Work vehicles

Abstract

The present invention provides a working vehicle. It is capable of notifying the turning position at an appropriate timing. It is characterized by comprising: a working device, which is installed on a traveling vehicle body; a detection unit, which detects the travel distance during the period of working by the working device; a position information acquisition unit, which acquires the position information of the traveling vehicle body; a steering angle adjustment unit, which adjusts the steering angle so that the traveling vehicle body automatically moves straight; and a control unit, which acquires driving reference data as a reference for automatic straight driving based on the position information, controls the steering angle adjustment unit based on the driving reference data, the control unit measures the working driving distance of the working device from the time it becomes a working state to the time it becomes a non-working state, and registers the working driving distance as a reference working driving distance when the working device automatically moves straight, and notifies the turning position of the traveling vehicle body based on the reference working driving distance when the working device automatically moves straight.

Description

[0001] This application is a divisional application of the invention patent application with application date of October 26, 2018, application number 201811254886.7, and invention name “Work Vehicle”. Technical Field

[0002] The present invention relates to a work vehicle. Background Art

[0003] Conventionally, there is known a work vehicle that obtains position information of a work start position and a work end position of a work device and generates a reference line based on the obtained position information (see, for example, Patent Document 1). Such a work vehicle has an automatic straight-moving device that automatically moves the work vehicle straight along the generated reference line.

[0004] In the above-mentioned working vehicle, when generating the reference line, the distance that the working device has worked is set as the automatic travel distance. Furthermore, when the working vehicle is automatically moving straight, the timing of the turning operation is notified to the operator based on the automatic travel distance.

[0005] However, in the process of generating the reference line, when the working device is stopped, it is impossible to set an accurate automatic travel distance. In other words, when the automatic straight travel is performed, it is impossible to accurately notify the operator of the timing of the swing operation.

[0006] Patent Document 1: Japanese Patent Application Publication No. 2016-21890 Summary of the invention

[0007] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work vehicle having improved operability during automatic straight driving.

[0008] In order to solve the above-mentioned problems and achieve the purpose, the working vehicle 1 described in technical solution 1 is characterized in that it comprises: a position information acquisition unit, which acquires the position information of the traveling vehicle body; a steering angle adjustment unit, which adjusts the steering angle so that the traveling vehicle body automatically goes straight; a control unit, which acquires driving reference data as a reference for the automatic straight driving based on the position information, and controls the steering angle adjustment unit based on the driving reference data; a posture detection unit, which detects the posture of the traveling vehicle body; and a steering angle detection unit, which detects the steering angle, the working vehicle is provided with an operating member for acquiring the driving reference data, and a first reference point and a second reference point are acquired in a field by operating the operating member, thereby registering the driving reference data, and the working vehicle is provided with a reporting unit that can report the assistance status including the execution and stop of the straight driving assistance, so that it can be identified whether the steering angle and the posture of the body after the body is turned are the status corresponding to the execution of the straight driving assistance.

[0009] Effects of the Invention

[0010] According to the work vehicle described in claim 1, for example, when assisting straight driving, the controller 150 can notify the turning position based on the reference running distance, thereby improving the workability during automatic straight driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is an explanatory diagram showing the outline of the straight travel assist of the rice seedling transplanter according to the embodiment.

[0012] Figure 2 It is a side view of the rice seedling transplanter of embodiment.

[0013] Figure 3 This is a schematic diagram of the steering column viewed from the front.

[0014] Figure 4 This is a schematic diagram of the monitor.

[0015] Figure 5 This is a functional block diagram centered on the controller of the rice seedling transplanter.

[0016] Figure 6 This is a flowchart for explaining the reference driving line registration control according to the embodiment.

[0017] Figure 7 This is a flowchart for explaining the update control of the reference travel distance according to the embodiment. DETAILED DESCRIPTION

[0018] Hereinafter, with reference to the accompanying drawings, the working vehicle of the embodiment of the present invention is described in detail by taking a riding-type rice seedling transplanter 1 as an example. In addition, the components of the following embodiments include components that can be easily replaced by those skilled in the art or are substantially the same, so-called components within the same scope. In addition, the present invention is not limited to the above-mentioned embodiment, and can be implemented with various modifications within the scope without departing from the gist of the present invention. Moreover, the entirety of the rice seedling transplanter 1 is sometimes referred to as a machine body below.

[0019] Figure 1 The rice seedling transplanter 1 of this embodiment is provided with a traveling body 2 whose rear part is connected to a rice seedling planting part 50, and a pair of left and right front wheels 4 and a pair of left and right rear wheels 5.

[0020] In the present embodiment, the straight driving assist is a function that controls the movement of the steering wheel according to the steering angle (turning angle) of the steering wheel of the rice seedling transplanter 1 and the position information of the rice seedling transplanter 1, thereby assisting the automatic straight driving of the rice seedling transplanter 1 in the field F. Here, the steering angle is set to the turning angle of the front wheel 4, but for example, the steering wheel 32 (see Figure 2 ) is used as the steering angle. In addition, the position information of the rice seedling transplanter 1 is obtained by a GNSS unit 120 (position information acquisition unit) provided on the traveling body 2 (see Figure 5 ) is obtained. In the following description, the front and rear, left and right directions of the rice seedling transplanter 1 are based on the control seat 28 (refer to Figure 2 ) is based on the traveling direction of the traveling vehicle body 2 when observing.

