Agricultural vehicle

Abstract

The invention provides an agricultural work vehicle capable of automatically changing a field work machine to an appropriate height during specific operation of the agricultural work vehicle. An agricultural work vehicle (1) is provided with a traveling machine body (10), a field work machine (20), a lifting device (30), and a control unit (60). The traveling machine body (10) is capable of traveling in the field. The field work machine (20) is connected to the traveling machine body (10). The raising and lowering device (30) raises and lowers the field work machine (20). The control unit (60) controls the traveling machine body (10), the field work machine (20), and the lifting / lowering device (30). The raising and lowering device (30) raises and lowers the field work machine (20) so that the height for supporting the field work machine (20) reaches a highest position at which the field work machine (20) is highest or a set height lower than the highest position. The control unit (60) controls the lifting device such that the height reaches a set height in accordance with a specific operation of the agricultural vehicle in accordance with an operation by an operator.

Description

Technical Field

[0001] The invention relates to an agricultural operation vehicle. Background Art

[0002] A rice transplanter is known in the art, which includes a traveling vehicle that can travel in a field and a field working machine that has a rice seedling planting function. Patent document 1 discloses a rice transplanter that can change the height of the field working machine during travel of the traveling vehicle and during planting operations by the field working machine.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-187888 Summary of the invention

[0006] However, for example, when the traveling machine body is moving backward in the field, if the field working machine is supported at a high position, the field of vision of the operator in the driver's seat may be blocked. In this case, the operator needs to adjust the height of the field working machine individually. In this way, the operator spends time changing the height of the field working machine to an appropriate position for the agricultural working vehicle.

[0007] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an agricultural working vehicle capable of automatically changing a field working machine to an appropriate height.

[0008] The agricultural working vehicle involved in the present invention comprises a traveling body, a field working machine, a lifting device and a control unit. The traveling body can travel in a field. The field working machine is connected to the traveling body. The lifting device lifts and lowers the field working machine. The control unit controls the traveling body, the field working machine and the lifting device. The lifting device lifts and lowers the field working machine in such a way that the height supporting the field working machine reaches the highest highest position or a set height lower than the highest position. The control unit controls the lifting device in such a way that the height reaches the set height according to the specific movement of the agricultural working vehicle corresponding to the operation of the operator.

[0009] Effects of the Invention

[0010] According to the agricultural working vehicle of the present invention, the height of the field working machine can be automatically changed to an appropriate height. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a side view of the agricultural work vehicle according to the present embodiment.

[0012] Figure 2 yes Figure 1A top view of an agricultural vehicle is shown.

[0013] Figure 3 yes Figure 1 The exterior view of the steering wheel and the surrounding area of ​​the agricultural vehicle shown.

[0014] Figure 4A It is a top view around the steering wheel.

[0015] Figure 4B This is an enlarged view of a multiswitch.

[0016] Figure 5 It is shown in Figure 1 The figure shows a state in which the height of the field working machine in the agricultural working vehicle is changed to the highest position.

[0017] Figure 6 It is shown in Figure 1 The figure shows a state in which the height of the field working machine in the agricultural working vehicle is changed to a set height.

[0018] Figure 7 It is shown Figure 1 A block diagram of the functional structure of an agricultural vehicle is shown.

[0019] Fig. 8A It is shown Figure 1 Flowchart of a one shot height setting process by a control unit of an agricultural work vehicle shown in FIG.

[0020] Figure 8B It is shown Figure 1 Flowchart of control processing of the lifting device by the control unit of the agricultural work vehicle shown.

[0021] Fig. 9A It is shown Figure 1 Flowchart of a switching process of a control height by a control unit of an agricultural work vehicle shown.

[0022] Fig. 9B It is shown Figure 1 Flowchart of other control processing of the lifting device by the control unit of the agricultural work vehicle shown.

[0023] Fig.10 It is shown Figure 1 1 is a flowchart of a control process of the lifting device by the control unit during automatic driving of the agricultural work vehicle shown.

[0024] Fig.11 It is a diagram showing a sub-monitor according to the present embodiment.

[0025] Description of Reference Numerals

[0026] 1…agricultural vehicle; 5…operating parts; 10…traveling body; 11…body; 12…engine; 13…steering wheel; 14…main gear lever; 15…auxiliary gear lever; 16…seedling refill button; 17…multi-way switch; 18…height change lever; 19…transmission; 20…field working machine; 21…seedling loading platform; 22…planting part; 23…plant spacing speed change device; 24…planting drive mechanism; 25…preparatory seedling loading platform; 30…lifting device; 31…lifting connecting rod mechanism; 32…lifting cylinder; 40…positioning unit (positioning device); 50…storage unit; 60…control unit; S2…height setting switch (setting operation unit); S3…height switching switch (switching operation unit). DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the same reference numerals are given to the same or corresponding parts in the drawings, and the description thereof will not be repeated.

[0028] (1) Overall structure

[0029] Hereinafter, an agricultural work vehicle 1 according to the present embodiment will be described with reference to the drawings. First, the overall structure of the agricultural work vehicle 1 will be described. Figure 1 It is a side view of the agricultural work vehicle 1 according to the present embodiment. Figure 2 It is a top view of the agricultural work vehicle 1 .

[0030] In the following description, the front-rear direction, left-right direction, and up-down direction are defined based on the operator driving the agricultural vehicle 1. In addition, in each of the drawings, the structure is described using the front (Fr), rear (Rr), left (L), right (R), top (U), and bottom (Lo).

