Work vehicle

Abstract

To provide a work vehicle that allows a seat belt to be worn appropriately in automated travelling using a straight travelling assist.SOLUTION: A work vehicle includes: a global navigation satellite system (GNSS) 5; a seat belt 2; a detection device 3 for detecting whether or not the seat belt 2 is worn; and a control unit 4 having a straight travelling assist function for registering travelling reference data for a straight travelling assist in the travelling of a first process L1, generating a straight travelling assist reference line S on the basis of the travelling reference data, and performing automated travelling in parallel with the straight travelling assist reference line S. It is possible to register the travelling reference data in a state that the seat belt 2 is not worn, but it is not possible to use the straight travelling assist in the next process L2.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work vehicle, such as a rice transplanter, equipped with a seat belt. [Background technology]

[0002] Conventionally, there is known a work vehicle equipped with a seat belt. For example, there is known a technology including a first notification circuit that includes a plurality of seat belt devices provided at each of a plurality of driver's seats for restraining an operator, and an electric circuit including a first switch circuit that is energized when at least one of the plurality of seat belt devices is fastened, the first notification circuit being provided in series with the first switch circuit and having a first notification unit that notifies that none of the plurality of seat belt devices is fastened when the first switch circuit is not energized (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-049097 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, for such work vehicles, no measures are envisaged for automatic driving based on straight line assistance.

[0005] The present invention takes into consideration the problems with conventional work vehicles and aims to provide a work vehicle that enables proper seat belt use during automatic driving using straight-line assist. [Means for solving the problem]

[0006] The first aspect of the present invention is GNSS and Seat belt and A detection device for detecting whether the seat belt is fastened or unfastened; a control unit having a straight-line assist function for registering driving reference data for straight-line assist during driving of a first course, generating a straight-line assist reference line based on the driving reference data, and automatically driving parallel to the straight-line assist reference line; This is a work vehicle characterized in that, when the seat belt is unfastened, the driving reference data can be registered, but the straight-line assist cannot be used in the next journey.

[0007] The second aspect of the present invention is This is the first work vehicle of the present invention, in which if the seat belt is unfastened during automatic driving with the straight-line assist, the automatic driving continues for that journey, but automatic driving with the straight-line assist for the next journey is disabled.

[0008] The third aspect of the present invention is This is a second work vehicle of the present invention, in which a selection can be made to enable the automatic driving in the next journey.

[0009] The fourth aspect of the present invention is This is a third work vehicle of the present invention, in which if the seat belt is unfastened during automatic driving due to the straight-line assist, the automatic driving continues for that process, and if the seat belt is fastened before automatic driving for the next process begins, automatic driving for the next process begins.

[0010] The fifth aspect of the present invention is When the automatic driving is continued with the seat belt unfastened, a seat belt reminder is notified by characters, icons, etc., A fourth work vehicle of the present invention is one in which, if the seat belt is unfastened and the straight-line assist cannot be used in the next journey, a notice is issued that automatic driving is not possible unless the seat belt is fastened.

[0011] The sixth aspect of the present invention is In a fifth aspect of the present invention, there is provided a work vehicle, wherein, when the seat belt is unfastened, an upper limit of the opening degree of the trunnion of the hydraulic variable speed transmission is regulated.

[0012] The seventh aspect of the present invention is This is a sixth work vehicle of the present invention in which, when the seat belt is unfastened, the work settings for rice planting, at least the amount of fertilizer, the amount of seedlings to be harvested, and the planting depth, cannot be changed, and seedlings can be planted with the default work settings, but a seat belt reminder is sounded.

[0013] The eighth aspect of the present invention is The fields where rice planting takes place are rectangular in shape. When rice planting is performed in a straight line reciprocating travel along the long side, the control unit measures the positions of the point where the float of the seedling planting section touches the ground and the point where the float leaves the ground at the beginning and end of each of the straight line reciprocating travel processes, The control unit is a work vehicle of the seventh invention, which has a straight-line approximation unit that obtains straight-line assist reference lines for automatic driving in the pillow areas on both short sides by linearly approximating each of the above-mentioned points on the corresponding sides of both short sides.

