Field work machine

Abstract

To provide a field work machine capable of surely starting automatic direct advance after start of turning.SOLUTION: A field work machine 1 includes a field work part supported by a travel part. The field work machine 1 comprises: a position information acquisition part for acquiring position information of the field work machine 1; a target travel path setting part for setting a target travel path of the travel part; an automatic steering control part for executing automatic steering control for steering the travel part along the target travel path on the basis of the acquired position information; a turning detection part for detecting turning of the travel part; a prescribed distance setting part for allowing an operator to arbitrarily set a prescribed distance; and a determination part for determining whether or not a turning operation of the travel part can be linked to the automatic steering control. After start of the turning operation of the travel part, the automatic steering control is executed on the basis of the automatic steering permission determination of the determination part.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] This invention relates to a field working machine for transplanting seedlings into a field while traveling, and more particularly to a field working machine that performs autonomous driving along a target orientation.

Background Art

[0002] A conventional transplanter that acquires position information and controls itself to automatically drive straight along a set target orientation is described in Japanese Patent Application Laid-Open No. 2020-31558 (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A conventional transplanter that acquires position information and controls itself to automatically drive straight along a set target orientation was configured as described above. However, since the turning operation is affected by the operator's driving habits and the like, there was room for improvement in the start of automatic straight driving after the turning operation.

[0005] This invention was made to solve the above problems, and an object thereof is to provide a field working machine capable of surely starting automatic straight driving after the start of turning.

Means for Solving the Problems

[0006] The field working machine according to the present invention includes a field working unit supported by a traveling unit. The field working machine includes a position information acquisition unit that acquires the position information of the field working machine, a target traveling route setting unit that sets a target traveling route for the traveling unit, an automatic steering control unit that executes automatic steering control to steer the traveling unit along the target traveling route based on the acquired position information, a turning detection unit that detects that the traveling unit makes a turning operation, a predetermined distance setting unit that allows an operator to arbitrarily set a predetermined distance, and a determination unit that determines whether the turning operation of the traveling unit and the automatic steering control can be interlocked. After the traveling unit starts the turning operation, the automatic steering control is executed based on the automatic steering permission determination of the determination unit.

[0007] According to the present invention, after the traveling unit starts the turning operation, the automatic steering control is executed based on the automatic steering permission determination of the determination unit.

[0008] As a result, after the start of turning, the operator can operate a steering wheel or the like to adjust the conditions of the field working machine to the automatic steering control until the traveling unit travels an arbitrary predetermined distance, so that it is possible to provide a field working machine that can surely start automatic straight running.

[0009] Preferably, the determination unit determines based on the conditions for the automatic steering of the machine body (such as the orientation of the machine body with respect to the target traveling route).

[0010] The determination unit may determine based on the traveling unit traveling the predetermined distance arbitrarily set by the operator using the predetermined distance setting unit, or may determine based on the traveling unit traveling the predetermined time arbitrarily set by the operator using the predetermined time setting unit.

[0011] According to an embodiment of the present invention, notification means for notifying the execution of the automatic steering control may be provided.

[0012] By notifying that the automatic steering control is executed, the operator can grasp the operation of the field working machine.

Effects of the Invention

[0013] According to the present invention, after the traveling unit starts a turning operation, automatic steering control is executed based on the automatic steering permission determination of the determination unit. That is, until the traveling unit travels an arbitrary predetermined distance, the operator can operate a steering wheel or the like to adjust the conditions of the field working machine to the automatic steering control. Therefore, it is possible to provide a field working machine that can surely start automatic straight travel after the start of turning.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] <Overall Configuration> With reference to FIGS. 1 and 2, the overall configuration of the field working machine 1 will be described. The field working machine 1 includes a traveling machine body (traveling unit) 2 and a field working unit (planting unit) 3 attached to the rear thereof, and is configured to perform a planting operation by the field working unit 3 while traveling by the traveling machine body 2. In the present embodiment, the case where the number of planting rows of the field working machine 1 is six is shown as an example. Of course, the number of planting rows of the field working machine 1 may be any number.

