Work vehicle

Abstract

The present invention aims to provide a work vehicle capable of accommodating small articles and articles, with improved convenience. The work vehicle is characterized by including a traveling vehicle body, a work machine installed to the traveling vehicle body, a reception antenna that acquires position information of the traveling vehicle body, a frame that supports the reception antenna, and a radome that covers the reception antenna, wherein the frame includes an accommodation portion, and the work vehicle is provided with a support member that supports the reception antenna or the radome, and the accommodation portion is formed by the support member.

Description

Technical Field

[0001] This invention relates to agricultural vehicles such as rice transplanters and tractors that are capable of autonomous driving. Background Technology

[0002] Previously, there were known work vehicles (hereinafter also referred to as "vehicles") that automatically drove (automatically steered) a steering wheel in the field and moved automatically in the field.

[0003] For example, Patent Document 1 discloses a work vehicle (rice transplanter) that, while performing agricultural work while traveling straight in a field, uses the vehicle's position information obtained by a GNSS (Global Navigation Satellite System) receiver to automatically drive the steering wheel under the control of a control unit (control device 200) so that the vehicle can travel along the driving path, thereby assisting in driving the vehicle in a straight line.

[0004] In the work vehicle described in Patent Document 1, the steering wheel can be automatically driven by the control unit even when turning on the field.

[0005] Specifically, as in patent document 1 Figure 4 As shown, when turning, the vehicle's orientation is set to the target azimuth angle θ1 by automatically turning the steering wheel to a predetermined angle while driving. Then, the steering wheel is automatically turned back to the neutral position (the straight-ahead position) and the vehicle travels a predetermined distance straight. Next, the steering wheel is turned to the predetermined angle again while driving until the vehicle's orientation becomes the target azimuth angle θ2. Finally, the steering wheel is automatically turned back to the neutral position. Thus, the work vehicle can turn towards the planting stage while continuing to drive straight. Hereinafter, each stroke of the work vehicle while planting seedlings while driving straight will be referred to as the "planting stroke".

[0006] In this way, regardless of the position information and driving path information obtained from the GNSS receiver, the vehicle can turn towards the next insertion point based on the steering wheel angle and driving distance. Therefore, the turning motion is smooth and stable, without any trembling. Hereinafter, the control that automatically drives the steering wheel to make the work vehicle travel straight will be referred to as "straight-line control," and the control that automatically drives the steering wheel to make the work vehicle turn will be referred to as "turning control."

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 2021-069293

[0010] However, in work vehicles, it is preferable that small items located on the vehicle can be stored during autonomous driving, especially when the work vehicle is in an unmanned state. However, although small items can be placed on the footrest or seat, the convenience is not good. Summary of the Invention

[0011] Therefore, the purpose of this invention is to provide a work vehicle that can store small items and improve convenience.

[0012] The present invention provides a work vehicle, characterized in that the work vehicle comprises: a driving body 2; a work machine mounted on the driving body 2; a receiving antenna 130 for acquiring position information of the driving body 2; a frame for supporting the receiving antenna 130; and an antenna cover 50 for covering the receiving antenna 130, wherein the frame has a storage portion 53.

[0013] According to the present invention, a storage section can be set up using a frame that supports the receiving antenna to store items and small items, thereby improving convenience.

[0014] In a preferred embodiment of the present invention, the working vehicle is characterized by having a support member 104, which supports the receiving antenna 130 or the antenna cover 50, and the support member 104 constitutes the storage part 53.

[0015] According to this preferred embodiment of the invention, water or dust can be prevented from entering the storage section. Furthermore, the storage section can be constructed using a support member to store items and small items, thereby improving convenience.

[0016] In a further preferred embodiment of the present invention, the storage portion 53 is located below the receiving antenna 130.

[0017] According to this preferred embodiment of the invention, water or dust can be prevented from entering the storage compartment.

[0018] In a preferred embodiment of the present invention, the device is characterized in that a precision instrument or cable such as a terminal of the receiving antenna 130 is housed in the housing 53, and an elastic body 84 is laid below the precision instrument.

[0019] According to this preferred embodiment of the invention, vibration / impact transmission to precision instruments housed within the storage compartment can be suppressed.

[0020] According to the present invention, the status indicator light provides good visual confirmation and does not hinder operation. A storage section can be provided using the frame supporting the receiving antenna to store items and small items, thereby improving convenience. Attached Figure Description

[0021] Figure 1 This is a schematic left-side view of a work vehicle according to a preferred embodiment of the present invention.

[0022] Figure 2 yes Figure 1 A schematic top view of the work vehicle shown.

[0023] Figure 3 yes Figure 1 The diagram shows the block diagram of the control system, detection system, input system, and drive system of the work vehicle.

[0024] Figure 4 yes Figure 1 The enlarged view of the main shift lever shown is a schematic diagram illustrating the operating range of the main shift lever.

[0025] Figure 5 It means Figure 1 The diagram shows a schematic top-view view of the path traveled by the work vehicle while planting rice seedlings in the field.

[0026] Figure 6 It means Figure 1 The flowchart shows the turning control process of the control unit of the work vehicle.

[0027] Figure 7 It means Figure 6 A schematic top view showing the relationship between the various steps and the orientation (orientation) of the moving vehicle.

[0028] Figure 8 This is a diagram showing the setting screen of the control values ​​displayed on the monitor in steering angle correction control.

[0029] Figure 9 This is a flowchart illustrating the process of turning control based on the "reverse turning" method.

[0030] Figure 10 This is a flowchart illustrating the turning control process of the control unit of a work vehicle according to another preferred embodiment of the present invention.

[0031] Figure 11 yes Figure 1 The diagram shows the working vehicle.

[0032] Figure 12 This is a diagram representing a remote control for remotely operating a work vehicle.

[0033] Figure 13 yes Figure 1 The shown is a general front view of the vicinity of the status indicator light.

[0034] Figure 14It is a magnified 3D view of the vicinity of the status indicator light, which is in a posture extending in the vertical direction.

[0035] Figure 15 It is a magnified 3D view of the vicinity of the status indicator light, which is in a posture extending horizontally.

[0036] Figure 16 This is a magnified 3D view of the area near the status indicator light, viewed from the right rear.

[0037] Figure 17 This is a magnified 3D view of the vicinity of the status indicator light, viewed from the lower left front.

[0038] Figure 18 It means Figure 16 An enlarged 3D view of the inner surface of the storage box shown. Detailed Implementation

[0039] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0040] Figure 1 This is a schematic left-side view of the work vehicle 1 according to a preferred embodiment of the present invention. Figure 2 yes Figure 1 A schematic top view of the work vehicle 1 shown.

[0041] In this instruction manual, such as Figure 1 or Figure 2 As indicated by the middle arrow, the side that will become the direction of travel of the work vehicle 1 is called the front. Unless otherwise specified, the left side of the direction of travel of the work vehicle 1 is called the "left", and the opposite side is called the "right".

[0042] In this embodiment, the operating vehicle 1 is a rice transplanter used for planting rice seedlings in a field, such as... Figure 1 as well as Figure 2 As shown, the device includes: a vehicle body 2 (hereinafter also simply referred to as "the body"); a seedling planting section 63 installed at the rear of the vehicle body 2 (an example of the working machine of the present invention); a fertilizer applicator 26 for supplying fertilizer to the field; a pair of left and right line markers 40 that form a line on the field as a target for the driving position when planting seedlings while driving; a receiving antenna 130 provided at the front of the vehicle body 2; an orientation sensor 80 that detects the orientation of the vehicle body 2; and an auxiliary seedling frame 74 provided at the front of the vehicle body 2 and for receiving the seedlings supplied to the seedling planting section 63.

[0043] like Figure 1As shown, the vehicle body 2 includes: a control unit 87 (equivalent to the "control unit" of the present invention) covered by a front cover 47; a main frame 3 disposed approximately in the center of the vehicle body 2; a rear frame 6 mounted on the rear end of the main frame 3 and extending along the width direction of the work vehicle 1; a bottom step 60 disposed above the main frame 3; a driver's seat 48 disposed above the bottom step 60; an operating unit 49; an engine 7 disposed below the driver's seat 48; a pair of left and right front wheels 8 (steering wheels) and a pair of left and right rear wheels 9 serving as driving wheels; and a transmission mechanism such as a gearbox 30 that transmits the power of the engine 7 to the pair of left and right front wheels 8 and rear wheels 9.