[0031] like Figure 1 As shown, the agricultural vehicle 1 includes a travel body 10, a field work machine 20, a lifting device 30, and a control unit 60. The agricultural vehicle 1 is, for example, a device for planting rice seedlings, and the field work machine 20 is used to plant the seedlings while traveling in the field. In addition, the agricultural vehicle 1 may also be a vehicle used for agricultural operations other than planting seedlings, such as transplanting, sowing, and tilling vegetables or grains.

[0032] (1-1) Structure of the traveling body 10

[0033] First, the structure of the traveling machine body 10 will be described. Figure 1 and Figure 2As shown, the traveling machine body 10 is constituted by a machine body capable of traveling in a field. The traveling machine body 10 includes a vehicle body 11 , an engine 12 , a steering wheel 13 , a main gear lever 14 , a sub-gear lever 15 , a seedling resupply button 16 , and a transmission 19 .

[0034] The vehicle body 11 includes a front wheel 11A and a rear wheel 11B. The front wheels 11A are provided as a pair of left and right wheels with respect to the vehicle body 11. Similarly, the rear wheels 11B are also provided as a pair of left and right wheels with respect to the vehicle body 11.

[0035] The vehicle body 11 includes an engine cover 11C. The engine cover 11C is provided at the front portion of the vehicle body 11. An engine 12 is provided inside the engine cover 11C. The power generated by the engine 12 is transmitted to the front wheels 11A and the rear wheels 11B via a transmission 19.

[0036] The transmission 19 has a stepped transmission that transmits the power generated by the engine 12 to the front wheels 11A and the rear wheels 11B in response to the operator's operation of the main gear lever 14 and the auxiliary gear lever 15 .

[0037] The vehicle body 11 includes a driver's seat 11D. An operator can sit in the driver's seat 11D. The driver's seat 11D is disposed between the front wheel 11A and the rear wheel 11B in the front-rear direction of the vehicle body 11.

[0038] The steering wheel 13 is a steering wheel for an operator to steer the agricultural vehicle 1. The steering wheel 13 is disposed in the vehicle body 11 in front of a driver's seat 11D.

[0039] The main shift lever 14 is a lever for receiving operations of “forward”, “reverse”, “neutral”, etc. The main shift lever 14 is arranged in the vehicle body 11 near the steering wheel 13 .

[0040] When the main gear lever 14 is operated to the "forward" position, the transmission 19 transmits the power to the front wheel 11A and the rear wheel 11B to rotate in the forward direction of the agricultural vehicle 1. On the other hand, when the main gear lever 14 is operated to the "reverse" position, the transmission 19 transmits the power to the front wheel 11A and the rear wheel 11B to rotate in the reverse direction of the agricultural vehicle 1. And, when the main gear lever 14 is operated to the "neutral" position, the transmission 19 cuts off the transmission of power to the front wheel 11A and the rear wheel 11B. In addition, the planting power transmission shaft 19A is connected to the transmission 19.

[0041] The auxiliary shift lever 15 is an operation lever that can switch between "low speed" and "high speed" in the forward speed. "Low speed" is used, for example, when traveling while working in a field. "High speed" is used, for example, when traveling on a farm road outside a field.

[0042] The seedling regeneration button 16 is an operation button pressed by the operator when performing the seedling regeneration operation described later. The operator presses the seedling regeneration button 16 to change the engine 12 into the seedling regeneration state. In the seedling regeneration state, the rotation speed of the engine 12 is reduced, and the drive of the gearbox 19 is restricted.

[0043] Figure 3 It is an external view of the area around the steering wheel 13 of the agricultural vehicle 1 . Figure 4A It is a top view of the area around the steering wheel 13 . Figure 4B 1 is an enlarged view of the multi-way switch 17. Figure 3 and Figure 4A As shown, the agricultural work vehicle 1 further includes a multi-way switch 17 and a height change lever 18 .

[0044] The multi-way switch 17 is an input interface for accepting inputs from the operator regarding various operations of the agricultural vehicle 1. Figure 4A As shown, the multi-way switch 17 is arranged on the right side of the steering wheel 13 .

[0045] like Figure 4B As shown, a plurality of operation switches related to various functions are included in the multi-way switch 17. An operator can perform a predetermined operation corresponding to each operation switch by pressing any one of the operation switches.

[0046] The multi-way switch 17 includes a one shot switch S1 and a height setting switch S2.

[0047] The one-shot setting switch S1 is a switch that performs a one-shot setting function mounted on the agricultural working vehicle 1. The one-shot setting function is a function of raising or lowering the height of the field working machine 20 to a one-shot setting height in response to the operator pressing the one-shot setting switch S1.

[0048] Here, the one-time setting height means an arbitrary height set in advance by the operator. In the present embodiment, the one-time setting height may be recorded as the setting height.

[0049] The height change lever 18 is a lever operated by an operator driving the agricultural vehicle 1 when changing the height of the farm working machine 20. The operator operates the height change lever 18 to change the farm working machine 20 to an arbitrary height.

[0050] In addition, the aforementioned one-time setting function includes a function that allows the operator to set the height at which the field working machine 20 is frequently located as the one-time setting height in advance. Specifically, the operator presses the height setting switch S2 while the field working machine 20 is located at a desired height by operating the height change lever 18. As a result, the height of the field working machine 20 immediately before the operator specifies is set as the one-time setting height.

[0051] Then, after the one-time setting height is set, if the operator presses the one-time setting switch S1, the field working machine 20 is raised or lowered to the one-time setting height.

[0052] Furthermore, in this embodiment, Figure 4B The height setting switch S2 in FIG. 1 functions as a setting operation unit of the present invention. The setting operation unit is a user interface that receives input from an operator regarding setting of the setting height of the field working machine 20 .