[0017] The traveling body 2 includes an engine 4, a transmission 5 that shifts the power from the engine 4, a body frame 6 that supports the engine 4 and the transmission 5, front wheels 7 and rear wheels 8 that are driven by the power transmitted from the engine 4 and the transmission 5, and the like.

[0018] The power from the engine 4 and the transmission 5 is transmitted to a front axle case 9 and a rear axle case 10, respectively. The front axle case 9 is supported at the front part of the body frame 6, and the front wheels 7 are supported at both left and right ends thereof. Similarly, the rear axle case 10 is supported at the rear part of the body frame 6, and the rear wheels 8 are supported at both left and right ends thereof. The upper part of the body frame 6 is covered by a step 11, and an operator can move on the step 11.

[0019] Also, the power from the engine 4 and the transmission 5 is transmitted to the field working unit 3 via an in-row setter 9a (see FIG. 7). The in-row setter 9a is configured to be able to continuously change the planting interval of seedlings planted along the traveling direction of the traveling body 2. A control device 70 described later is connected to the in-row setter 9a and is configured to be able to acquire the planting interval of the seedlings.

[0020] Also, for the positioning of the traveling body 2 in the field and the calculation of the actual vehicle speed, a GNSS receiver (position information acquisition unit) 49 is provided in the traveling body 2 as a positioning device.

[0021] A driver's seat 12 is arranged at the middle part between the front and rear of the traveling body 2, and a steering handle 13, operation pedals 14, a dashboard 15, and the like are provided in front of it. In addition to the steering handle 13, various operation tools and display devices for various operations are arranged on the dashboard 15.

[0022] Here, the GNSS receiver 49 will be described. In front of the traveling body 2, a spare seedling mounting table main body 17a and a spare seedling mounting table frame 17b are provided, and the GNSS receiver 49 is placed on a GNSS receiver support frame 50 extending upward therefrom. The traveling body 2 can perform positioning within the field and calculate the actual vehicle speed by the GNSS receiver 49.

[0023] The field working unit 3 is connected to the traveling body 2 via a lift link mechanism 20. The lift link mechanism 20 includes an upper link 21, a pair of left and right lower links 22, a lift cylinder, etc. The lift cylinder rotates the lower link 22 and the upper link 21 to raise and lower the field working unit 3.

[0024] The field working unit 3 includes a planting arm 31, a planting claw 32, a seedling mounting table 33, a cross-feed mechanism for reciprocating the seedling mounting table 33 in the lateral direction (machine width direction), a vertical-feed mechanism for conveying the seedling mat placed on the seedling mounting table 33 in the vertical direction (machine front-rear direction) toward the lower end side, a float 34, etc. The planting claw 32 is attached to the planting arm 31. In this embodiment, since the number of planting rows of the field working machine 1 is six, it is provided with six planting arms 31 and twelve planting claws 32. The field working unit 3 is driven by a PTO shaft 16 extending rearward from the transmission 5.

[0025] More specifically, power is transmitted from the PTO shaft 16 to three planting transmission cases 36 provided in the field working unit 3 via a planting center case 35, and the power is distributed from each of the three planting transmission cases 36 to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for each planting transmission case 36. The planting center case 35 is provided with a work clutch 18, and the work clutch 18 is configured to disconnect and connect the transmission of power from the engine 4 to the field working unit 3.

[0026] The planting arm 31 rotates by the power transmitted from the planting transmission case 36. The seedlings are supplied from the seedling placing table 33 to the planting claws 32. Along with the rotational movement of the planting arm 31, the planting claws 32 are inserted into the field, and the seedlings are planted to a predetermined planting depth. In this embodiment, a rotary type of planting claw is adopted, but a crank type may also be used.

[0027] The seedling placing table 33 is composed of a plate-like member and is arranged so as to be inclined in a front-high and rear-low state when viewed from the side of the machine body. On the rear surface of the seedling placing table 33, placing surfaces for placing the seedling mats M are arranged side by side in the machine body width direction according to the number of the planting arms 31 (the number of rows of the field working machine 1). Since the field working machine 1 of this embodiment has six planting rows, six placing surfaces are formed. The seedling mats M are placed on the placing surfaces in an inclined state.