[0044] like Figure 2 As shown, the control unit 49 includes: a main gear shift lever 35, which changes the forward and reverse direction and speed of the vehicle body 2; a steering mechanism 43, which includes a steering wheel 56 for steering a pair of left and right front wheels 8; a straight-line assist lever 79, which is located near the left side of the steering wheel 56; and a monitor 61 (see reference). Figure 8 The control unit 87 includes an operation switch and an operation section 54, which is equipped with various operation switches for operating the work vehicle 1. In this embodiment, it is configured to perform straight-line control (so-called straight-line assist) that automatically drives the steering wheel to make the work vehicle travel straight, and turning control that automatically drives the steering wheel to make the work vehicle turn, based on the output signal of the control unit 87.

[0045] The straight-line assist lever 79 is swung when the position information of the traveling vehicle 2 is obtained and when straight-line control is started or stopped.

[0046] The control unit 87 includes: a processing unit 89 having a CPU (Central Processing Unit); and a storage unit 93 having ROM (Read Only Memory) and RAM (Random Access Memory), wherein various programs and data for controlling the work vehicle 1 are stored in the storage unit 93.

[0047] like Figure 3As shown, the detection system of the working vehicle 1 includes: a steering sensor 58, which detects the steering angle of the steering wheel 56; a steering motor sensor 45, which is installed on the steering motor 57 and detects the rotational position and rotational speed of the steering motor 57; an engine rotation sensor 96, which detects the rotational speed of the engine 7; a linkage sensor 190, which detects the relative angle of the upper linkage arm 85 with respect to the linkage base frame 10; a receiving antenna 130, which receives radio waves from artificial satellites; a rear wheel rotation sensor 29, which counts the rotational speed of each axle 82 connected to the left and right pairs of rear wheels 9; a hull sensor 33, which detects the vertical position of the front of the central hull 38; an orientation sensor 80; a tilt detection sensor 37, which detects the tilt of the vehicle body 2 in the direction of swaying; a conductivity sensor 98, which acquires fertility data used in variable fertilization; a depth sensor 99; and a temperature sensor 1000.

[0048] The receiving antenna 130 is an example of the "location information acquisition unit" of the present invention.

[0049] like Figure 3 As shown, the input system of the work vehicle 1 includes: a main gear shift sensor 36, which detects the main gear shift lever 35 (refer to...) that changes the forward / reverse direction and speed of the work vehicle 1. Figure 1 , Figure 2 and Figure 4 The operating position of the straight-line assist lever sensor 81, which controls the straight-line assist lever 79 (refer to) that is swung up and down when the position information of the driving vehicle body 2 is obtained and when straight-line control is started or stopped. Figure 1 and Figure 2 The operation of the finger rod sensor 16 is detected; the finger rod sensor 16 detects the swinging operation of the finger rod 23 that raises and lowers the seedling planting part 63; the planting on / off switch 19 is used to switch the on / off operation of the seedling planting operation. Figure 8 The monitor 61 shown; the marker switch 28, which switches the posture of the left and right line markers 40; and the turn control switch 17, which sets the turn control. The marker switch 28 and the turn control switch 17 are provided in the operation unit 54.

[0050] Furthermore, in this embodiment, the operation of the turn control switch 17, which sets the turn control, allows for the selection of either a "U-turn" as a normal turn or a "backturn" as most suitable for replenishing seedlings along the edge of the field.

[0051] like Figure 3As shown, the drive system of the work vehicle 1 includes: a throttle motor 97, which adjusts the intake air volume of the engine 7 located below the driver's seat 48; an electro-hydraulic valve 88, which extends and retracts the lifting hydraulic cylinder 12 when the seedling planting section 63 is raised or lowered; an HST servo motor 150, which adjusts the opening of the trunnion in the hydrostatic continuously variable transmission 25 to change the forward and reverse movement and speed of the work vehicle 1; a steering motor 57 that rotates the steering shaft 83 and the steering wheel 56; a solenoid valve 103 that switches the side clutch of the rear wheel 9 on and off; a power steering unit 108; a planting clutch motor 27 that actuates the planting clutch; a marker motor 34 that swings the left and right pairs of marking markers 40; and a fertilizer application adjustment motor 66, which adjusts the amount of fertilizer applied to the field by the fertilizer application device 26.

[0052] In this embodiment, when the vehicle body 2 is in motion, if the steering angle of the steering wheel 56 exceeds a threshold (in other words, if the steering wheel 56 is turned significantly to the left or right), it is considered that the vehicle body 2 is turning. Therefore, the control unit 87 controls the solenoid valve 103 to switch to a state where power is not transmitted to the rear wheel 9 on the inside of the turn. With this configuration, it is possible to turn smoothly at the edge of a field.

[0053] For the purpose of automatically rotating the steering wheel 56 during straight-line control and turning control, the control unit 87 drives the steering motor 57. During straight-line control and turning control, the rotational position and rotational speed of the steering motor 57 are detected by the steering motor sensor 45. In this embodiment, the steering motor 57 is a speed control motor capable of feedback control of the rotational speed based on the actual rotational speed detected by the steering motor sensor 45.

[0054] like Figure 5 As shown, the field 200 where the work vehicle 1 plants rice seedlings is a flat paddy field, which is roughly rectangular when viewed from above. It has two sides 201 and 203 extending in the north-south direction, two sides 202 and 204 extending in the east-west direction, four peripheral areas 211 to 214 extending along each side 201 to 204, and a central area 210 surrounded by the four peripheral areas 211 to 214. The two peripheral areas 211 and 213 are called field edges. The width of peripheral areas 211 and 213 in the north-south direction and the width of peripheral areas 212 and 214 in the east-west direction are greater than or equal to the working width of the seedling planting section 63 of the work vehicle 1 (the width of 8 rows of seedlings).

[0055] Below, using field 200 as an example, the straight-line control and turning control of the operating vehicle 1 will be explained in detail. In addition, for convenience, field 200 is set to the shape, size and orientation (direction) as described above, but the field for which straight-line control and turning control are performed is not particularly limited.

[0056] When planting rice seedlings in field 200, straight-line control and turning control based on control unit 87 are alternately performed. While the field 200 travels in a meandering manner, rice seedlings are planted in the central area 210. Then, as... Figure 5 As shown by the thick gray lines with arrows, seedlings are planted sequentially in the four peripheral areas 211-214. Furthermore, in this embodiment, in order to perform turning control based on the control unit 87, the turning control switch 17 needs to be operated in advance and set to the turning control state.

[0057] When planting seedlings in the central area 210, firstly, the position information of the start and end points of the baseline used in straight-line control is obtained through so-called teaching. In straight-line control, the steering motor 57 is driven to adjust the steering angle of the steering wheel 56 in a manner that makes the work vehicle 1 travel straight parallel to the imaginary baseline connecting the start and end points (more specifically, in a manner that makes the work vehicle 1 travel along an imaginary target line parallel to the baseline, which will be described in detail later).

[0058] Upon obtaining the starting point location information of the baseline, based on the operator's manipulation (operation of the main gear lever 35 and steering wheel 56), the work vehicle 1 moves to... Figure 5 At the northern position within the perimeter area 212 of the field 200 shown, the straight-line auxiliary pole 79 is swung downwards, thereby obtaining the position information of the starting point 218 of the baseline using the receiving antenna 130.

[0059] Next, with the marker switch 28 activated and the east-side marking marker 40 (the left-side marking marker 40 on the turning side in this case) switched into its active position, the work vehicle 1 moves to the south side of the perimeter area 212 based on the operator's manipulation, as shown by the dashed line 208 with arrows. The straight-ahead assist lever 79 is then swung downwards. As a result, the position information of the endpoint 219 of the baseline is obtained using the receiving antenna 130. The position information of the start and end points of the baseline, obtained as described above, is stored in the storage unit 93. In addition, for convenience, in this embodiment, the imaginary baseline connecting the start and end points is described as a line that extends accurately in the north-south direction.

[0060] In addition, in this embodiment, when the marking switch 28 is operated to switch the marking marker 40 to the active position, then whenever the work vehicle 1 turns, the turning of the work vehicle 1 is detected based on the output signal of the steering sensor 58, and the marking marker 40 on the active position is automatically switched to the inactive position. Then, after the work vehicle 1 turns, the marking marker 40 on the other side is automatically switched to the active position.

