Farm work vehicle

Abstract

To provide a farm work vehicle capable of changing a height of a farm field work machine to a proper height automatically, in a specific operation of the farm work vehicle.SOLUTION: A farm work vehicle 1 comprises a travel machine body 10, a farm field work machine 20, a lifting device 30, and a control part 60. The travel machine body 10 can travel in a farm field. The farm field work machine 20 is coupled to the travel machine body 10. The lifting device 30 lifts up and down the farm field work machine 20. The control part 60 controls the travel machine body 10, the farm field work machine 20, and the lifting device 30. The lifting device 30 lifts up and down the farm field work machine 20, so that a height for supporting the farm field work machine 20 becomes the highest position or a set height which is lower than the highest position. The control part 60 controls the lifting device 30 so that the height becomes the set height, according to a specific operation of the farm work vehicle 1 according to operation of an operator.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an agricultural vehicle. [Background technology]

[0002] Conventionally, there is known a rice transplanter equipped with a traveling vehicle capable of traveling in a field and a field work machine equipped with a seedling planting function. Patent Document 1 discloses a rice transplanter in which the height of the field work machine can be changed when the traveling vehicle is traveling and when the field work machine is performing planting work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-187888 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, for example, when the traveling vehicle body moves backward in a field, if the field implement is supported at a high position, there is a risk that the view of the operator in the driver's seat is obstructed. In this case, the operator needs to adjust the height of the field implement individually. Thus, in an agricultural work vehicle, it is time-consuming for the operator to adjust the height of the field implement to an appropriate position.

[0005] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide an agricultural work vehicle that is capable of automatically changing the height of a field work implement to an appropriate height. [Means for solving the problem]

[0006] The agricultural work vehicle according to the present invention comprises a traveling body, a field work implement, a lifting device, and a control unit. The traveling body is capable of traveling in a field. The field work implement is connected to the traveling body. The lifting device raises and lowers the field work implement. The control unit controls the traveling body, the field work implement, and the lifting device. The lifting device raises and lowers the field work implement so that the height at which the field work implement is supported is the highest maximum position or a set height lower than the maximum position. The control unit controls the lifting device so that the height becomes the set height in accordance with a specific operation of the agricultural work vehicle in response to operation by the worker. Effect of the Invention

[0007] According to the agricultural work vehicle of the present invention, the field work implement can be automatically changed to an appropriate height. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the agricultural work vehicle according to the present embodiment. [Diagram 2] FIG. 2 is a plan view of the agricultural work vehicle shown in FIG. [Diagram 3] FIG. 2 is an external view of the steering wheel and its surroundings of the agricultural work vehicle shown in FIG. [Figure 4A] FIG. [Figure 4B] FIG. [Diagram 5] 2 is a diagram showing a state in which the height of a field work implement in the agricultural work vehicle shown in FIG. 1 has been changed to a highest position. [Figure 6] 2 is a diagram showing a state in which the height of the field work implement in the agricultural work vehicle shown in FIG. 1 has been changed to a set height. [Figure 7] 2 is a block diagram showing a functional configuration of the agricultural work vehicle shown in FIG. 1. [Figure 8A] 4 is a flowchart showing a one-shot height setting process performed by a control unit of the agricultural work vehicle shown in FIG. [Figure 8B] 4 is a flowchart showing a control process for the lifting device by a control unit of the agricultural work vehicle shown in FIG. [Figure 9A]4 is a flowchart showing a control height switching process performed by a control unit of the agricultural work vehicle shown in FIG. [Figure 9B] 13 is a flowchart showing another control process of the lifting device by the control unit of the agricultural work vehicle shown in FIG. [Figure 10] 4 is a flowchart showing a control process of the lifting device by a control unit when the agricultural work vehicle shown in FIG. 1 is automatically traveling. [Figure 11] FIG. 2 is a diagram showing a sub-monitor in the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and description thereof will not be repeated.

[0010] (1) Overall structure Hereinafter, an agricultural work vehicle 1 according to this embodiment will be described with reference to the drawings. First, the overall configuration of the agricultural work vehicle 1 will be described. Fig. 1 is a side view of the agricultural work vehicle 1 in this embodiment. Fig. 2 is a plan view of the agricultural work vehicle 1.

[0011] In the following description, the front-rear direction, left-right direction, and up-down direction are defined with reference to an operator driving the agricultural work vehicle 1. Then, in each drawing, the structure will be described using front (Fr), rear (Rr), left (L), right (R), up (U), and down (Lo).

[0012] As shown in Fig. 1, the agricultural work vehicle 1 includes a traveling body 10, a field work implement 20, a lifting device 30, and a control unit 60. The agricultural work vehicle 1 is an implement used for planting rice seedlings, for example, and performs seedling planting work using the field work implement 20 while traveling within a field using the traveling body 10. Note that the agricultural work vehicle 1 may also be a vehicle used for agricultural work other than planting seedlings, such as transplanting, sowing, or tilling vegetables or grains.

[0013] (1-1) Configuration of the running body 10 First, the configuration of the traveling machine body 10 will be described. As shown in Figures 1 and 2, the traveling machine body 10 is composed of a machine body capable of traveling in a farm field. The traveling machine body 10 includes a vehicle body 11, an engine 12, a steering wheel 13, a main speed change lever 14, an auxiliary speed change lever 15, a seedling connecting button 16, and a transmission case 19.