[0028] The float 34 is attached to the planting frame 37 (see FIGS. 3 and 4). Specifically, the front end of the float 34 is supported by the planting frame 37 so as to be swingable in the vertical direction, and the rear end of the float 34 is attached to a rotation support shaft 38 (see FIG. 7) provided on the planting frame 37 through a lift link mechanism 20 so as to be liftable.

[0029] In the float 34, a field surface detection sensor 40 (see FIG. 7) for detecting the field surface (paddy field surface) is provided directly in front of the planting position of the planting claws 32. The sensor 40 extends from the front to the rear. The sensor 40 is supported by the planting frame 37 so as to be swingable around an axis along the pitching direction (that is, swingable in the vertical direction). Since it hangs down by gravity around its swing fulcrum, the state where the tip portion is in contact with the field surface is maintained. That is, the field working machine 1 advances in a state where the tip portion of the sensor 40 always follows the field surface.

[0030] Using FIG. 3, the lateral feed mechanism for reciprocating the seedling placing table 33 in the machine body width direction will be described.

[0031] As shown in Fig. 3, a feed screw 41 extends from the planting center case 35 toward one side in the machine width direction (the left side of the machine body). Cross-shaped grooves are formed along the axial direction on the outer peripheral surface of the feed screw 41. A slider 42 slidable along the grooves and a slider receiver 43 for supporting the slider 42 are provided on the feed screw 41. The slider receiver 43 is formed in a substantially T shape. The feed screw 41 penetrates through the slider receiver 43, and the slider 42 is accommodated slidably along the grooves of the feed screw 41.

[0032] A lower rail 44 is attached to the lower part of the front surface (the back surface of the placement surface) of the seedling placement table 33. The lower rail 44 is arranged with the machine width direction as the longitudinal direction. The slider receiver 43 is fixed to the lower rail 44 via a support arm 45.

[0033] Below the lower rail 44, a guide rail 46 for slidably supporting the lower rail 44 in the machine width direction is provided. The guide rail 46 is arranged with the machine width direction as the longitudinal direction. The guide rail 46 is composed of an engaging portion 46a that engages with the lower rail 44 and an extending portion 46b that extends from the engaging portion 46a along the shape of the bottom of the seedling placement table 33. By engaging the lower rail 44 with the engaging portion 46a of the guide rail 46, the lower rail 44 is configured to be slidable in the machine width direction along the guide rail 46. A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably attached to the guide rail 46 by bolts.

[0034] A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling placement table 33 is provided on the side surface of the planting center case 35 from which the feed screw 41 extends. A lateral feed count detection sensor 48a (see Fig. 7) for detecting the lateral feed count of the seedling placement table 33 by detecting the position of the lateral feed switching lever 48 is provided on the lateral feed switching lever 48.

[0035] The control device 70 is connected to the lateral feed count detection sensor 48a, is configured to be able to detect the lateral feed count of the seedling mounting table 33, and is configured to be able to detect the laterally picked amount described later from the lateral feed count. Further, an actuator 48b (see FIG. 7) is provided on the lateral feed switching lever 48. By driving and controlling the actuator 48b, the lateral feed switching lever 48 is configured to be operable. Therefore, by operating the lateral feed switching lever 48 with the actuator 48b, the lateral feed amount of the seedling mounting table 33 can be adjusted, and the lateral feed count of the seedling mounting table 33 can be changed.

[0036] By changing the lateral feed count of the seedling mounting table 33, the lateral feed amount (lateral feed speed) of the seedling mounting table 33 is changed, and the laterally picked amount from the seedling mat M by the planting claws 32 can be changed. Here, the laterally picked amount refers to the width of scraping the seedling mat M by the planting claws 32 in the machine body width direction of the traveling machine body 2 in a plan view. By adjusting the laterally picked amount, the amount of seedlings picked from the seedling mat M by the planting claws 32 can be configured to be changeable.