[0021] As shown in the figure, the rice seedling transplanter 1 plants rice seedlings in a predetermined working width (D) while reciprocating in a predetermined working area (G) in the field F. At this time, if the straight driving assist is performed, the operator who uses the steering wheel 32 only needs to perform a turning operation near the head of the field, and the straight driving means that the rice seedling transplanter 1 automatically drives along the automatic straight line L1. Figure 1 In FIG. 1 , reference numeral L3 indicates a turning line formed at the head of the field by manually operating the rice seedling transplanter 1. Reference numeral E indicates an entrance and exit for the rice seedling transplanter 1 to enter and exit the field F.

[0022] In the straight driving assist, the automatic straight driving line L1 of the rice seedling transplanter 1 is parallel to the reference driving line (driving reference data) L2 as a reference, and the reference driving line L2 is pre-set in the field F according to the planting direction of the rice seedlings. That is, the driving reference registration unit 152 (refer to Figure 5 ) obtains the starting position and ending position of the straight driving assistance and uses them as the reference starting point (hereinafter referred to as "point A") and the reference end point (hereinafter referred to as "point B"), respectively, and registers the line segment connecting the obtained points A and B as the reference driving line L2.

[0023] Below, refer to Figure 2 , the specific structure of the seedling transplanter 1 is described. Figure 2 It is a side view of the rice seedling transplanting machine 1 of embodiment.

[0024] The rice seedling planting section 50 is installed on the traveling body 2 of the rice seedling transplanter 1 in a manner that it can be raised and lowered via the rice seedling planting section lifting mechanism 40 as a lifting device. In addition, the traveling body 2 is a four-wheel drive vehicle that drives a pair of left and right front wheels 4 and a pair of left and right rear wheels 5. By turning the steering wheel 32 to steer the front wheels 4 as steering wheels, it can travel on the field F or the road between the fields F.

[0025] The traveling body 2 includes: a main frame 7 disposed substantially in the center of the body; an engine 10 as a prime mover mounted on the main frame 7; and a power transmission device 15 for transmitting the power of the engine 10 to the front wheels 4, the rear wheels 5, and the rice seedling planting section 50. In the rice seedling transplanter 1, the engine 10 as a power source uses an internal combustion engine such as a diesel engine or a gasoline engine, and the generated power is used not only to move the traveling body 2 forward or backward but also to drive the rice seedling planting section 50.

[0026] The power transmission device 15 includes a hydraulic continuously variable transmission (hereinafter referred to as “HST”) 16 that changes the speed of the driving force transmitted from the engine 10 and outputs the driving force, and a power transmission unit 17 that transmits the power from the engine 10 to the HST 16 .

[0027] Furthermore, the power transmission device 15 has a gearbox 18. That is, the driving force from the engine 10 is transmitted to the HST 16 via the power transmission unit 17, and the power after the speed change by the HST 16 is transmitted to the gearbox 18. Furthermore, a sub-speed change mechanism (not shown) for switching between a high speed mode and a low speed mode described later is provided in the gearbox 18, and the gearbox 18 is mounted on the front part of the main frame 7.

[0028] Part of the power transmitted from the transmission 18 to the front wheels 4 and the rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the remaining part can be transmitted to the rear wheels 5 via the left and right rear wheel 5 gearboxes 22. The left and right front wheel final cases 13 are respectively arranged on the left and right sides of the transmission 18. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via axles 131, and the front wheel final cases 13 are driven in accordance with the steering operation of the steering wheel 32, so that the front wheels 4 can be steered.

[0029] Similarly, the rear wheels 5 are connected to the gearbox 22 of each of the left and right rear wheels 5 via the axle 220. On the other hand, the gearbox 18 transmits power from the working device drive shaft (not shown) to the rice seedling planting part 50 via the planting clutch 500 provided at the rear of the vehicle body 2. In addition, the planting clutch 500 is connected to the controller 150 (see FIG. 1 ) which will be described in detail later. Figure 5 ) connected to the planting clutch motor 510 (refer to Figure 5 ) to act under the influence of.

[0030] The engine 10 is arranged at the approximate center of the traveling body 2 in the left-right direction, and is arranged to protrude upward compared to the floor step 26 on which the operator's feet are placed when riding. The floor step 26 is provided between the front of the traveling body 2 and the rear of the engine 10, and is mounted on the main frame 7. A part of the floor step 26 is in a lattice shape, thereby making it possible to drop mud attached to the shoes into the field F. In addition, a rear step 27 serving as a mud guard for the rear wheel 5 is provided behind the floor step 26. The rear step 27 has an inclined surface that inclines in a direction toward the upper side as it goes toward the rear, and is respectively arranged on the left and right sides of the engine 10.