[0053] In addition, the agricultural vehicle 1 has a switching operation unit. The switching operation unit is a user interface that receives input of a switching operation for switching the controlled height of the field working machine 20 raised and lowered by the lifting device 30 between the once-set height and the highest position. Here, the controlled height represents a control value (target value) for the height of the field working machine 20 based on the lifting device 30.

[0054] Switching operation section as an example Figure 4B The height switching switch S3 included in the multi-way switch 17 is installed. When the operator presses the height switching switch S3, the controlled height of the field working machine 20 is switched to the highest position or the one-time set height.

[0055] In the following description, the steering wheel 13 , the main gear lever 14 , the auxiliary gear lever 15 , the seedling refilling button 16 , the multi-way switch 17 , and the height change lever 18 are sometimes collectively referred to as the operating member 5 .

[0056] (1-2) Structure of the Field Working Machine 20

[0057] Next, the structure of the field working machine 20 will be described. Figure 1 and Figure 2 As shown, the farm working machine 20 is disposed at the rear of the vehicle body 11 and is connected to the traveling body 10 via a lifting device 30 .

[0058] The farmland working machine 20 includes a seedling placing stand 21 , a planting section 22 , a plant spacing speed change device 23 , a PTO shaft 24 , and a preliminary seedling placing stand 25 .

[0059] The seedling platform 21 is a base for the seedling mat for cultivating the seedlings. Figure 1As shown, the seedling placing stand 21 is arranged in front of and above the planting section 22. The placing surface of the seedling placing stand 21 on which the seedling raising mat is placed is inclined so as to be lowered toward the rear.

[0060] The seedling loading platform 21 supplies the seedlings of the seedling raising mat placed on the loading area of ​​the seedling loading platform 21 to the planting section 22. The seedling loading platform 21 has a mechanism for reciprocating in the left-right direction. In other words, the seedling loading platform 21 is supported so as to be able to slide in the left-right direction. In addition, the seedling loading platform 21 intermittently transports the seedling raising mat downward at the reciprocating end of the seedling loading platform 21. Thus, the seedlings are sequentially supplied to the planting section 22 starting from the seedlings located at the lower end of the seedling raising mat placed on the loading area of ​​the seedling loading platform 21.

[0061] The plant spacing speed changing device 23 is a device that changes the operation speed of a transplanting mechanism 22C described later relative to the travel speed of the travel machine body 10 to change the plant spacing of the rice seedlings. Figure 8B The power from the gearbox 19 is transmitted to the plant spacing speed change device 23 via the planting power transmission shaft 19A. The rotation of the planting power transmission shaft 19A is changed in speed by a gear train built into the plant spacing speed change device 23, and is transmitted to the planting part 22 by the PTO shaft 24.

[0062] The PTO shaft 24 is connected to the inter-plant spacing speed change device 23 and the planting section 22 via a universal joint.

[0063] The planting section 22 includes a main frame 22A, a central housing 22B, a transplanting mechanism 22C, and a planting transmission box 22D.

[0064] The main frame 22A is a rod-shaped member whose longitudinal direction is the left-right direction. The main frame 22A supports the seedling loading stand 21 so as to be movable in the left-right direction.

[0065] The central housing 22B is disposed at the center of the main frame 22A in the left-right direction. The PTO shaft 24 is connected to the central housing 22B. The central housing 22B transmits the power transmitted from the plant spacing speed change device 23 via the PTO shaft 24 to the planting transmission box 22D via the planting drive shaft 22G extending in the left-right direction.

[0066] The planting transmission boxes 22D are arranged at multiple locations in the left-right direction at substantially equal intervals behind the main frame 22A. The planting drive shaft 22G is connected to the planting transmission box 22D as an input shaft. The planting transmission box 22D is provided with a pair of left and right transplanting mechanisms 22C.

[0067] The transplanting mechanism 22C continuously plants the rice seedlings sequentially supplied from the seedling placing platform 21. A plurality of transplanting mechanisms 22C are provided in the field working machine 20. The number of the transplanting mechanisms 22C can be arbitrarily selected.

[0068] The transplanting mechanism 22C is driven by the power transmitted from the inter-row spacing speed change device 23 via the PTO shaft 24. Specifically, the rotational force of the inter-row spacing speed change device 23 which has been speed-changed is transmitted to the transplanting mechanism 22C by the planting transmission box 22D.

[0069] The transplanting mechanism 22C includes a rotating case 22E and a planting claw 22F. The rotating case 22E has a rotating shaft extending in the left-right direction, and rotates around the rotating shaft as power is transmitted.

[0070] A plurality of planting claws 22F are arranged in the front-rear direction and mounted on the rotating box 22E. Figure 1 In the example of FIG. 2 , two planting claws 22F are mounted on the rotating box 22E.

[0071] The rotary box 22E rotates with the power transmitted from the planting transmission box 22D, thereby causing the planting claw 22F to operate. Specifically, the planting claw 22F operates as follows: as the rotary box 22E rotates, one row of seedlings is picked up from the seedling mat and planted at substantially equal intervals inside the paddy field.

[0072] The farmland working machine 20 moves the seedling placing platform 21 in the left-right direction along the main frame 22A. In conjunction with the left-right reciprocating movement of the seedling placing platform 21, the transplanting mechanism 22C takes out the rice seedlings from the seedling placing platform 21 and plants them in the field.

[0073] The reserve seedling loading platform 25 is provided with a pair of left and right sides relative to the vehicle body 11 in front of the vehicle body 11, and three layers are provided in the vertical direction. The reserve seedling loading platform 25 is arranged on the left and right outer sides of the engine cover 11C. The reserve seedling mats are stacked on the reserve seedling loading platform 25. In addition, the number of layers of the reserve seedling loading platform 25 can be changed arbitrarily. If the seedling mats of the seedling loading platform 21 are used up due to planting, the operator performs the operation of transferring the seedling mats of the reserve seedling loading platform 25 to the seedling loading platform 21. This operation is called the seedling resupply operation.