[0037] Using FIG. 4, a vertical feed mechanism for feeding the seedling mat M placed on the seedling mounting table 33 downward will be described.

[0038] As shown in FIG. 4, a vertical feed cam shaft 52 to which a vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the machine body width direction (the right side of the machine body). The vertical feed cam shaft 52 is connected to the feed screw 41 and abuts against the driven cam 53 when it reaches the stroke end. The driven cam 53 is provided on a conveyance belt drive shaft 55 that drives a conveyance belt 54 below the seedling mounting table 33. As the vertical feed cam shaft 52 rotates and the vertical feed cam 51 and the driven cam 53 come into contact, the driven cam 53 rotates. As the driven cam 53 rotates, the conveyance belt drive shaft 55 is rotated, so that the conveyance belt 54 circulates and conveys the seedling mat M placed on the conveyance belt 54 by a predetermined distance.

[0039] A seedling table rail support shaft 56 is rotatably supported in the left - right direction at the front upper part of each planting transmission case 36. A plurality of support frames 57 project rear - upward from the seedling table rail support shaft 56 at appropriate intervals, and a guide rail 46 is supported in the left - right horizontal direction on the support frame 57. Also, an arm 58 is attached to the seedling table rail support shaft 56 from the front upper side. A rotation angle detection sensor 59 (see FIG. 7) for detecting the rotation angle of the seedling table rail support shaft 56 is provided at the other end of the arm 58. The rotation angle detection sensor 59 is attached to the planting frame 37. An actuator 56a (see FIG. 7) is provided on the seedling table rail support shaft 56. The control device 70 is connected to the rotation angle detection sensor 59 and is configured to be able to detect the longitudinal take - in amount from the seedling mat M.

[0040] By driving and controlling the actuator 56a, the seedling table rail support shaft 56 is configured to be rotatable. Therefore, as the support frame 57 is rotated with the rotation of the seedling table rail support shaft 56, the guide rail 46 (seedling mounting table 33) is moved up and down (configured to be able to move up and down), and the distance between the planting transmission case 36 that supports the planting claws 32 and the seedling mounting table 33 can be changed.

[0041] Therefore, the longitudinal take - in amount from the seedling mat M by the planting claws 32 can be changed. Here, the longitudinal take - in amount refers to the width of scraping the seedling mat M in the traveling direction of the traveling machine body 2 in a plan view. By adjusting the longitudinal take - in amount, the amount of seedlings taken from the seedling mat M by the planting claws 32 can be configured to be changeable.

[0042] Also, the seedling table rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60. With the rotation of the seedling table rail support shaft 56, the driven cam 53 is rotated by a predetermined angle by the tension applied to the interlocking wire 60, thereby adjusting the feed amount by the conveying belt 54 according to the longitudinal take - in amount from the seedling mat M.

[0043] In the above configuration, the power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, causing the slider 42 to slide along the groove of the feed screw 41, and simultaneously causing the slider receiver 43 to slide in the machine width direction. When the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and simultaneously the seedling mounting table 33 slides in the machine width direction. When the seedling mounting table 33 reaches the stroke end in the machine width direction, the vertical feed cam 51 contacts the driven cam 53 and the conveyor belt drive shaft 55 rotates, causing the conveyor belt 54 to circulate.

[0044] As the slider 42 reciprocates along the groove of the feed screw 41, the seedling mounting table 33 reciprocates along the guide rail 46. By the lateral feed mechanism, as the seedling mounting table 33 reciprocates along the guide rail 46, the planting claws 32 can scrape and transplant the seedlings from one side (left side of the machine) in the machine width direction of the seedling mat M placed on the seedling mounting table 33 to the other side (right side of the machine) in the machine width direction or from the other side (right side of the machine) in the machine width direction to one side (left side of the machine) in the machine width direction. When the planting claws 32 scrape the seedlings on one side (right side of the machine) or the other side (left side of the machine) in the machine width direction of the seedling mat M, the conveyor belt 54 is actuated by the vertical feed mechanism to convey the seedling mat M toward the lower end (rear end) of the mounting surface. As described above, by reciprocating the seedling mat M in the machine width direction and appropriately conveying it downward, it is possible to scrape the seedlings from the seedling mat M placed on the seedling mounting table 33.