[0061] In addition, in this embodiment, whether the steering wheel 56 is turned by the operator or the steering wheel 56 is turned based on the output signal of the control unit 87 (straight-going control, turning control), the vehicle speed is set based on the operating position of the main gear lever 35. However, during turning control, the vehicle speed is always limited to below a specified speed.

[0062] Upon obtaining the location information of the start and end points of the baseline, based on the operator's control, the work vehicle 1 turns eastward and moves towards the planting start position 207 (× mark) of the first row (first planting stroke) in the central area 210. Figure 5 The planting process, shown as the "first column," begins with the straight-line movement accompanying the planting of rice seedlings.

[0063] Specifically, in the case of Figure 4 After the finger-shaped rod 23 is swung downwards to switch the seedling planting section 63 to the working position, pressing the planting on / off switch 19 drives each planting device 64, utilizing the 8 rows of planting elements 69 (see reference). Figure 2 Begin transplanting the rice seedlings. At this time, if... Figure 5 As shown, the line marker 40 on the right automatically switches to its operating position, and the line marker 41 rolls on the field, thereby marking the line. Figure 5 The position of the "second column" forms the target line for the driving position.

[0064] Next, the operator swings the straight-line assist lever 79 upward to initiate straight-line control based on the control unit 87. The condition for initiating straight-line control is that the angle difference between the target line (an imaginary line indicating the position to be traveled and parallel to the baseline) and the orientation (position of the vehicle body 2) of each train traveling straight is less than 30° when the straight-line assist lever 79 is swung upward.

[0065] In straight-line control, the control unit 87 is configured to drive the steering motor 57 based on detection signals output from the receiving antenna 130 and the orientation sensor 80, thereby turning the left and right front wheels 8, which are steering wheels, so that the work vehicle 1 is relative to the direction of travel. Figure 5 The reference line 208, indicated by the dashed line with an arrow, travels straight parallel to the reference line 208, which is the line connecting the starting point and the ending point where position information was obtained through the swinging operation of the straight-traverse assist lever 79. As a result, the work vehicle 1 travels straight north in the column shown as the "first column".

[0066] Furthermore, in the straight-line control of this embodiment, the control unit 87 is configured such that, when traveling in the "first column" of the central region 210, after setting an imaginary target line, it drives the steering motor 57 along the target line. This imaginary target line extends parallel to the baseline 208 at a position offset 240 cm (30 cm between rows × 8 rows of seedlings) from the baseline 208 towards the next work row (east side). Additionally, when traveling in the "nth column" (where n is an integer of 2 or more), the control unit 87 is configured such that, after setting a target line that extends parallel to the baseline 208 at a position offset 240 cm from the line of the (n-1)th column towards the next work row (east side), it drives the steering motor 57 along the target line.

[0067] However, in straight-line control, it is not necessarily necessary to drive the steering motor 57 in a way that makes the body 2 travel along the generated target line. It can also be configured such that, in straight-line control, only the direction of the extension of the reference line is taken as the target direction, and the steering motor 57 is driven in a way that reduces the positional deviation between the position of the body 2 and the target direction, starting from the point where the straight-line assist lever 79 is swung upward in each of the first to nth columns.

[0068] When the work vehicle 1 approaches the perimeter area 213 (the northern edge of the field), the operator swings the straight-line assist lever 79 upwards to end the straight-line control performed by the control unit 87.

[0069] In the work vehicle 1 of this embodiment, the configuration is such that when the vehicle is set to perform turning control by operating the turning control switch 17, turning control begins when the main gear lever 35 is in the forward position (the position where the vehicle is moving forward) and the finger lever 23 is swung upward. Hereinafter, the turning control under the "U-turn" condition will be described in detail.

[0070] Figure 6 It means Figure 1 The flowchart shows the turning control process of the control unit 87 of the work vehicle 1. Figure 7 It means Figure 6 A schematic top view showing the relationship between the various steps and the orientation (orientation) of the traveling vehicle 2. Additionally, in Figure 7 In the diagram, a single-dotted line with an arrow (for straight-line travel) and a double-dotted line with an arrow (for turning travel) represent the trajectory of the center of the working vehicle 1 in the width direction (left-right direction). Additionally, in... Figure 7 For convenience, in the middle, Figure 6 The portion shown (involving step s10) is indicated in gray.

[0071] In turning control, firstly, the control unit 87 obtains data on the distance up to the turning target position from the storage unit 93 (step s1).

[0072] Here, the goal of the turn control is to turn the work vehicle 1 to a position in the east-west direction where it should be traveling straight after the turn (the east-west position marked by the line marker 40). The target turning position (the position where the work vehicle 1 should be after the turn, the position for the next planting stroke) in the case of turning from "first column" to "second column" is... Figure 5 The position shown in the "second column" (east-west direction) indicates the distance to the target turning position. Figure 5 The distance between the "first column" and the "second column" (in the east-west direction of field 200) shown is, in this embodiment, stored as a value of 240cm (30cm between rows × 8 rows) because the seedling planting section 63 is configured as an 8-row rice transplanter with 8 rows of planting members 69 arranged in the left-right direction. Furthermore, Figure 5 The “first column” to “nth column” shown represent the “planting stroke” of the working vehicle 1 while it is moving straight and planting seedlings.

[0073] Thus, when the distance data up to the target turning position is obtained, the control unit 87 drives the HST servo motor 150 to limit the vehicle speed to 0.75 m / s, and drives the steering motor 57 to begin turning the steering wheel 56 in the direction of the next work row (to the right when turning to the "second column") at a predetermined steering angle θd (step s2). In this specification, units are indicated in [].

[0074] Here, in this embodiment, the prescribed steering angle θd [degrees] used in turning control refers to a steering angle such that: when the 8-row planting vehicle 1 turns in a field under standard conditions with the steering wheel 56 automatically held at the prescribed steering angle θd, and when the orientation of the machine body 2 changes 180° from the orientation (or orientation) before turning to the direction of deflection (specifically, the moment below θst, which will be described in detail later), the steering angle of the steering wheel 56 returns to the neutral position, thereby enabling it to turn to the target turning position.

[0075] Specifically, the standard field conditions are defined as follows: when driving straight, the slip ratio of the wheels 8 and 9 (calculated by subtracting 1 from the value calculated by dividing the actual travel distance detected by the receiving antenna 130, etc., by the travel distance of the work vehicle 1 estimated based on the rotational speed of the rear wheel axle 82, etc.) is approximately 10%, and the field depth is approximately 20 cm. The results of multiple turning tests of the work vehicle 1 on such a field show that the steering angle of the steering wheel 56, which enables it to turn to the target turning position, is θd [degrees].

[0076] The steering angle θd [degrees] of the steering wheel 56 varies depending on the tire tread width, wheelbase, and position of the next insertion stroke, but in the 8-row insertion work vehicle 1 of this embodiment, it is an angle more than 20° (the upper limit of the steering angle correction value described in detail later) before the fully locked position (the position where the steering wheel is turned to its limit to the left or right), and an angle exceeding 100° from the neutral position. That is, the steering angle θd [degrees] of the steering wheel 56 is an angle more than 20° from the fully locked position to the neutral position. In this embodiment, when the steering wheel 56 is turned to the steering angle θd, the control unit 87 is configured to, via the steering sensor 58 (refer to...) Figure 3 When the detection signal of the steering wheel 56 detects that the steering angle of the steering wheel 56 has reached a steering angle θd [degrees], the driving of the steering motor 57 is stopped. Then, based on the detection signal of the steering motor sensor 45, the steering motor 57 is driven, but this configuration is not necessarily required. Alternatively, when the steering angle of the steering wheel 56 is set to θd [degrees], a dead zone of approximately 3 bits can be set, and the driving of the steering motor 57 is stopped when the steering angle is within the range of θd ± 3 bits. Furthermore, the target steering angle before correction (i.e., the specified steering angle θd), the current steering angle (i.e., θa [degrees], which will be detailed later), and the target steering angle after correction (i.e., θdi [degrees]) are the steering angles from the neutral position of the steering wheel 56, respectively.