[0014] The ninth aspect of the present invention is This is an eighth work vehicle of the present invention, in which the point where the float of the seedling planting section touches the ground is the place where the float touches the ground and planting has started, and the point where the float leaves is the place where the float leaves and planting has stopped. Effect of the Invention

[0015] The present invention makes it possible to provide a work vehicle that enables proper seat belt use during automatic driving using straight-line assist, thereby ensuring the safety of workers. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a side view of a work vehicle according to an embodiment of the present invention; [Diagram 2]FIG. 2 is an explanatory diagram of automatic driving in a field using straight-line assistance in the embodiment; [Diagram 3] FIG. 13 is a partial perspective view including a lever used in the straight-line assist function. [Figure 4] Block diagram of the control system of the work vehicle [Diagram 5] FIG. 11 is a schematic plan view illustrating a reference line for straight-line assistance at a headland in the embodiment; [Figure 6] A plan view explaining how to obtain the straight-line assist reference line at the same headland. [Figure 7] (A) A simplified side view of a spring and a roller clutch for securing the starting torque when starting the fertilizer applicator, and (B) a simplified front view of the same. [Figure 8] FIG. 8 is an explanatory diagram for explaining the operation of the spring and roller clutch in FIG. 7. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0018] 1 is a side view of a rice transplanter as an example of a work vehicle according to an embodiment of the present invention. In the following, front / rear, left / right, and up / down are defined based on the traveling direction of the rice transplanter.

[0019] In FIG. 1, the rice transplanter of this embodiment is a rice transplanter that travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to manual or automatic steering operation of a steering device 230 of the vehicle body 1, levels the field using a ground leveling device 260 having floats 261, plants seedlings in the field using a seedling planting section 240, and applies fertilizer to the field using a fertilizer applicator 250.

[0020] The traveling device 220, the seedling planting section 240, the fertilizer application device 250 and the soil leveling device 260 are driven by engine power transmitted via a main transmission and an auxiliary transmission, which are HSTs.

[0021] Further, reference numeral 110 denotes a seat, in which a seat belt 2 is fastened, and a detection device 3 detects fastening and unfastening of the seat belt 2. Reference numeral 5 denotes a GNSS (Global Navigation Satellite System).

[0022] FIG. 2 shows how the vehicle 1 is manually driven on the first driving path L1 along the long side of a rectangular field, obtaining points A and B (driving reference data) for the straight-line assist and generating a straight-line assist reference line, and then, after turning, using the straight-line assist function to drive back and forth in a straight line on the next path L2.

[0023] That is, the operator manually drives the first driving distance L1 along the long side of the field while planting seedlings, and first, by lowering the straight-line assist lever 10, point A, which is the starting point, is acquired by the control unit 4 and registered in the AB point registration unit 40. This lever 10 is of an automatic return type. After that, as the operator drives and nears the end of the driving distance L1, point B, which is the end point, is acquired by the control unit 4 and registered in the AB point registration unit 40 by lowering the lever 10 again.

[0024] As shown in FIG. 4, the straight driving assistance reference line generating section 41 of the control section 4 generates the straight driving assistance reference line S by connecting point A and point B with a straight line.

[0025] Thereafter, as shown in FIG. 2, the operator turns the vehicle body 1 and heads toward the next step L2, aligning the vehicle body 1 substantially along the straight-line assist reference line S.

[0026] After that, by lifting the lever 10, the straight-line assist control section 42 of the control section 4 starts to operate, and the vehicle body 1 is automatically driven parallel to the straight-line assist reference line S using the driving control section 6. When the end of this path L2 is approaching, the operator stops the straight-line assist by lifting the lever 10 again. After that, the vehicle continues to automatically drive the remaining path with the straight-line assist in the same manner.

[0027] Here, we will explain how to fasten and unfasten the seat belt 2. When driving the first process L1 for acquiring points A and B, even if the detection device 3 detects that the seat belt 2 is unfastened, the driver may be standing and working during the first process L1 for acquiring the driving reference data (operation to acquire points A and B).

[0028] However, when the seat belt 2 is unfastened, the straight-line assist function cannot be used in the next stroke L2 after the turn. That is, even if the lever 10 is raised, the straight-line assist control unit 42 disables the straight-line assist function.