[0045] Next, with reference to FIG. 5, the dashboard 15 will be described. A steering wheel 13 is disposed at the left and right center portions of the dashboard 15. A main transmission lever 61 is provided to the left of the steering wheel 13, and a planting lift lever 62 is provided to the right of the steering wheel 13. Below the steering wheel 13, there are provided a row stop switch 63 for stopping the drive of the planting claws 32 for each predetermined row, a speed setting volume 64 for setting the maximum speed, a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34, a select dial 66 for setting various items such as the planting depth and the seedling taking amount (vertical taking amount, horizontal taking amount (number of horizontal feedings)) from the seedling mat M, and the like. In front of the steering wheel 13, there is provided a monitor 67 for displaying settings such as the select dial 66 and the speed of the traveling machine body 2.

[0046] The select dial 66 is a dial capable of setting various working conditions related to the working content such as the planting depth, the seedling taking amount (vertical taking amount, horizontal taking amount), the working speed, etc., and the notification reference value of the seedling connection alarm, etc. The operator rotates the select dial 66 left and right to select the item to be set from various items, and determines it by pressing the select dial 66. For example, when it is desired to set the vertical taking amount as the seedling taking amount, the select dial 66 is rotated left and right to select the item of the vertical taking amount, the item is determined by pressing the select dial 66, the select dial 66 is rotated left and right to select the adjustment amount of the vertical taking amount, and the vertical taking amount is set to the adjustment amount by pressing the select dial 66. The select dial 66 is connected to a control device 70 (see FIG. 7).

[0047] That is, based on the input of the field area and the number of seedling mats to be used, the field working machine 1 automatically controls the vertical taking amount and the horizontal feeding amount to plant seedlings in the field. Specifically, the field working machine 1 includes a planting unit (field working unit 3) for scraping seedlings from the seedling mat M on the seedling mounting table 33 and transplanting them to the field, a vertical taking amount setting unit for setting the vertical taking amount of the seedlings, a horizontal taking amount setting unit (select dial 66) for setting the horizontal taking amount of the seedlings, and a display device (monitor 67) for displaying the vertical taking amount and the horizontal taking amount of the seedlings set by the vertical taking amount setting unit and the horizontal taking amount setting unit.

[0048] Next, the switch box will be described. FIG. 6 is a diagram showing the switch box. The field working machine 1 includes a switch box (operating member) 80 for performing operations related to automatic steering, and a support arm 24 that supports the switch box 80. The switch box 80 is fixed to the spare seedling mounting frame 17b of the spare seedling mounting table main body 17a via the support arm 24. Thereby, the switch box 80 can be firmly supported. The switch box 80 is disposed outside the machine width direction from the dashboard 15 as an operation panel. The switch box 80 is disposed on the right side of the driver's seat 12, but may be disposed on the left side. However, by disposing the switch box 80 on the same side (generally the right side) as the operation pedal 14, it becomes easier to press the AUTO button 81 of the switch box 80, which will be described later, at the same timing as accelerating when starting straight-ahead work, and the operability is improved.

[0049] Note that the switch box 80 operates as a target travel route setting unit that sets the target travel route of the traveling unit 2.

[0050] The support arm 24 includes a rod-shaped upper arm portion 25a fixed to the spare seedling mounting frame 17b, a forearm portion 25c that rotates horizontally with respect to the upper arm portion 25a with a hinge 25b as a fulcrum, and a holder 25e that rotates horizontally with respect to the forearm portion 25c with a hinge 25d as a fulcrum. The switch box 80 is attached to the holder 25e.