[0077] As described above, in a field under standard conditions, by turning while automatically holding the steering wheel 56 at a predetermined steering angle θd [degrees], it is possible to turn to the target turning position.

[0078] However, when turning on non-standard field conditions, due to the slippage of the driving wheels 8 and 9, the driving force weakens, and the vehicle body 2 hardly moves forward while turning in that area. If the steering wheel 56 is kept at the specified steering angle θd and the turning continues until the vehicle body 2 rotates 180° in the direction of the turn, then... Figure 5 As indicated by the thin gray line with an arrow, sometimes when making a small turn, vehicle 1 is positioned slightly ahead of the target turning position (in front of the target turning position). Figure 5 The position offset (west side).

[0079] Additionally, in situations where the field is too shallow, depending on the condition of the field, compared to standard conditions, the slippage of wheels 8 and 9 is less. Sometimes, during large turns, vehicle 1 is positioned further inward than the target turning position (in...). Figure 5 The middle position is the offset position (east side).

[0080] In view of this situation, in this embodiment, after the steering wheel 56 begins to rotate to a predetermined steering angle θd, the control unit 87 calculates the slippage of the driving wheels 8 and 9 based on the angular velocity of the vehicle body 2, as described below. Then, when the angular difference between the position of the vehicle body 2 and the target line of the "first column" (a line parallel to the reference line and located east of the reference line) is 30° or more, the control unit automatically returns the steering wheel 56 to a steering angle θdi that takes into account the slippage. This prevents both over-turning and over-turning, allowing the work vehicle 1 to move to the target turning position (the "second column" position in a turn after straight travel in the "first column"). In the following description, the control of automatically returning the steering wheel 56 to a steering angle θdi that takes into account the slippage of the driving wheels 8 and 9 during turning control is referred to as "steering angle correction control".

[0081] Furthermore, in the past, the steering motor was used to turn the steering wheel at the highest speed regardless of the vehicle speed. As a result, the following problems exist: at higher speeds, the distance traveled until the steering wheel is turned (steering) is completed is longer, resulting in over-turning; conversely, at lower speeds, the distance traveled until the steering wheel is turned is shorter, resulting in under-turning.

[0082] In addition, in previous work vehicles, during the turning control, when the steering wheel rotation direction was switched from counterclockwise to clockwise or from clockwise to counterclockwise, emergency braking sometimes occurred, generating gear noise between the steering wheel and the steering motor.

[0083] In contrast, in this embodiment, the control unit 87 controls the steering motor 57 to gradually decelerate its rotational speed (i.e., the steering wheel 56 rotational speed) from its highest speed within the range up to the aforementioned upper limit, and then gradually accelerates its rotational speed (i.e., the steering wheel 56 rotational speed) within the range up to the upper limit after reversing. This configuration reduces the impact during reversal and thus prevents gear noise.

[0084] On the other hand, when the steering wheel 56 is turned to the specified steering angle θd, without the slippage of the driving wheels 8 and 9, the control unit 87 calculates the ideal angular velocity ωi for turning the vehicle 1 toward the position of the "second column" as the next turning target position (step s3).

[0085] v is the actual vehicle speed [m / s] of the traveling vehicle 2 obtained by the receiving antenna 130, and θa is the steering angle of the steering wheel 56 obtained by the steering sensor 58. In addition, "0.071" is a parameter used to calculate the ideal angular velocity of the work vehicle 1 in this embodiment. The ideal angular velocity during turning varies depending on the tire tread width and wheelbase (the distance in the longitudinal direction between the front wheel axle 31 and the rear wheel axle 82). Therefore, it is adjusted by multiplying the parameter by different values ​​according to the different tire tread widths and wheelbases of the work vehicles.

[0086] Furthermore, in this embodiment, when the vehicle speed v is 0.1 m / s or less, the control unit 87 determines that the work vehicle 1 is stationary, and ωi = 0. Additionally, the value of ωi is calculated using a moving average with data periods of 0.1 seconds and 0.5 seconds until the steering angle correction control ends, and the value of ωi is continuously updated.

[0087] Next, the control unit 87 calculates the angular velocity ωp of the actual deflection direction of the vehicle body 2 based on the detection signal of the orientation (orientation of the body 2) θp of the vehicle body 2 at that moment output from the orientation sensor 80 (step s4).

[0088] In this embodiment, the output frequency of the detection signal from the orientation sensor 80 is every 0.1 seconds (data period is 0.1 seconds). By subtracting the orientation of the vehicle body 2 one data point prior (θ(p-1)) from the orientation θp obtained by the orientation sensor 80 at that moment, and multiplying the result by 10, the angular velocity ωp of the actual deflection direction of the vehicle body 2 every second can be calculated. Furthermore, in this embodiment, a 0.5-second moving average is used for calculation. The value of ωp is also continuously updated thereafter.

[0089] Thus, when calculating the ideal angular velocity ωi and the actual angular velocity ωp of the deflection direction of the vehicle body 2, the control unit 87 determines, based on the detection signal from the steering motor sensor 45, whether the steering angle of the steering wheel 56 is already at the predetermined angle θd [degrees] (step s5). Furthermore, as described above, if a dead zone is set at the predetermined angle θd [degrees], it determines whether the steering angle of the steering wheel 56 is within the predetermined angle θd or within the dead zone before or after it.

[0090] If the result of determining whether the steering angle of the steering wheel 56 is the specified angle θd is less than the specified angle θd, the acquisition and determination of the detection signal of the steering motor sensor 45 are repeated until the steering wheel 56 is turned to the specified angle θd.

[0091] In contrast, if the determination result is that the steering angle of the steering wheel 56 is the specified angle θd, the control unit 87 drives the steering motor 57 to turn the steering wheel 56 back or fully turn it so that the steering angle of the steering wheel 56 becomes the calculated corrected steering angle θdi (degrees) (step s6, refer to...). Figure 6 as well as Figure 7 ).

[0092] Specifically, θdi falls within the range of θd-100≤θdi≤θd+20 [degrees]. The steering angle is corrected within a range of 100° from the steering angle θd towards the return direction (towards the neutral position) and 20° towards the full steering direction (towards the locked position). That is, the lower limit of the steering angle correction value is -100°, and the upper limit is 20°. Additionally, when correcting (changing) the steering wheel 56 to the steering angle θdi, a dead zone of approximately 3 bits can be set forward and backward.

[0093] As described above, θd [degrees] is an angle such that, in a field under standard conditions, it is possible to turn to the target turning position by maintaining the steering angle of the steering wheel 56 at θd [degrees] through turning control.

[0094] This includes items designed to allow the operator to adjust the steering angle arbitrarily based on the actual turning conditions, regardless of the amount of slip.

[0095] This is a device that functions by correcting the steering angle of the steering wheel 56 from the specified steering angle θd [degrees] towards the neutral position.

[0096] As mentioned above, θp refers to the orientation of the vehicle body 2 at that moment (the orientation of the vehicle body 2). It is desired to change the control quantity of the steering motor 57 according to the orientation of the vehicle body 2 (vehicle body 2), so it is multiplied by "sinθp·cos(θp / 2)".

[0097] On the other hand, the value calculated from “ωp-ωi” ([degrees / second]) is a related value representing the amount of slip (degree of slip) of the traveling wheels 8 and 9.

[0098] Here, when the work vehicle 1 (driving vehicle body 2) turns, the driving wheels 8 and 9 slip due to the condition of the field, and the driving vehicle body 2 hardly moves forward but spins around in the field. Compared with the case of turning normally with less slippage, the actual angular velocity ωp of the driving vehicle body 2 in the deflection direction is higher, and the value calculated by ωp-ωi is also larger. That is, there is a correlation between the amount of slippage of the driving wheels 8 and 9 and the value calculated by ωp-ωi. Therefore, by subtracting the ideal angular velocity ωi from the actual angular velocity ωp in the deflection direction of the driving vehicle body 2, a relevant value representing the amount of slippage (the degree of slippage) can be calculated.

[0099] Therefore, for example, it could be configured such that if the value of ωp-ωi is above a specified value, it is determined that wheels 8 and 9 are slipping. Furthermore, in actual farmland, ωp-ωi takes a value approximately between 0 and 5, with a maximum of around 10.

[0100] Thus, in this embodiment, since the steering wheel 56 is turned back or turned fully to a steering angle θdi that takes into account the slip amount calculated by ωp-ωi (i.e., steering angle correction control is performed), it is possible to prevent the wheel from turning too small or too large due to the amount of slip of the driving wheels 8 and 9.