[0029] Here, when entering the next step L2, the seat belt 2 is fastened and automatic driving with straight-line driving assistance starts. If the seat belt 2 is unfastened during automatic driving in the next step L2, automatic driving continues in that step L2, but automatic driving with straight-line driving assistance in the next step is disabled.

[0030] If the seat belt 2 is unfastened during such a trip and the automatic driving continues, the selection unit 45 may be set in advance to continue the automatic driving with straight line assistance even in the next trip. Since the seat belt 2 is unfastened, special attention must be paid, but such a selection may be possible.

[0031] On the other hand, as described above, if the seat belt 2 is unfastened during automatic driving with the straight-line assist in the next process L2, automatic driving continues in that process L2, and if the seat belt 2 is fastened before the start of automatic driving in the next process, automatic driving in the next process will start. For example, this is the case when the seat belt 2 is fastened again while turning.

[0032] In addition, if automatic driving continues with the seat belt 2 unfastened, a seat belt reminder encouraging the driver to fasten the seat belt 2 is displayed on the display unit 46 using characters, icons, etc.

[0033] In addition, if the seat belt 2 is unfastened and it is determined that the straight-line assist cannot be used in the next journey, the display unit 46 notifies the driver that automatic driving is not possible unless the seat belt 2 is fastened, and the driver is alerted.

[0034] When the seat belt 2 is unfastened, the upper limit of the trunnion opening of the hydraulic variable speed transmission (HST7) is regulated. This serves to prevent excessive speeding in order to ensure safety.

[0035] On the other hand, when the seat belt 2 is unfastened, the work set values ​​for rice planting, at least the amount of fertilizer, the amount of seedlings to be harvested, and the planting depth, cannot be changed by the work set value changing unit 8. In that case, the seedlings are planted with the default work set values. In that case, the seat belt reminder is also displayed on the display unit 46.

[0036] 5 is a diagram for explaining the straight-line assistance in the headland area. That is, the field in which rice planting is performed is rectangular in shape, and the top and bottom sides in the drawing are the long sides HL, and the left and right sides are the short sides HS.

[0037] Here, as described above, when rice planting work is performed using linear assisted automatic driving in a straight line back and forth along the long side HL, the control unit 4 locates the positions of the point where the float 261 of the planting unit 240 touches the ground (○) and the point where the float 261 moves away (●) at the start and end of each straight line back and forth movement.

[0038] The linear approximation unit 47 of the control unit 4 linearly approximates each point (circle, black) on the corresponding side of both short sides HS, HS to obtain straight-line assist reference lines for automatic driving in the headland HD on both short sides HS, HS. The determination unit 43 recognizes the direction of rotation of both ends HS, HS, based on a signal from the steering sensor 12, and determines whether the float 261 is to be raised or lowered on the right side or the left side, based on that. In the case of a right turn, it is determined that the positioning point is on the right ridge side, and in the case of a left turn, it is determined that the positioning point is on the left ridge side.

[0039] In other words, the linear approximation on the corresponding side means performing a linear approximation for each point O and ● on the right side of the drawing, and separately performing a linear approximation for each point O and ● on the left side.

[0040] These left and right approximated straight lines respectively become the straight-line assist reference lines for automatic driving on the left and right short sides HS and the headland HD on the HS side.

[0041] In this case, σ (sigma) indicates a certain range of standard deviation as shown in Figure 6. Isolated points 11 that do not fall within this certain range are ignored. It is not good to make the certain range too wide or too narrow, so an appropriate certain range is obtained based on past performance and experience.

[0042] Furthermore, it is desirable to more accurately measure the positions of the point where the float 261 of the planting section 240 touches the ground (○) and the point where the float 261 leaves the ground (●). That is, the accuracy can be improved by taking the point where the float 261 touches the ground as the place where the float 261 touches the ground and planting starts, and the point where the float 261 leaves the ground as the place where the float 261 leaves the ground and planting stops. For example, the planting of seedlings may start after the float 261 has moved a little after touching the ground, or the planting of seedlings may stop after the float 261 has moved a little after leaving the ground. This is because the point where the seedlings were actually planted is important when obtaining a reference line by linear approximation.