[0051] In this embodiment, as shown in FIG. 6, the switch box 80 has an AUTO button 81 which is an indicator for instructing the start of automatic steering, and a display lamp 82 as a display device constituting a notification unit (notification means) 68 to be described later. Further, the switch box 80 has an A button 83 which is an indicator for performing a registration operation of the position information of point A and a B button 84 which is an indicator for performing a registration operation of the position information of point B in order to set a reference line when the field working machine 1 moves between two points A and B. The AUTO button 81 is arranged at the center of the operation surface 80f of the switch box 80, and the display lamp 82 is arranged at the upper left of the AUTO button 81. The A button 83 and the B button 84 are arranged side by side horizontally below the AUTO button 81.

[0052] The AUTO button 81 is operated when starting and stopping automatic steering. Since the AUTO button 81 has a higher operation frequency than the A button 83 and the B button 84, it is formed larger in a front view than the A button 83 and the B button 84 so that the pressing operation is facilitated. Further, the AUTO button 81 protrudes more than the A button 83 and the B button 84. The A button 83 and the B button 84 are buttons of the same shape and are arranged symmetrically left and right. A ring-shaped light-emitting part 85 is provided around the AUTO button 81. The light-emitting part 85 has a function of notifying the operator of various states related to automatic steering by its light color and lighting pattern.

[0053] Basically, the switch box 80 has a function of creating a target azimuth for automatic straight travel. Therefore, operations such as acquiring the start point position and the end point position using the above-described A button and B buttons 83, 84, and starting / ending the automatic straight travel of the field working machine along the created target azimuth are performed. These operations are manually performed by the operator.

[0054] The control block of the control device 70 that controls the entire field working machine 1 according to this embodiment is shown in FIG. 7.

[0055] Next, the operation of the field working machine 1 in this embodiment will be described. In this embodiment, when the straight-ahead assist mode of the field working machine 1 is interlocked with the automatic working machine mode during turning, the working clutch "engaged" and "automatic steering preparation completed" in the automatic working machine mode during turning enable the automatic steering "engaged" mode without pressing the AUTO button 81 of the operation member 80. Therefore, first, the straight-ahead assist mode and the automatic working machine mode during turning, which are the prerequisites in this embodiment, will be described.

[0056] The straight-ahead assist mode is a mode for assisting the straight-ahead movement of the field working machine 1. Specifically, the point A that is the starting point of the movement of the field working machine 1 described above and the point B that is the end point of the movement of the field working machine 1 are set with the A button 83 and the B button 84 of the operation member 80 described above, and the movement reference line is registered. After that, when the automatic (AUTO) button 81 is pressed, the field working machine 1 starts steering parallel to the registered movement reference line.

[0057] The automatic working machine mode during turning is a mode in which the field working machine 1 automates a series of operations during turning at the edge of the field. In the automatic working machine mode during turning, when the operator turns the steering wheel, the planting stops (the working clutch "disengaged"), the planting unit 3 rises, and the marker is stored. Next, when the operator returns the steering wheel, the planting unit 3 descends, the marker comes out, and the planting operation starts (the working clutch "engaged").

[0058] Next, the automatic steering engagement (automatic turning process) mode when the straight-ahead assist mode is interlocked with the automatic working machine mode during turning will be described.

[0059] Here, after the end of the automatic working machine mode during turning, the field working machine 1 turns on the "interlock permission distance" flag between 0 and 10 m from the working clutch "engaged". When the automatic steering preparation is completed during that time and the operation pedal 14 is depressed more than a certain amount, after traveling for 0 to 6 m at the interlock timing, it reports a 1.0 s switching announcement and turns on the automatic steering.

[0060] FIG. 8 is a diagram for explaining the content of the automatic turning process mode. Referring to the upward arrow part on the left side of FIG. 8, the field working machine 1 travels straight along the reference line in the field in the state of automatic steering "on". When approaching the end of the field (planting end / planting start position), the operator presses the AUTO button 81 (position (A) in the figure). Accordingly, the field working machine 1 turns 180 degrees (from position A to position B in the figure).

[0061] In the present invention, since turning travel is premised on manual operation, the operator starts turning by operating the steering wheel from position A. Also, in the embodiment, since the automatic steering is automatically terminated by detecting the steering wheel operation from position A, the AUTO button is not pressed.