[0101] Additionally, when ωp-ωi < 0, assuming no slippage, θdi is calculated as (ωp-ωi) = 0. When angular velocity detection is unstable at low vehicle speeds, ωp-ωi may sometimes be locally less than 0. However, if the calculation is performed when ωp-ωi is negative, θdi will be corrected towards the positive side (small turning side), resulting in unstable turning.

[0102] In contrast, in this embodiment, when ωp-ωi < 0, θdi is calculated as (ωp-ωi) = 0, thus preventing inappropriate steering angle correction.

[0103] Furthermore, in this embodiment, the operator can adjust the amount (angle, amount of rotation) by turning the steering wheel 56 back or fully from the steering angle θd in the steering angle correction control by arbitrarily setting the control value of the variable x on the monitor 61 in advance.

[0104] Figure 8 This is a diagram showing the setting screen of the control values ​​displayed on monitor 61 in the steering angle correction control. Figure 8 (a) is a diagram showing the setting screen for the control value in the steering angle correction control when turning left. Figure 8 (b) is a diagram showing the setting screen for the control value in the steering angle correction control when turning to the right.

[0105] The monitor 61 has a display 32 that displays the currently set control value and an operation switch 62 for setting the control value.

[0106] In this embodiment, the system is configured to allow setting any value from 21 integers (-10 to 10, including 0) as the control value for the input variable x using the operation switch 62. The set value is stored in the storage unit 93. Figure 6 The time shown in (step s6) is read from the storage unit 93, and the turning angle θdi [degrees] is calculated.

[0107] The larger the control value set within the range of -10 to 10, the larger the angle subtracted from the steering angle θd, and the more pronounced the turn of the work vehicle 1 becomes. As a result, after turning, the work vehicle 1 is positioned further inside (…). Figure 5 (Located further east of the center).

[0108] Therefore, the operator compares the east-west position of the work vehicle 1 after turning based on the turning control with the east-west position of the next column that should go straight, formed by the marking marker 40. If the work vehicle 1 after turning is located to the west (following the front) of the next column that should go straight, the operator can set the control value to a larger value by using the operation switch 62 of the monitor 61, so that the position of the work vehicle 1 after turning is shifted further east, thereby aligning the next column that should go straight with the east-west position.

[0109] Furthermore, the smaller the control value set within the range of -10 to 10, the smaller the angle subtracted from the steering angle θd, and the larger the sum of the angle and the steering angle θd, thus making the turning radius of the work vehicle 1 smaller. As a result, the work vehicle 1 is positioned closer to the front ( Figure 5 (Located further west in the middle).

[0110] Therefore, the operator compares the east-west position of the work vehicle 1 after turning based on the turning control with the east-west position of the next column that should go straight, formed by the marking marker 40. If the work vehicle 1 after turning is located to the east (inside) of the position of the next column that should go straight, the operator can set the control value to a smaller value by using the operation switch 62 of the monitor 61, so that the position of the work vehicle 1 after turning is shifted to the west, thereby aligning the next column that should go straight with the east-west position.

[0111] In addition, in this embodiment, such as Figure 8 (a) and Figure 8As shown in (b), the configuration allows for the independent setting of the control value of the variable x used in calculating the target steering angle θdi during left turns and the control value of the variable x used in calculating the target steering angle θdi during right turns. In other words, the control value of the variable x used in calculating the target steering angle θdi can be set to different values ​​when turning left using turn control and when turning right using turn control.

[0112] Therefore, in Figure 5 In the field 200 and driving path shown, when the state of the field is different between the field turning right (north side) and the field turning left (south side), by setting control values ​​suitable for each field, the east-west position of the next straight-moving train can be made consistent with the east-west position of the work vehicle 1 (driving vehicle 2) after the turn, regardless of whether it is the north or south field. Therefore, it is possible to smoothly transfer to straight-moving control after the turn.

[0113] On the other hand, such as Figure 6 as well as Figure 7 As shown, when the steering wheel 56 is turned to a steering angle of θdi, the control unit 87 determines whether the angle difference between the orientation of the body 2 determined by the detection signal output from the orientation sensor 80 and the target line in the next straight driving is less than 60° (step s7).

[0114] If the determination result is that the angle difference between the orientation of the machine body 2 and the target line exceeds 60°, the control unit 87 maintains the steering angle of the steering wheel 56 at θdi until the angle difference is less than 60°.

[0115] Conversely, if the determination result is that the angle difference between the orientation of the machine body 2 and the hypothetical target line is less than 60°, the control unit 87 ends the steering angle correction control, drives the steering motor 57, and changes the steering angle of the steering wheel 56 to θd (step s8, refer to...). Figure 6 as well as Figure 7 And return to control of the steering wheel 56 based on the detection of the angle of the steering sensor 58.

[0116] Furthermore, during the steering angle correction control, the steering angle of the steering wheel 56 is maintained at θdi [degrees] as described above. However, during the turning process, the actual vehicle speed, the steering angle of the steering wheel 56, the orientation of the vehicle body 2, and the angular velocity are constantly changing. Therefore, the values ​​of ωp (actual angular velocity of the vehicle body), ωi (ideal angular velocity), and θp (orientation of the vehicle body) are also constantly updated. Therefore, the steering angle θdi [degrees] of the steering wheel 56 during the steering angle correction control is also continuously changed (updated) until the angle difference between the orientation of the vehicle body 2 and the hypothetical target line is less than 60° (step s8). Thus, in this embodiment, during the period until the angle difference between the orientation of the vehicle body 2 and the target line is less than 60°, the following state is maintained: the correction is a steering angle that takes into account the slippage of the driving wheels 8 and 9 and the control value of steering angle correction set on the monitor 61.

[0117] Thus, when the steering angle of the steering wheel 56 is changed to θd, the control unit 87 determines whether the angle difference between the orientation of the body 2 determined by the detection signal output from the orientation sensor 80 and the imaginary target line in the subsequent straight driving is less than 50° (step s9).

[0118] If the result of the determination is that the angle difference between the orientation of the machine body 2 and the hypothetical target line in the next insertion stroke (e.g., "second column") exceeds 50°, the determination is repeated until the angle difference is less than 50°.

[0119] Conversely, if the determination result is that the angle difference between the orientation of the machine body 2 and the hypothetical target line during the subsequent straight-line driving is less than 50°, the control unit 87 drives the HST servo motor 150 to limit the vehicle speed to 0.5 m / s (step s10, refer to...). Figure 6 as well as Figure 7 ).

[0120] When the speed of the work vehicle 1 is limited to 0.5 m / s, the control unit 87 calculates the orientation of the machine body 2 that causes the steering wheel 56 to begin returning to the neutral position (step s11).

[0121] Next, the control unit 87 determines whether the angle difference between the orientation of the body 2 determined from the detection signal output from the orientation sensor 80 and the hypothetical target line during the next straight-line driving is less than or equal to the calculated angle θst (step s12).

[0122] If the determination result is that the angle difference between the orientation of the machine body 2 and the target line in the subsequent straight-line driving exceeds θst [degrees], the determination is repeated until the angle difference is below θst [degrees] while keeping the steering angle of the steering wheel 56 at θd.

[0123] Conversely, if the determination result is that the angle difference between the orientation of the machine body 2 and the target line during the subsequent straight-line travel is θst [degrees] or less, the control unit 87 drives the steering motor 57 to return the steering wheel 56 to the neutral position (step s13). As a result, after turning, the orientation of the machine body 2 is fixed (in Figure 5 The field 200 shown, along with the driving path, is either facing south or north.

[0124] In this embodiment, the steering wheel 56 is returned to the neutral position when the angle difference between the orientation of the machine body 2 and the target line during subsequent straight-line travel is less than or equal to the calculated angle. However, it can also be configured to return the steering wheel 56 to the neutral position when the orientation changes by θst = 180 - 1.32 ωp [degrees] from the orientation before turning in the direction of deflection. It serves the same purpose in either case.

[0125] Thus, in the turning control of this embodiment, since the steering angle correction control is configured to turn the steering wheel 56 back or turn it fully to the steering angle θdi midway, and the steering angle θdi is obtained by taking into account the slip amount calculated by ωp-ωi and the steering angle correction control value set on the monitor 61, it is possible to prevent the turning from being too small or too large due to the amount of slip of the driving wheels 8 and 9.