[0043] In addition, even in the case of straight-line assisted automatic driving in the headland HD, it is desirable to disable the straight-line assistance if the seat belt 2 is not fastened.

[0044] Figures 7(A) and (B) show another embodiment, in which (1) in a rice transplanter that applies fertilization by rotating a fertilization drive shaft 51 using the driving force of a single motor 50, the motor 50 is rotated in the direction opposite to the normal operating direction, thereby ensuring the starting torque during normal operation.

[0045] Conventionally, in addition to the motor that normally operates the fertilizer applicator, a motor for ensuring starting torque was provided, which resulted in high costs. However, with the above-described configuration, in the case of motor 50 that has a holding force when energized, starting torque can be easily ensured with just one motor 50.

[0046] (2) In the configuration of (1) above, a first roller clutch 52 that rotates only in the forward direction is provided so that torque is not transmitted to the fertilizer drive shaft 51 when the motor 50 is rotated in the reverse direction.

[0047] (3) In the configuration of (2) above, a second roller clutch 53 having a spring 54 and a stay 55 for the second roller clutch 53 are disposed between the first roller clutch 52 and the motor 50. Here, reference numeral 56 denotes a spring fulcrum, which is fixed to the fertilizer application base of the machine body.

[0048] (4) In the configuration of (3), when the motor 50 rotates in the reverse direction, torque is transmitted to the stay 55 and the spring 54, causing the second roller clutch 53 to rotate together, but when the motor 50 rotates in the forward direction, no torque is transmitted.

[0049] (5) As shown in Figure 8, in the configurations (1) to (4) described above, when the planting drive is turned "off," the fertilizer applicator motor 50 is rotated in reverse by a certain angle A, and force is stored in the spring 54 when the planting drive is turned "off."

[0050] (6) In the configuration of (5), when the rotation angle of the motor 50 reaches or exceeds A, or when the current value B of the motor 50 reaches or exceeds a threshold value, the reverse rotation of the motor 50 is stopped. The spring 54 is stopped when it is determined that a certain amount of spring force has been accumulated in the spring 54.

[0051] (7) Or, in the configurations (1) to (4) above, when the planting section is raised, the fertilizer applicator motor is rotated in reverse by a certain angle A.

[0052] (8) Or, in the configurations (1) to (4) above, when the main speed change lever is in the neutral position, the fertilizer applicator motor is rotated in the reverse direction by a certain angle A. When the operation is stopped temporarily, the operation of storing the spring force is started.

[0053] (9) In the configurations (1) to (8) above, the angle A at which the fertilizer applicator motor is reversely rotated can be changed to A' according to the set amount of fertilizer to be applied. The spring force is increased as the amount of fertilizer to be applied increases (center diagram in FIG. 8).

[0054] (10) In the configuration of (9) above, it is also desirable to increase the angle A' at which the motor reverses as the amount of fertilizer applied increases.

[0055] (11) In the configuration of (9) above, the threshold value of the motor current value B, which is the condition for stopping the reverse rotation of the motor, may be increased as the amount of fertilizer application increases. Since it is necessary to ensure a larger starting torque as the amount of fertilizer application increases, a larger spring force is stored.

[0056] (12) In the configurations (1) to (11) above, as an initialization operation, the motor 50 is rotated in the reverse direction by a certain angle A''. The motor 50 is rotated in the reverse direction by an angle A''>180 deg, and the second roller clutch 53 is rotated half a turn (the rightmost diagram in FIG. 8).

[0057] (13) As a configuration of (12) above, the current value B and the motor rotation speed during reverse motor rotation are monitored, and if the current value B falls below a specified value within a certain time and the motor rotation speed accelerates to a certain level or more, the reverse motor rotation is stopped. When the spring force of second roller clutch 53 reaches its maximum, a torque is applied in the opposite direction to the rotation direction from before, and second roller clutch 53 is rotated until spring 54 is fully compressed.

[0058] (14) As the configuration of (12) above, when the rice transplanter is turned on, an initialization operation is performed. In order to set the motor phase and the roller clutch phase to their fixed positions, an initialization operation is performed for the reverse rotation of the motor.