[0031] The engine 10 protrudes upward from the floor step 26 and the rear step 27 , and an engine hood 11 that covers the engine 10 is disposed at a portion protruding from the steps 26 and 27 .

[0032] Furthermore, an operating seat 28 for an operator to sit is provided on the upper part of the engine hood 11, and an operating unit 30 is provided in front of the operating seat 28 and in the front center of the vehicle body 2. The operating unit 30 is arranged to protrude upward from the ground surface of the floor pedal 26, and divides the front side of the floor pedal 26 into left and right sides.

[0033] The operating unit 30 is provided with a steering column 315, and a steering wheel 32 for the operator to steer is provided on the upper portion of the steering column 315. Figure 3 As shown, a thumb lever 34 is provided on the steering column 315 . Figure 3 This is a schematic diagram of the steering column 315 as seen from the front. The finger lever 34 is operated by the operator when obtaining point A or point B, for example. The finger lever 34 can rotate in the up-down direction.

[0034] And, if Figure 4 As shown, a monitor 33 is arranged on the steering column 315 .

[0035] Figure 4 3 is a schematic diagram of the monitor 33. The monitor 33 is provided with, for example, a straight-driving assist lamp 331 that lights up when the machine body is automatically driving straight by the straight-driving assist, an A light 332, a B light 333, and a GPS light 334. In addition, display lights other than the lamps are provided on the monitor 33. Furthermore, the rice seedling transplanter 1 may also have a plurality of monitors.

[0036] In the monitor 33, when point A is obtained by operating the finger lever 34, the A light 332 is lit. In addition, when point B is obtained by operating the finger lever 34, the B light 333 is lit. In the monitor 33, when the machine body is in a state where it can automatically travel straight, the A light 332 and the B light 333 are lit at the same time.

[0037] The GPS lamp 334 has three display lamps, and the number of the display lamps that are lit is changed according to the GPS reception status. The monitor 33 notifies the operator of the GPS reception status through the above display method.

[0038] Furthermore, a buzzer 215 (see FIG. 2 ) serving as an example of the notification device 200 is provided at a predetermined position of the operation unit 30. Figure 5 ).

[0039] return Figure 2 A main shift lever 81 and a sub shift lever 82 are provided near the steering column 315 of the operating unit 30 . The main shift lever 81 is provided on the right side of the operating unit 30 , and the sub shift lever 82 is provided below the steering wheel 32 .

[0040] The main speed lever 81 is an operation lever for switching the forward and reverse movement and the travel output of the traveling body 2 , and can be operated by an operator to adjust the rotation angle of the trunnion (not shown) of the HST 16 to adjust the speed of the traveling body 2 .

[0041] The auxiliary transmission lever 82 is an operation lever for switching the travel mode between a low speed mode and a high speed mode according to the travel location. The mode switching is performed by the auxiliary transmission mechanism provided in the transmission case 18 according to the position of the auxiliary transmission lever 82 .

[0042] In addition, a front cover 31 that can be opened and closed is provided in front of the operating unit 30. In addition, a center mascot 350 is installed in the center of the front end of the front cover 31. The center mascot 350 is an indicator member that serves as a driving indicator. Figure 2 Although not shown in the figure for the sake of convenience, preliminary seedling carriers (not shown) are provided on the left and right sides in front of the traveling body 2.

[0043] The center mark 350 is installed at the front center of the vehicle body 2, and functions as a reference for the traveling direction when the operator sitting on the operating seat 28 drives the rice seedling transplanter 1. In addition, the center mark 350 of this embodiment also functions as a notification device 200 for notifying the auxiliary conditions including whether the above-mentioned straight driving assistance can be performed.

[0044] The rice seedling transplanter 1 of this embodiment uses the center mark 350 as the notification device 200, and can notify information related to the remaining amount of working materials such as rice seedlings and fertilizers provided in the rice seedling planting section 50 in addition to notifying the straight-travel assist status.

[0045] The center mark 350 is always present in the operator's forward field of vision, so the operator can always grasp the status of the rice seedling transplanter 1 without taking his eyes off the front, which greatly helps improve safety.

[0046] In the rice seedling transplanter 1 of this embodiment, a receiving antenna 121 (see Figure 5 ) GNSS unit 120. The GNSS unit 120 uses a receiving antenna 121 to obtain GNSS coordinates at predetermined time intervals, thereby being able to obtain its position information on the earth at predetermined intervals.

[0047] return Figure 2 , the seedling planting section 50 and other structures are explained. The seedling planting section 50 is installed on the rear part of the traveling body 2 via the seedling planting section lifting mechanism 40 in a manner that allows it to be raised and lowered. The seedling planting section lifting mechanism 40 includes a lifting link device 41, and the lifting link device 41 includes a parallel link mechanism that connects the rear part of the traveling body 2 with the seedling planting section 50. The parallel link mechanism includes an upper link 41a and a lower link 41b, and these links 41a, 41b are rotatably connected to a link base frame 43 that is erected at the rear end of the main frame 7 and is gate-shaped when viewed from the rear. Moreover, the other end sides of the links 41a, 41b are rotatably connected to the seedling planting section 50. In this way, the seedling planting section 50 is connected to the traveling body 2 in a manner that allows it to be raised and lowered.