[0126] Furthermore, the result of the turning control performed by operating the turning control switch 17 is that if the work vehicle 1 turns to a position different from the position of the east-west direction of the next straight-ahead travel (the position of the line formed by the line marker 40, which is also the position of the hypothetical target line) (too small a turn or too large a turn), the operator can control the turn by operating the switch 17. Figure 8 The operating switch 62 shown changes the control value of the input variable x to adjust the east-west position of the work vehicle 1 (driving vehicle body 2) after turning.

[0127] Thus, when the turning control ends, the control unit 87 releases the speed limit and drives the HST servo motor 150 to change the speed to the position corresponding to the operating position of the main gear lever 35. Furthermore, the control unit 87 is configured to automatically lower the seedling planting unit 63 to the working position to begin seedling planting, and without operating the straight-line assist lever 79 for starting straight-line control, automatically switch to straight-line control (start straight-line control).

[0128] As a result, the operating vehicle 1 is able to Figure 5 The seedlings are planted at appropriate intervals on the east side of the position shown as the "second column" while traveling south relative to the seedlings planted when traveling north relative to the position shown as the "first column".

[0129] Under straight-line control, when the work vehicle 1 approaches the perimeter area 211, the operator swings the straight-line assist lever 79 upwards to end the straight-line control performed by the control unit 87.

[0130] Next, the operator will Figure 4 The finger rod 23 shown is swung upwards to raise the seedling planting section 63, and, in the same way as turning from the "first column" to the "second column", it turns from the "second column" to the "third column" based on turning control.

[0131] Similarly, the work vehicle 1 repeatedly travels in a straight line while planting rice seedlings. Figure 5 (Using a single-dot dashed line diagram) and turning based on turn control ( Figure 5 (Using a double-dotted line to illustrate), while moving to the position of "column n".

[0132] Thus, after the seedlings are planted in the central area 210, the work vehicle 1, operated by the operator, moves sequentially through the peripheral areas 211-214 while simultaneously planting seedlings. The result is that seedlings are planted throughout the entire field 200.

[0133] The above describes in detail the method of planting rice seedlings in the field while alternately performing straight-line control and turning control based on "U-turn". However, when the turning control switch 17 is set to "reverse turn", the turning control is performed as follows.

[0134] Figure 9 This is a flowchart illustrating the process of turning control based on the "reverse turning" method.

[0135] like Figure 9 As shown, prior to the turning control based on the form of "reverse turning", in Figure 5 In each of the straight-moving columns, such as the "first column" shown, the straight-moving assist lever 79 is swung upwards. After the straight-moving control by the control unit 87 ends, the work vehicle 1 is driven by the operator and stops at the edge of the field ridge, which serves as the perimeter area 211 or 213 of the field. If there are insufficient seedlings, the operator or an assistant on the field ridge will replenish the seedlings at this time.

[0136] Next, when the main shift lever 35 is moved to the reverse area (see reference) Figure 4 When (b) is in progress, turning control is initiated based on the form of “reverse turn”.

[0137] When turning control is initiated by reversing the work vehicle 1, the control unit 87 first obtains data on the distance up to the turning target position from the storage unit 93 (step ss1). The definition of the turning target position is the same as in the case of a "U-turn".

[0138] Next, the control unit 87 returns the steering wheel 56 to the neutral position and updates the prescribed distance for the machine body 2, bringing it to a stop. In this embodiment, the machine body is configured to move backward 106cm based on the detection signal from the rear wheel rotation sensor 29.

[0139] Thus, when the machine body 2 stops, the control unit 87 limits the speed to 0.75 [m / s] while moving the machine body forward and driving the steering motor 57 to turn the steering wheel 56 in the direction of the next work row (to the right when turning to the "second column") in a manner that achieves a predetermined steering angle θd [degrees] (step ss2).

[0140] The following describes steps s3 to s13 in the case of a "U-turn" (refer to...). Figure 6 Same control.

[0141] according to Figures 1 to 9 In the embodiment shown, the steering angle of the steering wheel 56 is corrected from a predetermined steering angle θd [degrees] that enables turning to the target turning position in a field under standard conditions to a target steering angle θdi [degrees]. For this target steering angle θdi [degrees], the related value representing the degree of slip of the driving wheels 8 and 9 is a term that functions to correct the steering angle from the predetermined steering angle θd [degrees] to the neutral position side of the steering wheel 56. Therefore, the steering angle of the steering wheel 56 can be corrected to the neutral position side based on the amount of slip.

[0142] Therefore, even with a large amount of slip, it can prevent turning too small and can turn the work vehicle 1 with a constant turning radius by taking into account the slip of the traveling wheels 8 and 9.

[0143] Furthermore, since it is possible to turn at a steering angle that takes into account the slippage of the driving wheels 8 and 9, it is not necessary to set a separate driving path and repeatedly turn the steering wheel 56 along that driving path when turning. Therefore, the work vehicle 1 can turn stably toward the next insertion stroke position that is the turning target position, and the shaking of the machine body 2 can be prevented, making the operation stable.

[0144] Furthermore, according to this embodiment, when the correlation value “(ωp-ωi)” representing the degree of slippage of the driving wheels 8 and 9 during turning is less than 0, the correlation value is set to 0 to calculate the target steering angle θdi, thus preventing inappropriate steering angle correction.

[0145] Furthermore, according to this embodiment, when calculating the target steering angle θdi, the calculation includes substituting the control value for steering angle correction set by the operator (see reference). Figure 8 (a) and Figure 8 The term "1.5·(10-x)" in variable x of (b) enables the work vehicle 1 to turn with high precision toward the next insertion stroke position, which is the turning target position, by taking into account the steering angle of the control value set by the operator. In addition, the term "1.5·(10-x)" functions by correcting the steering angle of the steering wheel 56 from the specified steering angle θd [degrees] toward the fully turned position, thus preventing excessive turning in situations with little slippage, such as in shallow fields.

[0146] Furthermore, according to this embodiment, by sequentially changing the steering angle of the steering wheel 56 to θd, θdi, θd, and the neutral position, the work vehicle 1 can turn to a precise position. Therefore, it is not necessary to set a separate driving path when turning and to repeatedly turn the steering wheel along that driving path, thus simplifying the control.

[0147] Furthermore, according to this embodiment, during the turning of the work vehicle 1 by turning control, the control unit 87, which drives the steering motor 57 that rotates the steering wheel 56, is configured to change the applied voltage according to the operating position of the main gear lever 35, so that the lower the speed of the vehicle body 2, the lower the rotation speed of the steering wheel 56. Therefore, the turning radius in the turning control can be made more stable, and the work vehicle 1 can be turned steadily towards the position of the next insertion stroke.

[0148] Furthermore, according to this embodiment, in the turning control, before and after the steering wheel 56 turns, the rotation speed of the steering motor 57 that makes the steering wheel 56 turn is suppressed to a low level. Therefore, the impact when the steering wheel 56 turns, can be reduced, and gear noise can be prevented from being generated between the steering wheel 56 and the steering motor 57.

[0149] Furthermore, according to this embodiment, the distance interval for obtaining soil fertility data is configured to be equal to the distance between rows of rice seedlings planted in the field (30cm). Therefore, in addition to being able to perform sampling stably, data can be obtained in approximately adjacent rows (columns of rice seedlings) even when teaching while moving at an angle or laterally.

[0150] Furthermore, according to this embodiment, in turning control, such as Figure 8 As shown, the amount of rotation (rotation angle) when the steering wheel 56 is turned back or fully turned can be increased or decreased by changing the control value on the monitor 61 according to the relevant value indicating the degree of slippage of the driving wheels 8 and 9. Therefore, the position of the work vehicle 1 after turning can be easily adjusted on the monitor 61.

[0151] Furthermore, according to this embodiment, control values ​​can be set on the monitor 61 for both left turns and right turns. Therefore, when the field conditions differ between the field edge (north side) and the other field edge (south side), the position of the work vehicle 1 after turning can be appropriately adjusted at each field edge.

[0152] Figure 10 This is a flowchart illustrating the turning control process of the control unit 87 of the work vehicle 1 according to another preferred embodiment of the present invention.

