absolute value of the difference between the travel distance in the previous straight travel assistance and the travel distance in the current straight travel assistance. The predetermined distance is a predetermined distance.
控制器150在距離差小於規定距離的情況下(S40;是),更新基準行駛距離(S41)。具體而言,控制器150將此次的直行輔助中的行駛距離登記為新的基準行駛距離。 When the distance difference is smaller than the predetermined distance ( S40 ; YES), the controller 150 updates the reference travel distance ( S41 ). Specifically, the controller 150 registers the travel distance during the current straight travel assistance as a new reference travel distance.
控制器150在距離差為規定距離以上的情況下(S40;否),結束此次的處理。即,控制器150不更新所登記的基準行駛距離。 When the distance difference is equal to or greater than the predetermined distance ( S40 ; NO), the controller 150 ends the current processing. That is, the controller 150 does not update the registered reference travel distance.
在正在進行直行輔助的情況下,控制器150通知基於基準行駛距離的回轉位置。例如,在回轉後行駛車身2通過直行輔助而行駛了回轉距離的情況下,控制器150使蜂鳴器215鳴叫。回轉距離被設定為比基準行駛距離短了預先設定的距離量的距離。
When the straight-travel assist is being performed, the controller 150 notifies the turning position based on the reference travel distance. For example, the controller 150 makes the buzzer 215 sound when the traveling
這樣,通知回轉位置的時機是基於基準行駛距離而設定的。因此,當將基準行駛距離設為固定值時,在田地(F)的長度不固定的情況下,通知回轉位置的時機可能不會成為恰當的時機。 In this way, the timing for notifying the turning position is set based on the reference travel distance. Therefore, when the reference travel distance is set as a fixed value, when the length of the field (F) is not constant, the timing for notifying the turning position may not be an appropriate timing.
例如,在田地F的長度較長的情況下,會在相比於適當的回轉位置而提前的時機進行通知。另一方面,在田地F的長度較短的情況下,即使到達了恰當的回轉位置也不會進行通知。在本實施方式中,基準行駛距離被更新,因此即使在田地的長度不固定的情況下,也能夠在恰當的時機通知回轉位置。 For example, when the length of the field F is long, notification is made at a timing earlier than the appropriate turning position. On the other hand, when the length of the field F is short, the notification is not given even if the proper turning position is reached. In the present embodiment, since the reference travel distance is updated, even when the length of the field is not constant, the turning position can be notified at an appropriate timing.
在直行輔助中,在行駛車身2的車速例如以比0.5km/h這一位置可檢測車速低的狀態例如持續了2秒鐘的情況下,控制器150可以結束直行輔助。由此,在GNSS單元120的位置檢測精度低的狀態下能夠抑制直行輔助的執行。
In the straight driving assist, the controller 150 may terminate the straight driving assist when the vehicle speed of the traveling
在直行輔助中,在行駛車身2的車速例如以比0.4km/h的輔助行駛結束車速低的狀態持續了例如2秒鐘的情況下,控制器150可以結束直行輔助。由此,在預測出行駛車身2將要停止的情況下,能夠無關乎作業者的操作而結束直行輔助,能夠省去作業者的工作。
In the straight travel assist, the controller 150 may end the straight travel assist when the vehicle speed of the traveling
控制器150可以在直行輔助中檢測到與GNSS單元120等之間的通信異常或轉向操作裝置110的異常等的情況下,結束直行輔助。由此,在直行輔助的精度低的狀態下,能夠抑制進行直行輔助。 The controller 150 may terminate the straight-ahead assistance when an abnormality in communication with the GNSS unit 120 or the like or an abnormality in the steering operation device 110 or the like is detected during the straight-ahead assistance. Accordingly, it is possible to suppress the straight-traveling assist from being performed in a state where the accuracy of the straight-traveling assist is low.
控制器150在副變速機構的行駛模式為高速模式的情況下,可以在監視器33上顯示副變速器的行駛模式為高速模式。由此,能夠使作業者識別出不滿足執行直行輔助的條件的情況。
When the running mode of the subtransmission mechanism is the high speed mode, the controller 150 may display on the
控制器150在不滿足執行直行輔助的條件這一顯示例如顯示了5秒鐘的情況下,或者在副變速機構的行駛模式成為低速模式的情況下,可以結束顯示。 The controller 150 may end the display when the display that the condition for executing the straight-travel assist is not satisfied is displayed for, for example, 5 seconds, or when the running mode of the subtransmission mechanism is the low-speed mode.