[0014] The vehicle body 11 includes front wheels 11A and rear wheels 11B. The front wheels 11A are provided as a pair on the left and right sides of the vehicle body 11. Similarly, the rear wheels 11B are also provided as a pair on the left and right sides of the vehicle body 11.

[0015] The vehicle body 11 includes a bonnet 11C. The bonnet 11C is provided at the front of the vehicle body 11. An engine 12 is provided inside the bonnet 11C. Power generated by the engine 12 is transmitted to front wheels 11A and rear wheels 11B via a transmission case 19.

[0016] The transmission case 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 operation of the main shift lever 14 and the sub shift lever 15 by an operator.

[0017] 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 wheels 11A and the rear wheels 11B in the front-rear direction of the vehicle body 11.

[0018] The steering wheel 13 is a handle used by the operator to steer the agricultural work vehicle 1. The steering wheel 13 is disposed in the vehicle body 11, in front of the driver's seat 11D.

[0019] The main shift lever 14 is a lever that accepts operations such as “forward,” “reverse,” and “neutral.” The main shift lever 14 is disposed in the vehicle body 11, next to the steering handle 13.

[0020] When the main shift lever 14 is operated to the "forward" position, the transmission case 19 transmits power to the front wheels 11A and the rear wheels 11B to rotate in the direction in which the agricultural work vehicle 1 moves forward. On the other hand, when the main shift lever 14 is operated to the "reverse" position, the transmission case 19 transmits power to the front wheels 11A and the rear wheels 11B to rotate in the direction in which the agricultural work vehicle 1 moves backward. Then, when the main shift lever 14 is operated to the "neutral" position, the transmission case 19 cuts off the transmission of power to the front wheels 11A and the rear wheels 11B. In addition, a planting power transmission shaft 19A is connected to the transmission case 19.

[0021] The sub-speed change lever 15 is an operating lever that can switch the forward speed between "low speed" and "high speed." "Low speed" is used, for example, when traveling while working in a farm field. "High speed" is used, for example, when traveling on farm roads outside the field.

[0022] The seedling changing button 16 is an operation button that is pressed by an operator when performing the seedling changing work described later. When the seedling changing button 16 is pressed by an operator, the engine 12 is in a seedling changing state. In the seedling changing state, the rotation speed of the engine 12 is reduced and the drive of the transmission case 19 is restricted.

[0023] Fig. 3 is an external view of the periphery of the steering handle 13 of the agricultural work vehicle 1. Fig. 4A is a plan view of the periphery of the steering handle 13. Fig. 4B is an enlarged view of the multi-switch 17. As shown in Figs. 3 and 4A, the agricultural work vehicle 1 further includes the multi-switch 17 and a height change lever 18.

[0024] The multi-switch 17 is an input interface that accepts input of various operations from the operator to the agricultural work vehicle 1. As shown in Fig. 4A, the multi-switch 17 is disposed on the right side of the steering wheel 13.

[0025] 4B, the multi-switch 17 includes a plurality of operation switches related to various functions. When an operator presses any of the operation switches, a predetermined operation corresponding to each operation switch can be performed.

[0026] The multi-switch 17 includes a one-shot switch S1 and a height setting switch S2.

[0027] The one-shot switch S1 is a switch that activates a one-shot function mounted on the agricultural work vehicle 1. The one-shot function is a function that raises or lowers the height of the field work implement 20 to a one-shot height in response to pressing of the one-shot switch S1 by an operator.

[0028] Here, the one-shot height refers to an arbitrary height that is preset by an operator. In this embodiment, the one-shot height may be referred to as a set height.

[0029] The height changing lever 18 is a lever that is operated by the operator driving the agricultural work vehicle 1 when changing the height of the field work implement 20. The operator operates the height changing lever 18 to change the height of the field work implement 20 to any desired height.

[0030] The one-shot function described above also includes a function that allows the operator to preset the height at which the field work machine 20 is frequently positioned as the one-shot height. Specifically, the operator operates the height change lever 18 to position the field work machine 20 at a desired height, and then presses the height setting switch S2. This sets the height of the field work machine 20 immediately before specified by the operator as the one-shot height.

[0031] After the one-shot height has been set, when the operator presses the one-shot switch S1, the field work implement 20 is raised or lowered to the one-shot height.

[0032] 4B 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 the setting of the set height of the field work machine 20.

[0033] The agricultural work vehicle 1 also has a switching operation unit. The switching operation unit is a user interface that accepts input of a switching operation for switching the control height of the field work machine 20 raised and lowered by the lifting device 30 between a one-shot height and a maximum position. Here, the control height refers to a control value (target value) of the height of the field work machine 20 by the lifting device 30.

[0034] The switching operation unit is implemented, for example, as a height changeover switch S3 included in the multi-switch 17 shown in Fig. 4B. When the operator presses the height changeover switch S3, the control height of the field work implement 20 switches to the highest position or one-shot height.

[0035] In the following description, the steering handle 13, main shift lever 14, sub-shift lever 15, seedling change button 16, multi-switch 17, and height change lever 18 described above may be collectively referred to as the operating members 5.