[0074] (1-3) Structure of the lifting device 30

[0075] Next, the structure of the lifting device 30 will be described. Figure 1 As shown, the lifting device 30 includes a lifting link mechanism 31 and a lifting cylinder 32 .

[0076] The lifting link mechanism 31 is composed of a parallel link including an upper link and a lower link. The lifting cylinder 32 is connected to the lifting link mechanism 31 .

[0077] The lifting device 30 supports the field working machine 20 so that it can be lifted and lowered by extending and retracting the lifting cylinder 32. In the present embodiment, a hydraulic cylinder is used for the lifting cylinder 32. In addition, the lifting cylinder 32 may also be an electric cylinder. In addition, the lifting device 30 may also lift and lower the field working machine 20 using an actuator other than a cylinder.

[0078] Figure 5 This is a diagram showing a state in which the height of the field working machine 20 in the agricultural working vehicle 1 is changed to the highest position. Figure 6 This is a diagram showing a state in which the height of the field working machine 20 in the agricultural working vehicle 1 is changed to a preset one-time set height.

[0079] like Figure 5 As shown, the lifting device 30 lifts the field working machine 20 in such a manner that the support height of the field working machine 20 reaches the highest position. Here, the highest position indicates the highest support height of the field working machine 20. In contrast, the lowest support height of the field working machine 20 is indicated as the lowest position. The highest position and the lowest position of the field working machine 20 are set in advance. The range between the highest position and the lowest position of the field working machine 20 is the liftable range of the field working machine 20 by the lifting device 30.

[0080] In addition, if Figure 6 As shown, the lifting device 30 raises and lowers the farm working machine 20 so that the supporting height of the farm working machine 20 reaches the one-time setting height. That is, the one-time setting height is an arbitrary height lower than the highest position.

[0081] According to the state of the agricultural vehicle 1 and in response to the operator's operation, the support height of the field working machine 20 is changed, for example, in the following manner.

[0082] When the agricultural vehicle 1 is traveling on a road outside a field (including a farm road or a field road): the highest position

[0083] When the agricultural vehicle 1 is performing planting operations in a field: any height including the lowest position of the operator

[0084] When the agricultural vehicle 1 performs a specific action other than planting in the field: the highest position or the one-time height setting

[0085] That is, the planting operation is performed in a state where the farm working machine 20 is supported at any height of the operator including the lowest position. Figure 8B Narrated in.

[0086] (1-4) Structure of Positioning Unit 40

[0087] Next, the structure of the positioning unit 40 as the positioning device of the present invention will be described. Figure 7 1 is a block diagram showing the functional structure of the agricultural vehicle 1. Figure 7 As shown, the agricultural work vehicle 1 further includes a positioning unit 40 , a storage unit 50 , and a control unit 60 .

[0088] The positioning unit 40 locates the driving position of the agricultural vehicle 1. The driving position also includes the stopped position. The positioning unit 40 receives a signal from a GNSS (Global Navigation Satellite System) satellite, obtains the position information of the agricultural vehicle 1, and provides the obtained position information to the control unit 60. As an example of GNSS, GPS (Global Positioning System) is described.

[0089] GPS is a system originally developed to assist navigation of aircraft, ships, etc. GPS includes, for example, 24 GPS satellites orbiting approximately 20,000 kilometers in the sky, a control station that tracks and controls the GPS satellites, and a receiver for positioning.

[0090] As a measurement method using GPS, there are various methods such as individual positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real time kinematic-GPS) positioning, etc. In this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

[0091] RTK-GPS positioning performs GPS observations at the base station that determines the position and at the observation point (mobile station) that is the object of observation. In RTK-GPS positioning, the data observed by the base station is sent to the observation point in real time by wireless or other methods, and the position of the observation point is calculated in real time based on the position of the base station.

[0092] The GPS unit used for RTK-GPS positioning is mainly composed of a mobile station unit mounted on the agricultural vehicle 1 and a base station unit arranged near the field. The base station unit functions as a base station. The mobile station unit functions as an observation point (mobile station).

[0093] In addition, the measurement method using GNSS applied to the present invention may also be other methods, and is not limited thereto. Therefore, GPS positioning other than RTK-GPS positioning can be performed. In addition, a GNSS system other than GPS can be used as the positioning unit 40. For example, a quantum compass can be used as the positioning device of the present invention. The quantum compass measures the magnetic intensity and estimates the position based on the principle of quantum mechanics.

[0094] (1-5) Configuration of Storage Unit 50

[0095] The storage unit 50 includes a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 50 may also include an auxiliary storage device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit 50 stores various programs and data.

[0096] The storage unit 50 stores the acquired field shape information in association with the travel position determined by the positioning unit 40. The field shape information is information indicating the shape of the field and is stored in association with the position information. The field shape information includes map data of the inside and the surrounding of the field where the agricultural vehicle 1 performs work.

[0097] Specifically, the field shape information includes at least the following information.

[0098] · Coordinates of the base position of the field

[0099] Size of the field

[0100] ·Outline of the field

[0101] The contours of the land surrounding the field

[0102] ·Width of field paths

[0103] ·The shape of the field path

[0104] ·Location relationship of multiple fields

[0105] The location of obstacles such as trees and steps

[0106] (1-6) Configuration of Control Unit 60

[0107] Next, the configuration of the control unit 60 will be described. The control unit 60 controls the travel machine body 10 , the farm working machine 20 , and the lifting device 30 .