控制器150在轉子67的高度為預先設定的固定值以上的情況下,可以在監視器33上顯示出轉子67的高度為預先設定的固定值以上的情況。由此,能夠使作業者識別出不滿足執行直行輔助的條件的情況。
When the height of the
控制器150在不滿足執行直行輔助的條件這一顯示例如顯示了5秒鐘的情況下,或者在轉子67的高度低於預先設定的固定值的情況下,結束顯示。
The controller 150 ends the display when the display that the condition for executing the straight-line assistance is not satisfied is displayed for 5 seconds, for example, or when the height of the
上述實施方式的秧苗移植機1對從作為作業裝置的整地用的轉子67成為接地的接通狀態起、到整地用的轉子67成為不接地的斷開狀態為止的作
業行駛距離進行計測。而且,秧苗移植機1在前一次的直行輔助中的行駛距離與此次的直行輔助中的作業行駛距離之間的距離差小於規定距離的情況下,將此次的直行輔助中的作業行駛距離登記為基準行駛距離,並更新基準行駛距離。
The seedling transplanting machine 1 according to the above-described embodiment operates from the on state in which the
由此,在執行直行輔助時根據基準行駛距離而通知回轉位置的情況下,通過更新基準行駛距離,能夠在恰當的時機通知回轉位置。因此,例如即便在田地F的長度不固定的情況下,也能夠在恰當的時機通知回轉位置。因此,能夠提高直行輔助時的作業性,提高直行輔助時的安全性。 Accordingly, when the turning position is notified based on the reference running distance when the straight-traveling assist is being performed, the turning position can be notified at an appropriate timing by updating the reference running distance. Therefore, even when the length of the field F is not constant, for example, the turning position can be notified at an appropriate timing. Therefore, it is possible to improve the workability during the straight-traveling assistance and improve the safety during the straight-travel assistance.
秧苗移植機1是在整地用的轉子67為接通狀態的情況下取得用於設定基準行駛線L2的A點及B點的。由此,能夠結合實際的栽種作業,準確設定作為進行直行輔助時的基準的基準行駛線L2。因此,能夠提高直行輔助時的作業性。
The seedling transplanting machine 1 acquires the point A and the point B for setting the reference travel line L2 when the
作為變形例中的秧苗移植機1,即便是在沒有取得A點及B點的情況下開始栽種作業,在整地用的轉子67接地的情況下,也會根據整地用的轉子67的轉數來計算基準行駛距離,並登記在行駛基準登記部152中。由此,能夠儘快地登記基準行駛距離。因此,例如,即使在登記基準行駛線L2時無法計算出基準行駛距離的情況下,也能夠在下一步驟的直行輔助時根據所登記的基準行駛距離來通知回轉位置。
As the seedling transplanting machine 1 in the modified example, even if the planting work is started without acquiring the points A and B, when the
並且,變形例的秧苗移植機1也可以在秧苗栽種部50降下且栽種離合器500成為接合狀態、即連結狀態時,開始整地用的轉子67的轉數的計數。並且,也可以在秧苗栽種部50上升且栽種離合器500成為斷開狀態、即釋放狀態時,結束整地用的轉子67的轉數的計數。
In addition, the seedling transplanting machine 1 of the modification may start counting the number of revolutions of the
並且,在車速為規定車速以上的情況下,即便用於切換是否進行秧苗的栽種的栽種開關(未圖示)成為開啟狀態(接通狀態),變形例的秧苗移植機1也將栽種離合器500設為斷開狀態。由此,能夠抑制在車速較大的狀態
下進行栽種作業,從而能夠抑制株距變大。並且,能夠抑制在車速較大的狀態下栽種桿62進行旋轉的情況,從而能夠抑制栽種體61發生劣化。
In addition, when the vehicle speed is equal to or higher than the predetermined vehicle speed, even if the planting switch (not shown) for switching whether or not to plant the seedlings is turned on (on state), the seedling transplanting machine 1 of the modification will operate the
並且,在變形例的秧苗移植機1中,在車速為規定車速以上的情況下,即便栽種開關成為接通狀態,也將栽種離合器500設為分離狀態,直至主變速桿81成為中立位置為止。由此,能夠抑制在車速較大的狀態下進行栽種作業,從而抑制了株距變大的情況。並且,能夠抑制在車速較大的狀態下栽種桿62進行旋轉的情況,從而能夠抑制栽種體61發生劣化。
Furthermore, in the seedling transplanting machine 1 of the modification, when the vehicle speed is equal to or higher than the predetermined vehicle speed, even if the planting switch is turned on, the planting
並且,在變形例的秧苗移植機1中,在車速為規定車速以上的情況下,即便栽種開關成為接通狀態,也將栽種離合器500設為斷開狀態,直至HST16的耳軸成為中立位置為止。由此,能夠抑制在車速較大的狀態下進行栽種作業的情況,從而抑制了株距變大的情況。並且,能夠抑制在車速較大的狀態下栽種桿62進行旋轉,從而能夠抑制栽種體61發生劣化的情況。