[0048] In addition, the seedling planting unit lifting mechanism 40 has a hydraulic lifting cylinder 44 that is retracted and extended by hydraulic pressure, and the seedling planting unit 50 can be raised and lowered by the extension and retraction action of the hydraulic lifting cylinder 44. The hydraulic lifting cylinder 44 is driven by the aforementioned HST 16, and the seedling planting unit lifting mechanism 40 can raise the seedling planting unit 50 to a non-operating position or lower it to a ground operating position (planting position).

[0049] Furthermore, the rice seedling planting section 50 can plant rice seedlings in a plurality of sections or a plurality of rows within the range of planting rice seedlings. For example, the rice seedling planting section 50 of so-called six-row planting in which rice seedlings are planted in six sections can be adopted.

[0050] The rice seedling planting section 50 includes a rice seedling planting device 60, a rice seedling loading platform 51, and a towing plate 47 (48, 49). The rice seedling loading platform 51 is a rice seedling loading member configured to load a plurality of rice seedlings at the rear of the vehicle body 2, and has a number of rice seedling loading surfaces 52 spaced in the left-right direction of the vehicle body 2 corresponding to the number of planting rows, and a blanket of rice seedlings with soil can be loaded on each of the rice seedling loading surfaces 52.

[0051] The seedling planting device 60 is a device that is arranged at the lower part of the seedling placing platform 51 on which the seedlings are placed, and takes out the seedlings from the seedling placing platform 51 and plants them in the field F, and is supported by the planting support frame 55 arranged on the front surface side of the seedling placing platform 51. The seedling planting device 60 includes a planting transmission box 64 and a planting body 61, and the planting body 61 is configured to be able to take out the seedlings from the seedling placing platform 51 and plant them in the field F, and the planting transmission box 64 can supply driving force to the planting body 61.

[0052] The planting transmission box 64 is configured to supply the power transmitted from the engine 10 to the seedling planting part 50 to the planting body 61, and the planting body 61 is rotatably connected to the planting transmission box 64. The planting body 61 includes a planting rod 62 for taking out the seedlings from the seedling loading platform 51 and planting them in the field F, and a rotating box 63 for rotatably supporting the planting rod 62 and rotatably connecting to the planting transmission box 64.

[0053] The rotating box 63 is equipped with an unequal speed transmission mechanism (not shown), which can rotate the planting rod 62 while changing the rotation speed when the planting rod 62 is rotated by the driving force transmitted from the planting transmission box 64. Therefore, when the planting body 61 rotates, the planting rod 62 can rotate while changing the rotation speed according to the rotation angle relative to the rotating box 63.

[0054] The rice seedling planting devices 60 thus constructed are arranged one for every two rows. That is, a plurality of rice seedling planting devices 60 are respectively assigned planting rows. Furthermore, for the planting body 61, each planting transmission box 64 has a corresponding two rows of planting bodies 61 under the premise that the planting body 61 can be rotated. That is, on one planting transmission box 64, two rotating boxes 63 are connected on both sides of the left and right directions of the body.

[0055] The drag plate 47 slides on the field surface as the traveling body 2 moves to level the field, and has a center drag plate 48 located in the center of the seedling planting section 50 in the left-right direction of the traveling body 2, and side drag plates 49 located on both sides of the seedling planting section 50 in the left-right direction.

[0056] In this embodiment, a carriage potentiometer 154 is provided on the center carriage 48 (see Figure 5 ), the carriage potentiometer 154 functions as a hydraulic sensitivity mechanism for raising and lowering the seedling planting section 50 according to the condition of the field F. The carriage potentiometer 154 can change the range of sensitivity for detecting the up and down movement of the center carriage 48.

[0057] For example, if the sensitivity is set to high, even a small up-and-down movement of the center carriage 48 can be detected, and a detection signal is sent to the controller 150. On the other hand, if the sensitivity is set to low, a small up-and-down movement of the center carriage 48 is not detected, and only up-and-down movement with a certain amplitude or more is detected, and a detection signal is sent to the controller 150.

[0058] Furthermore, a rotor 67 for leveling the field F is provided at the front side of the lower side position of the rice seedling planting section 50. The rotor 67 is configured to be rotatable by the output from the engine 10 transmitted via the gear box 22 of the rear wheel 5, and is provided to be able to rotate by the electric motor, that is, the rotor motor 165 (refer to Figure 5 ) to lift and lower.

[0059] In the rice seedling transplanter 1 of the present embodiment, the controller 150 performs the straight travel assist when the rotor 67 for soil preparation is grounded. That is, the controller 150 performs the straight travel assist only when the rotor 67 for soil preparation is turned on and the rice seedling planting operation is being performed.

[0060] In the rice seedling transplanter 1, the controller 150 can obtain point A and point B under the condition that the rotor 67 for soil preparation is grounded. That is, the controller 150 can obtain point A and point B only when the rotor 67 for soil preparation is turned on and the rice seedling planting operation is performed.