[0036] (1-2) Configuration of the field work machine 20 Next, a description will be given of the configuration of the field work machine 20. As shown in Figures 1 and 2, the field work machine 20 is disposed behind the vehicle body 11, and is connected to the traveling machine body 10 via a lifting device 30.

[0037] The field work machine 20 comprises a seedling carrier 21, a planting unit 22, an inter-row transmission 23, a PTO shaft 24, and a spare seedling carrier 25.

[0038] The seedling carrying platform 21 is a platform on which the seedling mat on which the seedlings are grown is loaded. As shown in Fig. 1, the seedling carrying platform 21 is disposed in front of and above the planting section 22. The carrying surface of the seedling carrying platform 21 on which the seedling mat is placed is inclined so as to become lower toward the rear.

[0039] The seedling carrier 21 supplies the seedlings of the seedling mat loaded on the loading surface of the seedling carrier 21 to the planting section 22. The seedling carrier 21 has a mechanism for reciprocating left and right. In other words, the seedling carrier 21 is supported so as to be slidable left and right. The seedling carrier 21 also intermittently transports the seedling mat downward at the end of the reciprocating movement of the seedling carrier 21. As a result, the seedlings of the seedling mats loaded on the loading surface of the seedling carrier 21 are supplied to the planting section 22 in order, starting from the seedlings located at the bottom end.

[0040] The inter-plant transmission 23 is a device that changes the operating speed of the transplanting mechanism 22C, described later, relative to the travelling speed of the traveling body 10 to change the distance between seedlings. The inter-plant transmission 23 is controlled by a control unit 60, described later in FIG. 8B. Power from the transmission case 19 is transmitted to the inter-plant transmission 23 via a planting power transmission shaft 19A. The rotation of the planting power transmission shaft 19A is changed in speed by a group of gears built into the inter-plant transmission 23, and is transmitted to the planting unit 22 by the PTO shaft 24.

[0041] The PTO shaft 24 is connected to the inter-row transmission 23 and the planting unit 22 via a universal joint.

[0042] The planting section 22 includes a main frame 22A, a center case 22B, a transplanting mechanism 22C, and a planting transmission case 22D.

[0043] The main frame 22A is a rod-shaped member whose longitudinal direction is the left-right direction, and supports the seedling carrier 21 so as to be movable in the left-right direction.

[0044] The center case 22B is disposed in the center of the main frame 22A in the left-right direction. The PTO shaft 24 is connected to the center case 22B. The center case 22B transmits the power transmitted from the inter-plant transmission 23 via the PTO shaft 24 to the planting transmission case 22D via the planting drive shaft 22G extending in the left-right direction.

[0045] The planting transmission cases 22D are arranged at multiple positions at approximately equal intervals in the left-right direction behind the main frame 22A. A planting drive shaft 22G is connected to the planting transmission case 22D as an input shaft. A pair of left and right transplanting mechanisms 22C are provided on the planting transmission case 22D.

[0046] The transplanting mechanism 22C continuously plants the seedlings successively supplied from the seedling carrier 21. A plurality of transplanting mechanisms 22C are provided in the field work machine 20. The number of transplanting mechanisms 22C can be selected arbitrarily.

[0047] The transplanting mechanism 22C is driven by power transmitted from the inter-plant transmission 23 via the PTO shaft 24. Specifically, the rotational force changed in speed by the inter-plant transmission 23 is transmitted to the transplanting mechanism 22C by a planting transmission case 22D.

[0048] 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 in response to the transmission of power.

[0049] The planting claws 22F are arranged in a row in the front-rear direction and attached to the rotating case 22E. In the example of Fig. 1, two planting claws 22F are attached to the rotating case 22E.

[0050] The planting claws 22F are operated by rotating the rotating case 22E by the power transmitted from the planting transmission case 22D. Specifically, the planting claws 22F pick up one row of seedlings from the seedling mat as the rotating case 22E rotates, and plant them at approximately equal intervals inside the paddy field.

[0051] The field work machine 20 moves the seedling carrier 21 in the left-right direction along the main frame 22A. In conjunction with the left-right reciprocation of the seedling carrier 21, the transplanting mechanism 22C takes out the seedlings from the seedling carrier 21 and plants them in the field.

[0052] The spare seedling carriers 25 are provided in front of the vehicle body 11, in a pair on the left and right sides of the vehicle body 11, with three tiers in each tier in the vertical direction. The spare seedling carriers 25 are arranged on the outside of the bonnet 11C in the left-right direction. Spare seedling mats are loaded on the spare seedling carriers 25. The number of tiers of the spare seedling carriers 25 can be changed as desired. When the seedling mats on the seedling carrier 21 are used up due to planting, the worker transfers the seedling mats from the spare seedling carriers 25 to the seedling carrier 21. This work is called seedling transfer work.

[0053] (1-3) Configuration of the lifting device 30 Next, a description will be given of the configuration of the lifting device 30. As shown in FIG.

[0054] The lifting link mechanism 31 is configured by a parallel link including a top link and a lower link. A lifting cylinder 32 is connected to the lifting link mechanism 31.

[0055] The lifting device 30 supports the field work machine 20 so that it can be raised and lowered by extending and contracting a lifting cylinder 32. In this embodiment, a hydraulic cylinder is used for the lifting cylinder 32. The lifting cylinder 32 may also be an electric cylinder. The lifting device 30 may also raise and lower the field work machine 20 by an actuator other than a cylinder.