[0062] When the turning travel starts, after turning off the working clutch 18 to stop the operation of the planting unit 3, the working clutch 18 is turned on so that the planting unit 3 can operate.

[0063] The detection of the turning of the field working machine 1 is performed by a turning detection unit 29 (see FIG. 7).

[0064] Thereafter, the field working machine 1 first moves a linked permission distance (about 0 to 10 m), and during this period (during (C) in the figure), a determination unit 71 (see FIG. 7) that determines the availability of the linkage between the turning operation of the traveling unit 2 and the automatic steering control determines the availability of the automatic steering permission of the traveling unit 2. Thereafter, it moves a linked timing distance (about 0 to 6 m) (during (D) in the figure) and performs a linked announcement (1.0 second) (E in the figure).

[0065] Here, the preparation for automatic steering is completed during the period from the position (B) to the position (C) in the figure (the period indicated by F in the figure, the automatic steering preparation completion period).

[0066] That is, after the traveling unit 2 starts the turning operation, after the working clutch 18 is switched from the disengaged state to the engaged state, the automatic steering control by the automatic steering control unit 28 (see FIG. 7) is executed based on the automatic steering permission determination of the determination unit 71.

[0067] Here, the determination unit 71 determines the conditions for automatic steering while the vehicle travels a distance of 0 to 10 m as the interlock permission distance. Note that what the determination unit 71 determines here is whether the field working machine 1 can enter the automatic steering state after turning (for example, whether the field working machine 1 is in a predetermined direction (such as the orientation of the machine body like whether it is along the target travel route), etc.).

[0068] When the work clutch 18 is "engaged" at the first position shown in (C) in FIG. 8 and the depression amount of the operation pedal 14 continues to be equal to or more than a certain value, it enters the interlock timing shown in (D) in the figure.

[0069] This interlock timing is set by a predetermined distance (0 to 6 m) that can be arbitrarily set by the operator using the predetermined distance setting unit 30 (see FIG. 7). This interlock timing is provided for the operator to determine whether the field working machine 1 is facing in a predetermined direction but is approaching or too far from the adjacent seedlings planted previously and is likely to trample them.

[0070] Traveling at a predetermined distance arbitrarily set by the predetermined distance setting unit 30 is a distance at which the operator can stop the transition to automatic steering and the running of the machine body itself, and detects various states of the machine body to determine that the operator intends to shift to automatic steering. For example, it is conceivable to appropriately adopt conditions such as the work clutch 18 being "engaged" and the speed of the machine body during traveling at a predetermined distance continuing to be equal to or more than a predetermined value.

[0071] Also, as the condition of depressing the operation pedal 14 by a certain amount or more, it may be a condition that the depression amount of the operation pedal continues to be equal to or more than a certain value, for example, 15% or more.

[0072] Here, the case of performing automatic steering control under two conditions, namely the interlock permission distance determined by the determination unit 71 and the interlock timing set by the operator, has been described. However, it is not limited to this, and the determination unit 71 may determine the conditions for automatic steering only based on the interlock permission distance.

[0073] Furthermore, instead of the predetermined distance, the determination unit 71 may make a determination based on the traveling unit traveling for a predetermined time arbitrarily set by the operator using a predetermined time setting unit 72 (see FIG. 7).

[0074] It may be provided with notification means (notification unit) 68 for notifying the execution of automatic steering control by the automatic steering control unit 28.

[0075] It may have an automatic "engage" function of the work clutch 18 associated with turning, which switches the automatic straight-ahead to "on" in conjunction with the work implement automatic mode during turning. As a result, the operation of the operator that was usually required to start automatic straight-ahead is simplified and the burden is reduced.

[0076] This interlock function (auto-turn function) can be switched between being interlocked / not interlocked, and an icon may be lit on the monitor 67 to notify the operator when in the "interlocked" state.