[0108] As an example, the control unit 60 is an ECU (Electronic Control Unit). The control unit 60 includes a computing device and an input / output unit. The computing device is a processor or a microprocessor. The computing device reads and executes various programs from the storage unit 50. The control unit 60 can be a single hardware or a plurality of hardwares that can communicate with each other.

[0109] A signal corresponding to the operator's operation of the operating member 5 is input to the control unit 60. In addition, for example, a vehicle speed sensor (not shown) is connected to the control unit 60, and a signal indicating a detection result of the vehicle speed sensor is input to the control unit 60.

[0110] In the present embodiment, the traveling machine body 10 is controlled by the control unit 60. Specifically, the computing device of the control unit 60 reads and executes various programs from the storage unit 50. Thus, the control unit 60 functions as a traveling control unit through the cooperation of hardware and software. The control unit 60 controls the traveling speed and traveling direction of the traveling machine body 10 based on various input signals.

[0111] In addition, in the present embodiment, the plant spacing speed change device 23 of the field working machine 20 is controlled by the control unit 60. Specifically, the computing device of the control unit 60 reads and executes various programs from the storage unit 50. Thus, the control unit 60 functions as a drive control unit that controls the field working machine 20 through the cooperation of hardware and software.

[0112] The control unit 60 controls the driving of the plant spacing speed change device 23 of the farm working machine 20 based on a control command corresponding to an operation input to the farm working machine 20 .

[0113] In the present embodiment, the lifting device 30 is controlled by the control unit 60. Specifically, the arithmetic device of the control unit 60 reads and executes various programs from the storage unit 50. Thus, the control unit 60 functions as a height control unit through the cooperation of hardware and software.

[0114] The control unit 60 controls the lifting device 30 based on a control command according to an operation input to the farm working machine 20. For example, the control unit 60 controls the lifting device 30 so that the height of the farm working machine 20 reaches a specified height according to the operation of the height change lever 18 by the operator.

[0115] In addition, in the present embodiment, the control unit 60 controls the lifting device 30 so that the height reaches the once set height in accordance with the specific movement of the agricultural work vehicle 1 according to the operation of the operator.

[0116] Here, the specific actions of the agricultural work vehicle 1 according to the operator's operation include, for example, the following actions.

[0117] ·Movement of the traveling body 10 moving backward

[0118] ·Moving motion of the traveling body 10

[0119] The operation of the traveling body 10 maintaining the neutral state in the seedling replanting mode

[0120] The specific operation of the agricultural work vehicle 1 also includes other operations, which are other operations that require a change in the height of the field working machine 20 in the use of the agricultural work vehicle 1 .

[0121] In addition, the control unit 60 controls the lifting device 30 so that the height of the field working machine 20 reaches the control height switched by the switching operation unit in accordance with the specific movement of the agricultural working vehicle 1 according to the operation of the operator.

[0122] The agricultural vehicle 1 has an automatic driving function. Specifically, the control unit 60 drives the agricultural vehicle 1 along a driving route generated based on the field shape information. That is, the control unit 60 acquires the driving route stored in the storage unit 50.

[0123] After acquiring the driving path, the control unit 60 controls the driving of the agricultural vehicle 1 using the positioning unit 40, so that the agricultural vehicle 1 autonomously drives along the designated path. The control unit 60 controls the steering, speed, acceleration, etc. At this time, the positioning unit 40 locates the driving position of the agricultural vehicle 1 that is driving automatically. The control unit 60 guides the agricultural vehicle 1 according to the driving path based on the located driving position. As a result, the agricultural vehicle 1 automatically drives along the driving path generated based on the field shape information.

[0124] Furthermore, the control unit 60 controls the lifting device 30 so that the height of the farm working machine 20 reaches the highest position or sets the height all at once based on the travel position determined by the positioning unit 40 and the field shape information during the automatic travel.

[0125] For example, when the agricultural vehicle 1 is automatically traveling, the control unit 60 controls the support height of the field working machine 20 to the highest position or the all-in-one set height based on the driving position of the agricultural vehicle 1 being located in a specific area as a trigger.

[0126] For example, sometimes the field working machine 20 is used for seedling replanting in a specific area of ​​the field. In this case, when the agricultural working vehicle 1 reaches the specific area, the lifting device 30 lifts the field working machine 20 to a one-time set height set as the support height when performing the seedling replanting operation. According to this control, during automatic driving, the operator can omit the operation of individually adjusting the height of the field working machine 20, which can ensure the convenience of the operator.

[0127] In addition, as another example, when the agricultural vehicle 1 is driving automatically, the control unit 60 controls the support height of the field working machine 20 to the highest position or a one-time set height, using the position of the agricultural vehicle 1 being located at a position that may interfere with a part of the field as a trigger condition.

[0128] Specifically, when the agricultural vehicle 1 is automatically driven and the field working machine 20 is close to the field edge at the outer peripheral part of the field, the lifting device 30 lifts the field working machine 20 to a one-time set height that can avoid interference with the field edge. According to this control, the field working machine 20 can be prevented from interfering with a part of the field during automatic driving.

[0129] (1-7) Method for generating driving routes

[0130] Next, a method for generating a driving route for automatic driving will be described below. In this description, an example of a case where the vehicle mainly drives on a straight path is given.

[0131] When generating a travel route, the control unit 60 performs a teaching operation to set a reference line based on the position of the agricultural vehicle 1. In the teaching operation, the positions of the travel start point and the travel end point are measured using a GPS antenna, and a line segment connecting the travel start point and the travel end point is set as the reference line.