[0153] In this embodiment, the work vehicle 1 is configured as a rice transplanter equipped with a seedling transplanting unit 63 (an example of a work machine) that plants seedlings in 7 rows. The distance to the target turning position (e.g., the distance between the "first row" and the "second row") is 210 cm (30 cm between rows × 7 rows of seedlings). Therefore, it is set to be more than Figures 1 to 9 The work vehicle 1 in the above-described embodiment is 30cm shorter.

[0154] Therefore, in turning control, the control unit 87 can turn to the target turning position at a predetermined steering angle θd [degrees] in a field under standard conditions. This steering angle θd [degrees] is located closer to the fully locked position than the predetermined steering angle θd [degrees] in the case of the above embodiment (the steering angle θd [degrees] from the neutral position is larger than that in the case of the above embodiment), and the turning begins with the steering wheel 56 turned to approximately the fully locked position.

[0155] Here, as mentioned above, the range of the corrected target steering angle θdi is θd-100≤θdi≤θd+20 [degrees]. The correction range from the specified steering angle θd [degrees] is -100° to +20°, and the upper limit (maximum value) of the correction value towards the full-steering position (correction in the steering direction from the steering angle θd) is +20°.

[0156] However, in the work vehicle 1 with a seedling planting section 63 having 7 rows of planting, the steering angle θd is approximately at the fully locked position, and the steering angle θd [degrees] before correction is not at a position above the upper limit angle (+20°) of correction on the neutral position side of the fully locked position. In other words, if the upper limit angle of correction is added to the specified steering angle θd [degrees], it becomes an angle exceeding the fully locked position. Therefore, since sufficient steering angle correction towards the fully locked position cannot be performed, in this embodiment, it is configured to correct the steering angle by timing the return to the neutral position ( Figure 6 The orientation of the body 2 calculated in step s11 is corrected so that it can turn towards the target turning position. The following explains the timing correction of turning back to the neutral position in the turning control based on the "U-turn" form.

[0157] In this embodiment, after obtaining the distance data up to the target turning position (step sss1), the control unit 87 limits the vehicle speed to 0.75 [m / s] and drives the steering motor 57 to turn the steering wheel 56 toward the next insertion stroke side in such a way that a predetermined steering angle θd [degrees] is obtained (step sss2).

[0158] Next, the control unit 87 determines whether the angle difference between the orientation of the machine body 2, determined based on the detection signal output from the orientation sensor 80 of the machine body, and the hypothetical target line during the next straight-line driving is less than 50° (step sss3).

[0159] If the result of the determination is that the angle difference between the orientation of the machine body 2 and the hypothetical target line in the next insertion stroke (e.g., "second column") exceeds 50°, the determination is repeated until the angle difference is less than 50°.

[0160] In contrast, if the determination result is that the angle difference between the orientation of the machine body 2 and the hypothetical target line in the subsequent insertion stroke is less than 50°, the control unit 87 drives the HST servo motor 150 to limit the vehicle speed to 0.5m / s (step sss4).

[0161] Next, the control unit 87 determines whether the angle difference between the orientation of the machine body 2 determined from the detection signal output from the orientation sensor 80 and the hypothetical target line during the next straight-line driving is less than or equal to angle θst (step sss6).

[0162] If the determination result is that the angle difference between the orientation of the machine body 2 and the target line in the subsequent insertion stroke (straight driving) exceeds θst [degrees], the determination is repeated until the angle difference is below θst [degrees] while keeping the steering angle of the steering wheel 56 at θd.

[0163] In contrast, if the determination result is that the angle difference between the orientation of the machine body 2 and the target line in the next straight-line driving is less than θst [degrees], the control unit 87 drives the steering motor 57 to return the steering wheel 56 to the neutral position (step sss7).

[0164] Thus, in this embodiment, the steering wheel 56 is turned back to the neutral position based on the body orientation (timing) of the control value set on the monitor 61, thereby enabling high-precision turning towards the target turning position.

[0165] Thus, when the turning control ends, the control unit 87 releases the speed limit and drives the HST servo motor 150 to change the speed to the speed corresponding to the operating position of the main gear lever 35.

[0166] In work vehicles, it is preferable to install status indicator lights that provide notification during automatic driving, especially when the work vehicle is operating automatically without human intervention, so that the operator outside the vehicle can clearly understand the status of the work vehicle. Status indicator lights are generally located on the upper part of the vehicle to ensure good visual confirmation from the surrounding environment. (Japanese Patent Application Publication No. 2021-108595)

[0167] However, status indicator lights are often longer in the vertical direction. If they are placed on the upper part of the vehicle, the status indicator lights will protrude upwards from the part of the vehicle other than the status indicator lights themselves. Consequently, the overall height of the vehicle will increase. When the work vehicle is loaded onto a truck, the status indicator lights may come into contact with the outside of tunnels or other structures and be damaged.

[0168] Therefore, the object of the present invention is to provide a work vehicle in which the status indicator lights are visually verifiable and can prevent the status indicator lights from coming into contact with the outside.

[0169] In this embodiment, the operating vehicle 1 is a rice transplanter used for planting rice seedlings in a field, such as... Figure 1 As shown, the vehicle includes: a vehicle body 2 (hereinafter also referred to as "vehicle body"); a seedling planting section 63 installed at the rear of the vehicle body 2; a status indicator light 55 displaying the status of the work vehicle 1; a fertilizer applicator 26 supplying fertilizer to the field; a pair of left and right line markers 40 forming a line on the field as a target for the vehicle's position when planting seedlings while driving; a receiving antenna 130 installed at the front of the vehicle body 2; an orientation sensor 80 for detecting the orientation of the vehicle body 2; an auxiliary seedling frame 74 installed at the front of the vehicle body 2 and storing the seedlings supplied to the seedling planting section 63; and a remote control 44 for remotely operating the work vehicle 1 from the outside (see reference). Figure 11 as well as Figure 12 ).

[0170] The receiving antenna 130 and the orientation sensor 80 were Figure 1 The antenna cover 50 shown is used for covering. The seedling planting section 63 is an example of the "operating machine" of the present invention.

[0171] The receiving antenna 130 is an antenna that receives radio waves from GNSS satellites and is capable of acquiring the vehicle's position information. The acquired position information is sent to the navigation ECU 70 (see reference 87) located in the control unit 87 of the moving vehicle body 2. Figure 11 Using RTK-GNSS to obtain location information, high-precision location information can be obtained by receiving correction information.

[0172] In this embodiment, as the input interface for calibration information, Bluetooth's (registered trademark) SPP (Serial Port Profile) is used to connect and input the mobile phone and Bluetooth (registered trademark) converter by device name.

[0173] Remote controller 44 remotely operates the work vehicle 1, sending instructions such as start operation, forward / reverse, and stop to the remote control antenna 52 located on the vehicle. If the communication distance between the remote controller 44 and the work vehicle 1 exceeds a certain limit, the work vehicle 1 will automatically stop for safety.

[0174] Figure 13 yes Figure 1 The outline front view shown is of the area near status indicator light 55. Figure 14 It is a magnified 3D view of the status indicator light 55 in a posture that extends in the vertical direction. Figure 15 It is an enlarged stereoscopic view of the status indicator light 55 in a posture that extends horizontally.

[0175] exist Figure 13 The dialog box shows an enlarged front view of the support component 90 of the support status indicator light 55. Figure 14 as well as Figure 15 The vicinity of the status indicator light 55 is shown when viewed from the right front. Additionally, in Figure 14 as well as Figure 15 The storage box, which will be described in detail later, is omitted from the text.

[0176] in addition, Figure 16 This is a magnified 3D view of the area around status indicator light 55, viewed from the right rear. Figure 17 This is a magnified 3D view of the status indicator light 55, viewed from the lower left front.

[0177] like Figure 14 as well as Figure 16As shown, the status indicator light 55 is configured as a stacked light having a first light 121, a second light 122 and a third light 123 arranged in the vertical direction. The first light 121 can emit (light up) a pink light, the second light 122 can emit (light up) a green light and the third light 123 can emit (light up) a blue light.