[0056] Fig. 5 is a diagram showing a state in which the height of the field work implement 20 has been changed to the highest position in the agricultural work vehicle 1. Fig. 6 is a diagram showing a state in which the height of the field work implement 20 has been changed to a preset one-shot height in the agricultural work vehicle 1.

[0057] As shown in Fig. 5, the lifting device 30 raises and lowers the field work machine 20 so that the support height of the field work machine 20 is at the highest position. Here, the highest position refers to the highest support height of the field work machine 20. In contrast, the lowest support height of the field work machine 20 is referred to as the lowest position. The highest and lowest positions of the field work machine 20 are set in advance. The range in which the field work machine 20 can be raised and lowered by the lifting device 30 is between the highest and lowest positions of the field work machine 20.

[0058] 6, the lifting device 30 raises and lowers the field work machine 20 so that the support height of the field work machine 20 becomes the one-shot height. In other words, the one-shot height is an arbitrary height lower than the highest position.

[0059] The support height of the field work implement 20 is changed according to the state of the agricultural work vehicle 1 and in response to the operation of the worker, for example, as follows. When the agricultural work vehicle 1 is traveling on a road outside the field (including farm roads and ridges): Highest position When the agricultural work vehicle 1 is performing planting work in a field: Any height of the worker, including the lowest position When the agricultural work vehicle 1 is performing a specific operation other than planting work in the field: at the highest position or one-shot height

[0060] That is, planting work is performed with the field work machine 20 supported at any height of the worker's choice, including the lowest position. Control of the lifting device 30 in conjunction with specific operations of the agricultural work vehicle 1 in the field will be described later with reference to FIG. 8B.

[0061] (1-4) Configuration of positioning unit 40 Next, a description will be given of the configuration of the positioning unit 40, which is a positioning device of the present invention. Fig. 7 is a block diagram showing the functional configuration of the agricultural work vehicle 1. As shown in Fig. 7, the agricultural work vehicle 1 further includes the positioning unit 40, a storage unit 50, and a control unit 60.

[0062] The positioning unit 40 measures the traveling position of the agricultural work vehicle 1. The traveling position also includes the position when the vehicle is stopped. The positioning unit 40 receives signals from GNSS (Global Navigation Satellite System) satellites to obtain position information of the agricultural work vehicle 1, and provides the obtained position information to the control unit 60. As an example of the GNSS, the GPS (Global Positioning System) will be described.

[0063] GPS is a system originally developed as a navigation aid for aircraft, ships, etc. GPS includes, for example, 24 GPS satellites orbiting at an altitude of about 20,000 kilometers, a control station that tracks and controls the GPS satellites, and a receiver for positioning.

[0064] Surveying methods using GPS include point positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematic-GPS) positioning, etc. In this embodiment, the RTK-GPS positioning method, which has high measurement accuracy, is adopted.

[0065] RTK-GPS positioning involves simultaneous GPS observations at a reference station, whose position is known, and an observation point (mobile station) whose position is to be observed. In RTK-GPS positioning, data observed at the reference station is transmitted in real time to the observation point by wireless or other means, and the position of the observation point is calculated in real time based on the position of the reference station.

[0066] The GPS unit used for RTK-GPS positioning mainly consists of a mobile station unit mounted on the agricultural work vehicle 1 and a reference station unit placed near the field. The reference station unit functions as a reference station. The mobile station unit functions as an observation point (mobile station).

[0067] The surveying method using GNSS applied to the present invention may be other methods and is not limited thereto. Therefore, GPS positioning other than RTK-GPS positioning may be performed. Also, a GNSS system other than GPS may be adopted as the positioning unit 40. For example, a quantum compass may be adopted as the positioning device of the present invention. The quantum compass measures the strength of the geomagnetic field based on the principles of quantum mechanics to estimate the position.

[0068] (1-5) Configuration of the storage unit 50 The storage unit 50 includes a main storage device such as a Read Only Memory (ROM) and a Random Access Memory (RAM). The storage unit 50 may further include an auxiliary storage device such as a Hard Disk Drive (HDD) or a Solid State Drive (SSD). The storage unit 50 stores various programs, data, and the like.

[0069] The storage unit 50 stores the field contour information acquired in association with the traveling position measured by the positioning unit 40. The field contour information is information indicating the contour of the field, and is stored in association with the position information. The field contour information includes map data of the inside and surroundings of the field where the agricultural work vehicle 1 works.

[0070] Specifically, the field shape information includes at least the following information: - Coordinates of the reference position of the field - Field size - Field outline - The contours of the land surrounding the field -Width of the ridge Shape of the ridge - Positional relationship of multiple fields - Location of obstacles such as trees and steps

[0071] (1-6) Configuration of the control unit 60 Next, a description will be given of the configuration of the control unit 60. The control unit 60 controls the traveling machine body 10, the field work machine 20, and the lifting device 30.

[0072] The control unit 60 is, for example, an ECU (Electronic Control Unit). The control unit 60 includes an arithmetic unit and an input / output unit. The arithmetic unit is a processor or a microprocessor. The arithmetic unit reads out various programs from the storage unit 50 and executes them. The control unit 60 may be a single piece of hardware, or may be multiple pieces of hardware that can communicate with each other.