[0061] In addition, line marking devices 68 are provided on both sides of the seedling planting section 50 to form a line as a reference of the traveling direction on the next planting row. When the seedling transplanter 1 moves straight in the field F, the line marking device 68 marks the field F by marking the field F. The marking is the mark when the seedling transplanter 1 moves straight after turning the ridge of the field F.

[0062] Figure 5 This is a functional block diagram centered on the controller 150 of the rice seedling transplanter 1. The rice seedling transplanter 1 of this embodiment can control each part by electronic control, and the rice seedling transplanter 1 is equipped with a controller 150 as a control unit that 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 an input and output unit, which are connected to each other and can exchange signals with each other. A computer program for controlling the rice seedling transplanter 1 is stored in the storage unit.

[0063] As shown in the figure, various actuators, sensors for acquiring information of various parts, and the like are connected to the controller 150 .

[0064] The controller 150 is connected to actuators such as a throttle motor 100 for adjusting the intake volume of the engine 10, a rotor motor 165 for raising and lowering the rotor 67 for leveling, and a planting clutch motor 510 for operating the planting clutch 500. In addition, although not shown in the figure, an ear shaft drive motor for changing the rotation angle of the ear shaft of the HST 16 is also connected to the controller 150.

[0065] In addition, the controller 150 is connected to a steering angle sensor 130, an azimuth sensor 160, a posture sensor 170, a tilt sensor 180, a seat sensor 190, a rotation speed sensor (detection unit) 195, and various other sensors including an operating lever sensor (not shown) for detecting the amount of operation of the main gear lever 81 or the auxiliary gear lever 82 according to the tilt angle, and a vehicle speed sensor (not shown) for detecting the speed of the traveling vehicle body 2.

[0066] The steering angle sensor 130 is a sensor that detects the steering angle when the front wheels 4, which are steered wheels, are steered by the operation of the steering wheel 32. The steering angle sensor 130 may detect the steering angle based on the rotation angle of the steering wheel 32.

[0067] The direction sensor 160 is a sensor for detecting the orientation of the machine body. The controller 150 can derive the actual moving direction of the machine body from the value obtained by the direction sensor 160 .

[0068] The attitude sensor 170 is used to detect the degree to which the attitude of the traveling vehicle body 2 is inclined with respect to the automatic straight line L1 , and is constituted by a gyro sensor or the like.

[0069] The inclination sensor 180 detects the inclination of the traveling vehicle body 2. The inclination sensor 180 detects the inclination in the front-rear direction and the left-right direction of the traveling vehicle body 2. The inclination sensor 180 may also be composed of a plurality of sensors. The inclination sensor 180 is, for example, an acceleration sensor.

[0070] The seat sensor 190 is a sensor composed of a load sensor, a pressure sensitive film sensor, or the like provided on the control seat 28 , and can detect that the operator has sat on the control seat 28 .

[0071] The rotation speed sensor 195 detects the rotation speed of the rotor 67 for soil leveling. The rotation speed sensor 195 detects the rotation speed when the rotor 67 for soil leveling comes into contact with the field F and rotates.

[0072] Furthermore, in the event that the straight-moving assist of the seedling transplanter 1 is stopped due to some kind of fault, etc., in order to improve safety or prevent operational errors, control can be performed in the following manner: when the straight-moving assist is restarted, if the conditions such as the seedling planting section 50 being lowered, the prepared seedling carrier being stored, and the planting clutch 500 being engaged are not met, the straight-moving assist will not be restarted.

[0073] Furthermore, the controller 150 is connected with, as a notification device 200, for example, a monitor 33 and a buzzer 215 for issuing an alarm.

[0074] The controller 150 can use the buzzer 215 and the monitor 33 to notify the assist status including the execution and stop of the straight driving assist. Therefore, the operator can easily recognize whether the forward tilt posture of the aircraft at the current moment, the steering angle and the posture of the aircraft after turning the aircraft are in a state corresponding to the execution of the straight driving assist. Therefore, for example, the operability of switching from the turning operation to the straight driving assist can be improved.

[0075] In addition, the controller 150 can also use the buzzer 215 and the monitor 33 to inform the operator of an abnormality of the power transmission device 15 (such as a gear falling off of the clutch mechanism). In addition, these monitors 33 and buzzers 215 are pre-set on the traveling body 2 in this embodiment, but the same function can also be given to a tablet terminal device (not shown) that can be brought in from the outside.

[0076] Furthermore, the rice seedling transplanter 1 includes a steering angle adjustment unit 110 and a GNSS unit 120 which can be controlled by the controller 150 , and the steering angle adjustment unit 110 and the GNSS unit 120 are connected to the controller 150 .

[0077] The steering angle adjustment unit 110 includes a transmission mechanism (not shown) linked to the steering wheel 32 and a straight-ahead assist mechanism 310 for applying an arbitrary rotational force to the steering wheel 32, and can perform automatic steering by the controller 150. The transmission mechanism includes a steering motor 112 for rotating the steering wheel 32.