[0178] Here, when only the first light 121 is illuminated, it indicates a temporary stop (parking) state due to an abnormality; when only the third light 123 is illuminated, it indicates that the vehicle is in motion under automatic driving conditions; when all three lights 121, 122, and 123 are illuminated, it indicates that the vehicle is ready to begin automatic driving; and when all three lights 121, 122, and 123 are off, it indicates that the vehicle is in manual driving mode or manned automatic driving mode. Therefore, while the operator is riding in the work vehicle 1 and operating it, the status indicator light 55 will not illuminate or flash, and will not be obstructive.

[0179] When the system is set to unmanned autonomous driving mode, any one of the status indicator lights 55, 121-123, will be illuminated.

[0180] like Figure 1 as well as Figure 13 As shown, the status indicator light 55, which displays the status of the work vehicle 1, is configured on the coverage receiving antenna 130 (see reference). Figure 1 The antenna radome 50 is located on the right side of the vehicle and at its highest position.

[0181] like Figure 13 as well as Figure 16 As shown, the antenna frame 100 supporting the receiving antenna 130 and the radome 50 includes: a pair of left and right fixed frames 75 and 76 fixed to the lower part of the bottom step 60 of the vehicle body 2; and a mounting frame 77 that connects the pair of fixed frames 75 and 76 at their upper ends, on which the radome 50 is mounted.

[0182] In this embodiment, the status indicator light 55 is mounted on the support member 90 and supported by the support member 90.

[0183] like Figure 13 As shown in the dialog box, the support member 90 has a mounting plate 92 that is inverted L-shaped when viewed from the front and a U-shaped support bar 91. The right side of the support bar 91 of the support member 90 is fixed to the mounting frame 77 by bolts 93A.

[0184] When using status indicator light 55 ( Figure 1 , Figure 13 , Figure 14 , Figure 15 and Figure 16 (As shown in the usage state), mounting plate 92 and support bar 91 are connected via Figure 14 The knob bolt 58A and the shoulder bolt 59 shown are connected.

[0185] Specifically, the threaded hole 94 formed on the front side of the mounting plate 92 overlaps with the threaded hole 94 formed on the front side of the support bar 91, and the hole 95 formed on the rear side of the mounting plate 92 overlaps with the hole 95 formed on the rear side of the support bar 91. The knob bolt 58A is inserted and screwed into each of the threaded holes 94 on the front side, and the shoulder bolt 59 is inserted into each of the holes 95 on the rear side. A nut is used to secure it from the inside (left side), thereby connecting the mounting plate 92 and the support bar 91. The shoulder bolt 59 is inserted in the left-right direction (vehicle width direction).

[0186] Here, if only the knob bolt 58A is removed from the mounting plate 92 and the support bar 91, the mounting plate 92 and the status indicator light 55 fixed to the mounting plate 92 can be rotated rearward with the shoulder bolt 59 extending in the left-right direction as the pivot point, thereby switching to Figure 15 The storage state (storage posture) shown.

[0187] In this embodiment, when the mounting plate 92 and the status indicator light 55 are rotated rearward, the status indicator light 55 is located entirely below the upper end of the antenna cover 50.

[0188] Therefore, for example, when loading the work vehicle 1 onto a truck for transport, the operator can reduce the overall height of the vehicle by removing the knob bolt 58A from the mounting plate 92 and the support bar 91, and rotating the mounting plate 92 and the status indicator light 55 to the rear (driver's seat 48 side), thus preventing the status indicator light 55 from coming into contact with the outside (e.g., a tunnel) and being damaged during transport.

[0189] Furthermore, in this embodiment, since a knob bolt 58A is used for through insertion into the threaded holes 94, 94 on the front side, the knob bolt 58A can be removed from the mounting plate 92 and the support bar 91 without tools, allowing the mounting plate 92 and the status indicator light 55 to rotate, which is highly convenient.

[0190] In addition, in this embodiment, such as Figure 13 As shown, the mounting plate 92 of the support member 90 is inverted L-shaped, and a portion 113 of the mounting plate 92 above the portion connected to the support bar 91 extends inward in the vehicle width direction (towards the central marker 18). A status indicator light 55 is mounted on the upper surface of this portion extending inward in the vehicle width direction.

[0191] With this configuration, even when the status indicator light 55 (adjacent) is positioned to the side of the antenna cover 50, the status indicator light 55 can be positioned at the center in the vehicle width direction (left-right direction), thus preventing the status indicator light 55 from obstructing the operator's work route. Furthermore, as... Figure 15 As shown, when the mounting plate 92 and the status indicator light 55 are rotated to the rear, the removal of bolts 93A and shoulder bolts 59 becomes easy.

[0192] Additionally, when the status indicator light 55 is not in use, the mounting plate 92 and the status indicator light 55 can also be removed from... Figure 15 The indicated state is further rotated downwards, switching to the state where the status indicator light 55 faces downwards (the second light 122 is located below the third light 123, and the status indicator light 55 is from...). Figure 14 The state shown is rotated downwards approximately 180°.

[0193] In this configuration, since the status indicator light 55 is positioned below the upper end of the antenna cover 50, it prevents the status indicator light 55 from coming into contact with the outside, and facilitates the removal of bolts 93A and shoulder bolts 59. Furthermore, when the status indicator light 55 is switched to its downward-extending position, it does not extend towards the rear driver's seat 48, thus minimizing obstruction to the operator.

[0194] Alternatively, the status indicator lights can be positioned horizontally (with the first light located to the side of the third light) below the antenna cover 50. In this case, the status indicator lights will not obstruct the receiving antenna, the overall height of the vehicle in operation can be suppressed, the appearance is good, and the status indicator lights can be easily checked from the driver's seat 48.

[0195] Figure 18 It means Figure 16 An enlarged perspective view of the inner surface of the storage box 53 shown.

[0196] like Figure 13 , Figure 16 , Figure 17 and Figure 18 As shown, a storage box 53 is provided below the radome 50, using a pair of plates 68 installed on the left and right sides of the storage box 53 (see reference). Figure 18 It is fastened together with the support bar 91 and the mounting frame 77 by bolts 93A.

[0197] like Figure 16As shown, an opening 78 is formed at the rear of the storage box 53, which allows precision instruments such as network-type RTK-GPS service (VRS) terminals or their cables to be stored in the storage box 53 without obstructing the acquisition of position information of the receiving antenna 130 or the operator's field of vision.

[0198] like Figure 18 As shown, a rubber plate 84 is attached to the bottom surface of the inner side of the storage box 53 to suppress the transmission of vibration / impact to the precision instruments stored in the storage box 53.

[0199] like Figure 17 As shown, the storage box 53 is fixed in a way that leaves no gap between the upper end of the storage box 53 and the bottom surface (GNSS plate) 104 of the radome 50 except for the opening 78, thus preventing water and dust from entering from the parts other than the opening 78, and also resulting in an aesthetically pleasing appearance. In addition, since a slit 101 extending in the left and right direction is formed on the bottom surface of the storage box 53, water or dust can be prevented from accumulating inside the storage box 53.

[0200] like Figure 16 , Figure 17 and Figure 18 As shown, a fold-back section (return section) 106 with a length of about 20mm is provided at the rear of the storage box 53 to prevent items stored in the storage box 53 from falling to the outside.

[0201] like Figure 18 As shown in the “fold-back” section, the rear end of the fold-back portion 106 is folded back downwards in a manner that is close to the outer surface, which can prevent damage caused by burr warping.

Claims

1. A working vehicle, characterized in that, The operating vehicle is equipped with: Vehicle body (2); The work machine is installed on the traveling vehicle body (2); A receiving antenna (130) acquires the position information of the vehicle body (2); Antenna frame that supports the receiving antenna (130). Antenna radome (50) covering the receiving antenna (130); and Status indicator lights show the status of the work vehicle. A first support component is fixed to the antenna frame to support the status indicator light. At least a portion of the first support member has a shape extending along the width direction of the work vehicle, and the status indicator light is fixed to the portion extending along the width direction. The upper part of the antenna frame has a storage space. A plate-shaped second support member is provided on the bottom surface of the receiving antenna (130). The receiving antenna (130) and the radome (50) are supported by the second support member. The storage space is formed by the second supporting component.

2. The working vehicle according to claim 1, characterized in that, The storage space is located below the receiving antenna (130).

3. The operating vehicle according to claim 1 or 2, characterized in that, A precision instrument and / or its cables for acquiring position information are arranged on the upper part of the antenna frame. The cables are arranged along the antenna frame.

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