[0059] When the fertilizer application rate is changed, an initialization operation is performed as the configuration of (15)(12). When the angle A' < A, if the motor rotates forward, fertilizer will come out, so a change during operation is not possible. When changing the fertilizer application rate, since it is changed to the angle A' at which the motor rotates reversely, an initialization operation is performed once.

[0060] Next, another embodiment will be described. It has an adjustment mode when the fertilization position is not at the expected location. The adjustment can be made both forward and backward in volume or panel settings. It can be adjusted when the fertilization position is not correct.

[0061] The control is such that the feeding of fertilizer is intermittently driven according to the fertilization position, and the fertilizer reduction effect is increased.

[0062] Next, another embodiment will be described. Conventionally, the fertilizer application rates linked to fertility, soil cultivation depth, and map are unlinked data and are handled separately. However, the soil cultivation depth and fertility during work do not appear in the map data, and it is required that the fertilizer application rate can be set by combining not only the soil fertility data obtained over the years but also the data during work. Also, in the case of map linkage, it is possible to balance the fertilizer application rates in the field based on the soil fertility and growth map, but it was up to the user to set the basic fertilizer application rate. Also, since the map is an evaluation within one field and cannot evaluate multiple fields together, it was not possible to set a fixed basic fertilizer application rate for all. However, this example has the following configuration and effects.

[0063] (1) That is, in a transplanter capable of varying the fertilizer application rate according to the fertilizer application setting amount linked to map data, a function is provided to adjust the fertilizer application rate per unit based on the fertilizer application setting amount, based on the measurement results of a sensor for measuring the fertility provided in the transplanter and a sensor for measuring the soil cultivation depth.

[0064] By doing this, the amount of fertilizer applied within the field can be balanced using the map, and the basic amount of fertilizer applied can be automatically adjusted based on sensing data from real-time variable fertilization during work, thereby reducing variation both within and between fields and ensuring stable growth.

[0065] (2) The display connected to the transplanter reads the map data of the working field and the fertilizer application set amount linked to the map data, and obtains the fertilizer application amount per unit area corresponding to the read map data.

[0066] Currently, with map-linked variable fertilization, the amount of fertilizer per unit area and the amount of fertilizer planned to be used are not calculated before work begins, making it difficult to know how much is needed; however, by obtaining and displaying the amount of fertilizer per unit area as described above, it is possible to know how much is needed before work begins.

[0067] (3) In the above (1), when work is performed based on the loaded map data and the set fertilizer amount linked to the map data, the amount of fertilizer per unit area in the target field is calculated from the fertility and soil depth obtained after a certain distance traveled before the start of work or a certain distance traveled after the start of work.

[0068] (4) The amount of fertilizer applied per unit area calculated in (3) above is calculated from the measured values ​​of fertility and cultivated soil depth in the target field, based on the relationship between the amount of fertilizer applied per unit area in a certain reference field and the fertility and cultivated soil depth. Conventionally, real-time variable fertilization was limited to variations within the target field, and was not effective in reducing variations between fields. However, by setting a reference field as described above, the performance of the working field can be evaluated against the reference field, and variations between fields can be reduced. More stability can be expected by setting a field with less growth variation as the reference field.

[0069] (5) In (4) above, for example, the amount of fertilizer applied per unit area is calculated by weighting the average fertility and average cultivated soil depth in a certain reference field, and the amount of fertilizer applied per unit area is used as a standard. The amount of fertilizer applied per unit area in the target field is calculated from the ratio of the value calculated by weighting the average fertility and average cultivated soil depth in the target field to the value in the reference field. Using instantaneous values ​​makes it easy to be affected by sensor variations and noise, so using the average value between measurements makes it possible to reduce variations.

[0070] (6) In (4) above, the amount of fertilizer per unit area in the standard field is set by inputting it into a display connected to the transplanter. Conventionally, the amount of fertilizer varies depending on the crop, not just the fertility and soil depth, so it is difficult to uniquely calculate the amount of fertilizer from the fertility and soil depth. However, by doing as described above, the user can create a standard based on the crop and the results of previous years, which is expected to stabilize growth.

[0071] (7) In (1) above, the fertilizer setting amount obtained in (2) is adjusted based on the ratio between the fertilizer amount per unit area obtained in (2) above and the fertilizer amount per unit area calculated in (3) above.