[0132] The reference line position information and the information on the interval between the travel paths are associated with the travel paths. The interval between the travel paths is calculated based on the planting width and the number of planting ridges set in the planting unit 22 of the agricultural vehicle 1.

[0133] Taking the field working machine 20 that plants four rows as an example, the number of planting rows is 4. Therefore, if the width dimension corresponding to one transplanting mechanism 22C is set to a, the interval between the travel paths is 4a.

[0134] The control unit 60 generates N rows of linear travel paths in the field, which are parallel to the reference line and have a travel path interval of 4a. Furthermore, the control unit 60 sets a position on the straight line of the second row that is 4a away from the travel end point of the first row as the travel start point of the second row. Furthermore, the control unit 60 generates a turning path from the first row to the second row, which connects the travel end point of the first row with the travel start point of the second row.

[0135] Similarly, the control unit 60 generates a series of travel routes from the 1st row to the Nth row by generating a turning route from the 2nd row to the Xth row until the N-1th row, thereby generating a series of travel routes from the 1st row to the Nth row. Thus, a travel route for the automatic travel of the agricultural vehicle 1 is generated.

[0136] (2) Movement of the agricultural vehicle 1

[0137] Next, the operation of the agricultural vehicle 1 will be described.

[0138] (2-1) One-time setting of the height

[0139] First, the setting process of setting the height at one time by the control unit 60 will be described. Fig. 8A 1 is a flowchart showing a setting process of setting the height at one time by the control unit 60 .

[0140] like Fig. 8A As shown in FIG. 1 , in the setting process of the one-time setting height, first, the control unit 60 receives the operator's designation of the one-time setting height (step S101). Specifically, the control unit 60 receives the designation of the one-time setting height based on the operator's operation of the setting operation unit. In the designation of the one-time setting height, the operator operates the height change lever 18 to raise or lower the field working machine 20 to a desired height, and then presses the height setting switch S2.

[0141] The control unit 60 sets the one-time setting height in response to the acceptance of the designation of the one-time setting height (step S102). Specifically, the control unit 60 stores the position of the field working machine 20 when the height setting switch S2 is pressed as the one-time setting height in the storage unit 50. Thus, the height of the field working machine 20 designated by the operator is set as the one-time setting height. Therefore, the height of the high-frequency ground support seedling support 21 can be stored in the agricultural working vehicle 1, which can ensure the convenience of the operator.

[0142] (2-2) Control Process of Lifting Device 30

[0143] Next, the control process of the lifting device 30 by the control unit 60 will be described. Figure 8B 1 is a flowchart showing a control process of the lifting device 30 by the control unit 60 .

[0144] like Figure 8B As shown, in the control process of the lifting device 30, the control unit 60 monitors the specific action of the agricultural vehicle 1 corresponding to the operation in response to the operator's operation of the agricultural vehicle 1 (step S103). Specifically, the control unit 60 monitors specific operations such as backing action or turning action based on the operation content of the operating member 5.

[0145] The control unit 60 controls the lifting device 30 in response to the monitoring of the specific action (step S104). Specifically, the control unit 60 uses the lifting device 30 to lift the field working machine 20 so that the field working machine 20 is located at the once set height. The lifting device 30 drives the lifting cylinder 32 to link the lifting link mechanism 31 and causes the field working machine 20 to be located at the once set height.

[0146] In this way, the control unit 60 controls the lifting device 30 so that the height reaches the once set height as the agricultural working vehicle 1 moves in accordance with the operator's operation. Therefore, for example, when moving backward, it is not necessary to change the height of the field working machine 20 to a position that does not block the operator's field of vision. That is, when the agricultural working vehicle 1 moves in a specific manner, the field working machine 20 can be automatically changed to an appropriate height.

[0147] (2-3) Controlling the switching process of the height

[0148] Next, the switching process of the control altitude by the control unit 60 will be described. Fig. 9A 2 is a flowchart showing a switching process of the control altitude by the control unit 60 .

[0149] like Fig. 9A As shown, in the switching process of the control height, first, the control unit 60 receives the input of the switching instruction of the control height based on the operator (step S201). Specifically, the control unit 60 receives the operation of the operator on the switching instruction of the control height of the switching operation unit. The switching instruction of the control height includes whether to set the control height to a one-time setting height or to the highest position.

[0150] The control unit 60 switches the control altitude in response to the acceptance of the control altitude switching instruction (step S202). Specifically, based on the control altitude switching instruction accepted in the process of step S201, the control unit 60 switches the preset control altitude to a value corresponding to the switching instruction.

[0151] That is, in the process of step S201, when the one-time set height is designated as the control height, the control unit 60 stores the one-time set height as the control height in the storage unit 50. On the other hand, in the process of step S201, when the highest position is designated as the control height, the control unit 60 stores the highest position as the control height in the storage unit 50. The control height of the field working machine 20 is thus set.

[0152] (2-4) Other Control Processes of the Lifting Device 30

[0153] Next, other control processing of the lifting device 30 will be described. Fig. 9B 1 is a flowchart showing another control process of the lifting device 30 by the control unit 60 of the agricultural vehicle 1. In this control process, when a switching operation input is received from the operator, the control height of the field working machine 20 by the lifting device 30 is switched.

[0154] like Fig. 9BAs shown, in other control processing of the lifting device 30, first, in response to the operator's operation of the agricultural vehicle 1, a specific action of the agricultural vehicle 1 corresponding to the operation is monitored (step S203). Specifically, the control unit 60 monitors specific operations such as backing action or turning action based on the operation content of the operating member 5.