[0077] Note that the so-called auto-turn, which is an interlock function of the work clutch "engage" and the automatic straight-ahead "engage" after the turning operation, may be made selectable by a switch between "interlock" or "not interlock" (not shown). When in the "interlock" state, as shown in FIG. 9, an interlock icon 67a for displaying "interlock" may be lit on the monitor 67.

[0078] In the above-described embodiment, specific numerical values were described regarding the timing of turning on the automatic steering after the end of the work implement automatic mode during turning, but these numerical values are merely examples and are not limited thereto.

[0079] In the above-described embodiment, only the case where the field work implement moves forward was described, but it is not limited thereto, and only when performing an automatic turn (don't-back) with reverse movement during automatic steering, automatic straight-ahead may be started simultaneously with the timing of the PTO turning off / on after the turn.

[0080] Furthermore, conventionally, there have been limited methods for interrupting the automatic steering state according to the operator's intention. However, not limited to this, the automatic steering start state may be released by engaging or disengaging the work clutch 18 or operating the work implement to move up and down.

[0081] Similarly, the timing for starting automatic steering may be adjustable. By making it possible to adjust the timing for starting automatic steering, even if the operator makes a misoperation, the operator can perform the automatic steering interruption operation with a margin.

[0082] Also, even when the interlock function is turned on due to a misoperation, the automatic steering standby state may be released by traveling a certain distance.

[0083] Furthermore, in the function that enters the automatic straight-ahead standby state in conjunction with the PTO off / on, the standby state may be released when the automatic turning function (automatic work implement mode during turning) or the interlock function switch is turned off and the vehicle travels a certain distance (or for a certain time).

[0084] Furthermore, it may be possible to release the state by operating the interlock and automatic turning functions to turn them on and off, enabling safe operation.

[0085] Furthermore, in the interlock function that starts automatic steering in conjunction with the PTO off / on (automatic work implement mode during turning), if the vehicle travels a certain distance (or for a certain time) without a start instruction even when the conditions for entering automatic straight-ahead (entry angle, error conditions, etc.) are met, the automatic steering by interlock may be interrupted.

[0086] Furthermore, in addition to the automatic steering interruption conditions (such as fixed speed input), the operator may be able to perform additional interruption operations. The automatic steering may be interrupted by engaging or disengaging the work clutch, operating the work implement to move up and down, or operating the interlock and automatic turning functions to turn them on and off before the automatic steering by the interlock function is started.

Explanation of Signs

[0087] 1 Field work implement 2 Traveling body (traveling section) 3 Field working unit (planting unit) 14 Operation pedal 24 Support arm 28 Automatic steering control unit 29 Turning detection unit 30 Predetermined distance setting unit 49 GNSS receiver 67 Monitor 68 Notification unit 71 Judgment unit 72 Predetermined time setting unit 80 Operating member (switch box) 81 AUTO button

Claims

1. A field working machine including a field working unit supported on a traveling unit, The field work machine includes a position information acquisition unit that acquires position information of the field work machine; A target travel route setting unit that sets a target travel route of the travel unit; an automatic steering control unit that executes automatic steering control to steer the traveling unit along a target traveling route based on the position information acquired by the position information acquisition unit; A turning detection unit that detects turning of the traveling unit; a predetermined distance setting unit that allows an operator to arbitrarily set a predetermined distance; a determination unit that determines whether or not the turning operation of the traveling unit and the automatic steering control are linked, After the traveling unit starts a turning operation, the automatic steering control unit executes automatic steering control based on an automatic steering permission determination by the determination unit.

2. The field work machine according to claim 1 , wherein the determination unit makes a determination based on a condition for automatic steering of the machine body.

3. 3. The field work machine according to claim 1, wherein the determination unit makes a determination based on whether a traveling unit travels a predetermined distance that is arbitrarily set by an operator using a predetermined distance setting unit.

4. 3. The field work machine according to claim 1, wherein the determination unit makes the determination based on the traveling unit traveling for a predetermined time that is arbitrarily set by an operator using a predetermined time setting unit.

5. 5. The farm work machine according to claim 1, further comprising a notification means for notifying that the automatic steering control will be executed.

Images