[0078] When the straight travel assistance is executed, the controller 150 automatically steers the steering wheel 32 via the straight travel assistance mechanism 310 based on the position information acquired by the GNSS unit 120 , thereby maintaining the traveling vehicle body 2 in the straight travel direction.

[0079] The GNSS unit 120 has a receiving antenna 121 for receiving signals from artificial satellites used in GNSS, acquires position information (coordinate information) of the rice seedling transplanter 1 on the earth, and transmits the acquired position information to the controller 150 .

[0080] Furthermore, various switches such as the finger push rod 34 , the carriage potentiometer 154 , and the straight driving assist on / off switch 210 are connected to the controller 150 .

[0081] The finger lever 34 receives an operation related to the straight driving assistance by the operator. The finger lever 34 is operated by the operator when acquiring the point A and the point B. Furthermore, the finger lever 34 is operated when canceling the reference travel line L2.

[0082] The plate potentiometer 154 is provided on the center plate 48 that moves up and down according to the unevenness of the field F, and senses the up and down movement of the center plate 48, that is, the depth of the field F. The controller 150 raises and lowers the rice seedling planting unit 50 according to the sensed unevenness of the field F.

[0083] When the operation of acquiring the point A is performed (S10; Yes), the controller 150 determines whether the rotor 67 for soil leveling is in contact with the ground, that is, determines whether the rice seedling planting operation is being performed (S11).

[0084] When the soil leveling rotor 67 is grounded (ON state) ( S11 ; YES), the controller 150 acquires the A point ( S12 ), and starts counting the number of rotations of the soil leveling rotor 67 ( S13 ).

[0085] When the rotor 67 for leveling is not grounded (off state) (S11; No), the controller 150 notifies that point A cannot be obtained (S14). For example, the controller 150 notifies that point A cannot be obtained by sounding the buzzer 215.

[0086] After obtaining the point A, the controller 150 determines whether the rotor 67 for leveling is maintaining the grounded state (on state) (S15).

[0087] When the soil leveling rotor 67 does not maintain the grounding state (S15; No), the controller 150 cancels the acquired point A (S16), stops counting the number of revolutions of the soil leveling rotor 67 (S17), and notifies this (S18). For example, the controller 150 sounds the buzzer 215 to notify that the point A is canceled and the counting of the number of revolutions of the soil leveling rotor 67 is stopped.

[0088] When the leveling rotor 67 is in the grounded state (S15; Yes), the controller 150 determines whether an operation to obtain point B has been performed (S19). Specifically, the controller 150 determines whether the push rod 34 is pressed downward for less than 2 seconds.

[0089] When the operation of acquiring the point B is not performed ( S19 ; No), the controller 150 determines whether the rotor 67 for leveling is maintained in the grounded state (on state) ( S15 ).

[0090] 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 rotations of the rotor 67 for leveling ( S21 ).

[0091] The controller 150 sets the reference travel line L2 based on the acquired point A and point B, and registers the reference travel line L2 in the travel reference registration unit 152 ( S22 ).

[0092] The controller 150 calculates a reference running distance based on the counted number of revolutions of the rotor 67 for soil leveling, and registers the reference running distance in the running reference registration unit 152 ( S23 ).

[0093] Next, refer to Figure 7 The update control of the reference travel distance according to the embodiment will be described. Figure 7 2 is a flowchart for explaining the updating control of the reference running distance of the embodiment. In addition, it is assumed here that the straight driving assist on / off switch 210 is turned on, and the reference running line L2 and the reference running distance are registered in the running reference registration unit 152. Then, the running vehicle body 2 is turned according to the turning operation performed by the operator.

[0094] The controller 150 determines whether the traveling vehicle body 2 is in the process of turning (S30). Specifically, the controller 150 determines whether the steering angle is within a specified steering angle range through the operator's steering wheel operation. The specified steering angle range is a range that can determine that the traveling vehicle body 2 is in the process of turning, and is pre-set. The controller 150 determines that the traveling vehicle body 2 is in the process of turning when the steering angle is greater than the specified steering angle range. Furthermore, the controller 150 determines that the turning is completed when the steering angle is within the specified steering angle range.

[0095] When the vehicle is rotating ( S30 ; YES), the controller 150 ends the current processing.

[0096] If the rotor 67 is not rotating, that is, the rotor has finished rotating (S30: No), the controller 150 starts the rice seedling planting operation (S31).

[0097] The controller 150 starts the straight-travel assist ( S32 ), and starts counting the number of revolutions of the rotor 67 for leveling the land ( S33 ).

[0098] The controller 150 determines whether the turning has started (S34). Specifically, the controller 150 determines whether the steering angle is greater than the specified steering angle range due to the operator's steering wheel operation. The controller 150 determines that the turning has started when the steering angle is greater than the specified steering angle range. In addition, the controller 150 determines that the turning has not started when the steering angle is within the specified steering angle range.

[0099] When the turning has not started ( S34 ; No), the controller 150 continues the straight driving assistance until the turning starts ( S35 ).