[0073] A signal corresponding to the operation of the operating member 5 by an operator 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 the detection result of the vehicle speed sensor is input to the control unit 60.

[0074] In this embodiment, the traveling machine body 10 is controlled by the control unit 60. Specifically, the arithmetic device of the control unit 60 reads out various programs from the storage unit 50 and executes them. As a result, the control unit 60 functions as a traveling control unit through cooperation between 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.

[0075] In this embodiment, the inter-row transmission 23 of the field work machine 20 is controlled by the control unit 60. Specifically, the arithmetic device of the control unit 60 reads out and executes various programs from the storage unit 50. As a result, the control unit 60 functions as a drive control unit that controls the field work machine 20 through cooperation between hardware and software.

[0076] The control unit 60 controls the drive of the inter-row transmission 23 of the field work machine 20 based on a control command corresponding to an operation input to the field work machine 20 .

[0077] In this embodiment, the lifting device 30 is controlled by the control unit 60. Specifically, the arithmetic unit of the control unit 60 reads out and executes various programs from the storage unit 50. As a result, the control unit 60 functions as a height control unit through cooperation between hardware and software.

[0078] The control unit 60 controls the lifting device 30 based on a control command corresponding to an operation input to the field work machine 20. As an example, the control unit 60 controls the lifting device 30 in response to an operation of the height changing lever 18 by an operator so that the height of the field work machine 20 becomes a specified height.

[0079] Furthermore, in this embodiment, the control unit 60 controls the lifting device 30 in accordance with a specific operation of the agricultural work vehicle 1 in response to an operation by the operator so that the height becomes the one-shot height.

[0080] Here, specific operations of the agricultural work vehicle 1 in response to operations by the operator include, for example, the following operations. The traveling body 10 moves backwards The running machine body 10 turns The traveling machine body 10 maintains the neutral state in the switching mode. It should be noted that the specific operations of the agricultural work vehicle 1 include operations other than those mentioned above, and other operations that require a change in the height of the field work implement 20 among the uses of the agricultural work vehicle 1.

[0081] Furthermore, the control unit 60 controls the lifting device 30 so that the height of the field work implement 20 becomes the control height switched by the switching operation unit, in accordance with a specific operation of the agricultural work vehicle 1 in response to operation by the worker.

[0082] In addition, the agricultural work vehicle 1 has an automatic driving function. Specifically, the control unit 60 drives the agricultural work vehicle 1 along a driving route generated based on the farm field outer shape information. That is, the control unit 60 acquires the driving route stored in the storage unit 50.

[0083] After acquiring the travel route, the control unit 60 uses the positioning unit 40 to control the travel of the agricultural work vehicle 1, causing the agricultural work vehicle 1 to travel autonomously along the specified route. The control unit 60 controls steering, speed, acceleration, and the like. At this time, the positioning unit 40 measures the travel position of the agricultural work vehicle 1 performing automatic travel. The control unit 60 guides the agricultural work vehicle 1 along the travel route based on the measured travel position. As a result, the agricultural work vehicle 1 travels automatically along the travel route generated based on the field outer shape information.

[0084] During automatic driving, the control unit 60 controls the lifting device 30 based on the driving position determined by the positioning unit 40 and the field outline information so that the height of the field work implement 20 is at the highest position or one-shot height.

[0085] As an example, when the agricultural work vehicle 1 is traveling automatically, the control unit 60 controls the support height of the field work implement 20 to the highest position or one-shot height, triggered by the agricultural work vehicle 1 being positioned in a specific area.

[0086] For example, seedling transplanting work may be performed on the field work machine 20 in a specific area of ​​the field. In this case, when the agricultural work vehicle 1 approaches the specific area, the lifting device 30 raises and lowers the field work machine 20 to a one-shot height that is set as a support height when performing seedling transplanting work. This type of control makes it possible to omit the work of the worker individually adjusting the height of the field work machine 20 during automatic driving, ensuring convenience for the worker.

[0087] As another example, when the agricultural work vehicle 1 is traveling automatically, the control unit 60 controls the support height of the field work machine 20 to the highest position or one-shot height, triggered by the agricultural work vehicle 1 being positioned at a location where it may interfere with part of the field.

[0088] Specifically, when the agricultural work vehicle 1 is traveling automatically and the field work machine 20 approaches a ridge on the outer periphery of the field, the lifting device 30 raises and lowers the field work machine 20 to a one-shot height that can avoid interference with the ridge. This type of control makes it possible to prevent the field work machine 20 from interfering with part of the field during automatic driving.

[0089] (1-7) How to generate driving routes Next, a method for generating a driving route for an automatic driving system will be described below. In this description, a case where a straight route is driven will be mainly taken as an example.

[0090] When generating a travel route, the control unit 60 sets a reference line by performing a teaching operation based on the position of the agricultural work 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 the line segment connecting the travel start point and the travel end point is set as the reference line.

[0091] The travel route is associated with position information of the reference line and information on the interval of the travel route. The interval of the travel route is calculated from the planting width set in the planting unit 22 of the agricultural work vehicle 1 and information on the number of planting rows.