Furthermore, in the seedling transplanting machine 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, even if the planting switch is turned on, the planting
並且,在變形例的秧苗移植機1中,在車速為規定車速以上的情況下,即便栽種開關成為接通狀態,也將栽種離合器500設為斷開狀態,直至車速成為零或者零附近的規定低車速為止。由此,能夠抑制在車速較大的狀態下進行栽種作業的情況,從而抑制了株距變大。並且,能夠抑制在車速較大的狀態下栽種桿62進行旋轉的情況,從而能夠抑制栽種體61發生劣化。
Furthermore, in the seedling transplanting machine 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, even if the planting switch is turned on, the planting
並且,在變形例的秧苗移植機1中,在車速為規定車速以上的情況下,即便栽種開關成為接通狀態,也將栽種離合器500設為斷開狀態,直至主變速桿81成為中立位置、HST16的耳軸成為中立位置、以及車速成為零或者規定低車速為止。由此,能夠抑制在車速較大的狀態下進行栽種作業的情況,從而抑制了株距變大。並且,能夠在車速較大的狀態下抑制栽種桿62進行旋轉的情況,從而能夠抑制栽種體61發生劣化。
Furthermore, in the seedling transplanting machine 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, even if the planting switch is turned on, the planting
並且,變形例的秧苗移植機1也可以在像上述那樣將栽種離合器
500限制在斷開狀態的情況下使蜂鳴器215鳴叫。並且,也可以使監視器33等閃爍。由此,能夠向作業者通知將栽種離合器500限制在斷開狀態下的情況。
In addition, in the seedling transplanting machine 1 of the modified example, the planting clutch may be used as described above.
500 limits the buzzer 215 to sound in the off state. In addition, the
1‧‧‧秧苗移植機(作業車輛) 1‧‧‧Seedling transplanting machine (working vehicle)
2‧‧‧行駛車身(車身) 2‧‧‧Traveling body (body)
4‧‧‧前輪 4‧‧‧Front wheel
5‧‧‧後輪 5‧‧‧Rear wheel
50‧‧‧秧苗栽種部 50‧‧‧Seedling Planting Department
D‧‧‧作業寬度 D‧‧‧Working width
E‧‧‧進退口 E‧‧‧Entry and Exit
F‧‧‧田地 F‧‧‧Field
G‧‧‧規定作業區域 G‧‧‧Specified work area
L1‧‧‧自動直行線 L1‧‧‧Automatic straight line
L2‧‧‧基準行駛線 L2‧‧‧Baseline driving line
L3‧‧‧回轉線 L3‧‧‧Rotary line
Claims (3)
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JP2017208574A JP6881233B2 (en) | 2017-10-27 | 2017-10-27 | Work vehicle |
JP2017-208574 | 2017-10-27 |
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TW201922551A TW201922551A (en) | 2019-06-16 |
TWI766119B true TWI766119B (en) | 2022-06-01 |
Family
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TW107137500A TWI766119B (en) | 2017-10-27 | 2018-10-24 | work vehicle |
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JP (1) | JP6881233B2 (en) |
KR (1) | KR20190047612A (en) |
CN (2) | CN109716903B (en) |
TW (1) | TWI766119B (en) |
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JP6888646B2 (en) * | 2019-05-15 | 2021-06-16 | 井関農機株式会社 | Transplant machine |
JP7237788B2 (en) * | 2019-09-26 | 2023-03-13 | 株式会社クボタ | work vehicle |
CN111727674B (en) * | 2020-07-02 | 2022-08-09 | 绵阳市朝育机械有限公司 | Farming robot and control method thereof |
JP7156414B2 (en) * | 2021-01-12 | 2022-10-19 | 井関農機株式会社 | work vehicle |
US20220287218A1 (en) * | 2021-03-15 | 2022-09-15 | Kubota Corporation | Work vehicle and control system for work vehicle |
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- 2018-10-26 CN CN201811254886.7A patent/CN109716903B/en active Active
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CN115226449A (en) | 2022-10-25 |
KR20190047612A (en) | 2019-05-08 |
CN109716903B (en) | 2022-07-22 |
JP6881233B2 (en) | 2021-06-02 |
CN109716903A (en) | 2019-05-07 |
JP2019080498A (en) | 2019-05-30 |
TW201922551A (en) | 2019-06-16 |
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