[0100] When the controller 150 starts to rotate (S34; Yes), it ends the straight-moving assistance (S36) and ends the rice seedling planting operation (S37). As a result, the rotor 67 for soil preparation rises and no longer touches the ground.

[0101] The controller 150 ends counting the number of revolutions of the rotor 67 for leveling ( S38 ), and calculates the travel distance in the current straight driving assistance ( S39 ).

[0102] The controller 150 determines whether the distance difference between the driving distance in the previous straight driving assistance (previous process) and the driving distance in the current straight driving assistance (this process) is less than a prescribed distance (S40). The driving distance in the previous straight driving assistance is registered (stored), for example, in the driving reference registration unit 152. The driving distance in the current straight driving assistance is registered (stored), for example, in the driving reference registration unit 152. The driving distance in the previous straight driving assistance is deleted by registering the driving distance in the current straight driving assistance. In addition, the distance difference is the absolute value of the difference between the driving distance in the previous straight driving assistance and the driving distance in the current straight driving assistance. The prescribed distance is a distance set in advance.

[0103] When the distance difference is smaller than the predetermined distance (S40: Yes), the controller 150 updates the reference running distance (S41). Specifically, the controller 150 registers the running distance in the current straight driving assistance as a new reference running distance.

[0104] When the distance difference is equal to or greater than the predetermined distance ( S40 ; No), the controller 150 ends the current processing. In other words, the controller 150 does not update the registered reference travel distance.

[0105] When the straight-running assistance is being performed, the controller 150 notifies the turning position based on the reference running distance. For example, when the vehicle body 2 after turning travels the turning distance by the straight-running assistance, the controller 150 sounds the buzzer 215. The turning distance is set to a distance shorter than the reference running distance by a preset distance.

[0106] Thus, the timing for notifying the turning position is set based on the reference running distance. Therefore, if the reference running distance is set as a fixed value, the timing for notifying the turning position may not be appropriate when the length of the field (F) is not fixed.

[0107] For example, when the length of the field F is long, the 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 made even if the appropriate turning position is reached. In this embodiment, the reference travel distance is updated, so that the turning position can be notified at an appropriate timing even when the length of the field is not fixed.

[0108] During the straight driving assistance, if the vehicle speed of the traveling vehicle body 2 is lower than the position detectable speed of 0.5 km / h for, for example, 2 seconds, the controller 150 may terminate the straight driving assistance. Thus, the execution of the straight driving assistance can be suppressed when the position detection accuracy of the GNSS unit 120 is low.

[0109] In the straight driving assistance, when the vehicle speed of the driving vehicle body 2 is lower than the assist driving end speed of 0.4 km / h for, for example, 2 seconds, the controller 150 can end the straight driving assistance. Thus, when it is predicted that the driving vehicle body 2 will stop, the straight driving assistance can be ended regardless of the operator's operation, which can save the operator's work.

[0110] The controller 150 may terminate the straight driving assistance when detecting a communication abnormality with the GNSS unit 120 or an abnormality in the steering angle adjustment unit 110 during the straight driving assistance. Thus, the straight driving assistance can be suppressed when the accuracy of the straight driving assistance is low.

[0111] When the driving mode of the auxiliary transmission mechanism is the high speed mode, the controller 150 may display that the driving mode of the auxiliary transmission mechanism is the high speed mode on the monitor 33. This allows the operator to recognize that the condition for executing the straight driving assist is not satisfied.

[0112] If the display indicating that the condition for executing the straight driving assist is not satisfied is displayed for, for example, 5 seconds, or if the driving mode of the auxiliary transmission mechanism is changed to the low speed mode, the controller 150 may end the display.

[0113] When the height of the rotor 67 is greater than a preset fixed value, the controller 150 may display the fact that the height of the rotor 67 is greater than a preset fixed value on the monitor 33. This allows the operator to recognize that the condition for executing the straight driving assist is not satisfied.

[0114] If the display indicating that the condition for executing the straight driving assist is not satisfied is displayed for, for example, 5 seconds, or if the height of the rotor 67 is lower than a preset fixed value, the controller 150 ends the display.

[0115] The rice seedling transplanter 1 of the above-mentioned embodiment measures the working travel distance from when the rotor 67 for land leveling as the working device becomes grounded in the on state to when the rotor 67 for land leveling becomes ungrounded in the off state. Furthermore, when the difference between the travel distance in the previous straight driving assistance and the working travel distance in the current straight driving assistance is less than a predetermined distance, the rice seedling transplanter 1 registers the working travel distance in the current straight driving assistance as the reference travel distance and updates the reference travel distance.

[0116] Thus, when the turning position is notified based on the reference running distance when the straight-moving assist is executed, the turning position can be notified at an appropriate timing by updating the reference running distance. Therefore, for example, even when the length of the field F is not fixed, the turning position can be notified at an appropriate timing. Therefore, the operability during the straight-moving assist can be improved, and the safety during the straight-moving assist can be improved.