[0092] Taking the four-row planting field work machine 20 as an example, since the number of planting rows is four, if the width dimension corresponding to one transplanting mechanism 22C is a, the distance between the travel paths is 4a.

[0093] The control unit 60 generates N rows of linear travel routes in the field, which are parallel to the reference line and have a travel route interval of 4a. The control unit 60 then sets a position on the second row of straight lines that is spaced 4a 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 route from the first row to the second row that connects the travel end point of the first row to the travel start point of the second row.

[0094] Similarly, the control unit 60 generates a turning path from the Xth row to the X+1th row from the second row onwards up to the N-1th row, thereby generating a series of travel paths from the 1st row to the Nth row. In this manner, a travel path for the automatic travel of the agricultural work vehicle 1 is generated.

[0095] (2) Operation of agricultural work vehicle 1 Next, the operation of the agricultural work vehicle 1 will be described.

[0096] (2-1) One-shot height setting process First, there will be described the process of setting the one-shot height by the control unit 60. FIG 8A is a flowchart showing the process of setting the one-shot height by the control unit 60.

[0097] 8A, in the process of setting the one-shot height, first, the control unit 60 accepts the one-shot height designated by the operator (step S101). Specifically, the control unit 60 accepts the one-shot height designation based on the operator's operation of the setting operation unit. To designate the one-shot height, the operator operates the height change lever 18 to raise or lower the field work machine 20 to the desired height, and then presses the height setting switch S2.

[0098] In response to receiving the designation of the one-shot height, the control unit 60 sets the one-shot height (step S102). Specifically, the control unit 60 stores the position of the field work implement 20 when the height setting switch S2 is pressed in the memory unit 50 as the one-shot height. As a result, the height of the field work implement 20 designated by the operator is set as the one-shot height. Therefore, the height at which the seedling carrier 21 is frequently supported can be stored in the agricultural work vehicle 1, ensuring convenience for the operator.

[0099] (2-2) Control process of the lifting device 30 Next, a description will be given of the control process of the lifting device 30 by the control unit 60. FIG 8B is a flowchart showing the control process of the lifting device 30 by the control unit 60.

[0100] 8B, in the control process of the lifting device 30, the control unit 60 detects a specific operation of the agricultural work vehicle 1 corresponding to the operation in response to the operation of the worker on the agricultural work vehicle 1 (step S103). Specifically, the control unit 60 detects a specific operation such as a reverse operation or a turning operation based on the operation content of the operating member 5.

[0101] In response to detection of the specific operation, the control unit 60 controls the lifting device 30 (step S104). Specifically, the control unit 60 causes the lifting device 30 to lift and lower the field work machine 20 so that the field work machine 20 is located at the one-shot height. The lifting device 30 drives the lifting cylinder 32 to link the lifting link mechanism 31, thereby positioning the field work machine 20 at the one-shot height.

[0102] In this way, the control unit 60 controls the lifting device 30 so that the height becomes the one-shot height in accordance with a specific operation of the agricultural work vehicle 1 in response to the operator's operation. Therefore, for example, when reversing, it is not necessary to change the height of the field work implement 20 to a position that does not block the operator's view. In other words, when the agricultural work vehicle 1 performs a specific operation, the field work implement 20 can be automatically changed to an appropriate height.

[0103] (2-3) Control height switching process Next, a description will be given of the control height switching process performed by the control unit 60. Fig. 9A is a flowchart showing the control height switching process performed by the control unit 60.

[0104] 9A, in the control height switching process, first, the control unit 60 accepts an input of an instruction to switch the control height by the operator (step S201). Specifically, the control unit 60 accepts an operation of the switching operation unit by the operator to instruct the control height to be switched. The instruction to switch the control height includes whether the control height is to be set to the one-shot height or the highest position.

[0105] In response to receiving the instruction to switch the control height, the control unit 60 switches the control height (step S202). Specifically, based on the instruction to switch the control height received in the process of step S201, the control unit 60 switches the preset control height to a value according to the instruction to switch.

[0106] That is, if the one-shot height is specified as the control height in the processing of step S201, the control unit 60 stores the one-shot height as the control height in the memory unit 50. On the other hand, if the highest position is specified as the control height in the processing of step S201, the control unit 60 stores the highest position as the control height in the memory unit 50. In this way, the control height of the field work machine 20 is set.

[0107] (2-4) Other control processes of the lifting device 30 Next, a description will be given of other control processing of the lifting device 30. Fig. 9B is a flowchart showing other control processing of the lifting device 30 by the control unit 60 of the agricultural work vehicle 1. In this control processing, when a switching operation input is received from the operator, the control height of the field work machine 20 by the lifting device 30 is switched.

[0108] 9B, in other control processing of the lifting device 30, first, in response to an operation of the agricultural work vehicle 1 by the worker, a specific operation of the agricultural work vehicle 1 corresponding to the operation is detected (step S203). Specifically, the control unit 60 detects a specific operation such as a reverse operation or a turning operation based on the operation content of the operating member 5.

[0109] In response to detection of the specific operation, the control unit 60 controls the lifting device 30 (step S204). Specifically, the control unit 60 causes the lifting device 30 to raise and lower the field work machine 20 so that the field work machine 20 is located at the control height. The lifting device 30 drives the lifting cylinder 32 to link the lifting link mechanism 31, thereby positioning the field work machine 20 at the control height.