[0072] Currently, fertility, cultivated soil depth and map-linked fertilizer amounts are not linked data and are treated separately; however, cultivated soil depth and fertility at the time of work do not appear in the map data, and there was a need to be able to set fertilizer amounts based not only on soil fertility data obtained over time but also on data at the time of work. With the above-mentioned configuration, it is possible to set a reference field and evaluate the performance of the working field against the reference field, reducing variation between fields, and also making it possible to make proper corrections to areas where soil fertility is thought to be weak based on map data over time, which can be expected to result in more stable growth. [Industrial Applicability]

[0073] The present invention can provide a work vehicle that enables proper use of seat belts during automatic driving using straight-line assist, making it ideal for use in rice transplanters and the like. [Explanation of symbols]

[0074] 1. Vehicle body 2 Seatbelts 3. Detection Device 4. Control section 40 AB Point Registration Section 41 Straight-line assist reference line generating unit 42 Linear assist control section 43 Judgment Department 44 Swivel control section 45 Selection section 46 Display section 47 Linear approximation part 5 GNSS 6 Driving control unit 7 HST 8 Operation setting value change section 9 Planting section control section 10 Lever 11 Isolated Location 12 Steering Sensor 50 Motor 51 Fertilizer drive shaft 52 First roller clutch 53 Second roller clutch 54 Spring 55 Stay 56 Spring fulcrum 110 seats 220 Running gear 221 Front wheel 222 Rear wheel 240 Seedling Planting Department 250 Fertilizer equipment 260 Ground leveling equipment 261 Float L1 First leg L2 Next step S Straight-line assist reference line H Field HS short side HL Long side σ (Sigma) Standard deviation HD headland

Claims

1. GNSS and Seat belt and A detection device for detecting whether the seat belt is fastened or unfastened; a control unit having a straight-line assist function for registering driving reference data for straight-line assist during driving of a first course, generating a straight-line assist reference line based on the driving reference data, and automatically driving parallel to the straight-line assist reference line; A work vehicle characterized in that, when the seat belt is unfastened, the driving reference data can be registered, but the straight-line assist cannot be used in the next journey.

2. 2. The work vehicle according to claim 1, wherein when the seat belt is unbuckled during automatic driving with the straight-line assist, the automatic driving continues for that journey, but automatic driving with the straight-line assist for the next journey is disabled.

3. The work vehicle according to claim 2 , further comprising a selection that enables the automatic driving in the next journey.

4. 4. The work vehicle according to claim 3, wherein if the seat belt is unfastened during automatic driving by the straight-line assist, the automatic driving continues for that process, and if the seat belt is fastened before automatic driving for the next process begins, the automatic driving for the next process begins.

5. When the automatic driving is continued with the seat belt unfastened, a seat belt reminder is notified by characters, icons, etc., 5. The work vehicle according to claim 4, wherein, when the seat belt is unfastened and the straight-line assist is not available for the next journey, a notice is issued that automatic travel is not possible unless the seat belt is fastened.

6. 6. The work vehicle according to claim 5, wherein an upper limit of an opening degree of a trunnion of the hydrostatic continuously variable transmission is regulated when the seat belt is unfastened.

7. A work vehicle as described in claim 6, wherein when the seat belt is unfastened, the work setting values ​​for at least the amount of fertilizer, the amount of seedlings to be harvested, and the planting depth for rice planting cannot be changed, and seedlings can be planted with the default work setting values, but a seat belt reminder is sounded.

8. The fields where rice planting takes place are rectangular in shape. When rice planting is performed in a straight line reciprocating travel along the long side, the control unit measures the positions of the point where the float of the seedling planting section touches the ground and the point where the float leaves the ground at the beginning and end of each of the straight line reciprocating travel processes, The work vehicle according to claim 7, wherein the control unit has a straight-line approximation unit that obtains straight-line assist reference lines for automatic driving in the pillow areas on both short sides by linearly approximating each of the points on the corresponding sides of both short sides.

9. 9. The work vehicle according to claim 8, wherein the point where the float of the seedling planting section touches the ground is defined as the location where the float touches the ground and planting has started, and the point where the float leaves is defined as the location where the float leaves and planting has stopped.

Images