[0155] The control unit 60 controls the lifting device 30 in response to the monitoring of the specific action (step S204). Specifically, the control unit 60 uses the lifting device 30 to lift the field working machine 20 so that the field working machine 20 is located at the controlled height. The lifting device 30 drives the lifting cylinder 32 to link the lifting link mechanism 31 and place the field working machine 20 at the controlled height.

[0156] That is, when the one-time set height is set as the control height in the process of step S202, the field working machine 20 is raised and lowered to the one-time set height by the lifting device 30. On the other hand, when the highest position is set as the control height in the process of step S202, the field working machine 20 is raised and lowered to the highest position by the lifting device 30. By switching the control height of the field working machine 20 in this way, it is possible to give freedom to the automatic adjustment of the height of the field working machine 20 according to the working state of the agricultural vehicle 1.

[0157] (2-5) Control Process of the Lifting Device 30 During Automatic Driving

[0158] Next, as the control of the control unit 60 according to the third example, a control flow of the lifting device 30 during automatic travel will be described. Fig.10 1 is a flowchart showing a control process of the lifting device 30 by the control unit 60 during automatic driving.

[0159] like Fig.10 As shown, in the control of the lifting device 30 during automatic driving, first, the control unit 60 obtains the driving route (step S301). Specifically, the control unit 60 obtains the driving route pre-stored in the storage unit 50 in response to the acceptance of the automatic driving instruction operation from the operator.

[0160] The control unit 60 starts automatic driving in response to the acquisition of the driving route (step S302). Specifically, the control unit 60 starts automatic driving according to the driving route acquired in the process of step S301.

[0161] In response to the start of the automatic driving, the control unit 60 acquires the driving position (step S303 ). Specifically, the control unit 60 uses the positioning unit 40 to acquire the driving position of the agricultural vehicle 1 that starts the automatic driving in the process of step S302 .

[0162] The control unit 60 acquires the field shape information in response to the acquisition of the travel position (step S304 ). Specifically, the control unit 60 acquires the field shape information of the surroundings corresponding to the travel position of the agricultural vehicle 1 acquired in the process of step S303 .

[0163] The control unit 60 determines whether the control of the lifting device 30 is necessary in response to the acquisition of the field shape information (step S305). Specifically, the control unit 60 determines whether the control of the lifting device 30 is necessary using the travel position of the agricultural vehicle 1 acquired in the process of step S303 and the surrounding field shape information acquired in the process of step S304.

[0164] At this time, determination conditions for determination are set in advance. As determination conditions, for example, the following conditions can be cited.

[0165] Whether the agricultural vehicle 1 is located in the specified area

[0166] Whether the traveling body 10 of the agricultural vehicle 1 is in a predetermined operating state

[0167] Whether the agricultural vehicle 1 is close to a structure in the field

[0168] Whether the agricultural vehicle 1 is close to structures around the field

[0169] The control unit 60 receives the judgment of whether control is required and controls the lifting device 30 (step S306). Specifically, when the agricultural vehicle 1 meets the judgment condition, the control unit 60 controls the lifting device 30 to lift the field working machine 20. When the highest position is set as the control height, the lifting device 30 lifts the field working machine 20 to the highest position. On the other hand, when the one-time setting height is set as the control height, the lifting device 30 lifts the field working machine 20 to the one-time setting height.

[0170] (3) Modification

[0171] Next, modifications of the setting operation unit and the switching operation unit will be described. Fig.11 It is a diagram showing a sub-monitor M according to the present embodiment. Fig.11 The sub-monitor M shown is an input interface that can be carried by the operator. The sub-monitor M has a touch panel. The touch panel is a liquid crystal display.

[0172] A plurality of operation icons D1 are displayed on the touch panel of the sub-monitor M. The sub-monitor M has an operation button D2 and a joystick D3. A plurality of operation buttons D2 are arranged above the touch panel. The joystick D3 is arranged above the operation button D2.

[0173] The operator can select and execute various functions mounted on the agricultural vehicle 1 by operating various operation icons D1, operation buttons D2 or joystick D3 displayed on the touch panel. In addition, the operator can make various settings related to the agricultural vehicle 1 by operating the operation icons D1, operation buttons D2 or joystick D3.

[0174] Furthermore, in this embodiment, a setting operation unit and a switching operation unit may be installed in the sub-monitor M. Specifically, the sub-monitor M can accept operations on various operation icons D1, operation buttons D2, or joystick D3 displayed on the touch panel as operations related to the setting operation unit and the switching operation unit.

[0175] In addition, in reference Figures 1 to 11 In the described embodiment, the control unit 60 is shown to function as a travel control unit, a drive control unit, and a height control unit, but the present invention is not limited thereto. For example, the travel machine body 10, the field working machine 20, and the lifting device 30 may each have an independent microcontroller different from the control unit 60 of the agricultural working vehicle 1. In this case, the control unit 60 can function as a travel control unit, a drive control unit, and a height control unit through cooperation with each microcontroller.

[0176] In addition, in reference Figures 1 to 11 In the embodiment described, the control unit 60 performs automatic driving using the driving path pre-stored in the storage unit 50, but the present invention is not limited thereto. That is, the control unit 60 can obtain the field shape information stored in the storage unit 50 and determine the area where the agricultural working vehicle 1 can drive. That is, the control unit 60 can generate the driving path in real time.

[0177] In this case, the drivable area includes field paths, paths between crops in the field, places where obstacles exist and need to be avoided, etc. In addition, the control unit 60 also sets an area required for performing work at a specific location as a drivable area.

[0178] When generating a driving route, the control unit 60 generates a route for the agricultural vehicle 1 based on the determined drivable area. In generating the driving route, it is required to select the best route that covers the working area from the drivable area. At this time, a driving route such as the shortest route or an efficient driving route is comprehensively selected and set based on multiple viewpoints.