[0110] That is, if the one-shot height is set as the control height in the processing of step S202, the lifting device 30 raises and lowers the field work machine 20 to the one-shot height. On the other hand, if the highest position is set as the control height in the processing of step S202, the lifting device 30 raises and lowers the field work machine 20 to the highest position. By switching the control height of the field work machine 20 in this way, it is possible to provide freedom to the automatic adjustment of the height of the field work machine 20 depending on the working state of the agricultural work vehicle 1.

[0111] (2-5) Control process of the lifting device 30 during automatic travel Next, a control flow of the lifting device 30 during automatic traveling will be described as a control by the control unit 60 according to the third example. Fig. 10 is a flowchart showing a control process of the lifting device 30 by the control unit 60 during automatic traveling.

[0112] 10, in controlling the lifting device 30 during automatic travel, first, the control unit 60 acquires a travel route (step S301). Specifically, the control unit 60 acquires a travel route stored in advance in the storage unit 50 in response to receiving an instruction operation for automatic travel from an operator.

[0113] In response to acquiring the driving route, the control unit 60 starts the automatic driving (step S302). Specifically, the control unit 60 starts the automatic driving according to the driving route acquired in the process of step S301.

[0114] In response to the start of the automatic traveling, the control unit 60 acquires the traveling position (step S303). Specifically, the control unit 60 acquires, using the positioning unit 40, the traveling position of the agricultural work vehicle 1 in the automatic traveling that started in the processing of step S302.

[0115] In response to acquiring the travel position, the control unit 60 acquires farm field contour information (step S304). Specifically, the control unit 60 acquires surrounding farm field contour information corresponding to the travel position of the agricultural work vehicle 1 acquired in the processing of step S303.

[0116] In response to acquiring the farm field contour information, the control unit 60 determines whether or not it is necessary to control the lifting device 30 (step S305). Specifically, the control unit 60 determines whether or not it is necessary to control the lifting device 30, using the traveling position of the agricultural work vehicle 1 acquired in the process of step S303 and the surrounding farm field contour information acquired in the process of step S304.

[0117] At this time, the judgment conditions used for the judgment are set in advance. Examples of the judgment conditions include the following: Whether the agricultural vehicle 1 is located within a predetermined area Whether the running body 10 of the agricultural work vehicle 1 is in a predetermined operating state Whether the agricultural vehicle 1 is close to a structure in the field Whether the agricultural vehicle 1 is close to structures around the field

[0118] In response to the determination as to whether or not control is required, the control unit 60 controls the lifting device 30 (step S306). Specifically, when the agricultural work vehicle 1 meets the determination conditions, the control unit 60 controls the lifting device 30 to lift or lower the field work machine 20. When the highest position is set as the control height, the lifting device 30 lifts or lowers the field work machine 20 to the highest position. On the other hand, when the one-shot height is set as the control height, the lifting device 30 lifts or lowers the field work machine 20 to the one-shot height.

[0119] (3) Modifications Next, modified examples of the setting operation unit and the switching operation unit will be described. Fig. 11 is a diagram showing a sub-monitor M in this embodiment. The sub-monitor M shown in Fig. 11 is an input interface that can be carried by an operator. The sub-monitor M has a touch panel. The touch panel is a liquid crystal display.

[0120] 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 the operation buttons D2 are arranged above the touch panel. The joystick D3 is arranged above the operation buttons D2.

[0121] The worker can select and execute various functions mounted on the agricultural work vehicle 1 by operating various operation icons D1, operation buttons D2, or joystick D3 displayed on the touch panel. In addition, the worker can make various settings related to the agricultural work vehicle 1 by operating the operation icons D1, operation buttons D2, or joystick D3.

[0122] In this embodiment, a setting operation unit and a switching operation unit may be implemented 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.

[0123] 1 to 11, the control unit 60 functions as a travel control unit, a drive control unit, and a height control unit, but this is not limited to the above. For example, the traveling body 10, the field work machine 20, and the lifting device 30 may each have an individual microcontroller different from the control unit 60 of the agricultural work vehicle 1. In this case, the control unit 60 may cooperate with each of the microcontrollers to realize the functions of the travel control unit, the drive control unit, and the height control unit.

[0124] 1 to 11, the control unit 60 performs automatic traveling using a traveling route stored in advance in the storage unit 50, but this is not limiting. That is, the control unit 60 may acquire farm field contour information stored in the storage unit 50 and specify an area in which the agricultural work vehicle 1 can travel. That is, the control unit 60 may generate a traveling route in real time.

[0125] In this case, the drivable area includes paths between crops in a farm field, places where obstacles exist and need to be avoided, etc. The control unit 60 also sets an area required for performing work at a specific point as the drivable area.

[0126] When generating a travel route, the control unit 60 generates a route for the agricultural work vehicle 1 based on the identified drivable area. In generating a travel route, it is required to select an optimal route that covers the work area from the drivable area. At this time, the travel route is selected and set comprehensively from multiple perspectives, such as the shortest route or an efficient travel route.