[0117] The rice seedling transplanter 1 obtains the points A and B for setting the reference travel line L2 when the rotor 67 for land preparation is turned on. Thus, the reference travel line L2 as a reference for straight-moving assistance can be accurately set in combination with the actual planting operation. Therefore, the operability during straight-moving assistance can be improved.

[0118] In the rice seedling transplanter 1 in the modified example, even if the planting operation is started without obtaining the point A and the point B, when the rotor 67 for land preparation is grounded, the reference travel distance is calculated based on the number of revolutions of the rotor 67 for land preparation, and is registered in the travel reference registration unit 152. Thus, the reference travel distance can be registered as soon as possible. Therefore, for example, even if the reference travel distance cannot be calculated when registering the reference travel line L2, the turning position can be notified based on the registered reference travel distance during the straight driving assistance in the next process.

[0119] In addition, the seedling transplanter 1 of the modified example may start counting the number of revolutions of the rotor 67 for land preparation when the seedling planting part 50 is lowered and the planting clutch 500 is in an engaged state, i.e., a connected state. In addition, the counting of the number of revolutions of the rotor 67 for land preparation may be stopped when the seedling planting part 50 is raised and the planting clutch 500 is in a disconnected state, i.e., a released state.

[0120] Furthermore, when the vehicle speed is above the prescribed speed, even if the planting switch (not shown) for switching whether to plant the seedlings is turned on (connected), the seedling transplanter 1 of the modified example sets the planting clutch 500 to the disconnected state. Thus, it is possible to suppress the planting operation at a high vehicle speed, thereby suppressing the increase in the plant spacing. Furthermore, it is possible to suppress the rotation of the planting rod 62 at a high vehicle speed, thereby suppressing the degradation of the planting body 61.

[0121] Furthermore, in the seedling transplanter 1 of the modified example, when the vehicle speed is above the prescribed speed, even if the planting switch is turned on, the planting clutch 500 is set to the disengaged state until the main gear lever 81 is in the neutral position. Thus, it is possible to suppress the planting operation at a high vehicle speed, thereby suppressing the increase in the plant spacing. Furthermore, it is possible to suppress the rotation of the planting rod 62 at a high vehicle speed, thereby suppressing the degradation of the planting body 61.

[0122] Furthermore, in the seedling transplanter 1 of the modified example, when the vehicle speed is above the specified speed, even if the planting switch is turned on, the planting clutch 500 is turned off until the ear shaft of the HST 16 is in the neutral position. Thus, it is possible to suppress the planting operation at a high vehicle speed, thereby suppressing the increase in the plant spacing. Furthermore, it is possible to suppress the rotation of the planting rod 62 at a high vehicle speed, thereby suppressing the deterioration of the planting body 61.

[0123] Furthermore, in the seedling transplanter 1 of the modified example, when the vehicle speed is above the prescribed speed, even if the planting switch is in the on state, the planting clutch 500 is set to the off state until the vehicle speed reaches zero or a prescribed low speed near zero. Thus, it is possible to suppress the planting operation at a high vehicle speed, thereby suppressing the increase in the plant spacing. Furthermore, it is possible to suppress the rotation of the planting rod 62 at a high vehicle speed, thereby suppressing the degradation of the planting body 61.

[0124] Furthermore, in the seedling transplanter 1 of the modified example, when the vehicle speed is above the prescribed speed, even if the planting switch is in the on state, the planting clutch 500 is set to the off state until the main gear lever 81 is in the neutral position, the ear shaft of the HST16 is in the neutral position, and the vehicle speed is zero or a prescribed low speed. Thus, it is possible to suppress the planting operation at a high vehicle speed, thereby suppressing the increase in the plant spacing. Furthermore, it is possible to suppress the rotation of the planting rod 62 at a high vehicle speed, thereby suppressing the degradation of the planting body 61.

[0125] Furthermore, the rice seedling transplanter 1 of the modified example may also sound the buzzer 215 when the planting clutch 500 is restricted to the disconnected state as described above. Furthermore, the monitor 33 and the like may also be flashed. Thus, the operator can be notified of the situation in which the planting clutch 500 is restricted to the disconnected state.

Claims

1. A working vehicle, characterized in that: have: a position information acquisition unit that acquires position information of a traveling vehicle body; A steering angle adjustment unit, which adjusts the steering angle so that the vehicle body can automatically move straight; a control unit that acquires driving reference data serving as a reference for the automatic straight driving based on the position information, and controls the steering angle adjustment unit based on the driving reference data; a posture detection unit, which detects the posture of the traveling vehicle body; as well as a rudder angle detection unit, which detects the rudder angle, The work vehicle is provided with an operating element for acquiring the travel reference data. The driving reference data is registered by acquiring a first reference point and a second reference point in the field through the operation of the operating member. The work vehicle is provided with a notification unit capable of notifying the assist status including the execution and stop of the straight driving assist, thereby being able to identify whether the steering angle and the posture of the body after the body is turned are in a state corresponding to the execution of the straight driving assist. The travel reference data can be deleted by operating the operating element, and the first reference point is deleted when the working vehicle detects that the working device for land leveling is not maintaining a ground contact state after acquiring the first reference point.

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