[0179] In addition, in reference Figures 1 to 11In the embodiment described, the control unit 60 controls the lifting device 30 in accordance with the specific movement of the agricultural working vehicle 1 corresponding to the operation of the operator, but the present invention is not limited to this. The control unit 60 may control the lifting device 30 in accordance with the specific movement of the agricultural working vehicle 1 not caused by the operation of the operator so that the field working machine 20 is located at the once set height or the highest position. Specifically, the following situation can be imagined.

[0180] · When the agricultural vehicle 1 is in automatic driving and an unexpected emergency stop occurs, or when the lifting device 30 raises or lowers the field working machine 20 due to an unexpected operation as a trigger condition

[0181] When the agricultural vehicle 1 has a malfunction that the operator did not expect, the lifting device 30 raises or lowers the field working machine 20

[0182] The embodiments of the present invention are described above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and can be implemented in various ways within the scope of the present invention. In addition, the multiple structural elements disclosed in the above embodiments can be appropriately changed. For example, a structural element of all the structural elements shown in a certain embodiment can be added to the structural elements of other embodiments, or some structural elements of all the structural elements shown in a certain embodiment can be deleted from the embodiment.

[0183] In addition, the drawings schematically show the main body of each structural element for easy understanding of the invention. In order to facilitate the preparation of the drawings, the thickness, length, number, spacing, etc. of each structural element shown in the drawings are sometimes different from the actual situation. In addition, the structure of each structural element shown in the above embodiment is an example and is not particularly limited. Of course, various changes can be implemented within the scope that does not substantially deviate from the effect of the present invention.

[0184] The present application discloses the following supplementary notes. The following supplementary notes do not limit the present invention.

[0185] (Note 1)

[0186] An agricultural vehicle, wherein:

[0187] The agricultural vehicle comprises:

[0188] A traveling body capable of traveling on a field;

[0189] A field working machine connected to the traveling machine body;

[0190] a lifting device for lifting and lowering the field working machine; and

[0191] a control unit that controls the traveling machine, the field working machine, and the lifting device,

[0192] The lifting device lifts the farm work machine so that the height supporting the farm work machine reaches a highest position or a set height lower than the highest position.

[0193] The control unit controls the lifting device so that the height reaches the set height in accordance with a specific movement of the agricultural work vehicle according to an operation by an operator.

[0194] (Note 2)

[0195] An agricultural vehicle according to Appendix 1, wherein:

[0196] The agricultural vehicle further includes a setting operation unit for accepting input related to setting the set height.

[0197] The set height is an arbitrary height set in advance.

[0198] (Note 3)

[0199] An agricultural vehicle according to Appendix 1 or 2, wherein:

[0200] The agricultural working vehicle further includes a switching operation unit that receives an input of a switching operation for switching a controlled height of the field working machine raised or lowered by the lifting device between the set height and the highest position.

[0201] When the switching operation unit receives the input of the switching operation, the control unit controls the lifting device in accordance with the specific operation so that the height reaches the control height received by the switching operation unit.

[0202] (Note 4)

[0203] An agricultural vehicle according to any one of Supplements 1 to 3, wherein:

[0204] The specific action includes an action in which the traveling body moves backward.

[0205] (Note 5)

[0206] An agricultural vehicle according to any one of Supplements 1 to 4, wherein:

[0207] The agricultural vehicle further comprises:

[0208] a positioning device for locating the driving position of the agricultural vehicle; and

[0209] a storage unit for storing the acquired field shape information in association with the driving position located by the positioning device,

[0210] The agricultural vehicle automatically travels along a travel path generated based on the field shape information.

[0211] The control unit controls the lifting device so that the height of the farm working machine reaches the highest position or the set height based on the travel position located by the positioning device and the field shape information during the automatic travel.

[0212] Possibility of Industrial Application

[0213] The present invention can be used in the field of agricultural machinery.

Claims

1. An agricultural vehicle, wherein: The agricultural vehicle comprises: A traveling body capable of traveling on a field; A field working machine connected to the traveling machine body; a lifting device for lifting and lowering the field working machine; and a control unit that controls the traveling machine, the field working machine, and the lifting device, The lifting device lifts the farm work machine so that the height supporting the farm work machine reaches a highest position or a set height lower than the highest position. The control unit controls the lifting device so that the height reaches the set height in accordance with a specific movement of the agricultural work vehicle according to an operation by an operator.

2. The agricultural vehicle according to claim 1, wherein: The agricultural vehicle further includes a setting operation unit for accepting input related to setting the set height. The set height is an arbitrary height set in advance.

3. The agricultural vehicle according to claim 1 or 2, wherein: The agricultural working vehicle further includes a switching operation unit that receives an input of a switching operation for switching a controlled height of the field working machine raised or lowered by the lifting device between the set height and the highest position. When the switching operation unit receives the input of the switching operation, the control unit controls the lifting device in accordance with the specific operation so that the height reaches the control height received by the switching operation unit.

4. The agricultural vehicle according to claim 1 or 2, wherein: The specific action includes an action in which the traveling body moves backward.

5. The agricultural vehicle according to claim 1 or 2, wherein: The agricultural vehicle further comprises: a positioning device for locating the driving position of the agricultural vehicle; and a storage unit for storing the acquired field shape information in association with the driving position located by the positioning device, The agricultural vehicle automatically travels along a travel path generated based on the field shape information. The control unit controls the lifting device so that the height of the farm working machine reaches the highest position or the set height based on the travel position located by the positioning device and the field shape information during the automatic travel.

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