[0127] 1 to 11, the control unit 60 controls the lifting device 30 in association with a specific operation of the agricultural work vehicle 1 in response to the operation of the operator, but this is not limiting. The control unit 60 may control the lifting device 30 so that the field work implement 20 is positioned at the one-shot height or the highest position in association with a specific operation of the agricultural work vehicle 1 that is not caused by the operation of the operator. Specifically, the following situations are envisaged. When an unexpected action such as an unexpected sudden stop while the agricultural work vehicle 1 is traveling automatically is used as a trigger for the lifting device 30 to lift and lower the field work implement 20. When a malfunction occurs in the agricultural work vehicle 1 that is not intended by the operator, the lifting device 30 lifts and lowers the field work implement 20.

[0128] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments, and can be implemented in various aspects without departing from the gist of the present invention. In addition, the components disclosed in the above embodiments can be modified as appropriate. For example, a certain component among all the components shown in one embodiment may be added to a component of another embodiment, or some components among all the components shown in one embodiment may be deleted from the embodiment.

[0129] In addition, the drawings are mainly schematic illustrations of each component to facilitate understanding of the invention, and the thickness, length, number, spacing, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings. In addition, the configurations of each component shown in the above embodiment are merely examples and are not particularly limited, and it goes without saying that various modifications are possible within a range that does not substantially deviate from the effects of the present invention.

[0130] This application discloses the following supplementary notes, which are not intended to limit the present invention.

[0131] (Appendix 1) An agricultural vehicle, A traveling machine capable of traveling in a field; A field work machine connected to the traveling body; A lifting device that lifts and lowers the field work machine; a control unit that controls the traveling machine body, the field work machine, and the lifting device; Equipped with The lifting device lifts and lowers the field work machine so that a height at which the field work machine is supported is a highest maximum position or a set height lower than the highest position, The control unit controls the lifting device so that the height becomes the set height in response to a specific operation of the agricultural work vehicle in response to an operation by an operator.

[0132] (Appendix 2) A setting operation unit that receives an input related to the setting of the set height is further provided, 2. The agricultural work vehicle according to claim 1, wherein the set height is an arbitrary height that is set in advance.

[0133] (Appendix 3) The control height of the field work machine raised and lowered by the lifting device is switched between the set height and the highest position by a switching operation input. 3. The agricultural work vehicle according to claim 1, wherein when the switching operation unit receives input of the switching operation, the control unit controls the lifting device so that the height becomes the control height received by the switching operation unit, in accordance with the specific action.

[0134] (Appendix 4) The agricultural work vehicle according to any one of appendix 1 to 3, wherein the specific operation includes an operation of the traveling body moving backward.

[0135] (Appendix 5) A positioning device that measures the traveling position of the agricultural work vehicle; a storage unit that stores farm field contour information acquired in association with the traveling position measured by the positioning device; Further equipped The agricultural work vehicle automatically travels along a travel route generated based on the farm field outer shape information, 5. The agricultural work vehicle according to any one of claims 1 to 4, wherein the control unit controls the lifting device during the automatic traveling based on the traveling position determined by the positioning device and the field outer shape information so that the height of the field work implement is the highest position or the set height. [Industrial Applicability]

[0136] The present invention can be used in the field of agricultural machines. [Explanation of symbols]

[0137] 1:Agricultural vehicles 5: Operation parts 10: Running body 11: Body 12: Engine 13: Steering wheel 14: Main shift lever 15: Sub-gear lever 16: Seedling transfer button 17: Multi-switch 18: Height adjustment lever 19: Mission case 20: Field work machine 21: Seedling stand 22: Planting section 23: Interplant transmission 24: Planting drive mechanism 25: Spare seedling tray 30: Lifting device 31: Lifting link mechanism 32: Lifting cylinder 40: Positioning unit (positioning device) 50: Storage section 60: Control section S2: Height setting switch (setting operation part) S3: Height changeover switch (changeover operation part)

Claims

1. An agricultural vehicle, A traveling machine capable of traveling in a field; A field work machine connected to the traveling body; A lifting device that lifts and lowers the field work machine; a control unit that controls the traveling machine body, the field work machine, and the lifting device; Equipped with The lifting device lifts and lowers the field work machine so that a height at which the field work machine is supported is a highest maximum position or a set height lower than the highest position, The control unit controls the lifting device so that the height becomes the set height in response to a specific operation of the agricultural work vehicle in response to an operation by an operator.

2. A setting operation unit that receives an input related to the setting of the set height is further provided, The agricultural work vehicle according to claim 1 , wherein the set height is an arbitrary height that is set in advance.

3. The control height of the field work machine raised and lowered by the lifting device is switched between the set height and the highest position by a switching operation input.

3. The agricultural work vehicle according to claim 1, wherein when the switching operation unit receives an input of the switching operation, the control unit controls the lifting device so that the height becomes the control height received by the switching operation unit, in accordance with the specific operation.

4. The agricultural work vehicle according to claim 1 or 2, wherein the specific operation includes an operation of moving the traveling body backward.

5. A positioning device that measures the traveling position of the agricultural work vehicle; a storage unit that stores farm field contour information acquired in association with the traveling position measured by the positioning device; Further equipped The agricultural work vehicle automatically travels along a travel route generated based on the farm field outer shape information, 3. The agricultural work vehicle according to claim 1, wherein the control unit controls the lifting device so that the height of the field work implement is the highest position or the set height based on the traveling position determined by the positioning device and the field outline information during the automatic traveling.

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